CN109901586A - A kind of unmanned vehicle tracking control method, device, equipment and storage medium - Google Patents
A kind of unmanned vehicle tracking control method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the present invention provides a kind of unmanned vehicle tracking control method, device, equipment and storage medium, is related to unmanned vehicle and drives field.This method comprises: obtaining unmanned vehicle real-time position information；Based on unmanned vehicle real-time position information and desired guiding trajectory coordinate sequence, positional shift correction is carried out to the tracking path of unmanned vehicle；Wherein, desired guiding trajectory coordinate sequence is the map reference point that unmanned vehicle preset travel track converts the lower one section of continuous sequence formed based on WGS-84 coordinate.The present invention is by getting the real time position of unmanned vehicle, and it is compared in real time with the coordinate points of desired guiding trajectory coordinate sequence, positional shift correction is carried out to the unmanned vehicle in driving process in time, guarantee unmanned vehicle always in the optimal path figure traveling planned in advance, to improve the accuracy and accuracy of the autonomous tracking of unmanned vehicle, and then improve the safety of unmanned vehicle traveling.
Description
Technical field
The present invention relates to unmanned vehicles to drive field, in particular to a kind of unmanned vehicle tracking control method, device, sets
Standby and storage medium.
Background technique
As social economy and scientific and technological are constantly progressive, people are more and more urgent to unmanned product demand, especially
Application of the unmanned electric vehicle in public places such as scenic spot, gardens.
Currently, patent CN106896813A discloses a kind of self-adapting intelligent vehicle tracking control system, patent
CN109116855A discloses a kind of moving trolley tracking control method and system, but the two tracking control system are all only to use
In small-sized indoor navigation, cannot be followed for outdoor campus environment, the independent navigation for not being suitable for unmanned electric vehicle
Mark.
Therefore, how effectively outdoor realization unmanned vehicle independent navigation tracking control be urgent need to resolve the problem of.
Summary of the invention
In view of this, the embodiment of the present invention be designed to provide a kind of unmanned vehicle tracking control method, device, equipment and
Storage medium, to improve in the public place environments such as scenic spot, garden the problem of the independent navigation tracking of unmanned electric vehicle.
Present pre-ferred embodiments provide a kind of unmanned vehicle tracking control method, comprising:
Obtain unmanned vehicle real-time position information；
Based on the unmanned vehicle real-time position information and desired guiding trajectory coordinate sequence, to the tracking path of the unmanned vehicle into
Line position sets bias correcting；Wherein, the desired guiding trajectory coordinate sequence is that unmanned vehicle preset travel track is sat based on WGS-84
The map reference point of the lower one section of continuous sequence formed of mark conversion.
Preferably, after the real time position for obtaining unmanned vehicle, further includes:
It is converted based on the unmanned vehicle real-time position information and WGS-84 coordinate, obtains the reality of the unmanned vehicle real time position
When coordinate.
It is preferably based on the unmanned vehicle real time position and desired guiding trajectory coordinate sequence, to the tracking road of the unmanned vehicle
The step of diameter progress positional shift correction, specifically includes:
Match the real-time coordinates and the desired guiding trajectory coordinate sequence, from the desired guiding trajectory coordinate sequence obtain with
The real-time coordinates are apart from nearest positioning coordinate；
Based on the positioning coordinate, local path coordinate sequence is generated；
Based on the real-time coordinates and the local path coordinate sequence, the angle of the unmanned vehicle tracking offset is calculated,
Positional shift correction is carried out to the tracking path to the unmanned vehicle.
Preferably, the real-time coordinates and the desired guiding trajectory coordinate sequence are matched, are obtained and the real-time coordinates distance
The step of nearest positioning coordinate includes:
Based on preset distance calculation formulaObtain the desired guiding trajectory coordinate sequence
Some coordinate points p in broomrapei(Xi,Yi) and the real-time coordinates point pk(Xk,Yk) the distance between D；
When the distance D is less than or equal to default minimum threshold of distance, by coordinate points p at this timei(Xi,Yi) be denoted as with
The real-time coordinates are apart from nearest positioning coordinate.
