CN113635918A - Automatic driving robot control system and method - Google Patents
Automatic driving robot control system and method Download PDFInfo
- Publication number
- CN113635918A CN113635918A CN202110927626.7A CN202110927626A CN113635918A CN 113635918 A CN113635918 A CN 113635918A CN 202110927626 A CN202110927626 A CN 202110927626A CN 113635918 A CN113635918 A CN 113635918A
- Authority
- CN
- China
- Prior art keywords
- robot
- expected
- steering
- brake
- longitudinal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to the field of automatic driving, in particular to a control system and a control method for an automatic driving robot. The system comprises an upper computer, a sensing module, a decision controller, a motion controller and a plurality of robots, wherein the plurality of robots comprise an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot; the upper computer is used for receiving longitudinal speed information and track information input by a user and transmitting the longitudinal speed information and the track information to the decision controller; and the decision controller is used for acquiring the driving data of the vehicle from the sensing module and sending a control command to the motion controller according to the driving data, the longitudinal speed information and the track information, and the motion controller is used for respectively controlling the corresponding robots to execute actions according to the control command. The embodiment realizes the transverse and longitudinal combined control of the vehicle and can meet the requirements of automobile research and development and detection mechanisms on multiple functions.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a control system and a control method for an automatic driving robot.
Background
With the continuous improvement of automobile test requirements, some environments can not be completed by test drivers, or the test drivers have certain dangerousness, and the automatic driving robot is produced at the moment. Compared with a pilot, the automatic driving robot has the advantages of high-precision control, good repeatability, strong fatigue durability and the like.
However, the existing automatic driving robot is limited to simple control of operation with a single function, and cannot meet the requirement of automobile research and development and detection mechanisms on multiple functions.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The embodiment of the invention provides a control system and a control method for an automatic driving robot, which realize the transverse and longitudinal combined control of a vehicle by the combined control of an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot, and can meet the multifunctional requirements of automobile research and development and detection mechanisms.
In a first aspect, an embodiment of the present invention provides an autonomous robot control method, which is applied to an autonomous robot control system configured on a vehicle, where the system includes: the system comprises an upper computer, a sensing module, a decision-making controller, a motion controller and a plurality of robots, wherein the plurality of robots comprise an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot;
the method comprises the following steps:
the upper computer receives longitudinal speed information and track information input by a user and transmits the longitudinal speed information and the track information to the decision controller;
the decision controller acquires driving data of a vehicle from the sensing module and sends a control command to the motion controller according to the driving data, longitudinal speed information and track information, wherein the control command comprises an expected position, an expected transverse/longitudinal speed, an expected longitudinal/steering torque, an expected steering wheel angle, an expected gear and an expected pedal displacement;
and the motion controller respectively controls the corresponding robots to execute the motions according to the control commands.
In a second aspect, an embodiment of the present invention further provides an automatic driving robot control system, including: the system comprises an upper computer, a sensing module, a decision-making controller, a motion controller and a plurality of robots, wherein the plurality of robots comprise an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot;
the upper computer is used for receiving longitudinal speed information and track information input by a user and transmitting the longitudinal speed information and the track information to the decision controller;
the decision controller is used for acquiring the driving data of the vehicle from the sensing module and sending a control command to the motion controller according to the driving data, the longitudinal speed information and the track information, wherein the control command comprises an expected position, an expected transverse/longitudinal speed, an expected longitudinal/steering torque, an expected steering wheel angle, an expected gear and an expected pedal displacement;
and the motion controller is used for respectively controlling the corresponding robots to execute the motions according to the control commands.
Compared with the prior art, the invention has the beneficial effects that:
the embodiment provides a novel automatic driving robot control system, which can control automatic driving of a vehicle by combining vehicle running data under artificial control; through the combined control of the scram robot, the steering robot, the brake robot, the accelerator robot and the gear shifting robot, the transverse and longitudinal combined control of the vehicle is realized, and the multifunctional requirements of automobile research and development and detection mechanisms can be met.
The decision controller and the motion controller realize five-ring control, and the five-ring control is used for the accelerator/brake robot to realize the transverse and longitudinal accurate control of the speed of the automobile.
