A control method and device for an unmanned driving device
A technology of unmanned equipment and control quantity, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, which can solve the problems of low safety and poor stability.
Active Publication Date: 2021-04-27
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology
However, in practical applications, there is often a deviation between the control amount determined by the unmanned device and the actual control amount executed by the unmanned device, which may cause the unmanned device to appear such as deviation from the original route, smooth driving Poor performance, low security, etc.
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[0051] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0052] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0053] figure 1 It is a schematic flow chart of a control method for unmanned equipment in this manual, which specifically includes the following steps:
[0054] S101: Obtain state data of the unmanned device at the current mom...
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This specification discloses a control method and device for unmanned equipment, which can obtain the state data of the unmanned equipment at the current moment, and predict the control amount for the unmanned equipment at the next moment according to the state data, as Then, input the state data into the preset control amount error model to obtain the actual error of the control amount for the unmanned equipment at the next moment, according to the actual error of the control amount and the determined reference control amount, Determine the actual control amount for the unmanned equipment at the next moment, and then control the unmanned equipment according to the actual control amount. Since the actual error of the control quantity for the next moment can be predicted according to the state data at the current moment, the determined reference control quantity can be corrected through the actual error of the control quantity, thereby improving the accuracy of the determined control quantity And rationality, thereby ensuring the safe driving of unmanned equipment.
Description
technical field [0001] This specification relates to the field of unmanned driving, and in particular to a control method and device for unmanned driving equipment. Background technique [0002] At present, unmanned driving equipment will be gradually applied to people's daily life, bringing more convenient services to people's life. [0003] During the driving process of the unmanned equipment, it is necessary to determine the control amount of the unmanned equipment at all times, and then control the unmanned equipment through the determined control amount. However, in practical applications, there is often a deviation between the control amount determined by the unmanned device and the actual control amount executed by the unmanned device, which may cause the unmanned device to appear such as deviation from the original route, smooth driving Poor performance, low safety and so on. [0004] Therefore, how to improve the accuracy of determining the control amount of the u...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0253G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 王志超颜诗涛李小卿田润任冬淳樊明宇夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD