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Horizontal control method and device

A technology of lateral control and lateral deviation, applied in steering mechanism, transportation and packaging, vehicle components, etc., can solve problems such as oscillation overshoot, and achieve the effects of improving accuracy, preventing edge rubbing, and improving real-time performance.

Active Publication Date: 2020-06-26
BEIJING ZHIXINGZHE TECH CO LTD
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  • Description
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Problems solved by technology

[0007] The purpose of the embodiment of the present invention is to provide a lateral control method and device to solve the vibration overshoot problem of the vehicle in the side-facing scene in the prior art

Method used

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  • Horizontal control method and device

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Embodiment Construction

[0079] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0080] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0081] figure 2 It is a schematic flow chart of the lateral control method provided in Embodiment 1 of the present invention. This method can be applied to unmanned terminals, such as unmanned vehicles or robots. The following is an example of applying this method to unman...

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Abstract

The invention provides a transverse control method. The transverse control method comprises the following steps that 1, position information of a first flag bit and first position information of a vehicle are acquired, and a first transverse deviation of the vehicle is determined according to the first position information; 2, according to the first transverse deviation, a first course angle and afirst transverse deviation convergence speed of the vehicle are calculated; 3, when the vehicle runs on the road edge, a target rotation angle of the vehicle to travel along the road edge is calculated according to the first rotation angle and the second rotation angle; 4, the position information of a second flag bit is acquired; 5, according to the current second position information of the vehicle and the position information of the second flag bit, a second transverse deviation of the vehicle is determined; and 6, according to the second course angle and the second transverse deviation convergence speed, the edge of the road is cut. Therefore, the real-time performance of control and the stability of signal input are improved, the situation that the head deviation is too large and "edge rubbing" is avoided, the edge sticking cut-in stage is avoided is avoided, and the method is more suitable for large-deviation cut-in of the vehicle.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a lateral control method and device. Background technique [0002] In recent years, with the rapid development of unmanned driving technology, the safety of unmanned driving on the edge of the road has attracted much attention. Unmanned cleaning vehicles need to ensure control accuracy and prevent touching the edge in the side-by-side cleaning scene. To avoid the "drawing dragon" phenomenon caused by frequent corrections, lateral control is crucial to ensure the safety of unmanned cleaning vehicles driving in side-by-side scenes. [0003] figure 1 It is a schematic diagram of vehicle tracking and welting in the prior art. In the prior art, unmanned vehicles clean in the welt scene, and high-precision maps need to be produced. When drawing a given welt road (that is, a reference path), the unmanned vehicle The horizontal control adopts the ordinary tracking method. At ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D15/02
CPCB62D15/024B62D15/0265
Inventor 朱时斌颜波张放李晓飞张德兆王肖霍舒豪
Owner BEIJING ZHIXINGZHE TECH CO LTD
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