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A sliding mode-based automatic parking torque control method for unmanned vehicles

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

Active Publication Date: 2021-04-23
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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  • A sliding mode-based automatic parking torque control method for unmanned vehicles
  • A sliding mode-based automatic parking torque control method for unmanned vehicles
  • A sliding mode-based automatic parking torque control method for unmanned vehicles

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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 sliding mode-based automatic parking torque control method for an unmanned vehicle provided by the present invention will now be described.

[0025] A sliding mode-based automatic parking torque control method for unmanned vehicles, comprising the following steps:

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

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Abstract

The invention belongs to the technical field of automatic parking of unmanned vehicles, and specifically relates to a sliding mode-based automatic parking torque control method for unmanned vehicles, which solves the problems of visual blind spots in traditional unmanned vehicle parking techniques that rely too much on visual sensors. control problem. The method of the present invention is a torque controller design through system modeling and using global feedback information. First, the system is modeled to realize the description of the target parking area and surrounding obstacles, and then the torque controller is implemented according to the model information. The design of the car greatly reduces the heavy dependence on the automatic parking vision sensor. In this way, parking errors caused by visual blind spots are avoided, and the parking accuracy is improved through this method, and this will promote the deep transformation of automatic parking technology, and then promote the development of a new generation of information technology and high-end equipment manufacturing industries. application value.

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 sliding mode-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...

Claims

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Application Information

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Patent Type & Authority Patents(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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