CN116594400A - High-speed profiling unmanned automatic target vehicle and automatic driving path tracking method thereof - Google Patents

High-speed profiling unmanned automatic target vehicle and automatic driving path tracking method thereof Download PDF

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Publication number
CN116594400A
CN116594400A CN202310629829.7A CN202310629829A CN116594400A CN 116594400 A CN116594400 A CN 116594400A CN 202310629829 A CN202310629829 A CN 202310629829A CN 116594400 A CN116594400 A CN 116594400A
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China
Prior art keywords
vehicle
control
speed
profiling
target
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CN202310629829.7A
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Chinese (zh)
Inventor
陈翔
赵进
崔滔文
瞿元
阴山慧
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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Priority to CN202310629829.7A priority Critical patent/CN116594400A/en
Publication of CN116594400A publication Critical patent/CN116594400A/en
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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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • 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
    • 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
    • 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
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a high-speed profiling unmanned automatic target vehicle and an automatic driving path tracking method thereof, wherein the high-speed profiling unmanned automatic target vehicle comprises a profiling armored target body, a profiling vehicle chassis body and an operation control system cabinet, wherein the profiling armored target body is used for simulating a target, and the profiling vehicle chassis body is used for driving a vehicle to operate; the running control system cabinet is arranged on the profiling chassis main body and comprises a vehicle-mounted controller, a communication module, a power driving control module, a driving recording module, a navigation positioning module, a running control execution module and the like which are electrically connected with the vehicle-mounted controller, and the power driving control module and the running control execution module are controlled based on a PID control algorithm according to control instructions and real-time positioning information acquired by communication transmission so as to realize the transverse and longitudinal control of path tracking. The invention realizes flexible manual and automatic driving by matching the GPS and inertial navigation technology with the ground station, simulates real vehicle movement targeting, and has high fidelity and strong practicability.

Description

High-speed profiling unmanned automatic target vehicle and automatic driving path tracking method thereof
Technical Field
The invention relates to the technical field of automation equipment, in particular to a high-speed profiling unmanned automatic target vehicle and an automatic driving path tracking method thereof.
Background
In the prior art, the common training target with fixed target position can not meet the requirement of mobile shooting, and is unfavorable for improving the accuracy of ball firing. Especially when a missile shooting vehicle is simulated, the requirements on parameters such as the size, the moving speed and the like of the target vehicle are very high, the simulation is not only external, but also games with shooting staff in the process of exercise, and obvious potential safety hazards can appear when a person drives the moving target vehicle; and the game interaction scene is difficult to appear when the track erection targets are arranged, so that the fidelity of the exercise is easily reduced.
With the development of scientific technology, the automatic driving technology is mature. Compared with the common fixed target, the unmanned target vehicle has the advantages of high fidelity, strong practicability, low requirement on the use environment, reduced working danger and the like. However, the existing unmanned target vehicle is usually driven by manual remote control, so that the applicability is poor, and manual control is still required.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the high-speed profiling unmanned automatic target vehicle and the automatic driving path tracking method thereof, and the high-speed profiling unmanned automatic target vehicle is matched with a ground station for use through a GPS (global positioning system) and inertial navigation technology, so that the integration of manual driving, remote control driving, automatic driving and data monitoring is realized, the flexible manual driving and automatic driving are realized, the real vehicle movement target is simulated, the fidelity is high, and the practicability is strong.
In a first aspect, the present disclosure provides a high-speed profiling unmanned automatic target cart.
A high-speed profiling unmanned automatic target vehicle comprises a profiling armored target main body, a profiling vehicle chassis main body and an operation control system cabinet;
the profiling armored target main body is used for simulating a target, is arranged on a profiling vehicle chassis main body and comprises a frame, a suspension, a transmission device and a manual driving device, and is used for driving a vehicle to run;
the running control system cabinet is arranged on the profiling vehicle chassis main body and comprises a vehicle-mounted controller, a communication module, a power driving control module, a navigation positioning module and a running control execution module, wherein the communication module, the power driving control module, the navigation positioning module and the running control execution module are electrically connected with the vehicle-mounted controller; the communication module is used for carrying out communication transmission with the remote control station, the navigation positioning module is used for acquiring real-time positioning information and transmitting the real-time positioning information to the vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the power driving control module and the running control execution module based on a PID control algorithm according to a control instruction and the real-time positioning information acquired by communication transmission, so that the path tracking transverse and longitudinal control is realized.
