CN114489066B - Carrier control method and system, electronic equipment and storage medium - Google Patents
Carrier control method and system, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The present invention relates to the field of automation technologies, and in particular, to a method and a system for controlling a carrier, an electronic device, and a storage medium. The carrier control method comprises the following steps: when the carrier runs on the road in the first pose, detecting the motion state parameters of the carrier, and receiving the carrier position information detected by the communication node on the road; and acquiring target path information, and adjusting the first pose to a second pose matched with the target path information according to the motion state parameters, the carrier position information and the target path information. The motion state parameter and the carrier position information are used for enabling the carrier to confirm the current motion state of the carrier. The carrier adjusts the pose by taking the motion state parameters, the carrier position information and the target path information as references. According to the invention, the carrier confirms the position of the carrier according to the carrier position information received from the communication node on the road, and then automatically adjusts the pose until the pose meets the requirement of the target path information, thereby further improving the transportation efficiency in the automatic transportation process.
Description
Technical Field
The present invention relates to the field of automation technologies, and in particular, to a method and a system for controlling a carrier, an electronic device, and a storage medium.
Background
Under the age of industrial intellectualization and wave, a safe and efficient cargo handling mode is an extremely important part whether a warehouse or a production line. Against huge industry competition and production pressures, traditional manual, forklift handling has been a matter of efficiency, in which case automatic navigation vehicles (Automated Guided Vehicle, AGV) capable of relieving the human burden are emerging.
In the related art, an AGV can travel along a specified path and can realize corresponding functions of safety protection, mobile transportation and the like, and generally, the AGV is driven by electric energy, performs transportation route planning and controls a specific travel route of the AGV in an inertial navigation mode, and can also set the travel route by paving electromagnetic tracks, wherein the electromagnetic tracks are usually stuck on a floor, and the AGV performs carrying work in industrial scenes such as warehouses of various companies and wharfs of various ports. However, in inertial navigation, due to lack of external information input, the running errors gradually accumulate so that the AGV gradually loses effective control, and magnetic navigation has the disadvantages of poor flexibility and low running speed. It can be seen that the automatic transportation method in the related art generally has the problem of low transportation efficiency, and the problem is urgent to be solved by the industry.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a carrier control method which can improve the transportation efficiency in the automatic transportation process.
According to an embodiment of the first aspect of the present invention, a carrier control method is applied to a carrier, and includes:
when a carrier runs on a road in a first pose, detecting a motion state parameter of the carrier, and receiving carrier position information detected by a communication node on the road;
acquiring target path information, wherein the target path information is used for providing guidance for a running path of the carrier;
and adjusting the first pose to a second pose matched with the target path information according to the motion state parameters, the carrier position information and the target path information.
The method for controlling the carrier according to the embodiment of the first aspect of the present invention has at least the following advantages:
when the carrier runs on the road in the first pose, the carrier detects the motion state parameter when the carrier is in the first pose, and receives the carrier position information detected by the communication node on the road. The motion state parameter and the carrier position information are used for enabling the carrier to confirm the current motion state of the carrier. Further, the vehicle acquires the target path information to clarify the travel path that the vehicle is required to follow next. Still further, the carrier adjusts the pose by taking the motion state parameter, the carrier position information and the target path information as references, so that the carrier is adjusted from the first pose to the second pose, and finally, the carrier runs on the road according to the target path information. According to the carrier control method, the carrier is enabled to clearly determine the position of the carrier according to the carrier position information received from the communication node on the road, and then the pose is automatically adjusted until the carrier meets the requirement of target path information, so that the transportation efficiency in the automatic transportation process is further improved.
Optionally, according to some embodiments of the invention, the acquiring target path information includes:
generating first pose data according to the motion state parameters and the carrier position information, wherein the first pose data are used for describing the spatial position and the motion state of the carrier in a first pose;
transmitting the first pose data to a base station so that the base station plans the target path information by referring to the first pose data;
and receiving the target path information from the base station.
Optionally, according to some embodiments of the invention, the adjusting the first pose to a second pose matching the target path information includes:
and controlling the carrier to carry out pose correction according to the first pose data and the target path information, and adjusting the carrier from the first pose to the second pose matched with the target path information.
