Path following control system and control method
A technology for following control systems and paths, applied in control/regulation systems, vehicle position/route/height control, non-electric variable control, etc. The effect of accuracy, reducing deviation, and improving calculation speed
Inactive Publication Date: 2020-07-28
JIANGSU UNIV OF TECH
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Problems solved by technology
[0006] A path following control system and control method provided by the present invention solves the problem that the traditional path following control method cannot guarantee the real-time and stability of path following, improves the accuracy of path following and improves the real-time performance of path following
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[0061] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0062] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0063] One aspect of the present invention discloses a path following control system, which includes a vehicle-mounted sensor for acquiring driving environment information, and combines the environment model to fuse the sensor information to understand and identify the driving environment;
[0064] The communication network is used to provide information on the road congestion ahead and the driving trend of surro...
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The invention provides a path following control system and a control method. The control system comprises a vehicle-mounted sensor, a communication network, a controller and a state estimator. The control method comprises the following steps that: a vehicle-mounted sensor is used for obtaining the transverse displacement, longitudinal displacement, transverse acceleration, longitudinal acceleration, yaw angle and yaw angle speed of an unmanned vehicle, and serve as the state variables of the unmanned vehicle, and the front wheel rotation angle of the unmanned vehicle serves as the control variable of the unmanned vehicle; a controller is arranged; a communication network acquires external environment information and plans a drivable path; and the instantaneous state information of the unmanned vehicle is detected through a vehicle-mounted sensor, the detected state information is input into the controller, the controller controls the unmanned vehicle to go straight or turn by controlling the front wheel turning angle of the unmanned vehicle, the planned path is controlled and followed. The path following method has high precision in following the unmanned vehicle; and the path following real-time performance of the method is good.
Description
technical field [0001] The present invention relates to the technical field of unmanned vehicles, in particular to a path following control system and control method. Background technique [0002] Transportation is an important aspect of human activities. The emergence of automobiles has greatly expanded the scope of human transportation activities, and has also accelerated the pace of human life and production efficiency. Automobiles have made great contributions to the development of modern society and the improvement of human life. However, with the increasing number of automobiles, it has brought more and more problems to human society, such as traffic safety, environmental pollution and energy consumption. How to overcome These problems have become hot topics in today's society. [0003] Among many problems, the problem of traffic safety is particularly serious. The incidence of modern road traffic accidents remains high, the number of deaths increases year by year, a...
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Patent Timeline
Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0217
Inventor 刘冉冉吴施鹏郑恩兴蒋益锋李丽
Owner JIANGSU UNIV OF TECH