According to a further technical scheme, the power driving module comprises a power controller, an accelerator accelerating mechanism and a power supply unit, and is used for transmitting the acquired vehicle power state information to the vehicle-mounted controller and controlling the accelerator accelerating mechanism and the power supply unit to operate according to a control instruction issued by the vehicle-mounted controller.
According to a further technical scheme, the operation control execution module comprises a steering control unit and a braking control unit;
the steering control unit comprises a steering control executor and a steering mechanism, wherein the steering control executor is used for controlling the steering mechanism to steer based on a PID control algorithm according to a control instruction issued by the vehicle-mounted controller;
the steering mechanism is provided with a torque sensor positioned at the input shaft, a vehicle speed sensor positioned at the transmission and a rotating speed sensor positioned at the motor, and the torque sensor, the vehicle speed sensor and the rotating speed sensor are respectively used for acquiring real-time torque information, real-time vehicle speed information and real-time rotating speed information.
According to a further technical scheme, the control strategy for controlling the steering mechanism is as follows:
acquiring path information and real-time position information;
calculating and obtaining an expected front wheel steering angle based on a vehicle kinematic model and a tracking algorithm model according to the position and the real-time position of a target point in the path information;
and acquiring the actual steering wheel angle of the vehicle, and realizing transverse path tracking control based on a PID control algorithm according to the expected front steering angle and the actual steering wheel angle.
According to a further technical scheme, the brake control unit comprises a brake control actuator and a brake mechanism, wherein the brake control actuator is used for controlling the brake mechanism to brake based on a PID control algorithm according to a control instruction issued by the vehicle-mounted controller.
According to a further technical scheme, a control strategy for controlling braking of the braking mechanism is as follows:
acquiring path information and the current moment speed of the vehicle;
and according to the expected command speed in the path information and the current speed of the vehicle, realizing longitudinal path tracking control based on a PID control algorithm.
According to a further technical scheme, the profiling armored target main body comprises a target, wherein the middle position below the target is of an inverted concave structure and is clamped into a main beam of the profiling vehicle chassis main body;
a simulated target turret is arranged above the profiling armor target main body, foam one-time molding is adopted in the simulated target turret, a steel reinforcement framework is arranged in the simulated target turret, the profile is built by adopting a glass fiber reinforced plastic material, and a metal skin is attached to the outer part of the glass fiber reinforced plastic material;
the simulated target turret is provided with a weapon station and a photoelectric device, a machine gun and a transmitting cylinder in the weapon station are formed by welding Q235 metal materials, and the photoelectric device is formed by stamping sheet metal materials.
In a second aspect, the present disclosure provides an automatic driving path tracking method of a high-speed profiling unmanned automatic target vehicle, including:
acquiring path information and real-time position information;
calculating and obtaining an expected front wheel steering angle based on a vehicle kinematic model and a tracking algorithm model according to the position and the real-time position of a target point in the path information;
acquiring an actual steering wheel corner of a vehicle, and realizing transverse path tracking control based on a PID control algorithm according to an expected front steering angle and the actual steering wheel corner;
and acquiring the speed of the vehicle at the current moment, and realizing longitudinal path tracking control based on a PID control algorithm according to the expected command speed in the path information and the speed of the vehicle at the current moment.
According to a further technical scheme, the longitudinal path tracking control is used for outputting accelerator pedal instruction information and brake pedal instruction information based on an expected instruction speed and a current moment speed of a vehicle, and a control strategy comprises:
when the speed of the vehicle at the current moment is greater than the expected command speed and the difference value is greater than the set value, outputting brake pedal command information to perform brake control;
and outputting accelerator pedal instruction information to perform accelerator control when the speed of the vehicle at the current moment is greater than the expected instruction speed and the difference value is smaller than the set value or the speed of the vehicle at the current moment is smaller than the expected instruction speed.
Further technical scheme still includes:
when the speed of the vehicle at the current moment exceeds the limit, the brake lock is effective, and brake control is performed;
and when the speed of the vehicle at the current moment is lower than the limit, the brake lock is invalid, and the throttle control is performed.
The one or more of the above technical solutions have the following beneficial effects:
1. the invention provides a high-speed profiling unmanned automatic target vehicle and an automatic driving path tracking method thereof, wherein the high-speed profiling unmanned automatic target vehicle can realize manual driving, remote control driving and automatic driving, and is used by matching with a ground station through a GPS (global positioning system) and inertial navigation technology in the automatic driving process, so that the transverse path tracking and the longitudinal path tracking of the automatic driving are realized based on a driving route, the applicability is strong, the game interaction scene is convenient to set, and the fidelity of simulated mobile shooting exercise can be improved.