Optionally, according to some embodiments of the invention, the controlling the carrier to correct the pose includes:
simplifying the carrier into a two-degree-of-freedom linear model of the vehicle and establishing a path tracking algorithm;
establishing a two-dimensional coordinate system by taking a plane on which the carrier runs as a reference plane, wherein the two-dimensional coordinate system takes the central point of the carrier as an origin, an x-axis is arranged along the direction of the carrier body, a y-axis is arranged perpendicular to the direction of the carrier body, the direction of the x-axis is longitudinal, and the direction of the y-axis is transverse;
When the longitudinal speed of the carrier is constant, establishing a relation among the transverse displacement, the yaw angle and the front wheel steering angle of the carrier to obtain a transverse dynamics equation of the path tracking algorithm:
wherein the front wheel rotation angle delta is the input of the path tracking algorithm, C αf 、C αr Respectively the cornering stiffness of the front and rear tires of the carrier, m is the mass of the carrier, I z For the moment of inertia of the carrier, l f 、l r The longitudinal distance V of the center of mass of the front wheel track and the rear wheel track of the carrier x Y, the longitudinal speed of the carrier,Respectively, the transverse displacement, the transverse speed and the transverse acceleration of the carrier, phi and +.>Yaw angle, yaw rate and yaw acceleration of the carrier respectively;
introducing a flena coordinate system with target path information into the model, and adding a transversal error integral term e yLeI Solving for transverse error e y Heading angle error e φ And (3) obtaining a state space equation of the path tracking algorithm according to the relation with the front wheel steering angle delta:
wherein,a 23 ＝-a 22 V x ，/>a 43 ＝-a 42 V x ,/>e is the error matrix of the path tracking algorithm, < >>Is the error rate matrix of the path tracking algorithm, L is the forward point distance of the carrier,/and L is the forward point distance of the carrier>Is the projection of the forward point on the target path in the target path information, +. >For a desired rate of deflection of the path tracking algorithm,road interference terms for the state space equation;
loading the state space equation into a linear quadratic regulator, and calculating to obtain a control gain K of the linear quadratic regulator;
and controlling the carrier to correct the pose according to the control gain K of the linear quadratic regulator.
Optionally, according to some embodiments of the invention, the calculating the control gain K of the linear quadratic regulator includes:
let coefficient matrixCoefficient matrix->
Obtaining the cornering stiffness C of the front and rear tires of the carrier by an interpolation method αf 、C αr And m and V contained in the first pose data x 、I z 、l f And l r Substituting the state space equation to obtain the coefficient matrix A and the coefficient matrix B;
equation of state space for the linear quadratic regulatorE and the energy function in the linear quadratic regulator->Performing iterative operation to globally optimize two weight matrixes Q and R of the linear quadratic regulator, wherein J is the performance index of the linear quadratic regulator, Q, R is the weight matrix of the energy function, E is the state variable of the linear quadratic regulator >Is a first derivative of the state variable;
and when the performance index J reaches the minimum value, substituting the optimized weight matrix into a Rickettsia differential equation, and calculating to obtain the control gain K of the linear quadratic regulator.
According to the vehicle control system of the second aspect embodiment of the invention, the wireless virtual guide rail comprises a plurality of communication nodes deployed on an all-road section, the communication nodes comprise transponders, the transponders are used for acquiring vehicle position information in a wireless detection mode, and the vehicle position information is used for reflecting the running direction of a vehicle on a road;
the base station is in communication relation with the communication nodes, and is used for planning target path information of the carrier according to data information transmitted by the communication nodes and sending the target path information to the carrier through the communication nodes.
According to a third aspect of the present invention, a vehicle control method is applied to a vehicle control system, and includes:
detecting carrier position information when a carrier on a road is in a first pose through a communication node, and sending the carrier position information to the carrier;
Acquiring first pose data from the carrier, planning a running path of the carrier by referring to the first pose data, and generating target path information;
and sending the target path information to the carrier, so that the carrier adjusts the first pose to a second pose matched with the target path information.
According to the carrier control method of the embodiment of the third aspect of the invention, the carrier control method has at least the following beneficial effects:
the method comprises the steps of detecting carrier position information when a carrier is in a first pose on a road through a communication node, and sending the carrier position information to the carrier to obtain first pose data of the carrier. After the first pose data is acquired, planning a running path of the carrier by referring to the first pose data, and generating target path information. The first pose data are used for describing the spatial position and the motion state of the vehicle in the first pose, and when the vehicle control system determines the spatial position and the motion state of the vehicle in the first pose, the position and the motion trend of the vehicle on a road can be judged, so that a driving path can be planned on the basis of the first pose data. After the target path information is generated, the target path information is sent to the carrier, so that the carrier is adjusted from the first pose to a second pose matched with the target path information.
Optionally, according to some embodiments of the invention, the detecting the carrier position information of the carrier includes:
setting the current coordinate of the communication node as a first coordinate by referring to a preset coordinate system;
and when the carrier is detected to pass through the communication node, generating carrier position information according to the first coordinates.
Optionally, according to some embodiments of the invention, the method further comprises:
when the carrier is detected not to pass through the communication node, sending a target ranging signal from the communication node to the periphery;
receiving a target ranging feedback signal via the communication node to determine a position of the carrier;
obtaining a second coordinate reflecting the position of the carrier according to the first coordinate and the target ranging feedback signal;
and generating the carrier position information according to the second coordinates.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a program that is executed by a processor to implement the vehicle control method according to any one of the embodiments of the first aspect of the present invention, and the vehicle control method according to any one of the embodiments of the third aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a method for controlling a vehicle according to an embodiment of the invention;
FIG. 2 is a flow chart of another method for controlling a vehicle according to an embodiment of the invention;
FIG. 3 (a) is a schematic diagram of a carrier model according to an embodiment of the present invention;
FIG. 3 (b) is a schematic diagram of a trace parameter of a carrier according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating another method for controlling a vehicle according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating another method for controlling a vehicle according to an embodiment of the present invention;
FIG. 6 (a) is a schematic diagram of a vehicle control system according to an embodiment of the present invention;
FIG. 6 (b) is a schematic diagram illustrating another view of a vehicle control system according to an embodiment of the invention;
FIG. 7 is a flowchart illustrating another method for controlling a vehicle according to an embodiment of the invention;
Fig. 8 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, left, right, front, rear, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be determined reasonably by a person skilled in the art in combination with the specific content of the technical solution.
