CN113212538B - Method and terminal for autonomously correcting direction of remote-control unmanned vehicle - Google Patents
Method and terminal for autonomously correcting direction of remote-control unmanned vehicle Download PDFInfo
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- CN113212538B CN113212538B CN202110563744.4A CN202110563744A CN113212538B CN 113212538 B CN113212538 B CN 113212538B CN 202110563744 A CN202110563744 A CN 202110563744A CN 113212538 B CN113212538 B CN 113212538B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
Abstract
The invention discloses a method and a terminal for automatically correcting the direction of a remote control unmanned vehicle, which comprises the steps of firstly determining that the speed of the current vehicle is greater than or equal to a preset speed value; then obtaining a deviation value between the target direction of the current vehicle and the traveling direction; then obtaining a steering correction angle value according to the deviation value; then, receiving a steering angle control value of the steering wheel by remote manual operation; and finally, weighting the average correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value. The invention can restrain or correct the deviation of the vehicle driving direction and the steering control operation of the operator by the data detected by the vehicle, overcomes the difficulties of communication delay and the like existing by completely depending on remote control, and can realize the purpose of stably controlling the vehicle to keep straight running under the condition of high-speed driving of the vehicle without influencing low-speed remote control.
Description
Technical Field
The invention relates to the technical field of unmanned remote control, in particular to a method and a terminal for autonomously correcting the direction of a remotely-controlled unmanned vehicle.
Background
The existing remote control unmanned driving technology has the problems of communication delay, control delay, feedback delay, communication interference interruption and the like, and brings a lot of difficulties for the use of a non-line-of-sight remote control vehicle. On the one hand, in such communication control situations, the remote control driving difficulties faced by the operator are often overcome without extensive experience. Particularly, under the condition of remotely controlling a vehicle running at a high speed or short-time communication interruption, an operator cannot obtain video feedback, and misoperation is easy to occur. On the other hand, in an ideal case, the vehicle steering remains in the middle, and the vehicle should travel straight. However, in actual situations, whether the vehicle can keep running straight or not is influenced by many factors such as steering control precision, mechanical structure clearance, vehicle body weight distribution, tire air pressure conditions and the like, and the operator is inevitably required to control the vehicle steering to realize high-speed running straight. Therefore, when the remote control vehicle is running, especially when the vehicle is out of the visual range of the operator, it is very difficult for the operator to perform steering correction on the vehicle by means of the operator.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the terminal is used for automatically correcting the vehicle advancing direction at the unmanned vehicle end so as to stably control the vehicle to keep straight running under the condition of high-speed running of the vehicle.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for autonomously correcting the direction of a remote-controlled unmanned vehicle comprises the following steps:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a remote controlled autonomous vehicle direction correction terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
In conclusion, the beneficial effects of the invention are as follows: when the speed of the vehicle is greater than a preset speed value, a deviation value of the vehicle and a target direction is obtained and converted into a steering correction angle value which needs to be adjusted back by a steering wheel, the steering correction angle value is used as a data basis for correcting the vehicle direction, and the steering correction angle value and a steering angle control value from remote manual operation are weighted and averaged to form a final control angle value to control the steering wheel to steer the vehicle.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a method for autonomously correcting the direction of a remotely controlled unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a system for automatically correcting the direction of a remotely-controlled unmanned vehicle according to an embodiment of the present invention.
Description of reference numerals:
1. a remote control unmanned vehicle direction self-correction terminal; 2. a processor; 3. a memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for autonomously correcting a direction of a remotely controlled unmanned vehicle includes the following steps:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
From the above description, the beneficial effects of the present invention are: when the speed of the vehicle is greater than a preset speed value, a deviation value of the vehicle and a target direction is obtained and converted into a steering correction angle value which needs to be adjusted back by a steering wheel, the steering correction angle value is used as a data basis for correcting the direction of the vehicle, and the steering correction angle value and a steering angle control value from remote manual operation are weighted and averaged to form a final control angle value to control the steering wheel to steer the vehicle.
Further, the otherwise judging again includes:
if not, receiving a steering angle control value of the steering wheel by remote manual operation, and controlling the steering wheel to steer according to the steering angle control value;
and obtaining the current vehicle speed again and judging.