2. The invention is based on the PID control algorithm and the emergency stop protection device installed in the sensor, the state of the target car is observed through the ground station and the image, and the emergency power-off flameout is realized through the range-increasing data transmission, so that the safety is high.
3. In the invention, the steering wheel, the brake, the accelerator and the gear mechanism are all installed by adopting independently designed mechanical parts, so that the transmission efficiency of the mechanism is higher, and the maintenance and the replacement are convenient.
4. In the invention, the target plate is convenient to detach, the target pattern can be modified, and the target vehicle can be reused without damaging an internal control system, so that waste is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of the structure of the inside of a high-speed profiling unmanned automatic target vehicle according to an embodiment of the invention;
FIG. 2 is a schematic view of the exterior of the high-speed profiling unmanned automatic target vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the high-speed profiling unmanned automatic target vehicle driving control according to an embodiment of the invention;
FIG. 4 is a schematic view of the steering mechanism of the high-speed profiling unmanned automatic target vehicle according to the embodiment of the invention;
FIG. 5 is a schematic diagram of the steering control of the high-speed profiling unmanned automatic target vehicle according to the embodiment of the invention;
FIG. 6 is a schematic diagram of a high-speed profiling unmanned automatic target vehicle braking mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the high-speed profiling unmanned automatic target vehicle braking control according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the power control of the high-speed profiling unmanned automatic target vehicle according to the embodiment of the invention;
FIG. 9 is a graph of a high-speed profiling unmanned automatic target vehicle trajectory algorithm according to an embodiment of the invention;
FIG. 10 is a flowchart of a PID control algorithm;
fig. 11 is a schematic diagram of path tracking control of the high-speed profiling unmanned automatic target vehicle according to the embodiment of the invention.
Wherein, 1, an internal framework, 2, a gun barrel tube, 3, an operation control system cabinet, 4, a frame, 5, a transmission device, 6, a suspension, 7, a manual driving device, 8, a profiling vehicle chassis main body, 9, a profiling skin, 10 and an input shaft, 11, a first motor, 12, a speed reducing mechanism, 13, a rack-and-pinion steering gear, 14, a trapezoid arm, 15, a torque sensor, 16, a second motor, 17, a brake pump, 18, a displacement sensor, 19 and a pedal.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
The embodiment provides a high-speed profiling unmanned automatic target vehicle, which comprises a profiling armored target body, a profiling vehicle chassis body 8 and an operation control system cabinet 3.
As shown in fig. 1 and 2, the profiling armor target main body comprises an inner framework 1, a profiling skin 9 is arranged outside the inner framework 1 and is mainly used for simulating the appearance characteristics of an enemy main battle tank, in the embodiment, the profiling armor target main body is used for simulating a target, is installed on a profiling vehicle chassis main body 8, is constructed by adopting a galvanized A3 square tube, a 0.8mm thick galvanized steel plate and a color steel plate, and is subjected to outer surface paint spraying treatment. The middle position below the profiling armored targeting target is of an inverted concave structure, so that the profiling armored targeting target just falls into the main beam position of the chassis of the vehicle body. A simulated target turret is arranged above a target of the profiling armor, foam one-time molding is adopted in the simulated target turret, a steel reinforcement framework is arranged in the simulated target turret, the profile of the simulated target turret is built by adopting a glass fiber reinforced plastic material, and a 0.5mm metal skin is attached to the outer part of the glass fiber reinforced plastic material. The simulated target turret is provided with a weapon station and a photoelectric device, and can be formed by adopting steel beams, engineering plastics and the like as bases and assisting in metal covering according to actual requirements; in this embodiment, the gun and barrel in the weapon station are welded from Q235 metal material and the optoelectronic device is stamped from sheet metal material. The front part of the profiling armored target main body is provided with a gun barrel 2, the main body structure of the profiling armored target main body is formed by one-step extrusion of aluminum alloy materials, and the rear part of the gun barrel 2 is fixedly connected with an inner framework 1 of a profiling vehicle; the lower part of the profiling armor target main body is provided with a profiling wheel, the profiling wheel adopts a 2mm cylindrical steel plate as a main outline, the inside is of a cavity structure, the profiling wheel is integrally welded, and the end round surface is formed by stamping; the other end of the profiling wheel is connected with a profiling car skeleton through bolts, and an existing industrial transmission connecting plate is adopted as a track structure of a profiling armored target.
