A heading control method and device based on electronic differential chassis

Abstract

The invention discloses a heading control method and device based on an electronic differential chassis. Step 1: a host computer receives current heading and target heading data according to a relevant interface; step 2: the host computer obtains heading deviation through data processing and navigation decision calculation step 3: transmitting the heading deviation value to the chassis controller via the RS232 communication module; the invention relates to the technical field of vehicle control systems. The heading control method and device based on the electronic differential chassis, by comparing and analyzing the current actual heading of the vehicle and the target heading data, through the corresponding calculation, the heading deviation value can be continuously output to correct the deviation, and the corresponding heading is controlled by the chassis controller. When the motor rotates, the real-time deviation correction of the vehicle's route can be realized, so that the vehicle can move normally according to the target heading, which can avoid the deviation of the vehicle's driving direction caused by the unevenness or bumps of the road, and is suitable for the operation of special vehicles such as unmanned control.

Description

technical field [0001] The present invention relates to the technical field of vehicle control systems, in particular to a heading control method and device based on an electronic differential chassis. Background technique [0002] Self-driving car, also known as driverless car, computer-driven car, or wheeled mobile robot, is a kind of intelligent car that realizes unmanned driving through a computer system. In the 20th century, it has a history of several decades, and the beginning of the 21st century shows a trend of close to practical use. Self-driving cars rely on artificial intelligence, visual computing, radar, surveillance devices and global positioning systems to work together to allow computers to operate the motor vehicle autonomously and safely without any human intervention. [0003] Existing unmanned vehicles generally enter a designated driving route, and the computer controls the vehicle to travel according to the set route. However, if the road is uneven in...

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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a heading control method and device based on an electronic differential chassis, which solves the problem that the existing unmanned vehicles only run according to the set route, and the roads in the field or on mountain roads are uneven. Under certain circumstances, due to factors such as bumps and gravity deviations, the overall deviation of the vehicle body will occur when the direction of travel of the wheels remains unchanged, and then deviate from the route. However, it cannot automatically correct the deviation and can only rely on manual remote control, which has limitations in use. The problem

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