Preferably, according to the positioning coordinate, the step of generating local path coordinate sequence, includes:
Using the positioning coordinate as starting point, all desired guiding trajectories in the positioning coordinate preset range threshold value are acquired
Coordinate sequence generates the local path coordinate sequence.
Preferably, according to the real-time coordinates and the local path coordinate sequence, the unmanned vehicle tracking offset is calculated
Angle the step of include:
Choose any coordinate points p of the local path coordinate sequencet(Xt,Yt)；
Based on angle calculation formulaObtain the real-time coordinates point pk(Xk,Yk) and the office
Any coordinate points p of portion's trajectory coordinates sequencet(Xt,Yt) between angle so that the unmanned vehicle can be according to the angle edge
Tracking path carries out positional shift correction.
The embodiment of the present invention also provides a kind of unmanned vehicle Electronic Traction Control System, comprising:
Position acquisition unit, for obtaining unmanned vehicle real time position；
Bias correcting unit, for based on the unmanned vehicle real time position and desired guiding trajectory coordinate sequence, to it is described nobody
The tracking path of vehicle carries out positional shift correction；Wherein, the desired guiding trajectory coordinate sequence is the unmanned vehicle preset travel rail
Mark converts the map reference point of the lower one section of continuous sequence formed based on WGS-84 coordinate.
Preferably, the bias correcting unit includes:
Matching module is sat for matching the real-time coordinates and the desired guiding trajectory coordinate sequence from the desired guiding trajectory
It marks in sequence and obtains with the real-time coordinates apart from nearest positioning coordinate；
Local path produces module, for being based on the positioning coordinate, generates local path coordinate sequence；
Angle calculation module, for be based on the real-time coordinates and the local path coordinate sequence, calculate it is described nobody
The angle of vehicle tracking offset carries out positional shift correction to the tracking path to the unmanned vehicle.
The embodiment of the present invention also provides a kind of cart-mounted computing device, including memory, processor and is stored in memory
Computer program that is upper and can running on a processor, the processor realize above-mentioned unmanned vehicle tracking when executing described program
Control method.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, special
The step of sign is, which realizes above-mentioned unmanned vehicle tracking control method when being executed by processor.
A kind of unmanned vehicle tracking control method, device, equipment and the storage medium of offer provided by the invention, when vehicle-mounted meter
When calculating equipment and receiving the control request of unmanned vehicle tracking, by getting the real time position of unmanned vehicle, and with desired guiding trajectory coordinate
The coordinate points of sequence are compared in real time, carry out positional shift correction to the unmanned vehicle in driving process in time, guarantee unmanned vehicle
Always in the optimal path figure traveling planned in advance, to improve the accuracy and accuracy of the autonomous tracking of unmanned vehicle, Jin Erti
The high safety of unmanned vehicle traveling.Unmanned vehicle tracking control method provided in this embodiment can well solve scenic spot,
In the public place environments such as garden the problem of the real-time independent navigation tracking of unmanned electric vehicle, real-time with higher,
Meet practical application request.
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 is the flow diagram of the first embodiment of unmanned vehicle tracking control method provided by the invention；
Fig. 2 is the flow diagram of one embodiment that the S20 step of Fig. 1 includes；
Fig. 3 is the structural schematic diagram of the second embodiment of unmanned vehicle Electronic Traction Control System provided by the invention.
Icon: 10- position acquisition unit；20- bias correcting unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
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.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1~2 are please referred to, the first embodiment of the present invention provides a kind of unmanned vehicle tracking control method, can be by vehicle
It carries and calculates equipment to execute, for example, car-mounted computer, specifically includes at least following steps:
S10 obtains unmanned vehicle real-time position information.
Specifically, the precondition for realizing the control of unmanned vehicle tracking is exactly the positioning to vehicle.In the present embodiment, when connecing
When receiving the control request of unmanned vehicle tracking, the unmanned vehicle is positioned by onboard sensor, obtains the unmanned vehicle preparatory
The real time position travelled in the current driving lane of the optimal path of planning.Wherein, in the preferred embodiment, described
Onboard sensor, which includes at least to be mounted on the roof of unmanned vehicle, installs GPS sensor, and cart-mounted computing device is by receiving GPS letter
Number obtain unmanned vehicle real time position.
