Navigation control method and device of vehicle, navigation controller and vehicle control system
A control method and controller technology, applied in control/regulation systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the negative effects of motion model damage, high error, and vehicle trajectory control accuracy and other problems to achieve the effect of improving control accuracy and avoiding control errors.
Active Publication Date: 2022-03-11
GUANGZHOU WERIDE TECH LTD CO
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In the above process, the frequency of data collected by different sensors is different. In order to realize the fusion of various sensory data, it is necessary to down-sample the high-frequency sensory data to reduce the frequency of high-frequency sensory data. However, this method It is easy to cause damage to the motion model, thereby causing high errors and negatively affecting the control accuracy of the vehicle trajectory
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[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0029] As the "brain" of autonomous driving, the navigation controller of the autonomous driving vehicle needs to use various sensors installed on the vehicle to sense the surrounding environment in real time, receive data returned by various sensors, fuse the data, and output the navigation control signal to control the vehicle to follow the navigation control signal, such as figure 1 As shown...
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The invention provides a vehicle navigation control method and device, a navigation controller and a vehicle control system.The method comprises the steps that first sensing data output by an inertial sensor are obtained, the first sensing data are input into a preset motion model, attitude prediction data are output, and model parameters of the motion model are updated based on the attitude preset data; acquiring second sensing data, and generating attitude reference data based on the second sensing data; the data frequency of the second sensing data is lower than that of the first sensing data; and performing data fusion processing on the attitude prediction data and the attitude reference data to obtain navigation control parameters. According to the mode, the high-frequency sensing data and the low-frequency sensing data are processed separately, and the parameters of the motion model are updated through the attitude prediction data obtained by the high-frequency first sensing data, so that a relatively high control error caused by updating the operation model by adopting the low-frequency data is avoided; therefore, the control precision of the vehicle track is improved.
Description
technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a vehicle navigation control method and device, a navigation controller and a vehicle control system. Background technique [0002] In a self-driving vehicle, the controller in the vehicle collects sensing data such as the position and operating status of the vehicle through various sensors, and after fusing and analyzing these sensing data, outputs a navigation control signal, and then controls the vehicle to follow the navigation control. signal to travel. In the above process, the frequency of data collected by different sensors is different. In order to realize the fusion of various sensory data, it is necessary to down-sample the high-frequency sensory data to reduce the frequency of high-frequency sensory data. However, this method It is easy to cause damage to the motion model, thereby causing high errors and negatively affecting the control accuracy of ...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0278G05D1/0276
Inventor 蔡宇健韩旭
Owner GUANGZHOU WERIDE TECH LTD CO