A vehicle start control method based on lidar vehicle speed estimation
A laser radar and vehicle start technology, which is applied in the field of vehicle start control based on laser radar speed estimation, can solve the problem of wheel speed sensor estimation of vehicle speed, etc., to improve power performance, good start control effect, and overcome the inability to accurately estimate vehicle speed.
Active Publication Date: 2020-07-03
尚元智行(宁波)科技有限公司
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Problems solved by technology
The difficulty of traditional control methods is that it is difficult to estimate vehicle speed through wheel speed sensors at low speeds, especially for four-wheel drive vehicles
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[0032] A vehicle start control method based on lidar vehicle speed estimation, the steps are as follows:
[0033] (1) First obtain the speed data v of the vehicle through the vehicle's wheel encoder (domestic, HKT30-301) wheel , Acceleration data a of the vehicle is obtained through the vehicle-mounted IMU inertial measurement unit (Shenzhen Weite Intelligent, HWT901B) imu and the angular velocity data w of the vehicle imu ;
[0034] (2) The lidar odometer module (Velodyne, VLP-16) uses the standard ICP algorithm to estimate the motion pose of the 3D point cloud data obtained by the lidar sensor, so as to obtain the pose data of the lidar relative to the vehicle startup time; The flow of the ICP algorithm is as follows: First, the error calculation is performed on the 3D point cloud data obtained by the laser radar at two consecutive sampling moments before and after the laser radar (the existing point cloud matching and error calculation technology), and then the least squa...
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The invention discloses a vehicle start control method based on lidar vehicle speed estimation, which is characterized by the following steps: (1) First, obtain the vehicle's speed data through the vehicle's wheel encoder, and obtain the vehicle's acceleration data through the vehicle-mounted IMU inertial measurement unit and the vehicle's yaw angular velocity data; (2) The lidar odometer module obtains the position and attitude data of the lidar relative to the vehicle starting time through the standard ICP algorithm; (3) The position and orientation data of the vehicle center of mass relative to the vehicle starting time; (4) ) Data fusion is performed through the Kalman filter module to obtain the vehicle's longitudinal speed data and acceleration data as well as the vehicle's yaw angular velocity data; (5) According to the dynamic equation of the wheel, the PID control method is used to control the torque T output by the drive motor to the wheel. , so that the slip rate of the vehicle is kept near the preset optimal value. The advantage is that it can achieve better start-up control effect, reduce acceleration time, and improve the dynamics of the entire vehicle.
Description
technical field [0001] The invention relates to a vehicle start control method based on lidar vehicle speed estimation. Background technique [0002] With the development of unmanned vehicles, more and more advanced sensor technologies are added to unmanned vehicles, which not only brings benefits to the upper layer of perception and decision-making, but also is a boon for the underlying control of the vehicle. More importantly, these sensors are necessary for unmanned vehicles, that is to say, in the configuration of unmanned vehicles, these new control algorithms can improve the control of the whole vehicle without adding sensors or even reducing some sensors of traditional vehicles. performance. If we use an abstract term, if we can understand the system as much as possible and apply this prior knowledge to the design of the control system, we may get better control effects. The most obvious example is the speed of the vehicle, because the speed of the vehicle is essent...
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IPC IPC(8): B60W30/18B60W40/105
CPCB60W30/18009B60W40/105B60W2420/408
Inventor 史津竹马芳武冯曙葛林鹤代凯仲首任吴量单子桐郭荣辉
Owner 尚元智行(宁波)科技有限公司