Path tracking control and adjustment method for expressway unmanned motor sweeper

A highway and path tracking technology, applied in the field of kinematics research, can solve problems such as the inapplicability of the algorithm, affecting the safety performance of path planning, and being unsuitable for high-speed path tracking, so as to improve the accuracy of path tracking.

Pending Publication Date: 2022-03-29
东风悦享科技有限公司
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Problems solved by technology

As we all know, the existing vehicle kinematics models are not suitable for high-speed path tracking, because they are inaccurate, and the comprehensive influence of various constant disturbances and parameter changes will affect the safety performance of path planning, and relying solely on a certain algorithm in high-speed situations The following does not apply

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  • Path tracking control and adjustment method for expressway unmanned motor sweeper
  • Path tracking control and adjustment method for expressway unmanned motor sweeper
  • Path tracking control and adjustment method for expressway unmanned motor sweeper

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings.

[0046] Such as figure 1 , 2 , 3, and 4 show a path control adjustment method for an unmanned highway sweeper. The unmanned sweeper is driven by a motor, and the main control computer combines the Beidou navigation module to execute map path planning, and the control commands are transmitted to the on-board ECU. The ECU controls the driving wheel speed and steering angle, and controls the lateral deviation e of the unmanned sweeper relative to the path planning d , course deviation e θ , characterized in that it includes the following steps:

[0047] Step 1: Use laser radar to pick up the distance D between the unmanned sweeper and the right guardrail of the expressway 1 , denoted as D 1 、D 2 、D 3 ΛD n ,D 1 Take its average: Use the camera to assist in picking up the distance M between the unmanned sweeper and the right guardrail of the expressway 1 , denote...

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Abstract

The invention relates to the technical field of kinematics research, in particular to a path control and adjustment method for a highway unmanned sweeper. The invention provides a high-speed unmanned sweeper path control and adjustment method, and the method comprises the steps: building an unmanned sweeper path tracking hierarchical kinematics model, and enabling an upper-layer kinematics model to serve as a prediction model of a model prediction control algorithm; converting a solving problem of future control increment into an optimal solution problem of quadratic programming by setting an optimal objective function and constraint conditions, and calculating an optimal rotation angle and speed control quantity; in the lower-layer control, the control quantity obtained by the upper-layer control is mapped to the corner and speed control quantity of four wheels through a lower-layer kinematic model, and the path tracking control of the unmanned sweeper is realized by applying a fuzzy PID algorithm; according to the method, the track of the expressway unmanned sweeper can be accurately tracked, the controlled quantity can be tracked, and the method has great significance in improving the path tracking accuracy of the expressway unmanned sweeper.

Description

technical field [0001] This field relates to the technical field of kinematics research, in particular to a path-following control adjustment method for an unmanned expressway sweeper. Background technique [0002] Path tracking control is a common control scheme for unmanned vehicles on the road. It is one of the most basic problems in the motion control of unmanned vehicles. It is usually based on the input of control variables such as wheel angles, driving forces, and braking forces. , so that the unmanned vehicle can reach the desired driving path. The basic requirement of path tracking is that the unmanned vehicle can effectively track the desired path and ensure the stable driving of the vehicle. Scholars at home and abroad have carried out a lot of research on the path tracking control of unmanned vehicles. At present, the most widely used control algorithms are PID control algorithm and model predictive control algorithm (ie MPC algorithm). [0003] In recent years...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02E01H1/00
CPCG05D1/0251G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0285E01H1/00G05D2201/0212
Inventor 李悦曹恺骆嫚梁子湘
Owner 东风悦享科技有限公司
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