The switching control strategy of the accelerator and the brake robot can realize the rapid switching of the acceleration and the deceleration of the automatic driving robot and can also ensure the precision of the acceleration and the deceleration.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic robot control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of each robot provided by the embodiment of the present invention;
fig. 3 is a flowchart of a control method for an autonomous robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a lateral five-ring control provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a longitudinal five-ring control provided by an embodiment of the present invention;
fig. 6 is a schematic diagram of an upper computer interface 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 technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic structural diagram of a control system of an automatic driving robot, which is configured on a vehicle and includes an upper computer, a sensing module, a decision controller, a motion controller, and a plurality of robots including an emergency stop robot, a steering robot, a brake robot, an accelerator robot, and a gear shifting robot according to an embodiment of the present invention.
The upper computer comprises an interactive interface connected with a user, is connected with the decision controller, and is used for receiving expected parameters input by the user, including longitudinal speed information and track information, and transmitting the expected parameters to the decision controller to participate in decision making.
The sensing module comprises a laser radar, a vision sensor and a combined positioning inertial navigation module, is used for collecting the driving data of the vehicle and sending the driving data to the decision controller through a CAN bus. The driving data comprises the current speed, the current acceleration, the current position, the current steering wheel rotating angle, the gear position, the brake position, the accelerator position, the environment perception data and the like of the vehicle.
The decision controller is the core of the automatic driving robot, and generates a control command according to the driving data, the speed information and the track information under an artificial control command and sends the control command to the motion controller; the control commands include a desired position, a desired lateral/longitudinal speed, a desired longitudinal/steering torque, a desired gear, a desired steering wheel angle, and a desired pedal displacement. For example, the decision controller calculates a desired lateral/longitudinal speed, a desired longitudinal/steering torque, a desired gear, a desired steering wheel angle, and a desired accelerator/brake pedal displacement, in accordance with a user desired longitudinal speed and trajectory, and current vehicle travel information, in conjunction with a vehicle kinematics and dynamics model. For the kinematic and dynamic models of automobiles, reference is made to the prior art and no further details are given here.
For example, the expected trajectory is converted into a road curvature through coordinates, and the pre-aiming distance is calculated, so that the steering wheel angle is calculated. The expected longitudinal acceleration can be calculated according to the parameters such as the longitudinal speed, the current speed and the like, and further the expected displacement of the accelerator/brake pedal is obtained. It is worth noting that if the desired lateral/longitudinal speed is not zero, the desired gear is a forward gear; if the desired lateral/longitudinal speed is zero and the current lateral/longitudinal speed of the vehicle is 0, then the desired gear is park.
And the motion controller controls each robot according to the control command to realize the speed control and the direction control of the vehicle. The control strategy includes controlling the speed and direction of the vehicle, i.e., lateral and longitudinal control of the autonomous robot. The transverse control mainly controls the steering wheel of the automobile through a steering robot, and the longitudinal control mainly controls the acceleration and deceleration of the automobile through a pedal/accelerator/gear shifting robot. Common control strategies include PID, fuzzy control, and the like.
Fig. 2 is a schematic structural diagram of each robot provided in the embodiment of the present invention.
Specifically, the scram robot includes: the robot comprises a robot body, an emergency stop motor, a driver and an emergency stop button; the emergency stop robot is arranged on a brake robot pedal and used for emergently stopping the vehicle by manually pressing an emergency stop button after the driving robot has a problem.
The steering robot includes: the robot comprises a robot body, a steering motor, a steering driver, an absolute encoder, an angle sensor and a torque sensor. The steering robot is arranged on the steering wheel and is used for controlling the steering wheel to act under the control of the motion controller.
The brake robot comprises a robot body, a brake motor, a driver, an absolute encoder, a torque sensor and a displacement sensor. The brake robot is arranged on the brake pedal and is used for stepping on the brake pedal under the control of the motion controller.
The throttle robot comprises a robot body, a brake motor, a driver, an absolute encoder, a torque sensor and a displacement sensor. The accelerator robot is arranged on an accelerator pedal and is used for stepping on the accelerator pedal under the control of the motion controller.
The robot of shifting is 3 degree of freedom manipulators, including robot body, 3 motors, 3 drivers, 3 absolute encoder, torque sensor and limit switch. The gear shifting robot is arranged on the gear lever and used for controlling the gear lever to realize gear shifting under the control of motion control.