The profiling vehicle chassis main body 8 comprises a frame 4, a suspension 6, a transmission device 5 and a manual driving device 7, and is used for driving the vehicle to run. The length of the frame 4 is 5.3 meters, the height is 0.7 meter, a non-bearing structure is adopted, high-strength structural steel sections are utilized as left and right main longitudinal beams, the top of the main longitudinal beams is connected with the main longitudinal beams at the bottom of a target through 4 sets of U-shaped bolt clamps and two rubber backing plates, and a positioning clamp is additionally arranged at the central position of the frame at the tail of the vehicle. The front end face and the rear end face of the automobile body are provided with lamplight and whistle systems of the automobile, the front end and the rear end of the automobile body are provided with trailer hooks, the front axle of the chassis is a Macpherson independent suspension, and the rear axle is a longitudinally-arranged leaf spring type dependent suspension. The profiling target vehicle adopts a traditional front-mounted rear-drive power arrangement scheme, comprises a driving motor, a power battery and the like, wherein the power motor of the profiling target vehicle adopts a permanent magnet synchronous motor system, the power supply system mainly comprises a battery, a battery box, a heating system, a charging system, a BMS host module and the like, a transmission mode of a transmission+a transmission shaft+a rear axle reduction box is applied, a foldable simple cockpit is arranged on the locomotive, a complete manual driving device is reserved in the cockpit, and the profiling target vehicle comprises an electric lock, a steering wheel, a combination switch, a brake pedal, a direction switch, a hand brake handle, a simple folding seat, a folding outer rearview mirror, a mode switch (manual/remote control) and the like.
Through the setting, manual driving is realized, and in the manual driving stage, a driver takes over the executing mechanism, actively judges the environment to operate and drive, and is separated from GPS navigation driving.
The running control system cabinet 3 is arranged on the profiling chassis main body 8, as shown in fig. 3, and comprises a vehicle-mounted controller, a communication module, a power driving control module, a signal control relay group, a video information acquisition module, a running recording module, a navigation positioning module and a running control execution module, wherein the communication module, the power driving control module, the signal control relay group, the video information acquisition module, the running recording module, the navigation positioning module and the running control execution module are electrically connected with the vehicle-mounted controller.
The communication module is used for carrying out communication transmission with the remote control station, adopts a mode of combining GPS and inertial navigation, is provided with a Beidou expansion interface and an inertial measurement device of a vehicle, and realizes automatic running of the vehicle. The inertial measurement unit comprises an accelerometer for measuring the acceleration of the object and a gyroscope, also called angular velocity sensor, for measuring the angular velocity.
The navigation positioning module is used for acquiring real-time positioning information and transmitting the real-time positioning information to the vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the power driving control module and the operation control execution module based on a PID control algorithm according to the control instruction and the real-time positioning information acquired by communication transmission, so as to realize speed and steering control.
The vehicle-mounted controller is in bidirectional communication with the remote control station through the communication module, and downloads control instructions and uploads vehicle state information. The transmission period of the control instruction is 25/50ms, and the transmission period of the state information is 100ms; the state information comprises a vehicle speed, a position, a motor rotating speed, a communication state, a vehicle state, a time stamp and the like, wherein the time stamp adopts BD II/GPS time service.
The vehicle-mounted controller is communicated with a power controller VCU of the power driving control module through a CAN bus/RJ 45 interface, acquires power state information of the vehicle, comprises voltage, electric quantity, current, motor rotation speed, motor temperature, electric control fault codes, BMS fault codes and the like, and sends control instructions such as signals of direction control, rotation speed control, driving motor braking control and the like. The power driving control module is used for controlling the driving motor and the power supply system by using the power controller VCU. As shown in fig. 8, in a remote control or program control mode, the VCU acquires an acceleration control instruction issued by the vehicle-mounted controller through a CAN bus or an RJ45 interface, and then controls the driving motor controller to make a corresponding response; in the manual driving mode, the VCU acquires a vehicle-mounted electronic accelerator signal and directly controls the motor controller to realize an acceleration function. The VCU may report information of the motor, the electronic control and the battery management system BMS to the vehicle-mounted controller, which is then uploaded to the remote control station.
Through the arrangement, remote control driving and automatic driving are realized. In the remote control driving stage, according to the video information of the image transmission, the remote operation vehicle drives according to the GPS navigation map, and the manual observation is combined with the GPS navigation; and in the automatic driving stage, according to the received path information, combining with a GPS navigation map to carry out path tracking automatic driving.
In this embodiment, the target car is further provided with an emergency stop protection module, which can receive an emergency stop instruction issued manually or automatically, and when an emergency situation is met, the target car is controlled to be powered off and flameout in an emergency mode according to the received emergency stop instruction, so that the safety is high.
