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Method and device for controlling vehicle movement

A vehicle and sports technology, applied in the field of smart cars, can solve problems such as poor applicability, and achieve the effect of improving applicability

Active Publication Date: 2020-01-17
ゼジャンハーレイテクノロジーカンパニーリミテッド
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present application provides a method and device for controlling the motion of a vehicle to solve the technical problem of poor applicability in the prior art

Method used

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  • Method and device for controlling vehicle movement
  • Method and device for controlling vehicle movement

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Experimental program
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Embodiment 1

[0080] A method for controlling the movement of a vehicle provided by the embodiment of the present application will be described in further detail below in conjunction with the accompanying drawings. The specific implementation of the method may include the following steps (the method flow is as follows: figure 1 shown):

[0081] Step 101, obtain the coordinates of the actual position of the current vehicle, and determine the coordinates of the target position corresponding to the actual position on the vehicle motion trajectory curve according to the coordinates of the actual position and the coordinates of the end point of the vehicle motion; wherein, The vehicle motion track curve is calculated by using the Hermite interpolation method according to the position parameters of the starting point and the end point of the vehicle motion in the first coordinate system; the first coordinate system refers to the The end point is the coordinate origin, the direction from the start...

Embodiment 2

[0159] An embodiment of the present application provides a device for controlling vehicle movement, see image 3 , the device consists of:

[0160] The determining unit 301 is configured to obtain the coordinates of the actual position of the current vehicle, and determine the coordinates of a target position corresponding to the actual position on the vehicle motion trajectory curve according to the coordinates of the actual position and the coordinates of the end point of the vehicle movement ; Wherein, the vehicle motion locus curve is calculated under the first coordinate system according to the position parameter of the starting point of the vehicle motion and the position parameter of the end point, using the Hermite interpolation method; the first coordinate system refers to Taking the end point as the origin of coordinates, the direction of the starting point pointing to the end point represents a coordinate system in the positive direction of the horizontal axis, and ...

Embodiment 3

[0191] The application provides a computing device, see Figure 5 , the computing device, comprising:

[0192] Memory 501, configured to store instructions executed by at least one processor;

[0193] The processor 502 is configured to execute instructions stored in the memory to execute the method described in Embodiment 1.

[0194] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and when the computer instructions are run on a computer, the computer executes the method described in Embodiment 1.

[0195] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present appl...

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Abstract

The invention discloses a method and a device for controlling vehicle movement. The method comprises the steps that a vehicle movement track curve obtained through calculation by adopting an Emmette Hermite interpolation method is adopted, coordinates of the actual position of a current vehicle are obtained, and coordinates of a target position positioned on the vehicle movement track curve and corresponding to the actual position are determined according to the coordinates of the actual position and coordinates of a vehicle movement end point; and according to the coordinates of the actual position and the coordinates of the target position, the position offset between the actual position and the target position is calculated, the compensation amount of the angular velocity of current vehicle movement is determined according to the position offset, and the angular velocity of vehicle movement is adjusted based on the compensation amount of the angular velocity until it is detected that the vehicle moves to the end point position. The technical problem that in the prior art, applicability is poor is solved.

Description

technical field [0001] The present application relates to the technical field of smart cars, in particular to a method and device for controlling vehicle movement. Background technique [0002] In recent years, with the continuous development of autonomous driving technology, the two-dimensional code technology is applied to the automatic guided vehicle navigation technology (AGV Navigation Technology, AGV), that is, the two-dimensional code containing coordinate information is pasted to the corresponding position at a certain distance, Then, the vehicle captures the two-dimensional code image through the on-board camera during operation, returns the AGV position coordinates contained in the two-dimensional code and extracts the coordinates of the two-dimensional code feature points in the image coordinate system, and obtains the AGV position deviation and angle deviation through coordinate conversion , and then adjust the speed of the two wheels of the AGV to achieve deviat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0223G05D1/0278G05D1/0276
Inventor 陈亦彪项宇
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
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