The robots are used as an actuating mechanism of an automatic driving robot control system, and the accurate control of the mechanism is realized through torque sensors, displacement sensors, motor absolute encoders and the like of steering, accelerator/brake and gears. The absolute encoder has the characteristics of strong interference resistance and no change of the position of the encoder after power failure. The current position can be memorized through an absolute encoder, and the calculated data is more accurate.
The embodiment provides a novel automatic driving robot control system, which can control automatic driving of a vehicle by combining vehicle running data under artificial control; through the combined control of the scram robot, the steering robot, the brake robot, the accelerator robot and the gear shifting robot, the transverse and longitudinal combined control of the vehicle is realized, and the multifunctional requirements of automobile research and development and detection mechanisms can be met.
Referring to fig. 1, the system further includes a teach pendant connected to the motion controller, and the teach pendant is used for teaching and zero point calibration of the scram robot, the steering robot, the brake robot, the throttle robot and the shift robot through the motion controller by transmitting a command to the motion controller.
The teaching is a handheld device for manual operation, parameter configuration and monitoring of the driving robot; teaching is to manually control and monitor the driving robot through a teaching device.
The zero point calibration means that each robot returns to the zero point position when the input command of each robot is 0. For example, when the input steering angle of the steering robot is 0, the steering wheel is controlled to return to the positive state; when the input value of the brake robot is 0, the brake is fully bounced, and no braking force is applied.
Fig. 3 is a flowchart of an automated driving robot control method according to an embodiment of the present invention, which is applied to an automated driving robot control system configured on a vehicle. The method comprises the following operations:
and S310, the upper computer receives the longitudinal speed information and the track information input by the user and transmits the longitudinal speed information and the track information to the decision controller.
S320, the decision controller acquires the driving data of the vehicle from the sensing module and sends a control command to the motion controller according to the driving data, the longitudinal speed information and the track information, wherein the control command comprises an expected position, an expected transverse/longitudinal speed, an expected longitudinal/steering torque, an expected gear, an expected steering wheel angle and an expected pedal displacement.
And S330, the motion controller respectively controls the corresponding robots to execute the motions according to the control commands.
In an alternative embodiment, the motion controller detects the position, lateral velocity, steering motor position, steering torque, and steering wheel angle of the vehicle; and the motion controller performs five-loop control on the steering robot according to the expected position, the expected transverse speed, the absolute encoder value of a steering motor in the steering robot, the expected steering torque and the expected steering wheel angle.
Referring to fig. 4, the combined inertial navigation feeds back the position information of the vehicle, i.e., the latitude and longitude of the current geodetic coordinates of the vehicle, to the decision controller, and the decision controller adjusts the steering robot according to the expected position to complete the control loop of the transverse position of the first loop of the steering robot.
And the decision controller decides the comparison analysis of the expected transverse speed and the transverse speed fed back by the combined inertial navigation according to the transverse control information of the first ring, and adjusts the steering robot in real time to complete the speed ring of the second ring of the steering robot.
And the speed control of the second ring is realized by controlling the rotation of the steering motor to obtain an absolute encoder value (representing the current motor position), the absolute encoder of the steering motor sends the current motor position to the steering driver, and the steering driver feeds back the current motor position to the motion controller, so that the steering motor position ring of the third ring of the steering robot is completed.
And the torque sensor of the steering robot feeds the current steering torque back to the motion controller, the motion controller compares and analyzes the expected transverse torque given by the decision controller and the steering wheel information of the third ring with the feedback torque data, and the steering robot is adjusted in real time to complete the fourth ring of the steering robot.
And the angle sensor of the steering robot feeds the current steering wheel angle back to the motion controller, the motion controller compares the fourth ring torque data with the rated torque of the steering motor, the decision controller gives the data of the desired steering wheel angle and the data of the feedback angle for comparison and analysis, the steering robot is adjusted in real time, and the angle ring of the fifth ring of the steering robot is completed.
In this embodiment, the steering robot realizes five-loop control through the decision controller and the motion controller, and the five-loop control theory is used for the steering robot to realize accurate control of automobile steering.
In another alternative embodiment, the motion controller detects vehicle position, longitudinal speed, steering motor position, longitudinal torque, and pedal displacement; and the motion controller performs five-loop control on the accelerator robot and the brake robot according to an expected position, an expected longitudinal speed, absolute encoder values of steering motors in the accelerator robot and the brake robot, an expected longitudinal moment and an expected pedal displacement. The throttle robot and the brake robot are collectively called a pedal robot.
