Independent-following vehicle course control device and control method

A technology of heading control and control method, which is applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., can solve the problems of less research, complex structure, high cost, etc., and achieve low cost, simple structure, stable and reliable self-following Effect

Inactive Publication Date: 2015-09-16
NANJING AGRICULTURAL UNIVERSITY
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Problems solved by technology

However, most of the multi-sensor fusion technologies such as machine vision, GPS, and laser scanning are used to achieve...

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  • Independent-following vehicle course control device and control method
  • Independent-following vehicle course control device and control method
  • Independent-following vehicle course control device and control method

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Embodiment Construction

[0027] An autonomous following vehicle heading control device and control method, the control system hardware structure is formed by a main controller 1, a detection system 2 and a steering control system 3 (such as figure 1 ), followed by the model establishment of the following control system, the design of the controller of the following control system and the design of the following control algorithm.

[0028] The present invention will be further described below in conjunction with accompanying drawings and implementation.

[0029] (1) Specific implementation plan of the detection system

[0030] Front wheel angle detection mechanism (such as figure 2 ) in the absolute rotary encoder 4, the voltage output range is 0-5v, and the corresponding measurement angle is 0-360°, the output voltage of the absolute rotary encoder 4 is collected through the AD module of the main controller 1, and it can be known through calculation Front wheel steering angle δ.

[0031] Relative ...

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Abstract

The invention discloses an independent-following vehicle course control device and control method, and belongs to the field of automatic control and agricultural work vehicle application. The course control device comprises a detection system and a steering control system; the detection system comprises a front-wheel corner detection mechanism and an opposite course deflection-angle detection mechanism; the front-wheel corner detection mechanism is composed of a front wheel guide shaft, an absolute rotary encoder and an encoder mounting base, and the opposite course deflection-angle detection mechanism is composed of reflection type infrared sensors and a reflection board; the left side and the right side of the front end of a following vehicle are each provided with four reflection type infrared sensors, and the reflection board is arranged at the rear end of a guide vehicle; and according to reflection induction information of the infrared sensors, an opposite course deflection angle between the following vehicle and the guide vehicle is obtained. A steering control mechanism is composed of a stepping motor and a chain wheel transmission pair. A course control system modeling method and a control algorithm can stably and reliably achieve independent following of the following vehicle.

Description

technical field [0001] The invention relates to the technical field of vehicle navigation and automatic control, and is mainly applied to the field of autonomous following and cooperative operation of agricultural operation vehicles. Background technique [0002] Autonomous vehicle navigation methods in agricultural production mainly include GPS navigation and road sign navigation. The accuracy of GPS navigation is affected by factors such as the geometric distribution of satellites in the field of view, ephemeris error, clock error, propagation error, multipath error, and receiver noise. At the same time, its reliability is also affected by factors such as tall trees, hillsides, and buildings. In landmark navigation, machine vision technology and lidar scanning technology are mainly used to identify natural landmarks such as crop rows and ridges, but the loss of path features (such as the absence of plants, the appearance of large areas of weeds, and the messy and complex e...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D137/00
Inventor 丁永前王致情毕伟平李杨谭星祥林小兰
Owner NANJING AGRICULTURAL UNIVERSITY
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