Trajectory tracking method and system for site unmanned vehicle

A trajectory tracking and unmanned vehicle technology, applied in control/regulation systems, motor vehicles, vehicle position/route/height control, etc., to reduce equipment costs, promote technology implementation, and improve robustness and adaptability

Inactive Publication Date: 2018-10-12
BEIJING UNION UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The sensors used in this method include inertial navigation system, shock absorber displacement sensor, and ...

Method used

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  • Trajectory tracking method and system for site unmanned vehicle
  • Trajectory tracking method and system for site unmanned vehicle
  • Trajectory tracking method and system for site unmanned vehicle

Examples

Experimental program
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Embodiment 1

[0038] Such as figure 1 , 2 As shown, step 100 is executed, and the acquisition module 200 is used to acquire sensor information. Acquire the waypoint sequence P that guides the unmanned vehicle's forward route containing spatial position information through the sensor installed on the unmanned vehicle at the site i , waypoint information such as image 3 As shown, the field unmanned vehicle is equipped with a dual-antenna positioning and directional receiver. Execute step 110, carry out global waypoint coordinate transformation, comprise: first carry out map file parsing, then WGS-84 coordinate (World GeodeticSystem-1984 Coordinate System) of GPS is converted into the plane coordinate described by UTM coordinate (Universal Transverse Mercator), then Transform the global coordinates into local coordinates with the particle of the unmanned vehicle as the coordinate origin. Execute step 120, execute step 120, use the fitting module 210 to carry out high-order Bezier curve fi...

Embodiment 2

[0040] Such as figure 1 , 2 As shown, step 100 is executed, and the acquisition module 200 is used to acquire sensor information. A Velodyne 16-line laser radar is installed on the central position of the front of the unmanned vehicle on the site, and the waypoint sequence P that guides the unmanned vehicle's forward route including spatial position information is obtained through the sensor installed on the unmanned vehicle on the site. i , waypoint information such as image 3 shown. Step 110 is executed to perform global waypoint coordinate conversion, including: first analyzing the lidar SLAM map file, and then converting the global coordinates into local coordinates with the mass point of the unmanned vehicle as the coordinate origin. Execute step 120, use the fitting module 210 to perform high-order Bezier curve fitting on the obtained waypoint sequence to obtain the trajectory line, and the calculation formula is Among them, B(t) is the path after high-order Bezier...

Embodiment 3

[0042] Such as figure 1 , 2 As shown, step 100 is executed, and the acquisition module 200 is used to acquire sensor information. A vehicle-mounted monocular camera is arranged on the central position of the head of the unmanned vehicle on the site, and the waypoint sequence P that guides the unmanned vehicle's forward route containing spatial position information is obtained through the sensor installed on the unmanned vehicle on the site. i , waypoint information such as image 3 shown. Execute step 110 to perform global waypoint coordinate conversion, including: first analyze the image SLAM map file, and then convert the global coordinates into local coordinates with the mass point of the unmanned vehicle as the coordinate origin. Execute step 120, use the fitting module 210 to perform high-order Bezier curve fitting on the obtained waypoint sequence to obtain the trajectory line, and the calculation formula is Among them, B(t) is the path after high-order Bezier curve...

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Abstract

The invention provides a trajectory tracking method and system for a site unmanned vehicle. The method comprises the following steps that spatial position information of a way point sequence Pi is acquired through a sensor arranged on the site unmanned vehicle, and high-order Bezier curve fitting is carried out on the way point sequence Pi to obtain a trajectory line; delay time is set, a currentposition of the unmanned vehicle is extended in a speed direction, extended distance is a product of speed at a current moment and delay time, an extension line endpoint O(xO, yO) is obtained, therebyfinding a point M (xM, yM) closest to the extension line endpoint O on the way point sequence; a lateral deviation ex(t) and tangent line included angle e(t) between the current site unmanned vehicleand point M are calculated; a current vehicle angle control amount delta(t) is calculated and applied to a lateral control strategy of the site unmanned vehicle. The trajectory tracking method and system for the site unmanned vehicle solves the problem of the dependence of the site unmanned vehicle on inertial navigation equipment, improves the trajectory tracking precision and reliability of thesite unmanned vehicle, and is suitable for the implement of the trajectory tracking of the site unmanned vehicle in different situations.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a track tracking method and system for an unmanned vehicle on a site. Background technique [0002] With the development of technology and productivity, unmanned driving technology has received widespread attention. [0003] Trajectory tracking is one of the most basic technologies to realize unmanned driving. In recent years, many universities and research institutes at home and abroad have conducted extensive and in-depth research and developed many trajectory tracking algorithms. At present, the trajectory tracking method on the unmanned vehicle often adopts the single-point preview method. The lateral velocity of the unmanned vehicle is directly calculated according to the speed data of the GPS, which often leads to serious jumps; the pure tracking model method uses a direction The way to reach the preview point is to draw an arc at the preview point. Even on the s...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/024G05D1/0246G05D1/0255G05D1/0257G05D1/0276G05D1/0278G05D2201/0212
Inventor 张军刘元盛靳欣宇李青灿李子昂杜裕坤钟昊谢姜添
Owner BEIJING UNION UNIVERSITY
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