Referring to fig. 5, the combined inertial navigation feeds back the position information of the vehicle, i.e., the latitude and longitude of the current geodetic coordinate of the vehicle, to the decision controller, and the decision controller adjusts the throttle/brake robot according to the expected position to complete the longitudinal position control loop of the first loop of the throttle/brake robot.
And the decision controller decides the comparison analysis between the expected longitudinal speed and the fed-back longitudinal speed according to the transverse control information of the first loop, and adjusts the accelerator/brake robot in real time to complete the speed loops of the second loops of the accelerator robot and the brake robot. For example, if the desired longitudinal speed is greater than the fed-back longitudinal speed, controlling the accelerator robot to increase the pedal displacement or controlling the brake robot to decrease the pedal displacement; and controlling the braking robot to increase the pedal displacement if the desired longitudinal speed is less than the fed-back longitudinal speed.
The second ring speed control completes the rotation of the pedal motor to obtain absolute encoder data, an absolute encoder (namely the current motor position) of the pedal motor is sent to a pedal driver, and the pedal driver feeds back to the motion controller to complete the steering motor position ring of the third ring of the accelerator/brake robot.
And the moment sensor of the accelerator/brake robot feeds the current longitudinal moment back to the motion controller, the motion controller compares and analyzes the moment data (expected longitudinal moment) given by the decision controller with the feedback moment data, and simultaneously adjusts the accelerator/brake robot in real time according to the pedal position of the third ring to complete the fourth ring of the accelerator robot and the brake robot.
And the current accelerator/brake pedal displacement is fed back to the motion controller by the displacement sensor of the accelerator/brake robot, the fourth ring of torque data and the expected pedal displacement given by the decision controller are compared and analyzed with the feedback displacement data by the motion controller, the accelerator/brake robot is adjusted in real time, and the displacement ring of the fifth ring of the accelerator robot and the fifth ring of the brake robot is completed.
In the five-loop control, whether the pedal robot is a brake robot or an accelerator robot is considered, and the switching strategy of the brake robot and the accelerator robot is as follows:
if (s-s1)>0 and (u)2-u12)>0 and
the accelerator robot is controlled in five rings according to the expected longitudinal moment and the expected pedal displacement, and the acceleration of the vehicle under the control of the accelerator robot is
The accelerator control proportion c1 is the proportion of the displacement of the accelerator robot control pedal relative to the total displacement, the position of the accelerator pedal can be obtained through the accelerator control proportion, and then the control of the torque ring and the displacement ring is realized by controlling the accelerator robot continuously.
c1＝k4a+k5(k4a-θ)+k6(k4a-θ)2
If (s-s1)>0 and (u)2-u12)<0 and
the motion controller performs five-ring control on the brake robot according to the expected longitudinal moment and the expected pedal displacement; the deceleration of the vehicle under the control of the brake robot is as follows:
the brake control proportion c2 is the proportion of the displacement of the brake robot control pedal relative to the total displacement, the position of the brake pedal can be obtained through the brake control proportion, and then the control of the torque ring and the displacement ring is realized by controlling the brake robot continuously.
c2＝k7a+k8(k7a-θ)+k9(k7a-θ)2
Wherein m is the number of decision cycles, and the value is more than or equal to 3; s is the desired position, s1 is the position of the vehicle with inertial navigation feedback in the first loop of pedal robot control; a1 is vehicle acceleration under the control of an accelerator robot, a2 is vehicle deceleration under the control of a brake robot, c1 is accelerator control proportion, and c2 is brake control proportion; u is the desired longitudinal velocity, u1 is the longitudinal velocity of the second loop controlled by the pedal robot; k0, k1, k2, k3 are control parameters of acceleration/deceleration, and are generally empirical values, such as 0.1, 0.01, 0.001, respectively; k4, k5 and k6 are accelerator pedal robot adjusting parameters, and adjusting empirical values are respectively 6, 4 and 2 according to different vehicles; k7, k8 and k9 are adjusting parameters of the brake pedal robot, and adjusting empirical values according to different vehicles, such as 10, 5 and 3 respectively; and theta is the absolute encoder motor value of the fourth ring controlled by the pedal robot.
The braking robot and the throttle robot can be rapidly switched and controlled through the strategy, so that the acceleration or deceleration control of the vehicle is realized.
In the embodiment, the accelerator/brake robot realizes five-ring control through the decision controller and the motion controller, and the five-ring control theory is used for the accelerator/brake robot to realize accurate control of the automobile speed in the longitudinal direction.