S20, based on the unmanned vehicle real-time position information and desired guiding trajectory coordinate sequence, to the tracking road of the unmanned vehicle
Diameter carries out positional shift correction；Wherein, the desired guiding trajectory coordinate sequence is that unmanned vehicle preset travel track is based on WGS-
The map reference point of the lower one section of continuous sequence formed of 84 coordinates conversion.
Specifically, in the present embodiment, the optimal path figure planned in advance in cart-mounted computing device input unmanned vehicle in advance,
The map reference point of one section of continuous sequence is converted by WGS-84 coordinate, the map reference point of the continuous sequence is formed institute
Desired guiding trajectory coordinate sequence is stated, the desired guiding trajectory coordinate sequence can use P { p1,p2,p3,...,pi,...,pnIndicate；Wherein,
Some coordinate points in the desired guiding trajectory coordinate sequence are expressed as pi(Xi,Yi).Unmanned vehicle is got by GPS sensor
Real time position, and compared in real time with the coordinate points of desired guiding trajectory coordinate sequence, in time to the unmanned vehicle in driving process
Positional shift correction is carried out, guarantees that unmanned vehicle travels on the optimal path figure planned in advance always, to improve unmanned vehicle certainly
The accuracy and accuracy of main tracking, and then improve the safety of unmanned vehicle traveling.
Unmanned vehicle tracking control method provided in this embodiment can be applied in the public place environments such as scenic spot, garden nobody
Drive in electric vehicle, and can well solve in the public place environments such as scenic spot, garden unmanned electric vehicle in real time from
The problem of leading boat tracking, real-time with higher meets practical application request.It should be noted that in the present invention, being
The safety for ensureing pedestrian and vehicle, in the requirement of the public place environments such as scenic spot, garden, using autonomous tracking controlling party of the invention
The unmanned vehicle travel speed of method is lower than 50,000 ms/h.
On the basis of first embodiment, in a preferred embodiment, after the real time position for obtaining unmanned vehicle, also wrap
It includes:
It is converted based on the unmanned vehicle real-time position information and WGS-84 coordinate, obtains the reality of the unmanned vehicle real time position
When coordinate.
Specifically, in the present embodiment, the cart-mounted computing device obtains the real-time position of unmanned vehicle by receiving GPS signal
It sets, which includes the longitude data and latitude data of the unmanned vehicle real time position, therefore unmanned vehicle real time position
It is represented by pk(latk,lonk), wherein latkIndicate latitude data, lonkIndicate longitude data, the unit of the two is degree.And
Afterwards, unmanned vehicle real time position is subjected to coordinate conversion, i.e., be converted to the longitude data of unmanned vehicle real time position and latitude data
The coordinate of WGS-84 earth coordinates, the real-time coordinates of unmanned vehicle real time position are represented by p after conversionk(Xk,Yk), wherein Xk
And YkUnit be rice.Wherein, coordinate transformation method is the prior art, here with regard to not repeated.It is real-time by unmanned vehicle
The real-time coordinates of position and all coordinate points of desired guiding trajectory coordinate sequence carry out the matching between coordinate and coordinate, and matching is accurate
Property it is higher, in subsequent driving process unmanned vehicle carry out positional shift correct it is more accurate.
Referring to FIG. 2, on the basis of first embodiment, it is in a preferred embodiment, real-time based on the unmanned vehicle
Position and desired guiding trajectory coordinate sequence, the step of carrying out positional shift correction to the tracking path of the unmanned vehicle, specifically include:
S201 matches the real-time coordinates and the desired guiding trajectory coordinate sequence, from the desired guiding trajectory coordinate sequence
It obtains with the real-time coordinates apart from nearest positioning coordinate.
Preferably, in a preferred embodiment of the invention, the real-time coordinates and the desired guiding trajectory coordinate sequence are matched
Column, acquisition include: apart from the step of nearest positioning coordinate with the real-time coordinates
Based on preset distance calculation formulaObtain the desired guiding trajectory coordinate sequence
Some coordinate points p in broomrapei(Xi,Yi) and the real-time coordinates point pk(Xk,Yk) the distance between D；
When the distance D is less than or equal to default minimum threshold of distance, by coordinate points p at this timei(Xi,Yi) be denoted as with
The real-time coordinates are apart from nearest positioning coordinate.
