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Control method of unmanned vehicle and unmanned vehicle

A technology of unmanned vehicles and control methods, which is applied in the field of unmanned vehicles, can solve the problems of no vehicle speed, throttle planning, and unguaranteed reliability and safety of unmanned vehicles, so as to improve reliability and safety effect

Inactive Publication Date: 2019-08-23
江苏盛海智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current tracking driving is usually only following the predetermined route, without planning the speed and accelerator of the car.
For the situation where unmanned vehicles need to complete specific tasks, such as unmanned area detection, supply and dynamic obstacle surmounting, etc., if the automatic driving is only performed according to the track route, the reliability and safety of unmanned vehicles will not be guaranteed. Assure

Method used

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  • Control method of unmanned vehicle and unmanned vehicle
  • Control method of unmanned vehicle and unmanned vehicle
  • Control method of unmanned vehicle and unmanned vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] Please refer to figure 1 , Embodiment 1 of the present invention is:

[0082] A control method for an unmanned vehicle, comprising the steps of:

[0083] S1. Receive the remote control command, generate the wire control command according to the remote control command, and control the wire control motor according to the wire control command to complete the wire control operation;

[0084] S2. Receive the execution data fed back by the control feedback module in real time, and obtain an execution result according to the execution data.

[0085] Wherein, step S1 includes:

[0086] Receive the remote brake command, generate the brake-by-wire command according to the remote brake command, and control the brake motor according to the brake-by-wire command to drive the pull rod connected to the brake pedal to complete the brake operation;

[0087] Receive the remote control steering command, generate the wire steering command according to the remote control steering command...

Embodiment 2

[0099] Please refer to figure 1 , the second embodiment of the present invention is:

[0100] A control method for an unmanned vehicle, on the basis of the first embodiment above, if it is tracking driving, the following steps are performed:

[0101] S3. Receive a track route composed of a set of track points, calculate the steering angle, driving speed, throttle amount, and brake amount according to the track route, and generate a dynamic adjustment command in real time.

[0102] Wherein, step S3 also includes:

[0103] Obtain the current vehicle speed information, generate and send the first instruction to change the output strength of the steering motor in real time according to the steering power curve, so as to control the steering motor to adjust the wheel steering angular velocity, and the wheel steering angular velocity in the steering power curve increases with the increase of the current vehicle speed information Decrease, for example, if the current vehicle speed ...

Embodiment 3

[0106] Please refer to figure 2 as well as image 3 , Embodiment three of the present invention is:

[0107] An unmanned vehicle 1, including an executive assembly 6, an engine, a storage battery and an independent power supply module, including a main controller 2, a motor drive module 3, a wire-controlled motor 5 and a control feedback module 4, and the main controller 2 passes through the motor drive module 3 is connected to the wire-controlled motor 5, the wire-controlled motor 5 is connected to the executive component 6, the control feedback module 4 is connected to the wire-controlled motor 5 or the control feedback module 4 is connected to the executive component 6; the engine is respectively connected to the electric lock assembly, the battery and the independent The power supply module is connected, the engine includes a fuel tank, and a fuel tank heater is installed inside the fuel tank, and the fuel tank heater is connected to an independent power supply module; t...

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Abstract

The invention discloses a control method of an unmanned vehicle and the unmanned vehicle. The control method comprises the steps of receiving a remote control instruction, generating a line control instruction according to the remote control instruction, and controlling a line control motor to complete line control operation according to the line control instruction; and receiving execution data which is fed back by a control feedback module in real time, and obtaining an execution result according to the execution data. According to the control method, the remote control instruction is received, the line control instruction is generated according to the remote control instruction, the line control motor is controlled to complete the line control operation according to the line control instruction, the execution data which is fed back by the control feedback module in real time is received in real time, the execution result is obtained according to the execution data, a line control system is additionally arranged on an original unmanned vehicle, so that remote control of the unmanned vehicle is achieved, and the reliability and the safety of the vehicle under an unmanned trackingcondition are improved.

Description

technical field [0001] The invention relates to the field of unmanned vehicles, in particular to a control method of the unmanned vehicle and the unmanned vehicle. Background technique [0002] Driverless vehicles are the main trend in the future development of the automotive field. Among them, car tracking driving is a way of autonomous driving for unmanned vehicles. Tracking driving refers to the automatic tracking driving of a car according to a pre-set route. Existing tracking driving usually only follows a predetermined route and does not plan the speed and accelerator of the car. For the situation where unmanned vehicles need to complete specific tasks, such as unmanned area detection, supply and dynamic obstacle surmounting, etc., if the automatic driving is only performed according to the track route, the reliability and safety of unmanned vehicles will not be guaranteed. Assure. Contents of the invention [0003] The technical problem to be solved by the prese...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 张诚
Owner 江苏盛海智能科技有限公司
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