It should be noted that when the vehicle is controlled longitudinally according to fig. 4 and 5, in particular, when longitudinal torque is adjusted, it is determined whether gear shift is required, for example, an upshift or downshift is required, depending on the current gear, and the longitudinal torque applied by different gears is different. And if the gear needs to be adjusted, the motion controller controls the gear shifting robot according to the expected gear given by the decision controller.
Optionally, fig. 6 is a schematic diagram of an upper computer interface provided in the embodiment of the present invention. Before the upper computer receives the longitudinal speed information and the track information input by the user, the method further comprises the following steps: the upper computer receives the setting parameters and transmits the setting parameters to the decision controller; the set parameters comprise the maximum speed, the minimum speed, the maximum acceleration, the maximum steering angle, the steering speed, the maximum brake treading speed, the maximum brake pedal displacement, the maximum accelerator treading speed, the maximum accelerator pedal displacement and the multi-degree-of-freedom mechanical gear moving position of the vehicle.
The decision controller acquires the driving data of the vehicle from the sensing module and sends a control instruction to the motion controller according to the driving data, the longitudinal speed information and the track information, and the decision controller comprises: the decision controller receives the set parameters from the upper computer, acquires the driving data of the vehicle from the sensing module, and sends a control instruction to the motion controller according to the set parameters, the driving data, the longitudinal speed information and the track information.
Specifically, various test schemes can be operated by operating a human-computer interaction interface so as to realize automatic driving and driving robot testing. The user may enter corresponding setup parameters based on the trial requirements. The decision controller takes the setting parameter as an extreme value (the setting parameter is taken out when the setting parameter is exceeded), and outputs a corresponding instruction to the motion controller.
In a specific embodiment, after a user clicks and starts a human-computer interaction interface of an upper computer, a decision controller sets test requirements and an environment sensing module according to the upper computer module, plans out an optimal map route, decides output quantities of steering, braking, an accelerator and gears and sends the output quantities to a motion controller, and the motion controller directly controls the motion of an emergency stop robot, a steering robot, the accelerator/braking robot and a gear shifting robot, so that an automobile is controlled to finish a test.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. An autonomous robot control method applied to an autonomous robot control system provided in a vehicle, the system comprising: the system comprises an upper computer, a sensing module, a decision-making controller, a motion controller and a plurality of robots, wherein the plurality of robots comprise an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot;
the method comprises the following steps:
the upper computer receives longitudinal speed information and track information input by a user and transmits the longitudinal speed information and the track information to the decision controller;
the decision controller acquires driving data of a vehicle from the sensing module and sends a control command to the motion controller according to the driving data, longitudinal speed information and track information, wherein the control command comprises an expected position, an expected transverse/longitudinal speed, an expected longitudinal/steering torque, an expected steering wheel angle, an expected gear and an expected pedal displacement;
and the motion controller respectively controls the corresponding robots to execute the motions according to the control commands.
2. The method of claim 1, wherein the motion controller controls the corresponding robots to perform actions according to the control commands, respectively, comprising:
the motion controller detects the position, the transverse speed, the position of a steering motor, the steering torque and the steering wheel angle of the vehicle;
and the motion controller performs five-loop control on the steering robot according to the expected position, the expected transverse speed, the absolute encoder value of a steering motor in the steering robot, the expected steering torque and the expected steering wheel angle.
3. The method of claim 1, wherein the motion controller controls the corresponding robots to perform actions according to the control commands, respectively, comprising:
the motion controller detects the position, longitudinal speed, steering motor position, longitudinal torque and pedal displacement of the vehicle;
and the motion controller performs five-loop control on the accelerator robot and the brake robot according to an expected position, an expected longitudinal speed, absolute encoder values of steering motors in the accelerator robot and the brake robot, an expected longitudinal moment and an expected pedal displacement.
