Limit dynamic track tracking control system for unmanned vehicle

A control system and trajectory tracking technology, applied in the direction of control devices, etc., can solve the problems of not achieving high speed of unmanned vehicles and limiting the dynamic performance of unmanned vehicles.

Active Publication Date: 2017-07-07
北京理工中云智车科技有限公司
View PDF6 Cites 32 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, most of the relevant scholars in the field of unmanned vehicles focus on the closed-loop system of unmanned vehicles composed of environmental perception and autonomo

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Limit dynamic track tracking control system for unmanned vehicle
  • Limit dynamic track tracking control system for unmanned vehicle
  • Limit dynamic track tracking control system for unmanned vehicle

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0056] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0057] The present invention provides an unmanned vehicle limit dynamics trajectory tracking control system, the trajectory tracking control system includes: a sensor module and a vehicle controller 9, the peripheral equipment is a steering steering gear 11, a braking steering gear 12, 13, a motor Controllers 19,20, drive motors 16,17, speed reducers 15,16 and wheels 1,2,3,4.

[0058] In the embodiment, the sensor module is the inertial navigation system 10, the shock-absorbing displacement sensors 5, 6, 7, 8 and the rotation angle sensor 14, and the vehicle controller 9 includes a speed file solution module and a calculation control module.

[0059] like figure 1 As shown, the inertial navigation system 10 is installed at the center of mass of the vehicle, and is used to obtain information such as the real-time position, attitude, longitudinal speed, lat...

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

PUM

No PUM Login to view more

Abstract

The invention provides a limit dynamic track tracking control system for an unmanned vehicle. The control system comprises a sensor module, a speed file solution module and a computing control module. The speed file solution module receives position parameters collected by the sensor module and reflects the position parameters on an expected track to obtain an ideal position; an expected longitudinal vehicle speed of the ideal position is solved and obtained; and motion parameters collected by the sensor module combined with the expected longitudinal vehicle speed are input into the computing control module to be processed to obtain a braking steering gear corner required by the whole vehicle and driving torque and a turning required steering gear corner required by a driving motor, and accordingly movement of the unmanned vehicle is controlled. Aiming at the problem of track tracking of a known path, the limit driving behavior of the unmanned vehicle can be realized, so that the track tracking process of the unmanned vehicle is completed with the quickest speed of the unmanned vehicle, and the great foundation effect is achieved for the high speed of the unmanned vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to an ultimate dynamic trajectory tracking control system for unmanned vehicles. Background technique [0002] The high mobility, personnel protection, and good reconnaissance of unmanned vehicles give them obvious advantages on the battlefield. At the same time, the vehicle distance maintenance technology and safe driving technology derived from the development of unmanned vehicles provide the intelligent development of the automotive industry. a good platform. In this context, in recent years, the development of unmanned vehicles has attracted worldwide attention. [0003] However, most of the relevant scholars in the field of unmanned vehicles focus on the closed-loop system of unmanned vehicles composed of environmental perception and autonomous decision-making. Too many conditions are considered, which limits the dynamic performance of unmanned vehicles and cannot ac...

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

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B60W10/18B60W10/20B60W10/08B60W40/105
CPCB60W10/08B60W10/18B60W10/20B60W40/105B60W2050/0043B60W2520/10B60W2710/083B60W2710/18B60W2710/20
Inventor 胡纪滨付苗苗倪俊王晓增强强赵越
Owner 北京理工中云智车科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap