A method and system for adaptive path tracking based on visual navigation mobile device
A mobile device and visual navigation technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as poor high-precision path tracking effect, achieve broad market prospects and application value, and improve adaptive tracking ability, and the effect of improving traffic safety on expressways
Active Publication Date: 2021-06-04
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 an adaptive path tracking method and system based on visual navigation mobile devices, including an adaptive preview model and an adaptive fuzzy steering controller: the adaptive preview model can provide yaw error and Expected path curvature, adaptive fuzzy steering controller can adaptively calculate and control the front wheel angle according to yaw error and path curvature, adaptive fuzzy steering controller includes fuzzy reasoning system and adaptive steering gain model, the front wheel angle is The product of the output gain provided by the adaptive steering gain model and the steering angle output variable provided by the fuzzy inference system. The present invention improves the adaptive ability of the traditional preview following algorithm from two aspects of preview method and control gain, significantly improves the adaptive tracking ability of the visual navigation mobile device, improves its steering operation stability, and realizes high-precision cruise driving for it , and improve the safety of highway traffic.
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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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁小芳刘嘉鑫黄国明
Owner HUNAN UNIV