4. The method of claim 3, wherein the motion controller performs five-loop control of the throttle and brake robots based on desired position, desired longitudinal speed, absolute encoder value of steering motor, desired longitudinal torque, desired pedal displacement, comprising:
if (s-s1)>0 and (u)2-u12)>0 and
the motion controller controls the throttle robot according to the expected longitudinal moment and the expected pedal displacement; the vehicle acceleration a1 under the control of the throttle robot is:
the throttle control proportion is as follows:
c1＝k4a+k5(k4a-θ)+k6(k4a-θ)2
if (s-s1)>0 and (u)2-u12)<0 and
the motion controller controls the brake robot according to the expected longitudinal moment and the expected pedal displacement; brake robot controlDeceleration of the vehicle is
Brake control ratio
c＝k7a+k8(k7a-θ)+k9(k7a-θ)2
Wherein m is the number of decision cycles representing the acquisition times, and the value is more than or equal to 3; s is the desired position, s1 is the position of the vehicle; a is acceleration, c is pedal control ratio; u is the desired longitudinal speed, u1 is the longitudinal speed of the vehicle; k0, k1, k2 and k3 are control parameters of acceleration/deceleration, k4, k5 and k6 are pedal adjustment parameters of an accelerator robot, and k7, k8 and k9 are pedal adjustment parameters of a brake robot. And theta is the absolute encoder motor value of the accelerator/brake robot.
5. The method of claim 1, wherein before the upper computer receives the longitudinal speed information and the trajectory information input by the user, the method further comprises:
the upper computer receives the setting parameters and transmits the setting parameters to the decision controller; the set parameters comprise the maximum speed, the minimum speed, the maximum acceleration, the maximum steering angle, the steering speed, the maximum brake treading speed, the maximum brake pedal displacement, the maximum accelerator treading speed, the maximum accelerator pedal displacement and the multi-degree-of-freedom mechanical gear moving position of the vehicle;
the decision controller acquires the driving data of the vehicle from the sensing module and sends a control instruction to the motion controller according to the driving data, the longitudinal speed information and the track information, and the decision controller comprises:
the decision controller receives the set parameters from the upper computer, acquires the driving data of the vehicle from the sensing module, and sends a control instruction to the motion controller according to the set parameters, the driving data, the longitudinal speed information and the track information.
6. The method of claim 1, wherein the system comprises a teach pendant;
the method comprises the following steps: the demonstrator is used for demonstrating and zero point calibrating the emergency stop robot, the steering robot, the brake robot, the accelerator robot and the gear shifting robot.
7. The method of claim 1,
the scram robot includes: the robot comprises a robot body, an emergency stop motor, a driver and an emergency stop button;
the steering robot includes: the robot comprises a robot body, a steering motor, a steering driver, an absolute encoder, an angle sensor and a torque sensor;
the brake robot comprises a robot body, a brake motor, a driver, an absolute encoder, a torque sensor and a displacement sensor;
the throttle robot comprises a robot body, a brake motor, a driver, an absolute encoder, a torque sensor and a displacement sensor;
the robot of shifting is 3 degree of freedom manipulators, including robot body, 3 motors, 3 drivers, 3 absolute encoder, torque sensor and limit switch.
8. An autonomous driving robot control system, comprising: the system comprises an upper computer, a sensing module, a decision-making controller, a motion controller and a plurality of robots, wherein the plurality of robots comprise an emergency stop robot, a steering robot, a brake robot, an accelerator robot and a gear shifting robot;
the upper computer is used for receiving longitudinal speed information and track information input by a user and transmitting the longitudinal speed information and the track information to the decision controller;
the decision controller is used for acquiring the driving data of the vehicle from the sensing module and sending a control command to the motion controller according to the driving data, the longitudinal speed information and the track information, wherein the control command comprises expected transverse/longitudinal speed, expected longitudinal/steering torque, an expected steering wheel angle, an expected gear and expected pedal displacement;
and the motion controller is used for respectively controlling the corresponding robots to execute the motions according to the control commands.
9. The system of claim 8, wherein the motion controller is specifically configured to:
detecting the lateral acceleration, the lateral speed, the steering torque and the steering wheel angle of the vehicle; and comprehensively controlling the steering robot to execute actions according to the expected transverse speed, the expected steering torque and the expected steering wheel angle.
