CN113050622A - Method and system for controlling path tracking of unmanned road roller, server and medium - Google Patents
Method and system for controlling path tracking of unmanned road roller, server and medium Download PDFInfo
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- CN113050622A CN113050622A CN202110135730.2A CN202110135730A CN113050622A CN 113050622 A CN113050622 A CN 113050622A CN 202110135730 A CN202110135730 A CN 202110135730A CN 113050622 A CN113050622 A CN 113050622A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/262—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles pedestrian-controlled, e.g. with safety arrangements for operator
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a method and a system for controlling path tracking of an unmanned road roller, a server and a medium, wherein the method comprises the steps of calculating a target scale and a weight value of a steel wheel deflection angle based on a projection point and a target scale and a weight value of a steel wheel deflection angle based on a pre-aiming point; and calculating the target scale of the steel wheel deflection angle, and obtaining the target rotation angle of the output steering wheel to the steering motor according to the size of the target scale relative to the real-time scale, so that the problems of steering execution error and time delay of the unmanned road roller are solved, the reconstruction cost of the unmanned road roller is reduced, and the accuracy of path tracking control is improved. The path tracking control method of the unmanned road roller can be suitable for the low-cost reconstructed unmanned road roller, does not depend on the execution precision of a steering mechanism, solves the problem of steering execution errors of the unmanned road roller, can improve the path tracking control precision of the unmanned road roller, and improves the road roller construction quality.
Description
Technical Field
The invention relates to an automatic driving technology of an engineering vehicle, in particular to a method and a system for controlling path tracking of an unmanned road roller, a server and a medium.
Background
The vibratory roller is used as an important engineering machine and widely applied to engineering construction such as road compaction, construction site leveling and the like. Construction of capital construction projects often needs to face dangerous sections and severe environments, such as mountainous roads, rivers, reservoirs and dams, and threatens the personal safety of constructors. Meanwhile, the construction of the vibratory roller is accompanied by severe vibration, harmful gas and dust in a construction site, high temperature and heat in the construction site and the like, so that the physical health and the working efficiency of operators are influenced. The unmanned road roller is developed to fundamentally solve the problems, meanwhile, the unmanned road roller reduces the labor cost, and the construction efficiency can be improved by all-weather continuous work.
When the unmanned road roller performs automatic rolling operation, the whole rolling process quality is influenced by the path tracking error, so that the improvement of the tracking control precision is of great importance. The current unmanned road rollers are provided with high-precision control equipment, so that the reconstruction cost is high; other tracking control methods depend on an accurate model of the road roller, do not consider the aging problem and the execution precision problem of an execution mechanism of the road roller, and are low in control precision caused by modeling errors.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a method and a system for controlling path tracking of an unmanned road roller, a server and a medium, and solves the problem that driving fatigue is easily caused because a driver needs to drive under the condition of high concentration in the existing manual driving.
In order to achieve the technical purpose, a first aspect of the technical solution of the present invention provides a method for controlling path tracking of an unmanned road roller, which includes the following steps:
calculating a steel wheel deflection angle target scale d based on a projection point according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1；
Selecting a pre-aiming point on a path, acquiring the current position and the course of the center of a steel wheel of the unmanned road roller, and calculating a steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
According to the target scale d of the deflection angle of the steel wheel based on the projection point1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Meter for measuringCalculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the d in real time according to the target scale dtThe target steering wheel angle omega is obtained and is output to the steering motor.
The invention provides a path tracking control system of an unmanned road roller, which comprises the following functional modules:
the projection point parameter calculation module is used for calculating the steel wheel deflection angle target scale d based on the projection point according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1；
The pre-aiming point parameter calculation module is used for selecting a pre-aiming point on a path, acquiring the current position and the course of the center of a steel wheel of the unmanned road roller, and calculating the steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
A steering wheel target corner calculation module used for calculating the target scale d according to the steel wheel deflection angle based on the projection point1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Calculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the scale d in real time according to the target scale dtThe target steering wheel angle omega is obtained and is output to the steering motor.
