Auxiliary guiding control method and control device for automatic driving vehicle

Abstract

The invention discloses an auxiliary guiding control method for an automatic driving vehicle, which comprises the following steps that: step 1, a vehicle driving speed v is acquired, if the vehicle speed v is greater than or equal to v0, a vehicle state acquisition device is unfolded, recording an initial angle and an expansion amount d1 of a roller are recorded and tep 2 is performed, and if the vehicle speed v is less than v0, the step 1 is repeated, wherein the v0 representes a critical speed; step 2, the state of the vehicle is monitored in real time, a real-time angle and an expansion and contraction amount d2 of the roller are obtained, if d2-d1 is larger than or equal to n, step 3 is executed, otherwise, and the step 2 is repeated, wherein m represents the roller angle fault-tolerant amount, and n represents the roller expansion and contraction amount fault-tolerant amount; and step 3, the controller sends a control signal delta Q to a steering motor, the steering motor executes the control signal delta Q, and the step 2 is repeated after the roller is reset; and the expansion and contraction variable quantity d2-d1 of the roller and the vehicle deflection angle variable quantity are obtained, signals collected by other environment sensing sensors are combined, the controller controls the steering motor to conduct instantaneous correction, and the vehicle is protected from a collision object.

Description

technical field [0001] The invention relates to the technical field of unmanned driving of automobiles, in particular to an auxiliary guidance control method and a control device of an automatic driving vehicle. Background technique [0002] The motion control of the unmanned vehicle is to make the unmanned vehicle move along the desired path by adjusting the speed and direction of the vehicle. Motion control is one of the most critical issues in the research of unmanned vehicle systems, because it requires unmanned The driving vehicle can drive accurately to ensure the goal of the upper level. [0003] At present, the guiding mechanisms for vehicles are all fixed, which leads to the disadvantage that the vehicle body is not stable enough when turning. At the same time, the rollers are subject to a large impact force and have no buffering effect, which requires high structural strength design of the rollers. Contents of the invention [0004] The technical problem to be s...

AI Technical Summary

Problems solved by technology

[0003]At present, the guiding mechanism for vehicles is fixed, which leads to the disadvantage that the vehicle body is not stable enough when turning. At the same time, the rollers are subjected to a large impact force , there is no cushioning effect, and the design requirements for the structural strength of the roller are very high

Images