Track control method based on conversion model of yaw angle and steering angle of steering system

Abstract

The invention discloses a track control method based on a yaw angle and steering system rotation angle conversion model, which can be applied to automatic driving of a low-cost agricultural driving robot, and specifically comprises the following steps: establishing a relation model of a front wheel rotation angle and a steering motor rotation angle (a steering wheel rotation angle) and a relation model of an agricultural machinery yaw angle and the front wheel rotation angle; on the basis of the two models, a nonlinear relation between a known yaw angle and an undetermined steering system rotation angle (including a front wheel rotation angle, a steering wheel steering motor rotation angle and a steering wheel rotation angle) is simplified, and on the basis of path planning under multi-sensor fusion, the track of the unmanned agricultural machine is controlled to be corrected in real time. The purpose of solving the problem of the rotation angle of the steering system in the route planning process in the actual agricultural machine automatic driving process is achieved. The method is suitable for the agricultural machine which works in a wide and flat unmanned area, and the agricultural machine can work stably and steadily.

Description

technical field [0001] The invention belongs to the field of automatic driving, and in particular relates to a trajectory control method based on a conversion model of a yaw angle and a steering system rotation angle. Background technique [0002] In recent years, the enthusiasm in the field of autonomous driving has continued to rise, and driverless cars are the most concerned and expected future. Domestic and foreign car companies or companies in other fields are exploring the market and seizing opportunities. There are some representative self-driving car research teams, such as Waymo, Argo, Google, Tesla abroad, and Baidu, Huawei, DJI, Weilai and other driving car research teams in China. One of the more special ones is Tesla, which is characterized by pure vision-based autonomous driving. And Baidu involves Robotaxi, Robobus, logistics cars, passenger cars (WM), parking, etc., the open-source robot development platform apollo, vehicle-road collaboration, smart cockpit,...

AI Technical Summary

Problems solved by technology

However, in fact, because the relationship between the steering wheel angle and the front wheel angle itself is a very complex nonlinear relationship, it will be affected by various factors such as vehicle design structure, vehicle speed, vehicle turning radius, yaw angle, etc., so the Ackerman vehicle There is still a fuzzy boundary between the model and the relationship between the steering wheel angle and the front wheel angle

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