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Autonomous variable-speed tracking method and unmanned vehicle

An unmanned vehicle and speed technology, which is applied in the direction of motor vehicles, non-electric variable control, vehicle position/route/height control, etc., can solve the problems that cannot meet the needs of use, and achieve the effect of increasing complexity and enhancing randomness

Active Publication Date: 2021-08-24
福建盛海智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The driverless car perceives information such as the road environment, vehicle position, traffic signals, and obstacles through the on-board sensor system, and on this basis automatically plans the driving route and realizes the longitudinal and lateral coupling control of the vehicle through a certain control logic, so that the vehicle can be controlled according to the The driving route advances safely to the intended destination without additional human intervention during this period; however, in some application scenarios, the relatively simple driving route cannot meet the needs of use, such as the performance appraisal of some advanced weapons and equipment, which can no longer rely on simple A fixed target car or a uniform target car to carry out

Method used

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  • Autonomous variable-speed tracking method and unmanned vehicle

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] Please refer to figure 1 , Embodiment 1 of the present invention is:

[0072] Please refer to an autonomous variable speed tracking method, including steps:

[0073] S1. When at the position of the straight line segment, receive the target speed, and use the time when the target speed is received as the first time;

[0074] If the target speed is received at the curve position, maintain the current speed;

[0075] Please refer to image 3 , in an optional embodiment, establish wireless communication with the unmanned vehicle through the remote control platform, and issue the target speed through wireless communication;

[0076] S2. Obtain the current moment and current speed, calculate the first difference between the target speed and the current speed, and if the absolute value of the first difference is greater than the first preset value, execute S3;

[0077] Wherein, if the target speed is less than the current speed and the absolute value of the first differenc...

Embodiment 2

[0088] Please refer to Figure 3 to Figure 5 , the second embodiment of the present invention is:

[0089] Apply the above-mentioned autonomous variable speed tracking method to the actual scene:

[0090] The unmanned vehicle travels according to the preset route, the preset initial speed of 20km / h and the preset curve speed of 20km / h;

[0091] The main controller in the unmanned vehicle detects the CAN data, GPS data, etc. of the unmanned vehicle in real time, and uploads the collected data to the remote control platform;

[0092] S1. Receive the target speed. If the unmanned vehicle is in the straight line segment at this time, record the time when the target is received as the first time and execute S2;

[0093] If the unmanned vehicle is on the curve when receiving the target speed, maintain the current speed;

[0094] S2. Obtain the current moment and current speed, and calculate the first difference between the target speed and the current speed D(t)=target speed-curr...

Embodiment 3

[0109] Please refer to figure 2 , Embodiment three of the present invention is:

[0110]An unmanned vehicle 1, comprising a processor 2, a memory 3 and a computer program stored on the memory 3 and running on the processor 2, the processor 2 implements the first embodiment when executing the computer program of the various steps.

[0111] To sum up, the present invention provides an autonomous variable speed tracking method and an unmanned vehicle. When the unmanned vehicle travels at a preset speed on a preset tracking line, if the target speed is received, it will determine the current location. If it is in the position of the straight line, it will adjust its own speed according to the target speed combined with the PID algorithm. If it is in a curve, the current speed will not be adjusted, and the forward speed will be flexibly changed according to the issued target speed to increase the speed. It is difficult to capture the trajectory, and it ensures the safety of driv...

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Abstract

The invention provides an autonomous variable-speed tracking method and an unmanned vehicle, and the method comprises the steps: receiving a target speed at a straight-line segment position, and taking a moment when the target speed is received as a first moment; acquiring a current moment and a current speed, calculating a first difference value between the target speed and the current speed, if an absolute value of the first difference value is greater than a first preset value, calculating a second difference value between the target speed and a second speed at a previous moment of the current moment, and calculating a third difference value between the first difference value and the second difference value; obtaining an accumulated value of a difference value between the target speed and the speed of each moment from the first moment to the current moment, and recording the accumulated value as an accumulated difference value; adjusting the current speed according to the first difference value, the accumulated difference value and the third difference value until the current speed is the same as the target speed. According to the invention, the speed is jointly adjusted according to a plurality of parameters, so that the driving mode of the unmanned vehicle is more difficult to judge, and the complexity of the advancing path of the unmanned vehicle is improved; the method is especially suitable for the situation that an unmanned vehicle serves as a target vehicle.

Description

technical field [0001] The invention relates to the field of unmanned driving, in particular to an autonomous variable speed tracking method and an unmanned vehicle. Background technique [0002] Unmanned tracking vehicles are an application of unmanned vehicle technology, and unmanned vehicles are the main trend in the future development of the automotive field. The driverless car perceives information such as the road environment, vehicle position, traffic signals, and obstacles through the on-board sensor system, and on this basis automatically plans the driving route and realizes the longitudinal and lateral coupling control of the vehicle through a certain control logic, so that the vehicle can be controlled according to the The driving route advances safely to the intended destination without additional human intervention during this period; however, in some application scenarios, the relatively simple driving route cannot meet the needs of use, such as the performance...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 张林亮
Owner 福建盛海智能科技有限公司