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Method and device for lateral control of unmanned vehicle

A technology of lateral control and unmanned vehicles, which is applied in vehicle position/route/height control, control/adjustment system, non-electric variable control, etc., and can solve problems such as frequent output of corner control commands, unstable driving, and steering wheel shake

Active Publication Date: 2020-07-31
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, such an algorithm often results in frequent output of steering angle control commands, causing the steering wheel to vibrate and the driving to be unstable.

Method used

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  • Method and device for lateral control of unmanned vehicle
  • Method and device for lateral control of unmanned vehicle
  • Method and device for lateral control of unmanned vehicle

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Embodiment Construction

[0037] The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0038] The flowchart of an embodiment of the unmanned vehicle lateral control method of the present invention is as follows: figure 1 shown.

[0039] In step 101, a plurality of preview points are determined. In an embodiment, multiple points may be selected within the detection range according to a predetermined path as preview points.

[0040] In step 102, the angle difference between the heading angle of the vehicle and the heading angle at each preview point is acquired. In one embodiment, the vehicle heading angle may be the vehicle's current heading angle. The heading angle at the preview point may be the heading angle when the vehicle drives to the preview point. In one embodiment, the path of the vehicle to each preview point can be calculated to obtain the heading angle at each preview point, and then the ...

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Abstract

The invention provides a transverse control method of a driveless car. The method comprises that pre-aiming points are determined; angle difference between a course angle of the car and course angles in the pre-aiming points are obtained; and a minimal angle difference is determined to be a turning variation of wheels. Thus, the pre-aiming points can be obtained and the minimal angle difference can be selected, the car is prevented from frequent large-amplitude turning, and the driving smoothness of the driveless car is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a lateral control method and device for unmanned vehicles. Background technique [0002] With the development of science and technology, the number of cars has increased sharply, the traffic environment has deteriorated, and road accidents have occurred frequently. As a part of intelligent transportation, driverless cars can effectively relieve driver fatigue, reduce the incidence of accidents, and improve road and vehicle utilization. Unmanned vehicle is the abbreviation of unmanned vehicle. An unmanned vehicle can detect road information through its own sensors, complete path planning and reach the destination autonomously. By acquiring the data of the integrated navigation system, the control center sends out the command signal of the steering wheel angle to realize the lateral control of the unmanned vehicle. [0003] In the prior art, a PID (Proportion Integral Di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 张潮王帅强贾士伟李祎翔
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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