10. The system of claim 8, wherein the motion controller is specifically configured to:
detecting vehicle longitudinal acceleration, longitudinal speed, longitudinal moment and pedal displacement; and comprehensively controlling the accelerator robot and the brake robot according to the expected longitudinal speed, the expected longitudinal torque, the expected pedal displacement and a brake/accelerator switching strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927626.7A CN113635918B (en) | 2021-08-13 | 2021-08-13 | Automatic driving robot control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927626.7A CN113635918B (en) | 2021-08-13 | 2021-08-13 | Automatic driving robot control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113635918A true CN113635918A (en) | 2021-11-12 |
| CN113635918B CN113635918B (en) | 2022-11-25 |
Family
ID=78421293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110927626.7A Active CN113635918B (en) | 2021-08-13 | 2021-08-13 | Automatic driving robot control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113635918B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358287A (en) * | 2011-09-05 | 2012-02-22 | 北京航空航天大学 | Trajectory tracking control method used for automatic driving robot of vehicle |
| CN103359104A (en) * | 2013-07-23 | 2013-10-23 | 安徽江淮汽车股份有限公司 | Creep control method and system for automobile |
| CN107719369A (en) * | 2017-09-14 | 2018-02-23 | 北京智行者科技有限公司 | The longitudinally controlled method, apparatus of automatic Pilot and there is its automatic driving vehicle |
| CN108297849A (en) * | 2018-04-04 | 2018-07-20 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
| CN110412973A (en) * | 2019-07-01 | 2019-11-05 | 东南大学 | A kind of bench test electric car drive robot system based on virtual instrument |
| US20200150659A1 (en) * | 2018-11-12 | 2020-05-14 | Infosys Limited | System and method for integrated auto-steering and auto-braking mechanism in autonomous vehicles as a retro fit |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
-
2021
- 2021-08-13 CN CN202110927626.7A patent/CN113635918B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358287A (en) * | 2011-09-05 | 2012-02-22 | 北京航空航天大学 | Trajectory tracking control method used for automatic driving robot of vehicle |
| CN103359104A (en) * | 2013-07-23 | 2013-10-23 | 安徽江淮汽车股份有限公司 | Creep control method and system for automobile |
| CN107719369A (en) * | 2017-09-14 | 2018-02-23 | 北京智行者科技有限公司 | The longitudinally controlled method, apparatus of automatic Pilot and there is its automatic driving vehicle |
| CN108297849A (en) * | 2018-04-04 | 2018-07-20 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
| US20200150659A1 (en) * | 2018-11-12 | 2020-05-14 | Infosys Limited | System and method for integrated auto-steering and auto-braking mechanism in autonomous vehicles as a retro fit |
| CN110412973A (en) * | 2019-07-01 | 2019-11-05 | 东南大学 | A kind of bench test electric car drive robot system based on virtual instrument |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113635918B (en) | 2022-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107992049B (en) | Modularized automatic driving control device of rice direct seeding machine and control method thereof | |
| CN109421742B (en) | Method and apparatus for monitoring autonomous vehicles | |
| CN109421743B (en) | Method and apparatus for monitoring autonomous vehicles | |
| DE102016112859B4 (en) | Navigation device for an autonomously driving vehicle | |
| US5394743A (en) | Method and apparatus for controlling a robot to simulate driving of a motorcar | |
| US9360865B2 (en) | Transitioning from autonomous vehicle control to driver control | |
| CN111409641B (en) | Track tracking control method and system based on longitudinal and transverse coordination | |
| CN102435442B (en) | Automatic drive robot used in vehicle road tests | |
| CN208477372U (en) | A kind of automated driving system | |
| CN113386795A (en) | Intelligent decision-making and local track planning method for automatic driving vehicle and decision-making system thereof | |
| CN109491364B (en) | Driving robot system for vehicle testing and control method | |
| US20040044443A1 (en) | Actuators report availabilities | |
| CN110568852A (en) | Automatic driving system and control method thereof | |
| CN106364476B (en) | The drive assistance device of vehicle | |
| CN112896169B (en) | Intelligent driving multi-mode control system and method | |
| CN110310500A (en) | A kind of autonomous valet parking system and method based on GRNN network | |
| CN110356415A (en) | A kind of control method for vehicle and device | |
| CN109421740A (en) | Method and apparatus for monitoring autonomous vehicle | |
| CN111348052A (en) | Automatic drive robot control system | |
| CN109804420A (en) | Controller of vehicle | |
| CN109866765A (en) | A kind of driverless electric automobile safety traffic system | |
| CN108945092A (en) | The man-machine steering exchange method of automatic driving vehicle and system based on highway | |
| CN112238857A (en) | Control method for autonomous vehicle | |
| JP2021116046A (en) | Vehicle control device, vehicle, vehicle control method and program | |
| CN111272437A (en) | Unmanned vehicle testing system and testing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |