Path tracking method for pilotless automobile

A technology of unmanned vehicles and unmanned vehicles, which is applied in the direction of two-dimensional position/channel control, etc., can solve problems such as large amount of calculation, inaccurate positioning, and complicated principles, and achieve small amount of calculation, improve accuracy, The effect of simple principle and calculation process

Inactive Publication Date: 2017-08-11
CHERY AUTOMOBILE CO LTD
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Problems solved by technology

[0004] The embodiment of the present invention provides a path tracking method for unmanned vehicles, which aims to solve the problem that the existing path tracking methods for unmanned vehicles are complex in principle and require a large amount of calculations, and they are not implemented in embedded systems that are compatible with high-precision satellite positioning. The combined path tracking algorithm leads to the problem of inaccurate positioning

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  • Path tracking method for pilotless automobile
  • Path tracking method for pilotless automobile
  • Path tracking method for pilotless automobile

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Embodiment Construction

[0019] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] In an embodiment of the present invention, a path tracking method for an unmanned vehicle is provided. The method uses centimeter-level high-precision satellites to perform differential positioning on the unmanned vehicle. The path tracking method includes a straight line path tracking method or a steering path tracking method;

[0021] The straight-line path tracking method refers to driving based on the distance deviation between the current position of the unmanned vehicle and the expected straight-line path, and the deviation between the heading angle of the vehicle and the expected headi...

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Abstract

The invention is applicable to the technical field of pilotless driving and provides a path tracking method for a pilotless automobile. According to the method, the pilotless automobile is subjected to differential positioning by virtue of a high-precision satellite. The path tracking method comprises a straight path tracking method or a turning path tracking method. The straight path tracking method comprises the step of driving based on a distance deviation between a current position of the pilotless automobile and an expected straight path and a deviation between a course angle and an expected course angle of the pilotless automobile. The turning path tracking method comprises the step of carrying out turning driving based on a deviation distance from a current position of the pilotless automobile to a turning point and a deviation between a driving direction and a turning direction of the pilotless automobile. The path tracking method provided by the embodiment of the invention has the beneficial effects that a principle and a calculation process are simple, the calculated amount is small, and the method is easily realized in an embedded system; and besides, the combination of the high-precision satellite and a path tracking algorithm is realized in the embedded system, so that the path tracking accuracy is increased.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a path tracking method for an unmanned vehicle. Background technique [0002] With the continuous development of science and technology, the number of cars has increased sharply, resulting in more and more complex road traffic environment and frequent road traffic accidents. [0003] Unmanned vehicles are part of intelligent transportation, which can effectively reduce the workload of drivers, reduce the incidence of traffic accidents, and improve the utilization of roads and vehicles. Unmanned vehicles can reach the designated destination autonomously and safely without human intervention. Among them, obstacle avoidance and navigation technology are the two core issues in the research of unmanned vehicles. Whether it is obstacle avoidance or navigation technology, path tracking is an inevitable research. Important point, but the current path tracking method...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 王秀田曾庆喜徐达学
Owner CHERY AUTOMOBILE CO LTD
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