Under the age of industrial intellectualization and wave, a safe and efficient cargo handling mode is an extremely important part whether a warehouse or a production line. Against huge industry competition and production pressures, traditional manual, forklift handling has been a matter of efficiency, in which case automatic navigation vehicles (Automated Guided Vehicle, AGV) capable of relieving the human burden are emerging.
In the related art, an AGV can travel along a specified path and can realize corresponding functions of safety protection, mobile transportation and the like, and generally, the AGV is driven by electric energy, performs transportation route planning and controls a specific travel route of the AGV in an inertial navigation mode, and can also set the travel route by paving electromagnetic tracks, wherein the electromagnetic tracks are usually stuck on a floor, and the AGV performs carrying work in industrial scenes such as warehouses of various companies and wharfs of various ports. However, in inertial navigation, due to lack of external information input, the running errors gradually accumulate so that the AGV gradually loses effective control, and magnetic navigation has the disadvantages of poor flexibility and low running speed. It can be seen that the automatic transportation method in the related art generally has the problem of low transportation efficiency, and the problem is urgent to be solved by the industry.
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a carrier control method which can improve the transportation efficiency in the automatic transportation process.
The following is further described with reference to the accompanying drawings.
Referring to fig. 1, a vehicle control method according to an embodiment of a first aspect of the present invention is applied to a vehicle, and includes:
Step S101, when a vehicle runs on a road in a first pose, detecting a motion state parameter of the vehicle, and receiving vehicle position information detected by a communication node on the road;
according to some embodiments of the invention, the first pose is a spatial position and a motion state of the vehicle in an initial driving situation. The vehicle position information refers to information reflecting the spatial position of the vehicle, and is detected by communication nodes laid on the road. The motion state parameter refers to a parameter reflecting the motion state of the vehicle in running, including but not limited to: the rotation angle of the front wheel of the carrier, the cornering stiffness of the front and rear tires of the carrier, the rotational inertia of the carrier, the longitudinal distance between the front and rear wheel base centroids of the carrier, the speed and acceleration of the carrier and other parameters. It should be noted that, in some embodiments, the carrier detects the motion state parameter through various sensors.
Step S102, obtaining target path information, wherein the target path information is used for providing guidance for a running path of a carrier;
in some embodiments of the present invention, the obtained target path information of the target path information may be obtained by a carrier control system collecting pose data of each carrier on the road, or may be obtained by preset, or may be obtained by automatic generation of a carrier determination road condition, and the manner of obtaining the target path information is various and not described in detail herein.
Step S103, according to the motion state parameters, the carrier position information and the target path information, the first pose is adjusted to a second pose matched with the target path information.
According to some embodiments of the present invention, the second pose matching the target path information refers to a spatial position and a motion state of the vehicle when the vehicle travels along the path planned by the target path information. The motion state parameter reflects the motion state of the vehicle in running, the vehicle position information reflects the spatial position of the vehicle, and the target path information provides guidance for the running path of the vehicle, so when the vehicle adjusts the first pose to the second pose matched with the target path information, the motion state parameter and the vehicle position information when the vehicle is in the first pose are required to be used as the reference, and the vehicle can run according to the target path information as the target to be adjusted.
When the carrier runs on the road in the first pose, the carrier detects the motion state parameter when the carrier is in the first pose, and receives the carrier position information detected by the communication node on the road. The motion state parameter and the carrier position information are used for enabling the carrier to confirm the current motion state of the carrier. Further, the vehicle acquires the target path information to clarify the travel path that the vehicle is required to follow next. Still further, the carrier adjusts the pose by taking the motion state parameter, the carrier position information and the target path information as references, so that the carrier is adjusted from the first pose to the second pose, and finally, the carrier runs on the road according to the target path information. According to the carrier control method, the carrier is enabled to clearly determine the position of the carrier according to the carrier position information received from the communication node on the road, and then the pose is automatically adjusted until the carrier meets the requirement of target path information, so that the transportation efficiency in the automatic transportation process is further improved.
Referring to fig. 2, according to some embodiments of the invention, obtaining target path information includes:
step S201, generating first pose data according to motion state parameters and carrier position information, wherein the first pose data is used for describing the spatial position and motion state of a carrier in the first pose;
in some embodiments of the present invention, the carrier generates first pose data for describing a spatial position and a motion state of the carrier when the carrier is in the first pose according to a motion state parameter and carrier position information when the carrier is in the first pose, so as to provide a reference for planning target path information for the base station.
