Intelligent control method of driverless vehicle tracking desired trajectory

An unmanned vehicle, predetermined trajectory technology, applied in two-dimensional position/channel control and other directions, can solve the problem of insufficient disclosure of parameter values ​​in the control algorithm, etc.

Inactive Publication Date: 2012-06-13
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

However, the paper does not fully disclose the values ​​​​of the parameters in the control algorithm

Method used

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  • Intelligent control method of driverless vehicle tracking desired trajectory
  • Intelligent control method of driverless vehicle tracking desired trajectory
  • Intelligent control method of driverless vehicle tracking desired trajectory

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0035] Example 1: The unmanned vehicle modified with Chery "Tiggo" car tracks the arc trajectory

[0036]This embodiment takes Chery "Tiggo" refitted unmanned vehicle as an example, and specifically explains how to use the method of the present invention to realize the tracking of the predetermined trajectory and its functional effect.

[0037] The unmanned vehicle modified with Chery "Tiggo" used in this embodiment is equipped with a GPS / INS combined positioning system with a product name of SPAN-CPT provided by NovAtel, which can obtain the location of the vehicle. The longitude and latitude of the position, the vehicle speed signal and the vehicle heading angle signal, in the case of using differential positioning, the positioning accuracy can reach 0.1m. In order to realize the function of automatic driving, the steering mechanism of the vehicle is driven by a motor and driven by a worm gear. The shaft of the motor is connected with the screw of the ball screw mechanism, ...

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Abstract

The invention discloses an intelligent control method of a driverless vehicle tracking a desired trajectory. The method is characterized by comprising the following steps of: establishing a body coordinate system, and determining the position information of the vehicle; calculating a membership degree function of a road curvature characteristic according to a radian value, and defining a fuzzy rule to calculate a decision output speed; according to the distance the vehicle runs for 1.5-2.5 seconds, searching for the trajectory points larger than the distance and closest to the vehicle in the coordinate sequence of the desired trajectory; calculating the moving curvature of the vehicle according to an adaptive proportion-differential-integral control algorithm formula; and finally judging whether the target point of the current control cycle is the last point selected from the road point sequence; if so, outputting a signal to a brake servo control system to start the brake to slow down the vehicle; otherwise, outputting a voltage signal by a controller local area network module to keep and control the accelerator opening so that the vehicle continues proceeding. Through adoption of the intelligent control method, the driverless vehicle can realize a function of tracking the desired trajectory, and has certain adaptability to the change of the road curvature characteristic.

Description

technical field [0001] The invention belongs to the technical field of vehicle automatic control methods, and in particular relates to a control method for an unmanned vehicle to track a predetermined trajectory. Background technique [0002] Unmanned vehicles are one of the best experimental platforms to verify machine perception and cognition theories and key technologies. It has a great application prospect in military investigation, transportation and explosive discharge and other occasions. At the same time, the key technologies involved in perception, decision-making and control have also greatly promoted the research and development of related products in the field of intelligent transportation and automotive electronics. The world's major developed countries regard unmanned vehicles as an important platform to demonstrate the level of artificial intelligence technology and lead the future of the vehicle industry, and have carried out research on unmanned vehicles. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCB60W30/10B60W30/18145
Inventor 宋彦赵盼陶翔梁华为梅涛
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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