Multi-axle steering vehicle large curvature automatic driving and steering control method
A technology of steering control and automatic driving, which is applied in the direction of steering control installed on the vehicle, non-mechanical steering control components, vehicle position/route/height control, etc. It can solve the problem of unsatisfactory tracking performance and achieve superiority sexually apparent effect
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[0040] The following further describes the present invention with reference to the accompanying drawings of the specification and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.
[0041] Such as figure 1 As shown, the rubber-tyred train applied in this embodiment has an intelligent driving assistance system based on monocular vision. By extracting the reference path information of the ground marking line, the corresponding steering parameters are automatically obtained, so that the vehicle can automatically track the central virtual trajectory line for automatic driving. .
[0042] Such as figure 2 As shown, the steering control method for large-curvature automatic driving of a multi-axis steering vehicle of this embodiment includes the following steps: S1. Acquire the lateral deviation Y of the vehicle at the current position e (t) Deviation from the first heading angle And calculate the lateral deviation Y(t) and the seco...
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