Step S202, transmitting the first pose data to a base station so that the base station can plan target path information by referring to the first pose data;
it should be understood that the first pose data includes both the motion state parameter and the carrier position information, so that the motion state parameter and the carrier position information are directly transmitted to the base station after the carrier obtains the motion state parameter and the carrier position information, which is equivalent to the step S201 of generating the first pose data according to the motion state parameter and the carrier position information and the step S202 of transmitting the first pose data to the base station, which are combined and executed, and can be also covered by the above embodiments.
Step S203, receiving target path information from the base station.
In some embodiments of the present invention, each carrier on the road sends first pose data to the base station, reports own real-time information, such as current position, heading, running speed, etc., to the base station, and the base station synthesizes all carrier states, uniformly schedules each carrier, performs task distribution and path planning, thereby generating target path information and sending the target path information to each carrier. After receiving the target path information from the base station, the carrier can adjust the pose according to the planning of the target path information.
According to some embodiments of the invention, adjusting the first pose to a second pose that matches the target path information includes:
and controlling the carrier to correct the pose according to the first pose data and the target path information, and adjusting the carrier from the first pose to a second pose matched with the target path information. It should be noted that in some embodiments of the present invention, a path tracking algorithm is used to correct the pose of the carrier, and usable path tracking algorithms include, but are not limited to: proportional, integral, derivative (Proportional Integral Differential, PID) control algorithm, model predictive control algorithm (Model Predictive Control, MPC), linear quadratic regulation control algorithm (Linear Quadratic Regulator, LQR). In practical application, a PID algorithm and an LQR algorithm are more used, and in academia, an MPC algorithm is more used. In terms of control effect, the MPC algorithm is used in academia, because the MPC algorithm has better control effect than the PID algorithm and the LQR algorithm, but the MPC has large calculation amount and low real-time performance, so the MPC algorithm is generally only used in simulation. In some preferred embodiments of the present invention, the LQR algorithm is selected as the path tracking algorithm to correct the pose of the carrier.
Referring to fig. 3 (a), 3 (b), and 4, according to some embodiments of the present invention, controlling the carrier 30b to correct a pose includes:
step S401, simplifying the carrier 30b into a two-degree-of-freedom linear model 30a of the vehicle and establishing a path tracking algorithm;
it should be noted that, the kinematic model of the carrier 30b does not consider the tire characteristics, and the model is simplified too much, and particularly, a large error occurs when the carrier 30b runs at a high speed, so the kinematic model of the carrier 30b will be built herein. Because the left and right wheels of the carrier 30b are symmetrical, the kinetic model can be simplified to a two-degree-of-freedom bicycle model 30a that only considers the lateral displacement and yaw angle of the carrier 30 b.
Step S402, a two-dimensional coordinate system is established by taking a plane on which the carrier 30b runs as a reference plane, wherein the two-dimensional coordinate system takes the center point of the carrier 30b as an origin, an x-axis is arranged along the direction of the body of the carrier 30b, a y-axis is arranged perpendicular to the direction of the body of the carrier 30b, the direction of the x-axis is longitudinal, and the direction of the y-axis is transverse;
in step S403, when the longitudinal speed of the carrier 30b is constant, a relationship among the lateral displacement, the yaw angle and the front wheel steering angle of the carrier 30b is established, so as to obtain a lateral dynamics equation of the path tracking algorithm:
wherein the front wheel rotation angle delta is the input of a path tracking algorithm, C αf 、C αr Respectively, the cornering stiffness of the front and rear tires of the carrier 30b, m is the mass of the carrier 30b, I z For moment of inertia, l, of carrier 30b f 、l r The longitudinal distance V between the front and rear wheel base centroids of the carrier 30b x For the longitudinal speed of the carrier 30b, y,Lateral displacement, lateral velocity, lateral acceleration, phi, & lt, & gt of carrier 30b, respectively>Yaw angle, yaw rate, and yaw acceleration of the carrier 30b, respectively;
step S404, introducing a Frenet coordinate system with target path information into the model, and adding a transverse error integral term e yLeI Solving for transverse error e y Heading angle error e φ And (3) obtaining a state space equation of a path tracking algorithm according to the relation with the front wheel steering angle delta:
wherein,a 23 ＝-a 22 V x ，/>a 43 ＝-a 42 V x ,/>e is the error matrix of the path tracking algorithm, +.>Is the error rate matrix of the path tracking algorithm, L is the forward point distance of carrier 30b,/>Is the projection of the forward point on the target path in the target path information,/or->For the desired yaw rate of the path tracking algorithm, < +.>Road interference terms for the state space equation;
it should be noted that the Frenet coordinate system is used to describe the position of the vehicle 30b relative to the road. Typically, people are accustomed to defining the position of a point in space using a cartesian coordinate system. In reality, however, the road is often not "straight" and is therefore a very simple operation for humans, for example determining which lane the vehicle 30b is in, but in a computer cartesian coordinate system, it is often difficult to define accurately. In the Frenet coordinate system, a center line of a road is used as a reference line, and a coordinate system is established using a tangential vector and a normal vector of the reference line. The track that the vehicle 30b travels forward and remains in the lane is calculated as a straight line in the Frenet coordinate system, greatly simplifying the difficulty of track planning. For the reasons described above, it is a preferred embodiment of the present invention to introduce the flener (Frenet) coordinate system with target path information into the model.