A third aspect of the present invention provides a server, which includes a memory, a processor and a computer program stored in the memory and operable on the processor, and when the processor executes the computer program, the processor implements the steps of the method for controlling path tracking of an unmanned road roller.
A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of an unmanned road roller path tracking control method as described above.
Compared with the prior art, the method, the system, the server and the medium for controlling the path tracking of the unmanned road roller are characterized in that the target scale and the weight value of the steel wheel deflection angle based on the projection point and the target scale and the weight value of the steel wheel deflection angle based on the pre-aiming point are obtained; and calculating the target scale of the steel wheel deflection angle, and obtaining the target rotation angle of the output steering wheel to the steering motor according to the size of the target scale relative to the real-time scale, so that the problems of steering execution error and time delay of the unmanned road roller are solved, the reconstruction cost of the unmanned road roller is reduced, and the accuracy of path tracking control is improved. The path tracking control method of the unmanned road roller can be suitable for the low-cost reconstructed unmanned road roller, does not depend on the execution precision of a steering mechanism, solves the problem of steering execution errors of the unmanned road roller, can improve the path tracking control precision of the unmanned road roller, and improves the road roller construction quality.
Drawings
Fig. 1 is a flow chart of a method for controlling path tracking of an unmanned road roller according to an embodiment of the present invention;
fig. 2 is a schematic view of a course deviation of a projection point at the center of a steel wheel of an unmanned road roller in the unmanned road roller path tracking control method according to the embodiment of the invention;
fig. 3 is a schematic diagram of heading deviation of a preview point in a method for controlling path tracking of an unmanned road roller according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a left/right maximum deflection angle of a steel wheel of an unmanned road roller in the method for controlling path tracking of an unmanned road roller according to the embodiment of the present invention;
fig. 5 is a block diagram of a path tracking control system of an unmanned road roller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling path tracking of an unmanned road roller, including the following steps:
s1, according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time navigation of the center of the steel wheelTo calculate the steel wheel deflection angle target scale d based on the projection point1And weight value k1。
Specifically, the center of a steel wheel is vertically projected on a path to obtain the course angle alpha of a projection point1And the distance l from the center of the steel wheel to the projected point, and the heading angle β of the center of the steel wheel, as shown in fig. 2.
According to course angle alpha of projection point1Calculating the target scale d of the deflection angle of the steel wheel according to the heading angle beta of the center of the steel wheel1(ii) a Steel wheel deflection angle target scale d based on projection points1The calculation formula of (a) is as follows:
d1＝kp1(α1-β)+d0
wherein k isp1Is a proportionality coefficient; d0The scale value of the angle encoder corresponding to the steel wheel with a deflection angle of 0 degree; when d is1>dmaxWhen d is reached1＝dmax(ii) a When d is1<dminWhen d is reached1＝dmin(ii) a Wherein d ismaxScale value of angle encoder corresponding to left maximum deflection angle of steel wheel, dminThe scale value of the angle encoder corresponding to the rightwards maximum deflection angle of the steel wheel; as shown in fig. 4.
Obtaining the maximum position deviation parameter and the minimum position deviation parameter of the steel wheel, and calculating the steel wheel deflection angle scale value d based on the projection point according to the maximum position deviation parameter and the minimum position deviation parameter1Weight value k of1The steel wheel deflection angle scale value d based on the projection point1Weight value k of1The calculation formula of (a) is as follows:
wherein lmaxAnd lminThe maximum position deviation parameter and the minimum position deviation parameter of the steel wheel.