Specifically, the real-time coordinates are matched and the desired guiding trajectory coordinate sequence refers to unmanned vehicle real-time coordinates pk
(Xk,Yk) and desired guiding trajectory coordinate sequence P { p1,p2,p3,...,pi,...,pnIn all coordinate points matched, from pre-
If trajectory coordinates sequence P { p1,p2,p3,...,pi,...,pnIn find with unmanned vehicle real-time coordinates pk(Xk,Yk) and it is closest
Coordinate points, i.e. positioning coordinate.It therefore, can be by calculating unmanned vehicle real-time coordinates pk(Xk,Yk) with desired guiding trajectory coordinate sequence in institute
There is the distance of coordinate points to obtain positioning coordinate.Some coordinate points p in desired guiding trajectory coordinate sequencei(Xi,Yi) sat in real time with unmanned vehicle
Mark pk(Xk,Yk) between the calculation formula of distance beWherein D unit is rice.Vehicle computing
Equipment is calculated by traversal, obtains some coordinate points p in desired guiding trajectory coordinate sequencei(Xi,Yi) and unmanned vehicle real-time coordinates pk
(Xk,Yk) between minimum range be Dmin, work as DminWhen less than or equal to default minimum threshold of distance, successful match, by default rail
This coordinate points p in mark coordinate sequencei(Xi,Yi) be denoted as with the real-time coordinates apart from nearest positioning coordinate.Wherein, described pre-
If minimum threshold of distance is 0.5 meter.
S202 is based on the positioning coordinate, generates local path coordinate sequence.
Preferably, in a preferred embodiment of the invention, according to the positioning coordinate, local path coordinate sequence is generated
The step of include:
Using the positioning coordinate as starting point, all desired guiding trajectories in the positioning coordinate preset range threshold value are acquired
Coordinate sequence generates the local path coordinate sequence.
Specifically, in the present embodiment, cart-mounted computing device is with the positioning coordinate p of successful matchi(Xi,Yi) it is starting point, lead to
All coordinate points for acquiring desired guiding trajectory coordinate sequence track in preset range threshold value are crossed, local path coordinate sequence is formed
Arrange P { pi+1,pi+2,pi+3,...pi+m}.For example, cart-mounted computing device is when preset range threshold value is 20 meters with successful match
Position coordinate pi(Xi,Yi) it is starting point, all coordinate points in subsequent 20 meters of driving path of desired guiding trajectory coordinate sequence of acquisition, shape
At local path coordinate sequence P { pi+1,pi+2,pi+3,...pi+m, i.e. local path coordinate sequence P { pi+1,pi+2,pi+3,
...pi+mIn arbitrary coordinate point pi+m(Xi+m,Yi+m) and positioning coordinate pi(Xi,Yi) distanceIt is all satisfied D1≤20.Wherein, preset range threshold value, can root between 10~30 meters
Numerical value is set according to demand, is exemplified as preference above.
S203 is based on the real-time coordinates and the local path coordinate sequence, calculates the unmanned vehicle tracking offset
Angle carries out positional shift correction to the tracking path to the unmanned vehicle.
Preferably, in a preferred embodiment of the invention, according to the real-time coordinates and the local path coordinate sequence
Column, the step of calculating the angle of the unmanned vehicle tracking offset include:
Choose any coordinate points p of the local path coordinate sequencet(Xt,Yt)；
Based on angle calculation formulaObtain the real-time coordinates point pk(Xk,Yk) and the office
Any coordinate points p of portion's trajectory coordinates sequencet(Xt,Yt) between angle so that the unmanned vehicle can be according to the angle edge
Tracking path carries out positional shift correction.
