Visual navigation mobile equipment-based self-adaptive path tracking method and system
A mobile device and visual navigation technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as poor high-precision path tracking effect
Active Publication Date: 2019-11-19
HUNAN UNIV
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[0004] In view of this, the purpose of the present invention is to provide an adaptive path tracking method and system based on visual navigation mobile devices, which can solve the high-precision path tracking effect of existing vision-based mobile devices in various curvature road conditions at high speed. poor defect
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[0074] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0075] It should be noted that, for a better understanding of the present invention, the following parts are specially explained:
[0076] The Lagrange method (Lagrange multiplier method) is a method of finding the extreme value of a multivariate function whose variables are restricted by one or more conditions, and is used to solve optimal problems;
[0077] CarSim&Simulink joint simulation: CarSim is a simulation software specially for vehicle dynamics, and Simulink is an interactive tool for modeling, simulating and analyzing dynamic multi-dimensional systems. The joint simulation of the two is realistic and highly manipulable.
[0078] figure 1 It is a flow chart of an adaptive path trackin...
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The invention discloses a visual navigation mobile equipment-based self-adaptive path tracking method and system. The system includes a self-adaptive pre-aiming model and a self-adaptive fuzzy steering controller; the self-adaptive pre-aiming model can provide yaw error and expected path curvature according to an expected path and speed; the self-adaptive fuzzy steering controller can adaptively calculate a front wheel rotating angle according to the yaw error and path curvature and perform control; the self-adaptive fuzzy steering controller comprises a fuzzy reasoning system and a self-adaptive steering gain model; and the front wheel rotating angle is the product of output gain provided by the self-adaptive steering gain model and a rotation angle output variable provided by the fuzzy reasoning system. According to the visual navigation mobile equipment-based self-adaptive path tracking method and system, the self-adaptive capacity of a traditional pre-aiming following algorithm isimproved from the aspects of a pre-scanning method and control gain, therefore, the self-adaptive tracking capability of visual navigation mobile equipment is remarkably improved, the steering operation stability of the visual navigation mobile equipment is improved, the high-precision cruising driving of the visual navigation mobile equipment is realized, and the safety of high-speed road trafficis improved.
Description
technical field [0001] The invention belongs to the field of mobile device control, and in particular relates to an adaptive path tracking method and system for a mobile device based on visual navigation. Background technique [0002] With the continuous development of communication technology, computer technology, artificial intelligence, and control theory, vision-based intelligent mobile devices, especially robots and self-driving cars, have attracted a lot of attention, and have become a hot topic for scholars at home and abroad. Self-driving cars, as an intelligent mobile robot, mainly involve vehicle network technology, complex road environment recognition technology, automatic path planning technology and intelligent motion control system. In automatic driving system, automatic cruise control is an important function. [0003] Automated cruise control systems are the most common technology that can help ease the burden on human drivers on the highway. A high-perform...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁小芳刘嘉鑫黄国明
Owner HUNAN UNIV