S2, selecting a pre-aiming point on the path, acquiring the current position and the heading of the center of the steel wheel of the unmanned road roller, and calculating the steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2。
Specifically, as shown in fig. 3, a distance l from the center of the steel wheel to the projection point is obtained, and a pre-aiming distance s is calculated according to the distance l from the center of the steel wheel to the projection point, wherein a calculation formula of the pre-aiming distance s is as follows:
wherein s ismax、sminRespectively, a maximum preview distance and a minimum preview distance,/maxIs the maximum position deviation, if>lmaxLet l equal to lmax。
The position of the preview point is obtained by extending the preview distance s along the extending direction of the path with the projection point as the starting point, and the position (x) of the preview point is determined according to the position of the preview point1,y1) And the center position (x) of the steel wheel2,y2) Determining a pre-aiming heading alpha2The heading α of the preview2The calculation formula of (a) is as follows:
obtaining the heading angle beta of the center of the steel wheel, and calculating the target scale d of the deflection angle of the steel wheel based on the pre-aiming point according to the pre-aiming heading and the heading angle beta of the center of the steel wheel2: the steel wheel deflection angle scale d based on the preview point2The calculation formula of (a) is as follows:
d2＝kp2(α2-β)+d0
wherein k isp2Is a proportionality coefficient; when d is2>dmaxWhen d is reached2＝dmax(ii) a When d is2<dminWhen d is reached2＝dmin。
Obtaining a maximum position deviation parameter and a minimum position deviation parameter, and calculating a steel wheel deflection angle target scale d based on a preview point according to the maximum position deviation parameter and the minimum position deviation parameter2Weight value k of2The steel wheel deflection angle target scale d based on the preview point2Weight of (2)Value k2The calculation formula of (a) is as follows:
wherein lmaxAnd lminThe maximum positional deviation parameter and the minimum positional deviation parameter.
S3, according to the steel wheel deflection angle target scale d based on the projection point1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2And calculating a target scale d of the steel wheel deflection angle, wherein the calculation formula of the target scale d of the steel wheel deflection angle is as follows:
d＝k1d1+k2d2
when d is>dmaxWhen d is equal to dmax(ii) a When d is<dminWhen d is equal to dmin(ii) a Wherein d ismaxScale value of angle encoder corresponding to left maximum deflection angle of steel wheel, dminAnd the scale value of the angle encoder corresponding to the rightmost maximum deflection angle of the steel wheel.
According to the relative real-time scale d of the target scale dtObtaining a target steering wheel rotation angle omega, and sending the target steering wheel rotation angle omega to a steering motor, wherein the target steering wheel angle omega is calculated according to the following formula:
where θ is the steering wheel angle increment, δ is the threshold for steering execution, dtIs a real-time scale of the deflection angle of the steel wheel, omegatAnd the real-time angle value of the steering wheel.
And taking omega as the control quantity of the current control period, and sending the control quantity to the steering execution motor.
The invention relates to a path tracking control method of an unmanned road roller, which comprises the following steps of according to steel wheel deflection angle target scale and a weight value based on a projection point and steel wheel deflection angle target scale and a weight value based on a preview point; and calculating target scales of the steel wheel deflection angle, and comparing the target rotation angle of the output steering wheel to the steering motor according to the size of the target scales relative to the real-time scales, so that the problems of steering execution errors and time delay of the unmanned road roller are solved, the reconstruction cost of the unmanned road roller is reduced, and the accuracy of path tracking control is improved. The path tracking control method of the unmanned road roller can be suitable for the low-cost reconstructed unmanned road roller, does not depend on the execution precision of a steering mechanism, solves the problem of steering execution errors of the unmanned road roller, can improve the path tracking control precision of the unmanned road roller, and improves the road roller construction quality.
As shown in fig. 5, an embodiment of the present invention further discloses a path tracking control system for an unmanned road roller, which includes the following functional modules:
a projection point parameter calculation module 10, configured to calculate a steel wheel deflection angle target scale d based on a projection point according to a heading of a projection point of a center of a steel wheel of the unmanned road roller on a path and a real-time heading of the center of the steel wheel1And weight value k1；
The pre-aiming point parameter calculation module 20 is used for selecting a pre-aiming point on a path, acquiring the current position and the course of the center of the steel wheel of the unmanned road roller, and calculating the steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
A steering wheel target rotation angle calculation module 30 for calculating a target scale d according to the steel wheel deflection angle based on the projection points1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Calculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the scale d in real time according to the target scale dtThe target steering wheel angle omega is obtained and is output to the steering motor.