It will be appreciated that since the calculated angle of rotation at the current time does not meet the road requirement at the next time, resulting in a driving error, this error can be eliminated by adding forward point prediction, which is specifically done in the error matrixAdding a transversal error integral term e yLeI I.e. +.>The improved state space equation is +.>Wherein a newly added transversal error integral term e yLeI The road curvature interference can be eliminated, so that road interference items can be ignoredTherefore, the improved state space equation can be better suitable for LQR control.
Step S405, loading a state space equation into the linear quadratic regulator, and calculating to obtain a control gain K of the linear quadratic regulator;
in step S406, the carrier 30b is controlled to correct the pose according to the control gain K of the linear quadratic regulator.
According to some embodiments of the invention, when the path tracking algorithm is used to control the vehicle to travel, only the precise coordinates provided by the transponder are used to make the turn calculation. That is, when the vehicle is located between two nodes, the front wheel steering angle of the vehicle is always kept unchanged, and when the multi-point positioning coordinates find that the vehicle generates larger deviation between the nodes, for example, find that the lateral distance from the center of mass of the vehicle to the target path is greater than a preset distance, then use the corresponding direction correction algorithm to perform course correction, so as to ensure that the vehicle runs according to the target path information and is not deviated from the route.
Referring to fig. 5, according to some embodiments of the present invention, a control gain K of a linear quadratic regulator is calculated, comprising:
step S501, let coefficient matrixCoefficient matrix->
Step S502, obtaining the cornering stiffness C of the front and rear tires of the carrier 30b by interpolation αf 、C αr And m and V contained in the first pose data x 、I z 、l f And l r Substituting the state space equation to obtain a coefficient matrix A and a coefficient matrix B;
in order to calculate coefficient matrices a, B in LQR control, it is first necessary to calculate the cornering stiffness of the wheel, that is, the ratio of the cornering force to the cornering angle suffered by the wheel, and the ratio of the cornering force to the cornering angle suffered by the tire is obtained through simulation according to the tire related parameters of the two-degree-of-freedom linear model of the vehicle, and then the cornering stiffness C of the front and rear tires of the carrier 30B is obtained through interpolation in the simulation result αf 、C αr 。
Step S503, the state space equation of the linear quadratic regulatorE andenergy function in a linear quadratic regulator>Performing iterative operation, and performing global optimization on two weight matrixes Q and R of the linear quadratic regulator, wherein the performance index of the J linear quadratic regulator is Q, R, E is a weight matrix of an energy function, and E is a state variable of the linear quadratic regulator >Is the first derivative of the state variable;
it should be noted that Q and R are respectively a weight matrix and a weight parameter, in some embodiments of the present invention, Q is a diagonal matrix of 5*5, each value of the diagonal matrix reflects a degree of importance on a corresponding amount in the state matrix, and R reflects a degree of importance on an input amount, and it should be understood that in engineering practice, values of Q and R parameters are often determined empirically. When the LQR is controlled at Q and the R parameter is set, the larger the Q is, the better the performance of the control algorithm is, but the stability is sacrificed, the larger the R is, the more gentle the control process is, the front wheel steering angle cannot be changed drastically, the system safety is ensured, and the tracking effect is easy to be poor. The empirically determined weight matrix Q and weight parameter R are only approximately optimal, so a genetic algorithm with better global searching capability is introduced to solve the optimization problem, step S503.
And step S504, when the performance index J reaches the minimum value, substituting the optimized weight matrix into the Rickettsia differential equation (Riccati differential equation), and calculating to obtain the control gain K of the linear quadratic regulator.
Referring to fig. 6 (a) and 6 (b), according to an embodiment of the second aspect of the present invention, a vehicle control system 600 includes a wireless virtual rail, where the wireless virtual rail includes a plurality of communication nodes 601 deployed on an entire road section, the communication nodes 601 include a transponder 602, and the transponder 602 is configured to acquire vehicle position information by using a wireless detection manner, where the vehicle position information is configured to reflect a driving direction of a vehicle on the road;
The base station 603, the base station 603 maintains a communication relationship with the plurality of communication nodes 601, and is configured to plan target path information of the carrier with reference to data information transmitted from the plurality of communication nodes 601, and send the target path information to the carrier via the communication nodes 601.
