Formation keeping control method and system for unmanned vehicles
A technology for maintaining control and unmanned vehicles, which is applied in the field of formation maintaining control methods and systems for unmanned vehicles, and can solve problems such as inability to achieve precise maintaining and safety and comfort.
Active Publication Date: 2020-02-07
QINGDAO VEHICLE INTELLIGENCE PIONEERS INC
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Problems solved by technology
The "lead-follow" algorithm is mostly applied to wheeled robots, but has not been applied to the formation control of unmanned vehicles
Moreover, the existing "pilot-follow" technology does not combine the formation maintenance method with the underlying control method. If it is directly applied to unmanned vehicles, it will not be able to achieve precise maintenance and safety and comfort.
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[0050] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.
[0051] The invention combines the unmanned vehicle communication system and the improved pilot-follow method to realize the distributed cooperative control of unmanned vehicles; Longitudinal movement control to complete tasks such as formation maintenance and transformation, dynamic formation switching and obstacle avoidance.
[0052] The unmanned vehicle formation control method comprehensively uses key technologies such as unmanned driving, vehicle control, network communication, and resource allocation to realize unmanned vehicle formation maintenance and bottom-level control, ensuring that the unmanned vehicle fleet can complete correspondi...
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The invention relates to the driving field of a driverless car, in particular to a formation maintaining control method and system of driverless cars. The invention aims at providing an improved-pilot-following-method-based formation maintaining control method of driverless cars, thereby improving the formation maintaining precision and riding comfort level. The method comprises: according to a formation and target track of driverless cars, a driving track of a pilot at a next time is planned and a target distance and target angle between followers and the pilot at a next time are calculated;on the basis of an improved pilot-following algorithm, bottom control input parameters needed by the followers at a next time are calculated according to current driving state parameters of the pilotand the followers based on a driverless car kinematic model; and according to the bottom control input parameters, bottom controlling is carried out on the followers to realize formation maintaining.Therefore, while the driverless car formation is kept, the high security and comfort level are realized.
Description
technical field [0001] The invention relates to the field of driving of unmanned vehicles, in particular to a formation maintenance control method and system for unmanned vehicles. Background technique [0002] Robot formation belongs to the research problem of collaborative control of robots. By forming a specific formation to cooperate in time and space to complete complex tasks, the work efficiency is improved, and the functions of each robot are complementary. It has the advantages of economy, reliability, and fast response. important practical significance. It has broad application prospects in dangerous environment operations, detection, military, logistics, entertainment and other fields. [0003] Formation keeping control is an important aspect in the research of unmanned vehicle formation. Unmanned vehicles are a nonlinear system. The key technologies include environmental perception, path planning, intelligent decision-making, vehicle navigation and positioning, ...
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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 韩双双王迎春要婷婷王飞跃
Owner QINGDAO VEHICLE INTELLIGENCE PIONEERS INC