CN116088520A - Accurate direction control method for unmanned hinge vehicle - Google Patents
Accurate direction control method for unmanned hinge vehicle Download PDFInfo
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- CN116088520A CN116088520A CN202310070681.8A CN202310070681A CN116088520A CN 116088520 A CN116088520 A CN 116088520A CN 202310070681 A CN202310070681 A CN 202310070681A CN 116088520 A CN116088520 A CN 116088520A
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The invention provides a precise direction control method of an unmanned hinge vehicle. The method comprises the steps of firstly collecting a plurality of groups of hinge corners and corresponding turning radiuses when running on different roads, and collecting a plurality of groups of hinge corners and corresponding turning radiuses when running at different speeds; then, respectively performing polynomial fitting to obtain corresponding fitting coefficients; on the basis, the type of the running road surface of the vehicle is obtained through a high-precision map area label module, and the running speed of the vehicle is obtained through a chassis speed feedback module; and finally, calculating the accurate hinge rotation angle of the hinge car under various scenes and speeds through different fitting coefficients. The invention overcomes the influence of different road surfaces and different running states on the direction control of the hinge vehicle, and the control mode is more in line with the actual running state, so that the direction control of the unmanned hinge vehicle is more accurate.
Description
Technical Field
The invention relates to the technical field of automatic driving vehicle control, in particular to a precise direction control method of an unmanned hinge vehicle.
Background
The hinge type vehicle belongs to special type vehicle, mainly constitutes rear wheel drive box and front portion equipment box and constitutes, and the centre is realized transmission and turning to by two boxes of hinge type hydraulic stem connection, and the difference with passenger vehicle lies in:
1. the control modes are different, the passenger car usually realizes control by driving front wheels and adding steering wheels for steering, the hinge type is driven by rear wheels, and the left hinge and the right hinge are pushed and pulled to enable the front car body and the rear car body to form a certain included angle for realizing steering control.
2. The vehicle motion model is different, the passenger car adopts simple bicycle model to describe the vehicle state completely, and the articulated vehicle comprises two front and back boxes, because the hinge push-pull in the motion process for two front and back boxes have certain contained angle, thereby make the articulated vehicle model unable to use static vehicle model to describe, the vehicle model is different at every moment in the motion process, is a dynamic vehicle model.
At present, the steering control of the unmanned articulated vehicle is not accurate enough. Because the actual running environment is complex, the difference of pavement materials, the old and worn degree of the pavement, the state of sand and stone on the pavement and the like can influence the direction control of the unmanned hinge vehicle; in addition, the vehicle speed is different, the accuracy of the steering controller of the vehicle chassis is insufficient, the steering actuator error, the 0-bit calibration error and the like, and the direction control is inaccurate.
Disclosure of Invention
The invention aims at solving the technical defects of the prior art, and provides a precise direction control method of an unmanned hinge vehicle, so as to solve the technical problem that the direction control of the unmanned hinge vehicle is not precise enough.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a precise direction control method of an unmanned hinge vehicle comprises the following steps:
1) Respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running on different roads; respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running at different speeds;
2) Obtaining turning radii calibrated by different hinge angles under different road surfaces, and performing polynomial fitting to obtain corresponding fitting coefficients; obtaining turning radii calibrated by different hinge angles under different speeds, and performing polynomial fitting to obtain corresponding fitting coefficients;
3) Obtaining the type of a vehicle driving road surface through a high-precision map area label module; acquiring the running speed of the vehicle through a chassis speed feedback module;
4) And calculating accurate hinge corners of the hinge car under various scenes and speeds by different fitting coefficients.
Preferably, the acquiring the type of the vehicle running road surface includes: the high-precision map area label module obtains a high-precision map with marked marks, obtains the positioning of the vehicle in the high-precision map where the vehicle is currently located, and finds the corresponding high-precision map area label according to the positioning of the vehicle.
Preferably, the acquiring the vehicle running speed includes: the chassis speed feedback module obtains the real-time speed of the chassis.
Preferably, the control flow of the method comprises: acquiring a target point; calculating a turning radius; the high-precision map area label module outputs a hinge angle required by reaching a target point according to the corresponding fitting coefficient &=aR & lt m+bR & lt (m-1) +c; the chassis speed feedback module outputs the hinge angle required by reaching the target point according to the corresponding fitting coefficient &=aR ++bR ++m-1) +c.
The invention provides a precise direction control method of an unmanned hinge vehicle. The method comprises the steps of firstly collecting a plurality of groups of hinge corners and corresponding turning radiuses when running on different roads, and collecting a plurality of groups of hinge corners and corresponding turning radiuses when running at different speeds; then, respectively performing polynomial fitting to obtain corresponding fitting coefficients; on the basis, the type of the running road surface of the vehicle is obtained through a high-precision map area label module, and the running speed of the vehicle is obtained through a chassis speed feedback module; and finally, calculating the accurate hinge rotation angle of the hinge car under various scenes and speeds through different fitting coefficients. The invention overcomes the influence of different road surfaces and different running states on the direction control of the hinge vehicle, and the control mode is more in line with the actual running state, so that the direction control of the unmanned hinge vehicle is more accurate.