The vehicle-mounted controller sends an instruction to the signal control relay group through the data bus, so that the vehicle-mounted controller can perform operations such as horn sounding, left turn light lighting, right turn light lighting, high beam light, low beam light, reversing light and the like according to manual remote control instructions or automatic driving requirements.
In this embodiment, the operation control execution module includes a steering control unit and a braking control unit, which are used to implement functions such as steering and deceleration braking.
The steering control unit comprises a steering control actuator and a steering mechanism, wherein the steering mechanism is shown in fig. 4 and specifically comprises a steering wheel, an input shaft 10, a steering column, a first motor 11, a speed reducing mechanism 12, a rack-and-pinion steering machine 13, a trapezoid arm 14, a torque sensor 15, a vehicle speed sensor positioned at a transmission, a rotating speed sensor positioned at the motor and the like; as shown in fig. 5, the steering control executor is used for controlling the steering mechanism to steer based on a PID control algorithm according to a control command issued by the vehicle-mounted controller, executing a manual remote control steering command of the remote control station or implementing automatic driving according to a calibrated path.
Further, the vehicle steering mechanism is similar to the conventional steering mechanism in structure and also comprises a steering wheel, a steering column and a steering machine. In the present embodiment, a set of electric control system including a motor and a speed reducing mechanism, a control actuator, an input shaft, a torque sensor, a vehicle speed sensor at a transmission, a rotational speed sensor at a motor, and the like is provided at a steering column, unlike the conventional steering mechanism. The brake control adopts an electronic hydraulic brake (Electro Hydraulic Braking, EHB), namely, a hydraulic power unit is additionally arranged in an oil way of a hydraulic brake system of an original vehicle to drive a brake pad to complete braking action, and the brake control comprises a pedal component provided with a pedal force sensor, a brake, a braking force distribution unit, a brake cylinder, a control actuator, a brake liquid pipeline, various sensors for collecting signals, an upper computer monitoring platform capable of monitoring various signals in real time and the like.
The brake control unit includes a brake mechanism (or brake mechanism) and a brake control actuator. The brake mechanism is shown in fig. 6 and comprises a second motor 16, a brake pump 17, a displacement sensor 18, a pedal 19 and the like. As shown in fig. 7, the brake control executor is configured to control the brake mechanism to brake based on a PID control algorithm according to a control command issued by the vehicle-mounted controller, and execute a manual remote control brake command or perform a deceleration and braking operation in an automatic driving process. Meanwhile, the vehicle-mounted controller cuts off the power output of the motor and starts the auxiliary electronic brake by controlling a power controller (VCU) of the power driving control module.
And the vehicle-mounted controller compares the planned route during runway calibration according to the data of the GPS positioning system and the inertial measurement device, so as to realize the programmed calculation of the route and implement automatic driving.
Through the arrangement, in the high-speed automatic driving stage, linear walking is completed according to the GPS navigation system according to the calibrated route, the remote measurement and control center sends starting and braking instructions during the period, and the remote terminal does not interfere driving in the walking process. The GPS's simple navigational map may be displayed remotely.
According to the target vehicle, automatic driving path tracking can be achieved, specifically, as shown in fig. 11, before a test, path calibration (path learning) is carried out firstly, namely, a manually-driven unmanned profiling target vehicle linearly reciprocates to a road section between a starting point line and a finishing point line at a low speed (15 km/h) along a runway center line, satellite positioning data of a driving path are automatically recorded through a driving recording module, and meanwhile, simple path planning is completed by generating data of a calibration path and an electronic fence.
Because the automatic driving path of the vehicle is known, the embodiment selects the Pure tracking algorithm to design the path tracking algorithm, and then matches the incremental PID controller to design the whole path tracking control system, thereby solving the problems of path tracking and automatic driving control of the unmanned vehicle.
The Pure burst converts the transverse deviation of the position of the Pure burst from the intersection position of the pre-aiming distance and the expected feasible path into the transverse control quantity, the method has good robustness, and good tracking effect can be achieved even under the condition that larger transverse deviation and discontinuous curvature of the reference path exist.
The automatic driving is realized on the planned path, firstly, path information is received through a communication module, real-time position information of the vehicle is obtained through a navigation positioning module, a transverse control instruction and a longitudinal control instruction of the unmanned automatic target vehicle, namely instruction information of steering wheel rotation angle, accelerator, brake and the like are obtained through calculation, then, errors of real-time movement positions and expected positions of the vehicle are continuously eliminated based on a PID control algorithm according to feedback information, and finally, tracking is accurately performed along the expected feasible path.
