Automatic tracking control method and system
A technology of automatic tracking and control method, which is applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc. Problems such as low processor processing power and increased computing resource consumption
Pending Publication Date: 2022-04-22
CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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Problems solved by technology
In order to improve the stability of pure tracking control, you can increase the density of navigation waypoints on the virtual track or ensure that the fitting curve is continuous everywhere, but it will increase the consumption of computing resources accordingly
[0007] The processing capacity of the processors equipped on the existing aforementioned new vehicles is low, and it is difficult to perform real-time calculation of a huge number of waypoints and real-time curve fitting in a short period of time
In order to solve the problem of low processing capacity of existing processors, the present invention aims to propose an automatic tracking control method, which can improve the existing pure tracking control algorithm, reduce the consumption of processing and computing resources, improve computing efficiency, and realize Better tracking control performance
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[0034] The following description is given to enable a person skilled in the art to make and use the invention and incorporate it into a specific application context. Various modifications, and various uses in different applications will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not limited to the embodiments given herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
[0035] In the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be apparent, however, to one skilled in the art that the practice of the present invention need not be limited to these specific details. In other words, well-known structures and devices are shown in block diagram form and not in detail in order to avoid obscuring th...
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The invention provides an automatic tracking control method which is suitable for a vehicle with an automatic tracking function, the vehicle automatically tracks a virtual track corresponding to a driving route of the vehicle to run in a tracking state, and a plurality of navigation path points are arranged on the virtual track corresponding to the driving route of the vehicle. The automatic tracking control method comprises the following steps: determining a nearest navigation path point passed by the vehicle based on a current driving state of the vehicle; determining a current preview point of the vehicle based on the nearest navigation path point and a current preview distance; and determining a steering control strategy for the vehicle to track the current preview point by using a pure tracking control algorithm.
Description
technical field [0001] The invention relates to the field of vehicle steering control, in particular to a method and system suitable for automatic tracking control. Background technique [0002] Tram is a commonly used public transport passenger vehicle, including rail tram, light rail tram and tram and so on. Existing railway trams, light rail trams and trams require special power systems and track coordination to achieve operation, and the cost of infrastructure construction and vehicle purchase is high. In order to solve this problem, CRRC proposed a tram concept that can track the virtual track on the ground. This new type of tram cancels the steel rails and follows the virtual track on the ground by means of rubber wheels and steering wheel steering. [0003] The virtual track on the ground can be flexibly arranged without special infrastructure construction on the ground, and it is only necessary to draw the virtual track of the new tram on the ground like lane lines ...
Claims
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0212
Inventor 张新锐袁希文张沙黄瑞鹏张乾胡云卿
Owner CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST