CN117416417A - Vehicle direction control feedback system and method based on MEMS gyroscope - Google Patents
Vehicle direction control feedback system and method based on MEMS gyroscope Download PDFInfo
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- CN117416417A CN117416417A CN202311593014.4A CN202311593014A CN117416417A CN 117416417 A CN117416417 A CN 117416417A CN 202311593014 A CN202311593014 A CN 202311593014A CN 117416417 A CN117416417 A CN 117416417A
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- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000010354 integration Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
Abstract
The invention provides a vehicle direction control feedback system and method based on a MEMS gyroscope, wherein the system comprises the MEMS gyroscope arranged on a key steering component of a vehicle, a high-speed data processing unit and a control algorithm connected with a dynamic vehicle adjusting system, the MEMS gyroscope is used for continuously monitoring the direction change and steering angle of the vehicle, the generated data are transmitted to the high-speed data processing unit in real time, the control algorithm analyzes the data, and according to the actual running state and a preset path of the vehicle, an adjustment decision is quickly made, and the running direction of the vehicle is automatically fine-tuned by the dynamic vehicle adjusting system. The application proposes a more accurate angle feedback system by using a double MEMS gyroscope on both sides and taking the ackerman principle into account. Has certain value in the fields of automatic driving, path planning and the like.
Description
Technical Field
The invention relates to the field of accurate navigation and control of unmanned vehicles in complex road environments, in particular to a vehicle direction control feedback system and method based on an MEMS gyroscope.
Background
Currently, unmanned vehicles' navigation systems rely primarily on data fusion techniques of the Global Positioning System (GPS), inertial Measurement Unit (IMU), and a range of other advanced sensors in their complex and sophisticated positioning and navigation mechanisms. These technologies work together to achieve real-time tracking of the precise location and movement status of vehicles in various environments and conditions.
There are also some challenges in vehicle dynamics that need to be overcome. Due to the physical limitations of the ackerman principle, there is a complex nonlinear relationship between the turning angle of the front wheels and the actual steering angle of the vehicle when the vehicle turns. This nonlinearity is determined by a variety of factors including the geometric design of the vehicle, weight distribution, ground friction, and current speed. When the vehicle runs on a fast turn, emergency avoidance or irregular road surface, the nonlinear relation is more remarkable, and great challenges are brought to calculating an accurate steering angle in real time and controlling the running direction of the vehicle.
Therefore, in order to ensure that the unmanned vehicles always maintain a high degree of reliability and safety in diverse and complex environments, we have urgent need to develop a navigation system that is more sophisticated, sharp and has a strong adaptability. These highly advanced navigation systems not only need to operate independently and stably in the event of a disturbance or loss of GPS signals, but also must have the ability to understand in depth and flexibly accommodate various subtle changes in vehicle dynamics. This means that the system, when receiving and processing information, not only takes into account the current state of the vehicle, but also predicts and addresses various situations that may occur, so that the most accurate control commands are generated and sent in real time. Thus, no matter what kind of challenges the vehicle faces, whether it is a complex traffic environment, sudden road condition changes, or any other unpredictable factor, it can be ensured that it can always reach the destination safely and accurately according to the predetermined path.
Disclosure of Invention
The steering wheel control method aims at the problem that the actual turning angle feedback of the unmanned vehicle is needed after the steering wheel is operated to realize control closed loop. The invention provides a vehicle direction control feedback system and method based on an MEMS gyroscope, which are used for solving the problem that an automatic driving vehicle is usually a four-wheel vehicle, two-wheel driving is usually limited by an Ackerman principle, so that nonlinear relation between an actual turning angle and a steering wheel turning angle and difference of turning wheel turning angles at two sides are caused.
The specific scheme is as follows:
a vehicle direction control feedback system based on MEMS gyroscopes mainly comprises MEMS gyroscopes installed on key steering components of a vehicle, a high-speed data processing unit and a control algorithm connected with a vehicle dynamic adjusting system. The optimal steering angle of each wheel can be ensured when the vehicle is steered, and stable and accurate steering is realized. The measurement accuracy of the rotation angle is improved, and the stability and the accuracy of steering are improved.