In the embodiment, according to the position and the real-time position of the target point in the path information, the expected front wheel steering angle is calculated and obtained based on a vehicle kinematic model and a tracking algorithm model, meanwhile, the actual steering wheel angle of the vehicle is obtained, and the transverse path tracking control is realized based on a PID control algorithm according to the expected front wheel steering angle and the actual steering wheel angle.
Specifically, as shown in fig. 9, only the motion of the vehicle body on the two-dimensional plane is considered, in which the X-axis and the Y-axis form the vehicle body coordinate system, and the points (X, Y) are points for planning the path, i.e., the position coordinates of the target point, L a The chord length of the arc section of the real-time position of the vehicle and the target point (x, y) in the vehicle body coordinate system is also the pretightening distance of the unmanned vehicle, and R is the curvature radius of the arc section, and the expression is as follows:
deducing a front wheel steering angle delta according to a vehicle kinematic model and a tracking algorithm model:
in the above, L is the front-rear wheelbase of the unmanned vehicle, namely L is a fixed value, so that only the X coordinate and the arc chord length L of the target point are needed a The front wheel steering angle δ can be determined.
The PID controller used in this embodiment has PIDs respectively representing a proportion (P), an integral (I), and a derivative (D). The principle of PID control is to adjust three variables of PID control according to the deviation between the measured value and the given value of the system and calculate the control quantity of the generalized controlled object according to the deviation. The PID control has the advantages of simple and easily understood principle, relatively independent control parameters, strong adaptability and no need of an accurate system model, and is widely and effectively applied to the field of automatic driving vehicle control. As shown in fig. 10, the PID control algorithm flow chart is that r (t) is an input desired signal, e (t) is an error signal after feedback, u (t) is a control signal calculated by the P1D control algorithm, and c (t) is a current actual output signal of the controlled object, so that the controlled object works in a state of a design requirement. The differential equation for a conventional PID controller is:
wherein e (t) =r (t) -c (t), wherein the output u (t) is a linear combination of the proportional, integral and derivative of e (t), K p 、T i 、T D The proportional coefficient, the integral time constant and the differential time constant, respectively.
The input of the PID controller for transverse control is the expected steering angle delta of the front wheel calculated by a Pure burst tracking algorithm, and the transverse path tracking control is realized by combining the actual steering wheel angle, namely combining the signals acquired by a torque sensor.
In the transverse control, path learning is firstly carried out, expected path points are marked, an unmanned automatic target vehicle tracks the learned path through GPS navigation, then a front wheel steering angle delta is obtained through a Pure Pursuit tracking algorithm relational expression, the front wheel steering angle delta is input by a PID controller, and finally the control quantity of a steering wheel driving motor is output by the PID controller, so that transverse tracking control is completed.
Because the PID controller has simple principle and strong robustness, an accurate system model is not needed, and the control parameters of the PID controller are relatively independent and fixed. The PurePursuit tracking algorithm is combined with the PID controller, namely the expected rotation angle and the expected speed of the front wheels are used as the input of the PID controller, so that the path tracking controller can accurately and rapidly reach the expected instruction information required by the output driving motor, and the vehicle is controlled to run autonomously.
In addition, in the process of automatic driving path tracking, the unmanned automatic target vehicle can also realize longitudinal control, namely speed control. In this embodiment, the transverse path tracking control is implemented based on a PID control algorithm according to the desired instruction speed in the path information and the acquired current time speed of the vehicle.
Longitudinal control is based on PID controller control implementation of the desired speed given to the upper layer planning decision system by input. In the longitudinal tracking control, the speed control is to control the switching of the throttle and the brake of the vehicle so as to quickly reach a desired command speed or maintain a certain desired command speed. The whole longitudinal tracking controller has two input values and two output values, wherein the two input values are an expected command speed and a current moment speed of the vehicle, the expected command speed is given by a control system, the current moment speed of the vehicle is obtained by measuring a GPS and a combined navigation system, and the two output values are accelerator pedal command information and brake pedal command information respectively, so that longitudinal tracking control is realized.
For braking and brake control strategies: when the speed of the vehicle at the current moment is greater than the expected command speed and the difference value is greater than the set value, or when the speed of the vehicle at the current moment exceeds the limit, outputting brake pedal command information to perform brake control; when the speed of the current moment of the vehicle is greater than the expected command speed and the difference value is smaller than the set value, or the speed of the current moment of the vehicle is smaller than the expected command speed, or the speed of the current moment of the vehicle is lower than the limit, the accelerator pedal command information is output when the brake lock is invalid, and accelerator control is performed.
