Automatic steering control method and system for unmanned vehicle based on event triggering
An automatic steering, event-triggered technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of neglecting the importance of saving communication and computing resources, and not considering the unmanned vehicle communication network. Problems such as the characteristics of limited bandwidth
Active Publication Date: 2021-07-06
无锡航者智能科技有限公司
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In the invention patent with the patent number CN 107015477 B, a vehicle path tracking H based on state feedback is proposed. ∞ Control method, the invention patent of CN 107831761 B proposes a path tracking control method for intelligent vehicles, and the invention patent of CN 111897344B proposes a self-driving car path tracking control method taking into account stability, however, The above technologies are all based on the traditional time-triggered communication mechanism, without considering the characteristics of the limited bandwidth of the unmanned vehicle communication network, and ignoring the importance of saving communication and computing resources
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[0057] The invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the invention and implement it, but the examples given cannot be used as a limitation of the invention.
[0058] A kind of unmanned vehicle automatic steering control method based on event trigger in the present embodiment, its control step is:
[0059] (1) Establish the mathematical model of the automatic steering system of the unmanned vehicle
[0060] Such as figure 1 As shown, X-Y is a plane coordinate system fixed on the ground, where X represents the direction of the straight road surface, Y represents the direction perpendicular to the X axis; x-y is a coordinate system fixed to the vehicle, where x represents the longitudinal direction of the vehicle, and y represents the direction of the vehicle Laterally, the origin of its coordinate system is located at the center of mass of the vehicle. ...
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The invention discloses an automatic steering control method and system for an unmanned vehicle based on event triggering, which aim to solve the technical problems of calculation redundancy, communication resource waste and network communication congestion in the existing automatic steering control technology. According to the technical scheme, the automatic steering control method for the unmanned vehicle based on event triggering specifically comprises the following steps of (1) establishing a mathematical model of an automatic steering system of the unmanned vehicle, (2) establishing a communication mechanism based on event triggering, (3) determining a system control target and designing an automatic steering controller of the unmanned vehicle based on event triggering, and (4) collecting real-time state information of the unmanned vehicle, achieving online control of an automatic steering system, and completing tracking of an expected path and safe driving. An event triggering communication mechanism is introduced into an automatic steering system of the unmanned vehicle, and a joint design condition of an event trigger and a controller is established. According to the control method provided by the invention, the path tracking performance of the system can be ensured, the signal transmission frequency can be effectively reduced, and communication and computing resources are saved.
Description
technical field [0001] The invention belongs to the technical field of advanced control of intelligent vehicles, and in particular relates to an event-triggered automatic steering control method and system for unmanned vehicles. Background technique [0002] Unmanned vehicles are products that combine cybernetics, information theory, computer technology, and artificial intelligence. They are equipped with advanced sensor devices, computing units, and control execution components to realize autonomous driving of the vehicle and promote intelligent transportation. Great contributions have been made to system construction and improvement of traffic safety. Automatic steering control is one of the key technologies of unmanned vehicles. It is the core technology to realize the autonomous driving of unmanned vehicles and follow the expected trajectory, which has attracted the attention of academic circles and industries in various countries. [0003] Considering that unmanned veh...
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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 高传宝谢正超龚政
Owner 无锡航者智能科技有限公司