Drawings
FIG. 1 is a flow chart of the invention for obtaining the type of road surface on which a vehicle is traveling;
FIG. 2 is a schematic illustration of a high-precision map area tag in accordance with the present invention;
FIG. 3 is a flow chart of acquiring a vehicle travel speed in the present invention;
FIG. 4 is a flow chart of the hinge car direction control of the present invention;
description of the embodiments
Hereinafter, embodiments of the present invention will be described in detail. In order to avoid unnecessary detail, well-known structures or functions will not be described in detail in the following embodiments. Approximating language, as used in the following examples, may be applied to create a quantitative representation that could permissibly vary without resulting in a change in the basic function. Unless defined otherwise, technical and scientific terms used in the following examples have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Examples
The accurate direction control method of the unmanned hinge vehicle, as shown in fig. 1-4, comprises the following steps:
1) Respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running on different roads; respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running at different speeds;
2) Obtaining turning radii calibrated by different hinge angles under different road surfaces, and performing polynomial fitting to obtain corresponding fitting coefficients; obtaining turning radii calibrated by different hinge angles under different speeds, and performing polynomial fitting to obtain corresponding fitting coefficients;
3) Obtaining the type of a vehicle driving road surface through a high-precision map area label module; acquiring the running speed of the vehicle through a chassis speed feedback module;
4) And calculating accurate hinge corners of the hinge car under various scenes and speeds by different fitting coefficients.
Examples
The accurate direction control method of the unmanned hinge vehicle, as shown in fig. 1-4, comprises the following steps:
1) Respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running on different roads; respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running at different speeds;
2) Obtaining turning radii calibrated by different hinge angles under different road surfaces, and performing polynomial fitting to obtain corresponding fitting coefficients; obtaining turning radii calibrated by different hinge angles under different speeds, and performing polynomial fitting to obtain corresponding fitting coefficients;
3) Obtaining the type of a vehicle driving road surface through a high-precision map area label module; acquiring the running speed of the vehicle through a chassis speed feedback module;
4) And calculating accurate hinge corners of the hinge car under various scenes and speeds by different fitting coefficients.
Wherein, obtain the vehicle road surface type of traveling, include: the high-precision map area label module obtains a high-precision map with marked marks, obtains the positioning of the vehicle in the high-precision map where the vehicle is currently located, and finds the corresponding high-precision map area label according to the positioning of the vehicle.
The acquiring the vehicle running speed includes: the chassis speed feedback module obtains the real-time speed of the chassis.
The control flow of the method comprises the following steps: acquiring a target point; calculating a turning radius; the high-precision map area label module outputs a hinge angle required by reaching a target point according to the corresponding fitting coefficient &=aR & lt m+bR & lt (m-1) +c; the chassis speed feedback module outputs the hinge angle required by reaching the target point according to the corresponding fitting coefficient &=aR ++bR ++m-1) +c.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the scope of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The accurate direction control method of the unmanned hinge vehicle is characterized by comprising the following steps of:
1) Respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running on different roads; respectively collecting a plurality of groups of hinge corners and corresponding turning radiuses by running at different speeds;
2) Obtaining turning radii calibrated by different hinge angles under different road surfaces, and performing polynomial fitting to obtain corresponding fitting coefficients; obtaining turning radii calibrated by different hinge angles under different speeds, and performing polynomial fitting to obtain corresponding fitting coefficients;
3) Obtaining the type of a vehicle driving road surface through a high-precision map area label module; acquiring the running speed of the vehicle through a chassis speed feedback module;
4) And calculating accurate hinge corners of the hinge car under various scenes and speeds by different fitting coefficients.
2. The method for precisely controlling the direction of the unmanned articulated vehicle according to claim 1, wherein the step of obtaining the type of the road surface on which the vehicle is traveling comprises the steps of: the high-precision map area label module obtains a high-precision map with marked marks, obtains the positioning of the vehicle in the high-precision map where the vehicle is currently located, and finds the corresponding high-precision map area label according to the positioning of the vehicle.
3. The method for precisely controlling the direction of the unmanned articulated vehicle according to claim 1, wherein the step of obtaining the vehicle running speed comprises the steps of: the chassis speed feedback module obtains the real-time speed of the chassis.
4. The method for precisely controlling the direction of the unmanned articulated vehicle according to claim 1, wherein the control flow of the method comprises: acquiring a target point; calculating a turning radius; the high-precision map area label module outputs a hinge angle required by reaching a target point according to the corresponding fitting coefficient &=aR & lt m+bR & lt (m-1) +c; the chassis speed feedback module outputs the hinge angle required by reaching the target point according to the corresponding fitting coefficient &=aR ++bR ++m-1) +c.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116257069A (en) * | 2023-05-16 | 2023-06-13 | 睿羿科技(长沙)有限公司 | Unmanned vehicle formation decision and speed planning method |
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| CN104881025A (en) * | 2015-04-10 | 2015-09-02 | 北京科技大学 | Reactive navigation control method for underground mining vehicle |
| CN108139884A (en) * | 2016-09-28 | 2018-06-08 | 百度（美国）有限责任公司 | The method simulated the physical model of automatic driving vehicle movement and combine machine learning |
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