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.
CN102495631AInactive Publication Date: 2012-06-13HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
7 Cites 82 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Publication Date
2012-06-13
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More