In some embodiments of the present invention, the transponder 602 obtains the position information of the vehicle by a wireless detection method, wherein the wireless detection method refers to a long-distance transmission communication method between the transponder 602 and the vehicle without transmission via a conductor or a cable, and common long-distance wireless transmission methods include, but are not limited to: the method mainly comprises GPRS/CDMA, data radio stations, spread spectrum microwave, wireless bridges, satellite communication, short wave communication technology and the like; the short-distance wireless communication standards with wider application and better development prospect are as follows: zig-Bee, bluetooth (Bluetooth), wireless broadband (Wi-Fi), radio frequency identification (Radio Frequency Identification, RFID), ultra Wideband (UWB), and Near Field Communication (NFC). The specific wireless detection mode can be flexibly selected according to the applicable scenario, and according to some embodiments of the present invention applied to the scenario of transporting goods, setting an antenna in the communication node 601 to perform wireless ranging on the carriers on the road is a preferable scheme. In addition, the base station 603 maintains communication relationship with the plurality of communication nodes 601 and also includes wired communication and wireless communication, wherein the wireless communication includes, but is not limited to, using the wireless transmission means mentioned above. The wired transmission is a way of transmitting information by using a tangible medium such as a metal wire, an optical fiber 604, etc., and the optical or electrical signal can carry information such as sound, text, image, etc., and the wired transmission mainly uses the electric wire or the optical fiber 604 to realize communication conduction. Because the optical fiber 604 has high transmission speed, strong anti-interference capability and high security, the communication mode between the base station 603 and the communication node 601 using the optical fiber 604 is a preferred embodiment of the present invention.
Referring to fig. 6 (a), 6 (b), and 7, a vehicle control method according to a third aspect of the present invention is applied to a vehicle control system 600, and includes:
step S701, detecting carrier position information when a carrier is in a first pose on a road via a communication node 601, and transmitting the carrier position information to the carrier;
it should be noted that, in step S701, the vehicle position information when the road vehicle is in the first pose is detected via the communication node 601, and may be detected in a variety of ways, including but not limited to: detecting by using a two-dimensional code, and when the vehicle scans the two-dimensional code paved on the ground to obtain the current position, receiving an access request by a background database to detect that the vehicle is positioned at the position of the scanned two-dimensional code; the laser transmitting plate is used for navigation, and the position of the carrier is detected through the laser transmitting plate; visual navigation, in which the position of a carrier is searched by detecting changes of factors such as light changes, ground changes and the like to the external environment.
In view of the high maintenance cost of the two-dimensional code in the method, the navigation equipment is more applied to a non-shielding environment, the requirements on external light and visibility are high, the cost is relatively high, the calculated amount in visual navigation is large, the requirements on calculation force are high, and the real-time performance is not strong, so that the method for acquiring the position information of the carrier by adopting the antenna ranging with simple operation and high detection accuracy is adopted in a preferred embodiment of the invention. Specifically, in a preset coordinate system describing the position of the communication node 601 on the ground road, when the vehicle passes through the communication node 601, the communication node 601 may report information such as the first coordinate of the current position of the node, the road condition, etc. as vehicle position information to the vehicle. When the carrier is between the communication nodes 601, the target ranging signals are sent to the periphery through a plurality of antennas, then the direction of the carrier is determined by using the communication nodes 601 as the position reference standard through the communication nodes receiving the target ranging feedback signals, the second coordinates of the carrier can be determined by using the collected ranging data, and then the second coordinates are reported to the carrier as the carrier position information. It should be appreciated that the detection of the vehicle position information when the road surface vehicle is in the first pose via the communication node 601 in step S701 includes, but is not limited to, the above-mentioned specific embodiments.
Step S702, first pose data from a carrier is obtained, and a traveling path of the carrier is planned by referring to the first pose data, so that target path information is generated;
in some embodiments of the present invention, the carrier generates first pose data for describing a spatial position and a motion state of the carrier when the carrier is in the first pose according to the motion state parameter and the carrier position information when the carrier is in the first pose, so as to provide a reference for planning target path information for the base station 603. It should be appreciated that the first pose data includes both motion state parameters and vehicle position information, and thus, the motion state parameters and the vehicle position information when the vehicle is in the first pose itself are respectively directly transmitted to the vehicle control system 600, which is equivalent to transmitting the first pose data to the vehicle control system 600. It should be noted that, each vehicle on the road sends the first pose data to the vehicle control system 600, and reports its own real-time information, such as the current position, heading, running speed, etc., and the base station 603 in the vehicle control system 600 synthesizes the real-time information of all vehicles running on the road, and uniformly schedules each vehicle to perform task distribution and path planning, thereby generating target path information and sending the target path information to each vehicle. After receiving the target path information from the base station 603, the carrier can adjust the pose according to the planning of the target path information. It should be emphasized that the effect of the first pose data on planning the target path and generating the target route information is to define the initial position and the initial movement trend of the vehicle, so that a reference standard is provided for planning the target path and generating the target route information by the base station 603, and when the base station 603 receives the data of a plurality of vehicles, the reference standard with multiple dimensions can be provided, so as to effectively realize clustered scheduling of a plurality of driving vehicles on the road.
In step S703, the target path information is sent to the carrier, so that the carrier adjusts the first pose to a second pose matching the target path information.
