Guidance control method for unmanned self-driving vehicles

Abstract

The present invention provides a guidance control method for an unmanned self-propelled vehicle. The unmanned self-propelled vehicle includes a vehicle body, an automatic guidance device and a steering drive system. The vehicle body includes a steering wheel for driving and controlling steering and at least two rotating wheels. The path guidance method is that the automatic guidance device first obtains the position of the center of the vehicle body to establish a vehicle coordinate system, and performs coordinate system conversion to establish a local coordinate system, so as to calculate the shortest distance from the center of the vehicle body to one of the target points of a predetermined target path, the angle between the center of the vehicle body and the target point, and the rotation radius from the center of the vehicle body to the target point, and then calculates the rotation radius and the turning angle required for the steering wheel of the vehicle body to turn to the target point, so that the steering drive system controls the steering wheel to turn to the corresponding position according to the calculated turning angle, thereby realizing the guidance control of the unmanned self-propelled vehicle to run along the predetermined target path, and does not require a large number of complex calculations or a long processing cycle, and can effectively improve the overall navigation efficiency.

Description

Technical Field

[0001] The present invention provides a path guidance method, in particular to a guidance control method for a single-steering-wheel unmanned self-propelled vehicle. Background Art

[0002] The current global trend of declining birth rates has led to a shortage of labor resources and rising labor costs year by year, and has gradually transformed from a labor-intensive industry to a technology-intensive industry. As various operating costs continue to rise, how to reduce various costs has become the key to whether a company can make a profit. With the introduction of automation technology, the rapid development of the Internet of Things and artificial intelligence, smart manufacturing and smart factories have gradually been applied to industrial production and manufacturing, and more and more tasks have been replaced by industrial robots to solve the problem of labor shortage.

[0003] However, an Automated Guided Vehicle (AGV) or unmanned transport vehicle is a transport vehicle equipped with an electromagnetic or optical automatic guidance device and a combination of environmental perception, path planning and decision-making, and unmanned automatic control. It belongs to the category of wheeled mobile robots (WMR-Wheeled Mobile The main function of an automatic guided vehicle is to automatically walk and stop at a designated location or workstation under the monitoring of a computer or vehicle-mounted system according to the path planning and operation requirements, and complete a series of operation functions. Generally, an automatic guided vehicle can control its route through a vehicle-mounted system or computer, or can use indicator marks (such as electromagnetic tracks, reflective sheets with reflective properties, paint or ribbon positioning marks) set up on walls, pillars or the ground along its route as a guide, and install electromagnetic or optical sensors (such as electromagnetic sensors, visual sensors, ultrasonic sensors or laser sensors, etc.) on the automatic guided vehicle to detect the indicator marks as the positioning and position correction of the vehicle operation. In addition to allowing the vehicle body to automatically travel along the predetermined planned guide path, and because there is no need to lay tracks, brackets and other fixing devices in the activity area, it will not be restricted by the site, road and space. Therefore, automatic guided vehicles are widely used in automatic transportation of materials, surveillance and patrol of warehouses, and operations in harmful places.

[0004] Most of the traditional automatic guided vehicles' path planning is a path composed of lines connecting points in a grid, and the above-mentioned guidance method is used to enable the automatic guided vehicle to move along the predetermined path. However, the above-mentioned guidance method requires a large number of complex calculations to capture physical markers or features in the environment in order to determine the direction and speed that the automatic guided vehicle should go. The calculation processing cycle is long, which reduces the overall navigation efficiency. In addition, the path planning is not a smooth curve, which causes the automatic guided vehicle to have less smooth turns during the movement. The actual path of the vehicle will deviate from the predetermined path, and it is necessary to continuously compare and correct the position and heading, which is the direction that the industry is eager to study and improve. Summary of the invention

[0005] The main purpose of the present invention is that the body of the unmanned self-propelled vehicle includes a steering wheel for driving and controlling steering and at least two auxiliary rotating wheels, and the automatic guidance device locates the position and posture of the vehicle body, and generates a predetermined planned target path. When the automatic guidance device obtains the position of the center of the vehicle body (such as coordinates and attitude angles, etc.), a vehicle coordinate system is established, and a coordinate system conversion is performed to establish a local coordinate system to calculate the shortest distance from the center of the vehicle body to one of the target points in the predetermined planned target path, the angle between the center of the vehicle body and the target point, and the rotation radius from the center of the vehicle body to the target point, and then calculates the rotation radius and angle required for the steering wheel to turn to the target point, so that the steering drive system can control the steering wheel to turn to the corresponding position according to the angle, thereby realizing the guidance control of the unmanned self-propelled vehicle to run along the predetermined planned target path, and does not require a large number of complex calculations or a long processing cycle, which can effectively improve the overall navigation efficiency.

