Driving control method and device for self-driving truck and self-driving truck
An automatic driving and driving control technology, applied in the driving control of self-driving trucks, in the field of self-driving trucks, it can solve the problem of inaccurate parking of self-driving trucks
Active Publication Date: 2022-05-24
BEIJING TUSEN ZHITU TECH CO LTD
View PDF30 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In some situations that require high driving accuracy, such as parking control, it is necessary to accurately control both the tractor and the trailer within the parking range. If the driving situation of the trailer is not considered, there may be autonomous truck parking not precise enough
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0039] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "com...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present application provides a driving control method and device for an automatic driving truck, and the automatic driving truck, which relate to the technical field of automatic driving. The method includes: obtaining the planned path of the self-driving truck, the tractor control reference point parameters and the trailer control reference point parameters, and determining the automatic driving state quantity of the self-driving truck; according to the trailer control reference point parameters, using a preset trajectory tracking algorithm, the As an independent control object, the trailer traces the trajectory of the trailer control reference point on the planned path, and determines the trailer equivalent steering angle required by the parameters of the trailer control reference point to meet the preset control purpose; according to the trailer equivalent steering angle, trailer angle, The pre-set tractor control function and automatic driving state quantity constraints determine the lateral control quantity of the tractor and send it to the steering motor controller of the tractor, so that the steering motor controller controls the steering motor of the tractor to control the steering amount of steering action.
Description
technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a driving control method and device for an automatic driving truck and the automatic driving truck. Background technique [0002] At present, self-driving trucks generally include two parts: a tractor and a trailer, and the tail of the tractor is connected to the head of the trailer. When the self-driving truck is driving, it is generally controlled by the tractor to drive the trailer to move. At present, the driving accuracy of self-driving trucks is generally measured by the control accuracy of the tractor. In some situations that require high driving accuracy, such as parking control, it is necessary to accurately control both the tractor and the trailer within the parking range. If the driving situation of the trailer is not considered, there may be autonomous truck parking Not precise enough. It can be seen that ensuring the driving control accurac...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W40/00B60W40/10
CPCB60W30/18B60W40/00B60W40/10Y02T10/72
Inventor 刘启源
Owner BEIJING TUSEN ZHITU TECH CO LTD