The vehicle position information when the road vehicle is in the first pose is detected via the communication node 601, and the vehicle position information is sent to the vehicle to obtain first pose data of the vehicle. After the first pose data is acquired, planning a running path of the carrier by referring to the first pose data, and generating target path information. The first pose data is used for describing a spatial position and a motion state of the vehicle in the first pose, and when the vehicle control system 600 determines that the vehicle is in the spatial position and the motion state in the first pose, the position and the motion trend of the vehicle on the road can be determined, so that the driving path can be planned based on the first pose data. After the target path information is generated, the target path information is sent to the carrier, so that the carrier is adjusted from the first pose to a second pose matched with the target path information.
Fig. 8 shows an electronic device 800 provided by an embodiment of the invention. The electronic device 800 includes: a processor 801, a memory 802, and a computer program stored on the memory 802 and executable on the processor 801, the computer program when executed is configured to perform the above-described vehicle control method.
The processor 801 and the memory 802 may be connected by a bus or other means.
The memory 802, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs and non-transitory computer executable programs, such as the vehicle control methods described in embodiments of the invention. The processor 801 implements the above-described vehicle control method by running non-transitory software programs and instructions stored in the memory 802.
The memory 802 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area. The storage data area may store and execute the above-described vehicle control method. Further, the memory 802 may include high-speed random access memory 802, and may also include non-transitory memory 802, such as at least one storage device memory device, flash memory device, or other non-transitory solid state memory device. In some implementations, the memory 802 may optionally include memory 802 located remotely from the processor 801, the remote memory 802 being connectable to the electronic device 800 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software programs and instructions required to implement the above-described vehicle control method are stored in the memory 802, and when executed by the one or more processors 801, the above-described vehicle control method is performed, for example, method steps S101 to S103 in fig. 1, method steps S201 to S203 in fig. 2, method steps S401 to S406 in fig. 4, method steps S501 to S504 in fig. 5, and method steps S801 to S803 in fig. 8.
The embodiment of the invention also provides a computer readable storage medium which stores computer executable instructions for executing the carrier control method.
In an embodiment, the computer-readable storage medium stores computer-executable instructions that are executed by one or more control processors, for example, to perform method steps S101 through S103 in fig. 1, method steps S201 through S203 in fig. 2, method steps S401 through S406 in fig. 4, method steps S501 through S504 in fig. 5, and method steps S701 through S703 in fig. 7.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, storage device storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media.
It should also be appreciated that the various embodiments provided by the embodiments of the present invention may be arbitrarily combined to achieve different technical effects.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit and scope of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (7)
1. The utility model provides a carrier control method, is applied to the carrier, characterized by that includes:
when a carrier runs on a road in a first pose, detecting a motion state parameter of the carrier, and receiving carrier position information detected by a communication node on the road;
generating first pose data according to the motion state parameters and the carrier position information, wherein the first pose data are used for describing the spatial position and the motion state of the carrier in a first pose;
transmitting the first pose data to a base station so that the base station plans target path information by referring to the first pose data;
receiving the target path information from the base station, wherein the target path information is used for providing guidance for a running path of the carrier;
According to the first pose data and the target path information, controlling the carrier to carry out pose correction, and adjusting the carrier from the first pose to a second pose matched with the target path information;
wherein, control the carrier carries out the gesture correction, include:
simplifying the carrier into a two-degree-of-freedom linear model of the vehicle and establishing a path tracking algorithm;
establishing a two-dimensional coordinate system by taking a plane on which the carrier runs as a reference plane, wherein the two-dimensional coordinate system takes the central point of the carrier as an origin, an x-axis is arranged along the direction of the carrier body, a y-axis is arranged perpendicular to the direction of the carrier body, the direction of the x-axis is longitudinal, and the direction of the y-axis is transverse;
when the longitudinal speed of the carrier is constant, establishing a relation among the transverse displacement, the yaw angle and the front wheel steering angle of the carrier to obtain a transverse dynamics equation of the path tracking algorithm:
wherein the front wheel rotation angle delta is the input of the path tracking algorithm, C αf 、C αr Respectively the cornering stiffness of the front and rear tires of the carrier, m is the mass of the carrier, I z For the moment of inertia of the carrier, l f 、l r The longitudinal distance V of the center of mass of the front wheel track and the rear wheel track of the carrier x Y, the longitudinal speed of the carrier,Respectively, the lateral displacement, the lateral speed and the lateral acceleration of the carrier, < >>Yaw angle, yaw rate and yaw acceleration of the carrier respectively;
introducing a flena coordinate system with target path information into the model, adding a transverse error integral term, and solving a transverse error e y Heading angle errorAnd (3) obtaining a state space equation of the path tracking algorithm according to the relation with the front wheel steering angle delta:
wherein,a 23 ＝-a 22 V x ，/>a 43 ＝-a 42 V x ,/>e is the error matrix of the path tracking algorithm, < >>Is the error rate matrix of the path tracking algorithm, L is the forward point distance of the carrier,/and L is the forward point distance of the carrier>Is the projection of the forward point on the target path in the target path information, +.>For a desired rate of deflection of the path tracking algorithm, and (2)>Road interference terms for the state space equation;
loading the state space equation into a linear quadratic regulator, and calculating to obtain a control gain K of the linear quadratic regulator;
and controlling the carrier to correct the pose according to the control gain K of the linear quadratic regulator.
2. The method of claim 1, wherein said calculating results in a control gain K for the linear quadratic regulator, comprising:
Let coefficient matrixCoefficient matrix->
Obtaining the cornering stiffness C of the front and rear tires of the carrier by an interpolation method αf 、C αr And m and V contained in the first pose data x 、I z 、l f And l r Substituting the state space equation to obtain the coefficient matrix A and the coefficient matrix B;
equation of state space for the linear quadratic regulatorEnergy function in said linear quadratic regulator +.>Performing iterative operation to globally optimize two weight matrixes Q and R of the linear quadratic regulator, wherein J is the performance index of the linear quadratic regulator, Q, R is the weight matrix of the energy function, E is the state variable of the linear quadratic regulator>Is a first derivative of the state variable;
and when the performance index J reaches the minimum value, substituting the optimized weight matrix into a Rickettsia differential equation, and calculating to obtain the control gain K of the linear quadratic regulator.
3. A vehicle control method applied to a vehicle control system, comprising:
detecting carrier position information when a carrier on a road is in a first pose through a communication node, and sending the carrier position information to the carrier;
Acquiring first pose data from the carrier, planning a running path of the carrier by referring to the first pose data, and generating target path information;
the target path information is sent to the carrier, so that the carrier is controlled to carry out pose correction according to the first pose data and the target path information, and the carrier is adjusted from the first pose to a second pose matched with the target path information;
wherein, control the carrier carries out the gesture correction, include:
simplifying the carrier into a two-degree-of-freedom linear model of the vehicle and establishing a path tracking algorithm;
establishing a two-dimensional coordinate system by taking a plane on which the carrier runs as a reference plane, wherein the two-dimensional coordinate system takes the central point of the carrier as an origin, an x-axis is arranged along the direction of the carrier body, a y-axis is arranged perpendicular to the direction of the carrier body, the direction of the x-axis is longitudinal, and the direction of the y-axis is transverse;
when the longitudinal speed of the carrier is constant, establishing a relation among the transverse displacement, the yaw angle and the front wheel steering angle of the carrier to obtain a transverse dynamics equation of the path tracking algorithm:
Wherein the front wheel rotation angle delta is the input of the path tracking algorithm, C αf 、C αr Respectively the cornering stiffness of the front and rear tires of the carrier, m is the mass of the carrier, I z For the moment of inertia of the carrier, l f 、l r The longitudinal distance V of the center of mass of the front wheel track and the rear wheel track of the carrier x Y, the longitudinal speed of the carrier,Respectively, the lateral displacement, the lateral speed and the lateral acceleration of the carrier, < >>Yaw angle, yaw rate and yaw acceleration of the carrier respectively;
introducing a flena coordinate system with target path information into the model, adding a transverse error integral term, and solving a transverse error e y Heading angle errorAnd (3) obtaining a state space equation of the path tracking algorithm according to the relation with the front wheel steering angle delta:
wherein,a 23 ＝-a 22 V x ，/>a 43 ＝-a 42 V x ,/>e is the error matrix of the path tracking algorithm, < >>Is the error rate matrix of the path tracking algorithm, L is the forward point distance of the carrier,/and L is the forward point distance of the carrier>Is the projection of the forward point on the target path in the target path information, +.>For a desired rate of deflection of the path tracking algorithm, and (2)>Road interference terms for the state space equation;
loading the state space equation into a linear quadratic regulator, and calculating to obtain a control gain K of the linear quadratic regulator;
And controlling the carrier to correct the pose according to the control gain K of the linear quadratic regulator.
4. A method according to claim 3, wherein detecting the vehicle position information when the road vehicle is in the first pose comprises:
setting the current coordinate of the communication node as a first coordinate by referring to a preset coordinate system;
and when the carrier is detected to pass through the communication node, generating carrier position information according to the first coordinates.
5. The method according to claim 4, wherein the method further comprises:
when the carrier is detected not to pass through the communication node, a target ranging signal is sent from the communication node to the periphery;
receiving a target ranging feedback signal via the communication node to determine a position of the vehicle;
obtaining a second coordinate reflecting the position of the carrier according to the first coordinate and the target ranging feedback signal;
and generating the carrier position information according to the second coordinates.
6. A vehicle control system for performing the vehicle control method of any one of claims 3 to 5, the vehicle control system comprising:
The wireless virtual guide rail comprises a plurality of communication nodes deployed on an all-road section, wherein the communication nodes comprise transponders, the transponders are used for acquiring carrier position information in a wireless detection mode, and the carrier position information is used for reflecting the running direction of a carrier on a road;
the base station is in communication relation with the communication nodes, and is used for planning target path information of the carrier according to data information transmitted by the communication nodes and sending the target path information to the carrier through the communication nodes.
7. A computer-readable storage medium storing a program that is executed by a processor to implement the vehicle control method according to any one of claims 1 to 2 or claims 3 to 5.
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