The MEMS gyroscope is capable of continuously monitoring the direction change and steering angle of the vehicle, and the generated data is transmitted to the data processing unit in real time. Then, the control algorithm analyzes the data, quickly makes adjustment decisions according to the actual running state and the preset path of the vehicle, and automatically fine-adjusts the running direction of the vehicle through a dynamic adjusting system of the vehicle.
In urban dense areas, tunnels, mountainous areas or other areas where GPS signals are severely blocked, the traditional unmanned vehicle navigation system may suffer from inaccurate positioning. However, the system does not depend on external signals, but continuously acquires accurate direction information of the vehicle through an internal MEMS gyroscope, so that dependence on GPS is greatly reduced, and the accuracy and the continuity of navigation are maintained under the condition that the GPS signals are poor.
By monitoring the steering state of the vehicle in real time and immediately responding to any situation deviating from the preset path, the system remarkably improves the safety and reliability of the unmanned vehicle under complex road environment and extreme climate conditions. Furthermore, this autonomous feedback adjustment mechanism of the system can also provide faster, more accurate directional adjustment in emergency situations, such as avoiding obstacles or emergency steering.
Due to its compact design and flexible configuration, the system can be easily integrated into existing unmanned vehicle platforms without extensive modification of existing hardware. Meanwhile, the modularization and the expandability of the system also provide convenience for future upgrading and function expansion, and have important significance for application such as automatic driving and path planning.
A vehicle direction control feedback method based on MEMS gyroscopes comprises the following steps:
(1) The method comprises the steps of adopting double MEMS gyroscopes to be respectively arranged on steering shafts of front wheels at two sides of a vehicle and used for measuring the rotation angles of the two front wheels;
(2) Transmitting the measured rotation angle data to a navigation controller for processing, and calculating the actual turning angular speed of the vehicle through a specific algorithm;
(3) Estimating an actual steering angle of the vehicle by using the calculated turning angular speed and combining the actual running speed of the vehicle, and taking the actual steering angle as feedback data of a direction control system;
(4) The steering control of the vehicle is optimized by the ackerman principle.
And (3) accurately calculating the installation position of the double MEMS gyroscopes in the step (1), and ensuring that the sensitive axis is perpendicular to the ground. The navigation controller in the step (2) adopts a high-precision data processing algorithm, so that the turning angular speed and the actual turning angle of the vehicle can be accurately calculated. The system considers the restraint of the Ackerman principle, and can realize the minimum steering radius when the vehicle turns by adjusting the steering angle of each wheel. And (3) optimizing the estimated angle error and the zero offset of the gyroscope by adopting a Kalman filter, carrying out negative feedback error correction on an angle integration process, eliminating accumulated errors brought by zero offset and random drift errors of the gyroscope and accumulation of the integration process along with time, and obtaining an accurate measurement result of the steering angle of the wheel.
The navigation and direction control system of the system adopts innovative technology and algorithm to make up for the defect of the traditional GPS dependent system in a signal shielding area. By mounting two high-precision MEMS gyroscopes on the steering shaft of the front wheel of the vehicle, the system is able to capture the precise wheel axle rotation angle in real time, which is difficult to achieve with conventional methods. These gyroscopes are not only highly sensitive to small angular changes, but also maintain stability and reliability in a variety of weather and road conditions.
The navigation controller is the core of the system, and not only receives data from the MEMS gyroscope, but also can accurately calculate the actual turning angular speed and the turning angle of the vehicle through a complex data processing algorithm. This accuracy ensures that the vehicle maintains a correct path of travel, both in straight travel and in complex cornering and obstacle avoidance situations.
In addition, the directional control feedback mechanism of the system is a breakthrough innovation. The vehicle driving direction is automatically adjusted according to the steering angle and the actual running speed of the vehicle, and the running state of the vehicle is monitored in real time, so that quick and accurate adjustment can be performed under any condition. The introduction of this mechanism greatly improves the response speed and safety of the unmanned vehicle in an emergency.
The system also skillfully considers the influence of the Ackerman principle, ensures the stability and fluency of the vehicle in turning by accurately adjusting the steering angle of the front wheels of the vehicle, and greatly reduces the risks of sideslip and oversteer. This is critical for unmanned vehicles that travel in urban environments, especially in tight turns or under complex road conditions.