As can be seen from the above description, when the vehicle speed is lower than the preset speed value, i.e., the current vehicle is not traveling at a speed greater than or equal to 40km/h, the operator has enough time to react to the change in the traveling direction of the vehicle and perform the remote operation. Therefore, the current vehicle only needs to operate the driving direction according to the received steering angle control value of the steering wheel through remote manual operation. Further, a vehicle traveling at high speed is considered to be traveling straight without a significant directional change such as cornering. A vehicle traveling at a low speed may turn a corner or the like. Different control modes are adopted according to different vehicle speeds, so that remote control of an operator on low-speed running of the vehicle is not influenced.
Further, the receiving a steering angle manipulation value of the remote manual operation on the steering wheel includes:
and receiving angle control data of the steering wheel by remote manual operation and multiplying the angle control data by a preset proportion to obtain the steering angle control value.
As can be seen from the above description, the angle control data of the steering wheel is adjusted in a preset ratio for manual operation. Under the condition that the speed of the current vehicle is higher, the angle control data can be reduced properly, namely the actual steering angle of the steering wheel is smaller than the angle displayed by the angle control data of the steering wheel through manual operation. Therefore, the control sensitivity of manual operation on the steering wheel can be reduced, and dangerous steering operation such as turning of a vehicle running at high speed caused by overlarge angle control data of the manual operation is avoided.
Further, the preset speed value is 60 km/h.
From the above description, it can be seen that when the vehicle speed is greater than or equal to 60km/h, the current vehicle can be considered to be moving in a nearly straight line. If the vehicle at such a traveling speed deviates in direction, it is difficult for the operator to timely find the vehicle and make an adjustment accordingly. Therefore, the unmanned vehicle end can automatically correct the vehicle advancing direction by using the method of the invention and keep going straight.
Further, the preset proportion is specifically as follows:
if the speed of the current vehicle is less than 50km/h, setting the coefficient to be 1;
if the speed of the current vehicle is greater than or equal to 50km/h and less than or equal to 60km/h, setting the coefficient to be the difference between one tenth of the speed value and 6;
if the speed of the current vehicle is greater than 60km/h, setting the coefficient to be 0;
setting the actual rotatable amplitude value of the steering wheel to be 600 degrees multiplied by the coefficient and then added to 300 degrees;
and dividing the actual rotatable amplitude value by the initial rotatable amplitude value to obtain the preset proportion.
From the above description, the initial rotatable amplitude value of the steering wheel is appropriately changed according to the actual condition of the vehicle speed; when the speed of the current vehicle is less than 50km/h, the actual rotatable amplitude value of the steering wheel is equal to the 900 DEG left-right rotation angle range of the steering wheel of the general vehicle. When the speed of the current vehicle is more than 60km/h, the actual rotatable amplitude value of the steering wheel is limited to be within the range of 300 degrees, and the amplitude range in which the vehicle can rotate can be effectively limited, so that the vehicle is more focused on driving forwards. When the current vehicle speed is between 50km/h and 60km/h, the change of the vehicle speed corresponds to a change process of reducing the actual rotatable amplitude value from 900 degrees to 300 degrees, and a transition effect is realized, so that an operator can adapt to the change from the initial rotatable amplitude value to the actual rotatable amplitude value before the vehicle enters high-speed running. The change ratio of the initial rotatable amplitude value and the actual rotatable amplitude value is used as a preset ratio to change angle control data of manual operation on the steering wheel, so that the initial rotatable amplitude and the specific angle control data of the manual operation steering wheel are changed into a real effective actual rotatable amplitude value and a steering angle operation value falling into the range of the rotatable amplitude value according to the same ratio, the control sensitivity of unmanned remote manual operation on the steering wheel is reduced, and the condition that the steering amplitude of a vehicle running at high speed is overlarge and danger is caused is avoided.
Further, the initial rotatable amplitude value is 900 °.
As can be seen from the above description, the initial rotatable amplitude value is 900 ° of the steering wheel rotation suitable for a typical vehicle. Through the above-described relationship between the current vehicle speed and the coefficient, 900 ° is reduced to a value in the range of 300 ° to 900 °, thereby limiting the steering range of the vehicle so that the advancing direction of the vehicle is more concentrated on a straight line.