The execution mode of the path tracking control system of the unmanned road roller in this embodiment is basically the same as that of the path tracking control method of the unmanned road roller, and therefore, detailed description is omitted.
The server in this embodiment is a device for providing computing services, and generally refers to a computer with high computing power, which is provided to a plurality of consumers via a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment does not constitute a limitation of the terminal device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The memory contains an executable program of the unmanned road roller path tracking control method, the executable program can be divided into one or more modules/units, the one or more modules/units are stored in the memory and executed by the processor to complete the information acquisition and implementation process, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the server. For example, the computer program may be divided into a projected point parameter calculation module, a pre-pointing point parameter calculation module, and a steering wheel target rotation angle calculation module.
The processor is a control center of the server, connects various parts of the whole terminal equipment by various interfaces and lines, and executes various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. Alternatively, the processor may include one or more processing units; preferably, the processor may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The system bus is used to connect functional units in the computer, and can transmit data information, address information and control information, and the types of the functional units can be PCI bus, ISA bus, VESA bus, etc. The system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices such as network interfaces, display devices, etc.
The server at least includes a CPU, a chipset, a memory, a disk system, and the like, and other components are not described herein again.
In the embodiment of the present invention, the executable program executed by the processor included in the terminal specifically includes: a path tracking control method for an unmanned road roller comprises the following steps:
calculating a steel wheel deflection angle target scale d based on a projection point according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1；
Selecting a pre-aiming point on a path, acquiring the current position and the course of the center of a steel wheel of the unmanned road roller, and calculating a steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
According to the target scale d of the deflection angle of the steel wheel based on the projection point1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Calculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the scale d in real time according to the target scale dtThe target rotation angle omega of the output steering wheel to the steering motor is obtained through comparison of the target rotation angle omega of the output steering wheel and the target rotation angle omega of the output steering wheel.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A path tracking control method of an unmanned road roller is characterized by comprising the following steps:
calculating a steel wheel deflection angle target scale d based on a projection point according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1；
Selecting a pre-aiming point on a path, acquiring the current position and the course of the center of a steel wheel of the unmanned road roller, and calculating a steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
According toSteel wheel deflection angle target scale d based on projection points1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Calculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the scale d in real time according to the target scale dtThe target steering wheel angle omega is obtained and is output to the steering motor.
2. The method for controlling path tracking of the unmanned road roller as claimed in claim 1, wherein the target scale d of the steel wheel deflection angle based on the projected point is calculated according to the course of the projected point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1(ii) a The method comprises the following steps:
vertically projecting the center of the steel wheel to a path to obtain the course angle alpha of a projection point1The distance l from the center of the steel wheel to the projection point and the course angle beta of the center of the steel wheel;
according to course angle alpha of projection point1Calculating the target scale d of the deflection angle of the steel wheel according to the heading angle beta of the center of the steel wheel1；
Obtaining a maximum position deviation parameter and a minimum position deviation parameter, and calculating a steel wheel deflection angle scale value d based on a projection point according to the maximum position deviation parameter and the minimum position deviation parameter1Weight value k of1The steel wheel deflection angle scale value d based on the projection point1Weight value k of1The calculation formula of (a) is as follows:
wherein lmaxAnd lminThe maximum positional deviation parameter and the minimum positional deviation parameter.
3. The method for controlling path tracking of the unmanned road roller as claimed in claim 2, wherein the steel wheel deflection angle target scale d based on the projection point1The calculation formula of (a) is as follows:
d1＝kp1(α1-β)+d0
wherein k isp1Is a proportionality coefficient; d0The scale value of the angle encoder corresponding to the steel wheel with a deflection angle of 0 degree; when d is1>dmaxWhen d is reached1＝dmax(ii) a When d is1<dminWhen d is reached1＝dmin(ii) a Wherein d ismaxScale value of angle encoder corresponding to left maximum deflection angle of steel wheel, dminAnd the scale value of the angle encoder corresponding to the rightmost maximum deflection angle of the steel wheel.