Specifically, in the present embodiment, it is necessary to satisfy:
(1) The brake and the accelerator respectively use a set of PID controllers;
(2) The accelerator and the brake cannot be controlled simultaneously, and a mutual exclusion principle is added to avoid serious consequences;
(3) In order to ensure the stable and rapid control of the speed and the safe running of the intelligent unmanned vehicle, the accelerator and the brake cannot be switched too frequently, and the switching action needs to be consistent and stable;
(4) If the current speed is greater than a certain value of the command speed or the brake lock is effective, entering brake control, when the current speed exceeds the command speed for a certain time limit, releasing an accelerator, and then entering a brake control algorithm; when the difference between the command speed and the current speed is within a certain range or the current speed is small, the brake control lock is not effective any more;
(5) When the brake control lock is invalid, entering throttle control, judging whether a brake control flag bit is valid, releasing brake if the brake control flag bit is valid, and controlling the throttle to be the flag bit; and setting a stop throttle control flag bit if the current speed is greater than a certain value of the command speed, or resetting the stop throttle flag bit if the current speed is not greater than the certain value of the command speed, and entering a throttle control algorithm to control a throttle according to the stop throttle flag bit.
Through the arrangement, the high-speed profiling unmanned automatic target vehicle provided by the embodiment can realize manual driving, remote control driving and automatic driving, is used by matching with a ground station through a GPS (global positioning system) and inertial navigation technology in the automatic driving process, realizes transverse path tracking and longitudinal path tracking of automatic driving based on a driving route, has strong applicability, is convenient for setting game interaction scenes, and can improve the fidelity of simulated mobile targeting exercise.
Example two
The embodiment provides an automatic driving path tracking method of a high-speed profiling unmanned automatic target vehicle, which comprises the following steps:
acquiring path information and real-time position information;
calculating and obtaining an expected front wheel steering angle based on a vehicle kinematic model and a tracking algorithm model according to the position and the real-time position of a target point in the path information;
acquiring an actual steering wheel corner of a vehicle, and realizing transverse path tracking control based on a PID control algorithm according to an expected front steering angle and the actual steering wheel corner;
and acquiring the speed of the vehicle at the current moment, and realizing longitudinal path tracking control based on a PID control algorithm according to the expected command speed in the path information and the speed of the vehicle at the current moment.
According to a further technical scheme, the longitudinal path tracking control is used for outputting accelerator pedal instruction information and brake pedal instruction information based on an expected instruction speed and a current moment speed of a vehicle, and a control strategy comprises:
when the speed of the vehicle at the current moment is greater than the expected command speed and the difference value is greater than the set value, outputting brake pedal command information to perform brake control;
and outputting accelerator pedal instruction information to perform accelerator control when the speed of the vehicle at the current moment is greater than the expected instruction speed and the difference value is smaller than the set value or the speed of the vehicle at the current moment is smaller than the expected instruction speed.
Further technical scheme still includes:
when the speed of the vehicle at the current moment exceeds the limit, the brake lock is effective, and brake control is performed;
and when the speed of the vehicle at the current moment is lower than the limit, the brake lock is invalid, and the throttle control is performed.
The steps involved in the second embodiment correspond to those of the first embodiment of the method, and the detailed description of the second embodiment can be found in the related description section of the first embodiment.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims (10)

1. The high-speed profiling unmanned automatic target vehicle is characterized by comprising a profiling armored target main body, a profiling vehicle chassis main body and an operation control system cabinet;
the profiling armored target main body is used for simulating a target, is arranged on a profiling vehicle chassis main body and comprises a frame, a suspension, a transmission device and a manual driving device, and is used for driving a vehicle to run;
the running control system cabinet is arranged on the profiling vehicle chassis main body and comprises a vehicle-mounted controller, a communication module, a power driving control module, a navigation positioning module and a running control execution module, wherein the communication module, the power driving control module, the navigation positioning module and the running control execution module are electrically connected with the vehicle-mounted controller; the communication module is used for carrying out communication transmission with the remote control station, the navigation positioning module is used for acquiring real-time positioning information and transmitting the real-time positioning information to the vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the power driving control module and the running control execution module based on a PID control algorithm according to a control instruction and the real-time positioning information acquired by communication transmission, so that the path tracking transverse and longitudinal control is realized.