Compared with the prior art, the method and the device not only remarkably improve the navigation precision of the unmanned vehicle in the area with poor GPS signals, but also greatly improve the accuracy and reliability of vehicle steering control by monitoring the actual steering angle of the vehicle in real time. In addition, its design is simple and highly integrated, and easy to install in existing unmanned vehicles, will undoubtedly push the safety and efficiency of unmanned technologies to a new height.
Drawings
Fig. 1 tractor steering mode.
FIG. 2 is a schematic diagram of experimental equipment and installation, wherein (a) is a Leioopard model M604l-e tractor and (b) is a MEMS gyroscope.
Fig. 3 is an experimental plot.
Fig. 4 is a diagram of a travel path of an agricultural machine.
Description of the embodiments
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention.
The invention provides a vehicle direction control feedback system based on an MEMS gyroscope, which mainly comprises the MEMS gyroscope arranged on a key steering component of a vehicle, a high-speed data processing unit and a control algorithm connected with a dynamic vehicle adjusting system. The optimal steering angle of each wheel can be ensured when the vehicle is steered, and stable and accurate steering is realized. The measurement accuracy of the rotation angle is improved, and the stability and the accuracy of steering are improved.
The MEMS gyroscope is capable of continuously monitoring the direction change and steering angle of the vehicle, and the generated data is transmitted to the data processing unit in real time. Then, the control algorithm analyzes the data, quickly makes adjustment decisions according to the actual running state and the preset path of the vehicle, and automatically fine-adjusts the running direction of the vehicle through a dynamic adjusting system of the vehicle.
In the system, two precise MEMS gyroscopes are mounted skillfully on the steering axles of the front wheels on both sides of the tractor, with their sensitive axes precisely positioned perpendicular to the ground. This unique configuration enables the gyroscope to capture the angle of rotation of the two front wheels in real time, providing immediate data about vehicle direction and axle positioning.
In urban dense areas, tunnels, mountainous areas or other areas where GPS signals are severely blocked, the traditional unmanned vehicle navigation system may suffer from inaccurate positioning. However, the system does not depend on external signals, but continuously acquires accurate direction information of the vehicle through an internal MEMS gyroscope, so that dependence on GPS is greatly reduced, and the accuracy and the continuity of navigation are maintained under the condition that the GPS signals are poor.
By monitoring the steering state of the vehicle in real time and immediately responding to any situation deviating from the preset path, the system remarkably improves the safety and reliability of the unmanned vehicle under complex road environment and extreme climate conditions. Furthermore, this autonomous feedback adjustment mechanism of the system can also provide faster, more accurate directional adjustment in emergency situations, such as avoiding obstacles or emergency steering.
Due to its compact design and flexible configuration, the system can be easily integrated into existing unmanned vehicle platforms without extensive modification of existing hardware. Meanwhile, the modularization and the expandability of the system also provide convenience for future upgrading and function expansion, and have important significance for application such as automatic driving and path planning.
The invention also provides a vehicle direction control feedback method based on the MEMS gyroscope, which comprises the following steps:
(1) The method comprises the steps of adopting double MEMS gyroscopes to be respectively arranged on steering shafts of front wheels at two sides of a vehicle and used for measuring the rotation angles of the two front wheels;
(2) Transmitting the measured rotation angle data to a navigation controller for processing, and calculating the actual turning angular speed of the vehicle through a specific algorithm;
(3) Estimating an actual steering angle of the vehicle by using the calculated turning angular speed and combining the actual running speed of the vehicle, and taking the actual steering angle as feedback data of a direction control system;
(4) The steering control of the vehicle is optimized by the ackerman principle.
And (3) accurately calculating the installation position of the double MEMS gyroscopes in the step (1), and ensuring that the sensitive axis is perpendicular to the ground. The navigation controller in the step (2) adopts a high-precision data processing algorithm, so that the turning angular speed and the actual turning angle of the vehicle can be accurately calculated. The system considers the restraint of the Ackerman principle, and can realize the minimum steering radius when the vehicle turns by adjusting the steering angle of each wheel. And (3) optimizing the estimated angle error and the zero offset of the gyroscope by adopting a Kalman filter, carrying out negative feedback error correction on an angle integration process, eliminating accumulated errors brought by zero offset and random drift errors of the gyroscope and accumulation of the integration process along with time, and obtaining an accurate measurement result of the steering angle of the wheel.
The navigation and direction control system of the system adopts innovative technology and algorithm to make up for the defect of the traditional GPS dependent system in a signal shielding area. By mounting two high-precision MEMS gyroscopes on the steering shaft of the front wheel of the vehicle, the system is able to capture the precise wheel axle rotation angle in real time, which is difficult to achieve with conventional methods. These gyroscopes are not only highly sensitive to small angular changes, but also maintain stability and reliability in a variety of weather and road conditions.
The navigation controller is the core of the system, and not only receives data from the MEMS gyroscope, but also can accurately calculate the actual turning angular speed and the turning angle of the vehicle through a complex data processing algorithm. This accuracy ensures that the vehicle maintains a correct path of travel, both in straight travel and in complex cornering and obstacle avoidance situations.
In addition, the directional control feedback mechanism of the system is a breakthrough innovation. The vehicle driving direction is automatically adjusted according to the steering angle and the actual running speed of the vehicle, and the running state of the vehicle is monitored in real time, so that quick and accurate adjustment can be performed under any condition. The introduction of this mechanism greatly improves the response speed and safety of the unmanned vehicle in an emergency.
The system also skillfully considers the influence of the Ackerman principle, ensures the stability and fluency of the vehicle in turning by accurately adjusting the steering angle of the front wheels of the vehicle, and greatly reduces the risks of sideslip and oversteer. This is critical for unmanned vehicles that travel in urban environments, especially in tight turns or under complex road conditions.
In order to verify the accuracy and practicality of the system, field tests were performed, and the tractor was run three times under different conditions. By detailed analysis of the track offset for each trial, the data shows that the maximum offset distance recorded in three tests is 2.0 meters. This result demonstrates the reliability and accuracy of the present system in practical operation, maintaining small navigation errors even in complex terrain and extreme operating conditions.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (6)
1. The vehicle direction control feedback system based on the MEMS gyroscope is characterized by comprising the MEMS gyroscope, a high-speed data processing unit and a control algorithm, wherein the MEMS gyroscope is arranged on a key steering part of a vehicle, the control algorithm is connected with a dynamic vehicle adjusting system, the MEMS gyroscope is used for continuously monitoring the direction change and steering angle of the vehicle, the generated data are transmitted to the high-speed data processing unit in real time, the control algorithm analyzes the data, and an adjustment decision is quickly made according to the actual running state and a preset path of the vehicle, and the running direction of the vehicle is automatically fine-tuned through the dynamic vehicle adjusting system.
2. The vehicle direction control feedback method based on the MEMS gyroscope is characterized by comprising the following steps of:
(1) The method comprises the steps of adopting double MEMS gyroscopes to be respectively arranged on steering shafts of front wheels at two sides of a vehicle and used for measuring the rotation angles of the two front wheels;
(2) Transmitting the measured rotation angle data to a navigation controller for processing, and calculating the actual turning angular speed of the vehicle through a specific algorithm;
(3) Estimating an actual steering angle of the vehicle by using the calculated turning angular speed and combining the actual running speed of the vehicle, and taking the actual steering angle as feedback data of a direction control system;
(4) The steering control of the vehicle is optimized by the ackerman principle.
3. The MEMS gyroscope-based vehicle directional control feedback method of claim 2, wherein: and (3) accurately calculating the installation position of the double MEMS gyroscopes in the step (1), and ensuring that the sensitive axis is perpendicular to the ground.
4. The MEMS gyroscope-based vehicle directional control feedback method of claim 2, wherein: the navigation controller in the step (2) adopts a high-precision data processing algorithm, so that the turning angular speed and the actual turning angle of the vehicle can be accurately calculated.
5. The MEMS gyroscope-based vehicle directional control feedback method of claim 2, wherein: the system considers the restraint of the Ackerman principle, and can realize the minimum steering radius when the vehicle turns by adjusting the steering angle of each wheel.
6. The MEMS gyroscope-based vehicle directional control feedback method of claim 2, wherein a Kalman filter is used to optimize the estimated angle error and the gyroscope zero offset, and the negative feedback error correction is performed on the angular integration process, so as to eliminate accumulated errors brought in by the gyroscope zero offset, random drift errors, and integration process accumulated over time, and obtain a precise measurement result of the steering angle of the wheel.
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| CN202311593014.4A CN117416417A (en) | 2023-11-27 | 2023-11-27 | Vehicle direction control feedback system and method based on MEMS gyroscope |
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