Specifically, in the present embodiment, the angle calculation of the unmanned vehicle tracking offset refers to sits in real time according to unmanned vehicle
Mark and local trajectory coordinates sequence calculate the angle that unmanned vehicle navigation tracking needs unmanned vehicle longitudinal axis, so that the unmanned vehicle
Positional shift correction can be carried out along tracking path according to the angle.Any coordinate is chosen in local path coordinate sequence first
Point pt(Xt,Yt), then it is according to angle calculation formulaIt calculates acquisition unmanned vehicle and reaches the coordinate points
pt(Xt,Yt) angle that needs unmanned vehicle longitudinal axis according to the angle adjusts traveling of the unmanned vehicle in current driving lane
Track, so that unmanned vehicle is travelled according to the optimal path planned in advance.Wherein, it is selected in choosing local path coordinate sequence
Take any coordinate points pt(Xt,Yt) when, it is general to choose unmanned vehicle real-time coordinates pk(Xk,Yk) local path at 10~15 meters of distance
Coordinate points in coordinate sequence are pt(Xt,Yt), optimal coordinate points pt(Xt,Yt) apart from unmanned vehicle real-time coordinates pk(Xk,Yk)
It is 15 meters, it is ensured that give unmanned vehicle and calculate and the steering reaction time.
Referring to FIG. 3, the second embodiment of the present invention provides a kind of unmanned vehicle Electronic Traction Control System, comprising:
Position acquisition unit 10, for obtaining unmanned vehicle real time position；
Bias correcting unit 20, for being based on the unmanned vehicle real time position and desired guiding trajectory coordinate sequence, to the nothing
The tracking path of people's vehicle carries out positional shift correction；Wherein, the desired guiding trajectory coordinate sequence is the unmanned vehicle preset travel
The map reference point of the lower one section of continuous sequence formed is converted based on WGS-84 coordinate in track.
Preferably, after the position acquisition unit 10 further include:
Coordinate transformation unit, for being converted based on the unmanned vehicle real-time position information and WGS-84 coordinate, described in acquisition
The real-time coordinates of unmanned vehicle real time position.
Preferably, the bias correcting unit 20 includes:
Matching module is sat for matching the real-time coordinates and the desired guiding trajectory coordinate sequence from the desired guiding trajectory
It marks in sequence and obtains with the real-time coordinates apart from nearest positioning coordinate；
Local path produces module, for being based on the positioning coordinate, generates local path coordinate sequence；
Angle calculation module, for be based on the real-time coordinates and the local path coordinate sequence, calculate it is described nobody
The angle of vehicle tracking offset carries out positional shift correction to the tracking path to the unmanned vehicle.
Preferably, the matching module is used for:
Based on preset distance calculation formulaObtain the desired guiding trajectory coordinate sequence
Some coordinate points p in broomrapei(Xi,Yi) and the real-time coordinates point pk(Xk,Yk) the distance between D；
When the distance D is less than or equal to default minimum threshold of distance, by coordinate points p at this timei(Xi,Yi) be denoted as with
The real-time coordinates are apart from nearest positioning coordinate.
Preferably, the local path production module is used for:
Using the positioning coordinate as starting point, all desired guiding trajectories in the positioning coordinate preset range threshold value are acquired
Coordinate sequence generates the local path coordinate sequence.
Preferably, the angle calculation module is used for:
Choose any coordinate points p of the local path coordinate sequencet(Xt,Yt)；
Based on angle calculation formulaObtain the real-time coordinates point pk(Xk,Yk) and the office
Any coordinate points p of portion's trajectory coordinates sequencet(Xt,Yt) between angle so that the unmanned vehicle can be according to the angle edge
Tracking path carries out positional shift correction.
The third embodiment of the present invention also provides a kind of cart-mounted computing device, including memory, processor and is stored in
On reservoir and the computer program that can run on a processor, the processor realize that above-described embodiment mentions when executing described program
The unmanned vehicle tracking control method of confession.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, special
The step of sign is, which realizes unmanned vehicle tracking control method provided by the above embodiment when being executed by processor.
Illustratively, computer program described in the embodiment of the present invention can be divided into one or more modules, described
One or more module is stored in the memory, and is executed by the processor, to complete the present invention.It is one
Or multiple modules can be the series of computation machine program instruction section that can complete specific function, the instruction segment is described for describing
Implementation procedure of the computer program in the realization server apparatus.For example, device described in second embodiment of the invention.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(APPlication Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the unmanned vehicle tracking control method, utilizes the entire institute of various interfaces and connection
State the various pieces for realizing unmanned vehicle tracking control method.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, realizes nobody
The various functions of vehicle tracking control method.The memory can mainly include storing program area and storage data area, wherein storage
It program area can application program needed for storage program area, at least one function (such as sound-playing function, text conversion function
Deng) etc.；Storage data area, which can be stored, uses created data (such as audio data, text message data etc.) according to mobile phone
Deng.It can also include nonvolatile memory in addition, memory may include high-speed random access memory, such as hard disk, interior
Deposit, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card,
Flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Wherein, if the module for realizing service equipment is realized in the form of SFU software functional unit and as independent production
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, the present invention realizes
All or part of the process in above-described embodiment method can also instruct relevant hardware to complete by computer program,
The computer program can be stored in a computer readable storage medium, which is being executed by processor
When, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, described
Computer program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The meter
Calculation machine readable medium may include: can carry the computer program code any entity or device, recording medium, USB flash disk,
Mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
Device (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier wave letter
Number and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned vehicle tracking control method characterized by comprising
Obtain unmanned vehicle real-time position information；
Based on the unmanned vehicle real-time position information and desired guiding trajectory coordinate sequence, position is carried out to the tracking path of the unmanned vehicle
Set bias correcting；Wherein, the desired guiding trajectory coordinate sequence is that unmanned vehicle preset travel track is turned based on WGS-84 coordinate
Change the map reference point for the one section of continuous sequence to be formed.
2. unmanned vehicle tracking control method according to claim 1, which is characterized in that obtain unmanned vehicle real time position it
Afterwards, further includes:
It is converted based on the unmanned vehicle real-time position information and WGS-84 coordinate, obtains the real-time seat of the unmanned vehicle real time position
Mark.
3. unmanned vehicle tracking control method according to claim 2, which is characterized in that be based on the unmanned vehicle real time position
With desired guiding trajectory coordinate sequence, the step of carrying out positional shift correction to the tracking path of the unmanned vehicle, is specifically included:
Match the real-time coordinates and the desired guiding trajectory coordinate sequence, from the desired guiding trajectory coordinate sequence obtain with it is described
Real-time coordinates are apart from nearest positioning coordinate；
Based on the positioning coordinate, local path coordinate sequence is generated；
Based on the real-time coordinates and the local path coordinate sequence, the angle of the unmanned vehicle tracking offset is calculated, to
Positional shift correction is carried out to the tracking path of the unmanned vehicle.
4. unmanned vehicle tracking control method according to claim 3, which is characterized in that match the real-time coordinates with it is described
Desired guiding trajectory coordinate sequence, acquisition include: apart from the step of nearest positioning coordinate with the real-time coordinates
Based on preset distance calculation formulaThe desired guiding trajectory coordinate sequence is obtained to work as
In some coordinate points pi(Xi,Yi) and the real-time coordinates point pk(Xk,Yk) the distance between D；
When the distance D is less than or equal to default minimum threshold of distance, by coordinate points p at this timei(Xi,Yi) be denoted as with it is described
Real-time coordinates are apart from nearest positioning coordinate.
5. unmanned vehicle tracking control method according to claim 4, which is characterized in that according to the positioning coordinate, generate
The step of local path coordinate sequence includes:
Using the positioning coordinate as starting point, all desired guiding trajectory coordinates in the positioning coordinate preset range threshold value are acquired
Sequence generates the local path coordinate sequence.
6. unmanned vehicle tracking control method according to claim 5, which is characterized in that according to real-time coordinates and described
Local path coordinate sequence, the step of calculating the angle of the unmanned vehicle tracking offset include:
Choose any coordinate points p of the local path coordinate sequencet(Xt,Yt)；
Based on angle calculation formulaObtain the real-time coordinates point pk(Xk,Yk) and the local rail
Any coordinate points p of mark coordinate sequencet(Xt,Yt) between angle so that the unmanned vehicle can be according to the angle along tracking
Path carries out positional shift correction.
