An Unmanned Vehicle Ultimate Dynamics Trajectory Tracking Control System

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...

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 autonomous decision-making. Too many conditions are considered, which limits the dynamic performance of unmanned vehicles and cannot achieve unmanned vehicles. Speeding up of people and cars

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