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Control method for automatic driving of four-wheel vehicle

A control method and automatic driving technology, applied in two-dimensional position/channel control, etc., can solve problems such as long adjustment time, poor tracking stability, dynamic adjustment cannot be associated with speed, etc., achieve good real-time performance, and reduce computing time , the effect of low algorithm complexity

Active Publication Date: 2018-01-05
SHANGHAI ALLYNAV TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current shortcomings include long adjustment time, poor tracking stability, and dynamic adjustment cannot be associated with speed, etc.

Method used

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  • Control method for automatic driving of four-wheel vehicle
  • Control method for automatic driving of four-wheel vehicle
  • Control method for automatic driving of four-wheel vehicle

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Embodiment Construction

[0044] While the invention will be described in conjunction with examples, it should be understood that these examples do not limit the invention. On the contrary, the invention is intended to cover alternatives, modifications and equivalents as included in the invention as defined by the appended claims. Furthermore, in the following detailed description of the invention, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components, and circuits have not been described in detail to avoid unnecessarily obscuring aspects of the present invention.

[0045] Such as figure 1 The vehicle kinematics model of Ackerman is shown in the figure. Assuming that the front wheel alignment angle of the vehicle is equal to zero, the walking system is rigid, and there is ...

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Abstract

The invention discloses a control method for automatic driving of a four-wheel vehicle. The control method mainly comprises the following steps that (1) an initial state of the system is set, whereina traveling path is planned in advance, and vehicle parameters including guide wheel tread and vehicle body wheel base are measured; (2) the real-time position of the vehicle and the real-time angle of a guide wheel on either side are measured; (3) real-time errors, including a position error and an angle error, of the vehicle and the planned path are calculated; (4) a target angle is calculated;(5) the angle by which tires need to be rotated is calculated; (6) the tires are controlled to rotate by a delta-theta angle. According to the control method, the foresight distance is associated withthe speed, the foresight distance is determined based on the real-time vehicle speed, and meanwhile the target point corresponding to the path is calculated based on the foresight distance, so that the path tracking stability at a complicated traveling speed is met; meanwhile, the complexity of the algorithm is low, so that the operation time of the program is greatly reduced, and good real-timeperformance is provided for the system.

Description

technical field [0001] The invention relates to a vehicle automatic control system, in particular to an intelligent control method for unmanned and automatic vehicle driving. Background technique [0002] Unmanned vehicle is a typical four-wheeled mobile robot, which involves many interdisciplinary knowledge and is the product of the high combination and development of contemporary computer science, pattern recognition and control technology. It uses sensors with different functions to perceive the surrounding environment of the vehicle , and according to the road, vehicle position and obstacle information obtained by perception, plan a safe and collision-free path, control the speed and steering of the vehicle, so that the vehicle can safely drive autonomously on the road. [0003] The rapid development and wide application of unmanned vehicle technology will have a profound impact and huge benefits on people's daily life. Active research and development of unmanned vehicl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李晓宇徐纪洋马飞
Owner SHANGHAI ALLYNAV TECH CO LTD
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