7. a kind of unmanned vehicle Electronic Traction Control System characterized by comprising
Position acquisition unit, for obtaining unmanned vehicle real time position；
Bias correcting unit, for being based on the unmanned vehicle real time position and desired guiding trajectory coordinate sequence, to the unmanned vehicle
Tracking path carries out positional shift correction；Wherein, the desired guiding trajectory coordinate sequence is unmanned vehicle preset travel track base
The map reference point of the lower one section of continuous sequence formed is converted in WGS-84 coordinate.
8. unmanned vehicle Electronic Traction Control System according to claim 7, which is characterized in that the bias correcting unit includes:
Matching module, for matching the real-time coordinates and the desired guiding trajectory coordinate sequence, from the desired guiding trajectory coordinate sequence
It obtains with the real-time coordinates in column apart from nearest positioning coordinate；
Local path produces module, for being based on the positioning coordinate, generates local path coordinate sequence；
Angle calculation module calculates the unmanned vehicle and follows for being based on the real-time coordinates and the local path coordinate sequence
The angle of trace displacement carries out positional shift correction to the tracking path to the unmanned vehicle.
9. a kind of cart-mounted computing device, can run on a memory and on a processor including memory, processor and storage
Computer program, which is characterized in that the processor realizes the unmanned vehicle as described in claim 1~6 when executing described program
Tracking control method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of the claim 1~6 unmanned vehicle tracking control method is realized when execution.
Priority Applications (1)
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| CN111079079A (en) * | 2019-11-29 | 2020-04-28 | 北京百度网讯科技有限公司 | Data correction method and device, electronic equipment and computer readable storage medium |
| CN111335271A (en) * | 2020-03-18 | 2020-06-26 | 陕西省引汉济渭工程建设有限公司 | Unmanned rolling method and system for roller compacted concrete dam and application |
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| CN111079079A (en) * | 2019-11-29 | 2020-04-28 | 北京百度网讯科技有限公司 | Data correction method and device, electronic equipment and computer readable storage medium |
| CN111079079B (en) * | 2019-11-29 | 2023-12-26 | 北京百度网讯科技有限公司 | Data correction method, device, electronic equipment and computer readable storage medium |
| CN110941277B (en) * | 2019-12-13 | 2023-02-17 | 华南智能机器人创新研究院 | Trolley route planning method and system |
| CN110941277A (en) * | 2019-12-13 | 2020-03-31 | 华南智能机器人创新研究院 | Trolley route planning method and system |
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| CN111335271A (en) * | 2020-03-18 | 2020-06-26 | 陕西省引汉济渭工程建设有限公司 | Unmanned rolling method and system for roller compacted concrete dam and application |
| CN111519482A (en) * | 2020-04-30 | 2020-08-11 | 中铁工程机械研究设计院有限公司 | Navigation control method of track laying machine, track laying machine and track laying machine system |
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| CN111798517A (en) * | 2020-07-01 | 2020-10-20 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for determining travel track, readable medium and electronic equipment |
| CN111947660A (en) * | 2020-07-15 | 2020-11-17 | 深圳拓邦股份有限公司 | Course correcting method and device |
| CN111947660B (en) * | 2020-07-15 | 2024-03-29 | 深圳拓邦股份有限公司 | Course correction method and device |
| CN111994078A (en) * | 2020-09-04 | 2020-11-27 | 深圳冰河导航科技有限公司 | Driving deviation correction method, device and equipment applied to automatic driving and storage medium |
| CN111994078B (en) * | 2020-09-04 | 2024-01-26 | 深圳冰河导航科技有限公司 | Driving deviation correcting method, device and equipment applied to automatic driving and storage medium |
| CN113238553A (en) * | 2021-04-30 | 2021-08-10 | 齐鲁工业大学 | Auxiliary positioning system and positioning method based on four-wheel omnidirectional chassis |
| CN113271547A (en) * | 2021-05-24 | 2021-08-17 | 福建盛海智能科技有限公司 | Unmanned tracking driving method and terminal based on UWB array positioning navigation |
| CN116686535A (en) * | 2023-06-30 | 2023-09-05 | 哈尔滨市大地勘察测绘有限公司 | Unmanned harvester control method and system based on data analysis |
| CN116686535B (en) * | 2023-06-30 | 2023-12-01 | 哈尔滨市大地勘察测绘有限公司 | Unmanned harvester control method and system based on data analysis |
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