4. The method for controlling path tracking of the unmanned road roller as claimed in claim 1, wherein the method comprises selecting a pre-aiming point on the path, obtaining the current position and the heading of the center of the steel wheel of the unmanned road roller, and calculating the steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2(ii) a The method comprises the following steps:
acquiring the distance l from the center of the steel wheel to a projection point, calculating a pre-aiming distance s according to the distance l from the center of the steel wheel to the projection point, and extending the pre-aiming distance s along the extending direction of the path by taking the projection point as a starting point to obtain the position of the pre-aiming point;
determining the pre-aiming course alpha according to the position of the pre-aiming point and the central position of the steel wheel2Acquiring the heading angle beta of the center of the steel wheel, and calculating the target scale d of the deflection angle of the steel wheel based on the pre-aiming point according to the pre-aiming heading and the heading angle beta of the center of the steel wheel2：
Obtaining a maximum position deviation parameter and a minimum position deviation parameter, and calculating a steel wheel deflection angle target scale d based on a preview point according to the maximum position deviation parameter and the minimum position deviation parameter2Weight value k of2，
Steel wheel deflection angle target scale d based on preview point2The calculation formula of (a) is as follows:
d2＝kp2(α2-β)+d0
wherein k isp2Is a proportionality coefficient;
steel wheel deflection angle target scale d based on preview point2Weight value k of2The calculation formula of (a) is as follows:
wherein lmaxAnd lminThe maximum positional deviation parameter and the minimum positional deviation parameter.
5. The method for path tracking control of the unmanned road roller according to claim 4, wherein the calculation formula of the pre-aiming distance s is as follows:
wherein s ismax、sminRespectively, a maximum preview distance and a minimum preview distance,/maxIs the maximum position deviation, if>lmaxLet l equal to lmax。
6. The method for controlling path tracking of the unmanned road roller according to claim 1, wherein a calculation formula of the target scale d of the steel wheel deflection angle is as follows:
d＝k1d1+k2d2
when d is>dmaxWhen d is equal to dmax(ii) a When d is<dminWhen d is equal to dmin(ii) a Wherein d ismaxScale value of angle encoder corresponding to left maximum deflection angle of steel wheel, dminAnd the scale value of the angle encoder corresponding to the rightmost maximum deflection angle of the steel wheel.
7. The method for controlling path tracking of the unmanned road roller according to claim 1, wherein the target angle ω of the steering wheel is calculated according to the following formula:
where θ is the steering wheel angle increment, δ is the threshold for steering execution, dtIs a real-time scale of the deflection angle of the steel wheel, omegatAnd the real-time angle value of the steering wheel.
8. The path tracking control system of the unmanned road roller is characterized by comprising the following functional modules:
the projection point parameter calculation module is used for calculating the steel wheel deflection angle target scale d based on the projection point according to the course of the projection point of the center of the steel wheel of the unmanned road roller on the path and the real-time course of the center of the steel wheel1And weight value k1；
The pre-aiming point parameter calculation module is used for selecting a pre-aiming point on a path, acquiring the current position and the course of the center of a steel wheel of the unmanned road roller, and calculating the steel wheel deflection angle target scale d based on the pre-aiming point2And weight value k2；
A steering wheel target corner calculation module used for calculating the target scale d according to the steel wheel deflection angle based on the projection point1And weight value k1And steel wheel deflection angle target scale d based on preview point2And weight value k2Calculating a target scale d of the deflection angle of the steel wheel, and relatively calibrating the scale d in real time according to the target scale dtThe target steering wheel angle omega is obtained and is output to the steering motor.
9. A server comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor when executing the computer program implements the steps of the method of unmanned road roller path tracking control according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for path tracking control of an unmanned road roller according to any one of claims 1 to 7.
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