2. The high-speed profiling unmanned automatic target vehicle according to claim 1, wherein the power driving module comprises a power controller, a throttle accelerating mechanism and a power supply unit, and is used for transmitting the acquired vehicle power state information to the vehicle-mounted controller and controlling the operation of the throttle accelerating mechanism and the power supply unit according to a control instruction issued by the vehicle-mounted controller.
3. The high-speed profiling unmanned automatic target vehicle according to claim 1, wherein the operation control execution module comprises a steering control unit and a braking control unit;
the steering control unit comprises a steering control executor and a steering mechanism, wherein the steering control executor is used for controlling the steering mechanism to steer based on a PID control algorithm according to a control instruction issued by the vehicle-mounted controller;
the steering mechanism is provided with a torque sensor positioned at the input shaft, a vehicle speed sensor positioned at the transmission and a rotating speed sensor positioned at the motor, and the torque sensor, the vehicle speed sensor and the rotating speed sensor are respectively used for acquiring real-time torque information, real-time vehicle speed information and real-time rotating speed information.
4. A high speed profiling unmanned automatic target vehicle according to claim 3, wherein the control strategy for controlling the steering mechanism is:
acquiring path information and real-time position information;
calculating and obtaining an expected front wheel steering angle based on a vehicle kinematic model and a tracking algorithm model according to the position and the real-time position of a target point in the path information;
and acquiring the actual steering wheel angle of the vehicle, and realizing transverse path tracking control based on a PID control algorithm according to the expected front steering angle and the actual steering wheel angle.
5. A high-speed profiling unmanned automatic target vehicle according to claim 3, wherein the brake control unit comprises a brake control actuator and a brake mechanism, and the brake control actuator is used for controlling the brake mechanism to brake based on a PID control algorithm according to a control command issued by the vehicle-mounted controller.
6. The high-speed profiling unmanned automatic target vehicle of claim 5, wherein the control strategy for controlling the braking of the braking mechanism is:
acquiring path information and the current moment speed of the vehicle;
and according to the expected command speed in the path information and the current speed of the vehicle, realizing longitudinal path tracking control based on a PID control algorithm.
7. The high-speed profiling unmanned automatic target vehicle according to claim 1, wherein the profiling armor target body comprises a target, wherein the middle position below the target is of an inverted concave structure and is clamped into a main beam of the profiling vehicle chassis body;
a simulated target turret is arranged above the profiling armor target main body, foam one-time molding is adopted in the simulated target turret, a steel reinforcement framework is arranged in the simulated target turret, the profile is built by adopting a glass fiber reinforced plastic material, and a metal skin is attached to the outer part of the glass fiber reinforced plastic material;
the simulated target turret is provided with a weapon station and a photoelectric device, a machine gun and a transmitting cylinder in the weapon station are formed by welding Q235 metal materials, and the photoelectric device is formed by stamping sheet metal materials.
8. An automatic driving path tracking method of a high-speed profiling unmanned automatic target vehicle is characterized by comprising the following steps of:
acquiring path information and real-time position information;
calculating and obtaining an expected front wheel steering angle based on a vehicle kinematic model and a tracking algorithm model according to the position and the real-time position of a target point in the path information;
acquiring an actual steering wheel corner of a vehicle, and realizing transverse path tracking control based on a PID control algorithm according to an expected front steering angle and the actual steering wheel corner;
and acquiring the speed of the vehicle at the current moment, and realizing longitudinal path tracking control based on a PID control algorithm according to the expected command speed in the path information and the speed of the vehicle at the current moment.
9. The method for automatically tracking the driving path of the high-speed profiling unmanned automatic target vehicle according to claim 8, wherein the longitudinal path tracking control outputs accelerator pedal instruction information and brake pedal instruction information based on a desired instruction speed and a current time speed of the vehicle, and the control strategy comprises:
when the speed of the vehicle at the current moment is greater than the expected command speed and the difference value is greater than the set value, outputting brake pedal command information to perform brake control;
and outputting accelerator pedal instruction information to perform accelerator control when the speed of the vehicle at the current moment is greater than the expected instruction speed and the difference value is smaller than the set value or the speed of the vehicle at the current moment is smaller than the expected instruction speed.
10. The method for automatically tracking the driving path of the high-speed profiling unmanned automatic target vehicle according to claim 9, further comprising:
when the speed of the vehicle at the current moment exceeds the limit, the brake lock is effective, and brake control is performed;
and when the speed of the vehicle at the current moment is lower than the limit, the brake lock is invalid, and the throttle control is performed.
CN202310629829.7A 2023-05-30 2023-05-30 High-speed profiling unmanned automatic target vehicle and automatic driving path tracking method thereof Pending CN116594400A (en)

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