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Method for controlling automatic parking torque of unmanned vehicle based on sliding mode

An unmanned vehicle and automatic parking technology, which is applied in the field of automatic parking torque control of unmanned vehicles based on synovial film, can solve problems such as affecting application value and loss, achieve good application value, reduce serious dependence, and improve parking. The effect of precision

Active Publication Date: 2019-06-21
TAIYUAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, the current unmanned driving control technology mainly relies on the traditional trajectory tracking control strategy, and the automatic parking control technology often relies too much on the visual sensor. Failure will inevitably cause irreparable losses, which will seriously affect its application value

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  • Method for controlling automatic parking torque of unmanned vehicle based on sliding mode
  • Method for controlling automatic parking torque of unmanned vehicle based on sliding mode
  • Method for controlling automatic parking torque of unmanned vehicle based on sliding mode

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Embodiment Construction

[0023] In order to illustrate the embodiment of the present invention or the technical solution in the prior art more clearly, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0024] See attached figure 1 , a method for controlling the automatic parking torque of an unmanned vehicle based on a sliding membrane provided by the present invention will now be described.

[0025] A method for controlling the automatic parking torque of an unmanned vehicle based on a sliding film, comprising the following steps:

[0026] ①Using GPS to identify, locate and measure the unmanned vehicle, the target parking area and the obst...

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Abstract

The invention belongs to the technical field of automatic parking of unmanned vehicles, in particular to a method for controlling automatic parking torque of an unmanned vehicle based on a sliding mode, and solves the control problems that a conventional unmanned vehicle parking technique relying excessively on visual sensors has a visual blind zone and the like. The method of the invention is a torque controller design by system modeling and global feedback information. Firstly, the system modeling is performed to realize the description of a target parking area and surrounding obstacles, andfurther, a torque controller is designed according to the model information, thus greatly reducing the heavy reliance on automatic parking visual sensors. Therefore, parking errors caused by the blind zone are avoided, and the parking accuracy is improved by the method, and this will promote the profound change of the automatic parking technology, thereby promoting a new generation of informationtechnology, and high-end equipment manufacturing and development industry, and having good application values.

Description

technical field [0001] The invention belongs to the technical field of automatic parking of unmanned vehicles, and relates to a torque control method based on the dynamics and kinematics characteristics of an unmanned vehicle, in particular to a synovial-based automatic parking torque control method of an unmanned vehicle. Background technique [0002] At present, with the rapid development of science and technology, sensors such as visual sensors, laser range finders, balance gyroscopes, ultrasonic radars, and photoelectric encoding sensors and positioning control technologies such as GPS are becoming more and more mature and perfect. In particular, these control technologies are deeply integrated with current control theories such as unmanned driving. Unmanned driving control technology (including automatic parking technology) has become one of the hot issues in the current automation control theory and scientific practice. However, the current unmanned driving control tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06
Inventor 于晋伟杨卫华梁东岳高立青张淑蓉
Owner TAIYUAN UNIV OF TECH
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