Further, the weighted average of the correction angle values to obtain a final control angle value specifically includes:
and multiplying the correction angle value by a first weight and multiplying the steering angle control value by a second weight, and then summing to obtain the final control angle value, wherein the first weight is 0.4, and the second weight is 0.6.
As can be seen from the above description, the above is a specific calculation process of the weighted average. The first weight and the second weight can be used for obtaining, and the weight of the steering angle control value is larger and is used as a main influence factor for controlling the steering of the vehicle. The correction angle value is relatively less weighted and mainly has the effect of correcting the steering angle of the vehicle.
Further, the deviation value, the correction angle value, the steering angle control value, the angle control data and the final control angle value all take a positive value as a right deviation of the vehicle, a negative value as a left deviation of the vehicle, and 0 degree as a zero deviation of the vehicle.
As is apparent from the above description, the data concerning the steering control of the vehicle is defined symbolically to facilitate the calculation processing. A vehicle right deviation of positive value, for example +30, indicates that the steering wheel of the vehicle is turned 30 to the right. A negative vehicle left offset, e.g., -30 deg., indicates that the vehicle's steering wheel is turning 30 deg. to the left. The vehicle takes 0 ° without shifting.
Further, the obtaining of the current target direction of vehicle travel specifically includes:
and obtaining the real-time advancing direction angle value of the vehicle through satellite positioning for multiple times, and taking the average value as the target direction.
As can be seen from the above description, in a high-speed driving state where the speed is greater than the preset speed value, the current vehicle may be considered to move in a nearly straight line. Therefore, the real-time advancing direction angle values of the vehicle are obtained through satellite positioning for multiple times, and then the average value is obtained, so that the current advancing direction, namely the target direction, of the vehicle which needs to advance when the vehicle keeps running at high speed can be approximately used.
Referring to fig. 2, a remote control unmanned vehicle direction autonomous correction terminal 1 includes a memory 3, a processor 2 and a computer program stored on the memory 3 and operable on the processor 2, wherein the processor 2 implements the following steps when executing the computer program:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
From the above description, the beneficial effects of the present invention are: the processor 2 obtains a deviation value between the vehicle and a target direction and converts the deviation value into a steering correction angle value which needs to be adjusted back by a steering wheel when the speed of the vehicle is greater than a preset speed value, the steering correction angle value is used as a data basis for correcting the vehicle direction, and the steering correction angle value and a steering angle control value from remote manual operation are weighted and averaged to form a final control angle value to control the steering wheel to steer the vehicle.
Referring to fig. 1, a first embodiment of the present invention is:
a method for autonomously correcting the direction of a remotely controlled unmanned vehicle, as shown in fig. 1, comprising the steps of:
and S1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h.
In the present embodiment, the vehicle speed of the current vehicle is determined to confirm whether the traveling speed of the current vehicle is within a higher speed range. For vehicles at greater than or equal to 40km/h, the deviation of the driving direction from the target direction is difficult to be timely discovered and adjusted by the remote operator. In particular, when the vehicle is not within the visual range of the remote operator, the vehicle is very dangerous to run due to delayed operation or erroneous operation of the remote operator. Therefore, a direction correction is required for the present vehicle at a higher speed.
In this embodiment, in step S1, when the vehicle speed of the current vehicle does not satisfy the above condition, the remote manual operation is received to control the steering wheel to steer according to the steering angle manipulation value, and then the current vehicle speed is obtained again and determined. When the speed of the vehicle is lower than 40km/h, the vehicle can be steered by remote manual operation.
In this embodiment, the preset speed value can be 60km/h, and in other equivalent embodiments, 506km/h, 70km/h, etc. can be selected according to actual situations.
S2, acquiring the target direction and the advancing direction of the current vehicle, judging whether a deviation value exists between the advancing direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again.
The target direction is obtained by averaging after real-time advancing direction angle values of the vehicle are obtained through satellite positioning for multiple times.
And S3, receiving a steering angle control value of the steering wheel by remote manual operation, weighting the average correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
In this embodiment, the step of obtaining the final control angle value by weighting the average correction angle value specifically includes:
and multiplying the correction angle value by a first weight and multiplying the steering angle control value by a second weight, and then summing to obtain a final control angle value, wherein the first weight is 0.4, and the second weight is 0.6.
Therefore, in the embodiment, the deviation of the vehicle driving direction and the steering control operation of the operator can be restrained or corrected by depending on the steering correction angle value detected and calculated by the vehicle, and the vehicle can be stably controlled to keep straight running under the condition that the vehicle runs at a high speed.
Referring to fig. 1, the second embodiment of the present invention is:
on the basis of the first embodiment, the method for autonomously correcting the direction of the remote control unmanned vehicle is characterized in that the coefficient setting is carried out on the preset speed value:
if the current vehicle speed is less than 50km/h, setting the coefficient to be 1; if the current vehicle speed is greater than or equal to 50km/h and less than or equal to 60km/h, setting the coefficient to be the difference between one tenth of the value of the vehicle speed and 6; and if the current vehicle speed is more than 60km/h, setting the coefficient to be 0. In this embodiment, after determining the coefficient, setting the actual rotatable amplitude value of the steering wheel to be the sum of 600 ° multiplied by the coefficient and 300 °, and then dividing the actual rotatable amplitude value by the initial rotatable amplitude value to obtain the preset ratio; and finally, receiving angle control data of the remote manual operation on the steering wheel and multiplying the angle control data by a preset proportion to obtain a steering angle control value. Wherein the initial rotatable amplitude value is 900.
In this embodiment, a specific implementation process of the foregoing content is as follows:
firstly, the current vehicle speed is judged in which range by taking km/h as a unit. If the vehicle speed is less than 50km/h, the coefficient is set to 1. In other words, the actual rotatable amplitude value and the initial rotatable amplitude value are the same, both 900 °. The steering wheel rotation angle of the vehicle is controlled according to angle control data of the steering wheel by remote manual operation.
If the vehicle speed of the current vehicle is greater than or equal to 50km/h and less than or equal to 60km/h, calculation is performed using the following expression:
wherein x represents the current vehicle speed and has the unit of 50 km/h; y represents a coefficient.
The calculated coefficients are used to calculate the actual rotatable amplitude value. At this time, the actual rotatable amplitude is varied between 300 ° and 900 ° at the initial rotatable amplitude value divided by 900 ° to obtain the preset ratio. The angle control data is changed into a steering angle control value according to a preset proportion. For example, when the current vehicle speed is 57.5km/h, the coefficient is 0.25, the actual rotatable width is 450 °, and the preset ratio is 0.5. Accordingly, the steering angle manipulation value is one-half of the angle control data. The actual rotation control effect of manual operation on the steering wheel is only half of the original effect. Therefore, in the process of changing the vehicle speed from 50km/h to 60km/h, the actual rotation control effect of the manual operation on the steering wheel is gradually reduced, and the control sensitivity is gradually reduced. Finally, if the vehicle speed of the current vehicle is greater than 60km/h, the coefficient is set to 0. The actual rotational amplitude is only 300. The steering angle manipulated value is one third of the angle control data. The current vehicle speed is more than 60km/h and is more than a preset speed value. At this time, the vehicle is already in the high-speed running state at the present time. The sensitivity of manual operation to the steering wheel is reasonably reduced, so that the vehicle can move in a linear direction in a concentrated manner, and dangerous operations such as turning are avoided.
In this embodiment, the deviation value, the correction angle value, the steering angle manipulation value, the angle control data, and the final control angle value all take a positive value with the right deviation of the vehicle, a negative value with the left deviation of the vehicle, and 0 ° with no deviation of the vehicle.
Referring to fig. 2, a third embodiment of the present invention is:
a remote control unmanned vehicle direction self-correction terminal 1 comprises a memory 3, a processor 2 and a computer program which is stored on the memory 3 and can run on the processor 2, wherein the steps in the first embodiment or the second embodiment are realized when the processor 2 executes the computer program.
To sum up, the invention discloses a method and a terminal for autonomously correcting the direction of a remotely-controlled unmanned vehicle, when the speed of the vehicle is greater than a preset speed value, the sensitivity of remote manual operation to the control of a steering wheel is gradually reduced according to the change of the speed, a deviation value between the vehicle and a target direction is obtained and converted into a steering correction angle value which needs to be adjusted back by the steering wheel, the steering correction angle value is used as a data basis for correcting the direction of the vehicle, the steering correction angle value and a steering angle control value from the remote manual operation and reduced according to a preset proportion are weighted and averaged to form a final control angle value, the steering wheel is controlled to steer the vehicle, the deviation of the driving direction of the vehicle and the steering control operation of an operator can be inhibited or corrected by the data detected by the vehicle, the difficulties of communication delay and the like existing by completely depending on the remote control are overcome, and the low-speed remote control can be realized without influencing, and the vehicle can be stably controlled to keep going straight under the condition of high-speed running of the vehicle.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the contents of the present specification and the drawings, or applied to the related technical fields directly or indirectly, are included in the scope of the present invention.
Claims (10)
1. A method for autonomously correcting the direction of a remotely controlled unmanned vehicle is characterized by comprising the following steps:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
2. The method for autonomously correcting the heading of a remotely controlled unmanned vehicle as claimed in claim 1, wherein said otherwise re-determining in step S1 comprises:
if not, receiving a steering angle control value of the steering wheel by remote manual operation, and controlling the steering wheel to steer according to the steering angle control value;
and obtaining the current vehicle speed again and judging.
3. The method according to claim 2, wherein the receiving a steering angle manipulation value of the steering wheel by the remote manual operation comprises:
and receiving angle control data of the steering wheel by remote manual operation and multiplying the angle control data by a preset proportion to obtain the steering angle control value.
4. A method for autonomously correcting the heading of a remotely controlled unmanned aerial vehicle as claimed in claim 2, wherein the preset speed value is 60 km/h.
5. The method for autonomously correcting the direction of a remotely controlled unmanned vehicle as claimed in claim 3, wherein the preset ratio is specifically:
if the speed of the current vehicle is less than 50km/h, setting the coefficient to be 1;
if the speed of the current vehicle is greater than or equal to 50km/h and less than or equal to 60km/h, setting the coefficient to be one tenth of the difference between the value of 6 and the speed;
if the speed of the current vehicle is greater than 60km/h, setting the coefficient to be 0;
setting the actual rotatable amplitude value of the steering wheel to be 600 degrees multiplied by the coefficient and then added to 300 degrees;
and dividing the actual rotatable amplitude value by the initial rotatable amplitude value to obtain the preset proportion.
6. The method of claim 5, wherein the initial rotatable amplitude value is 900 °.
7. The method for autonomously correcting the direction of a remote-controlled unmanned vehicle according to claim 1, wherein the weighted average of the correction angle value and the steering angle manipulation value to obtain a final control angle value is specifically:
and multiplying the correction angle value by a first weight and multiplying the steering angle control value by a second weight, and then summing to obtain the final control angle value, wherein the first weight is 0.4, and the second weight is 0.6.
8. The method as claimed in claim 3, wherein the deviation value, the correction angle value, the steering angle manipulation value, the angle control data and the final control angle value are all positive with respect to a right vehicle deviation, negative with respect to a left vehicle deviation and 0 ° with respect to a no vehicle deviation.
9. The method for autonomously correcting the direction of a remotely controlled unmanned vehicle as claimed in claim 1, wherein the obtaining of the target direction of current vehicle travel is specifically:
and obtaining the real-time advancing direction angle value of the vehicle through satellite positioning for multiple times, and taking the average value as the target direction.
10. A remote controlled autonomous vehicle direction correction terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of:
s1, judging whether the speed of the current vehicle is greater than or equal to a preset speed value or not, if so, executing a step S2, otherwise, judging again, wherein the preset speed value is greater than or equal to 40 km/h;
s2, acquiring a target direction and a traveling direction of the current vehicle, judging whether a deviation value exists between the traveling direction and the target direction, if so, recording the deviation value, obtaining a steering correction angle value according to the deviation value, and executing the step S3, otherwise, judging again;
s3, receiving a steering angle control value of the steering wheel by remote manual operation, carrying out weighted average on the correction angle value and the steering angle control value to obtain a final control angle value, and controlling the steering wheel to steer the vehicle through the final control angle value.
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|---|---|---|---|---|
| JP2011043883A (en) * | 2009-08-19 | 2011-03-03 | Ihi Aerospace Co Ltd | Remote control system for unmanned vehicle |
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| CN113212538A (en) | 2021-08-06 |
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