[0006] A secondary purpose of the present invention is that when the steering drive system completes the steering control of the steering wheel angle, the automatic guidance device can calculate the error between the current position of the vehicle body, the rotation radius and the target path, and use PID control based on the error to obtain the corrected speed and rotation radius of the vehicle body, and then use inverse kinematics to calculate the speed or acceleration required for the vehicle body to move to the target path in a reverse manner, so that the steering drive system can control the steering wheel to correct and adjust the current position and rotation radius of the vehicle body until the path guidance control of the vehicle body is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 Schematic diagram of the unmanned self-driving vehicle system of the present invention.

[0008] Figure 2 Flow chart of the steps of a preferred embodiment of the present invention.

[0009] Figure 3 It is a schematic diagram of coordinate system transformation of the position and posture of the vehicle body of the present invention.

[0010] Figure 4 The figure is a schematic diagram of the algorithm for controlling the steering wheel steering drive of the vehicle body of the present invention.

[0011] Figure 5 A block diagram of the target path closed-loop guidance control of the present invention.

[0012] Figure 6 Schematic diagram of the present invention for correcting the turning radius of a vehicle body (I).

[0013] Figure 7 Schematic diagram (II) of correcting the turning radius of a vehicle body according to the present invention.

[0014] Figure 8 It is a schematic diagram of the straight line control of the vehicle body of the present invention.

[0015] Fig. 9 It is a schematic diagram of the posture direction of the vehicle body relative to the target path of the present invention.

[0016] Fig.10 Schematic diagram (1) of guiding the vehicle body to the next target point according to the present invention.

[0017] Fig.11 Schematic diagram (II) of guiding the vehicle body to the next target point of the present invention.

[0018] Fig.12 It is a schematic diagram of the length of the vehicle body switching target point of the present invention.

[0019] Explanation of the reference numerals: 1-unmanned self-propelled vehicle; 11-vehicle body; 111-steering wheel; 112-turning wheel; 12-automatic guidance device; 121-sensor module; 122-path planning unit; 13-steering drive system. DETAILED DESCRIPTION

[0020] In order to achieve the above-mentioned purpose and its effect, the technical means and detailed structure adopted by the present invention are illustrated in detail with reference to the preferred embodiment of the present invention, and its structure and function are as follows for a complete understanding.

[0021] See also Figure 1 to Figure 4As shown, they are respectively a schematic diagram of the unmanned self-propelled vehicle system of the present invention, a flow chart of the steps of a preferred embodiment, a schematic diagram of the coordinate system conversion of the position and posture of the vehicle body, and a schematic diagram of the algorithm for controlling the steering wheel steering drive of the vehicle body. It can be clearly seen from the figure that the unmanned self-propelled vehicle 1 of the present invention includes a vehicle body 11, an automatic guiding device 12 and a steering drive system 13, and the wheel module below the vehicle body 11 includes a steering wheel 111 (i.e., a driving wheel for driving and controlling the steering) and at least two rotating wheels 112 (i.e., driven wheels for bearing or assisting the steering, and after the automatic guiding device 12 receives a task instruction from the control management center through a communication interface, it can control the steering drive system 13 to drive the wheel module through the vehicle system or the vehicle controller, so that the vehicle body 11 runs according to a predetermined planned target path, so as to form an automatic guided vehicle (AGV), an autonomous mobile robot (Automated Mobile Robot, AMR) or a mobile carrier, etc.

[0022] In the present embodiment, the vehicle body 11 of the unmanned self-propelled vehicle 1 is driven and controlled by a steering wheel 111 at the front, and cooperates with two rotating wheels (such as fork wheels) 112 at the rear of the vehicle body 11 to carry or assist in steering. In order to make the vehicle body 11 have better stability, more than two rotating wheels 112 can be installed to provide support for the forks to carry the load, so as to form a forklift-type automatic guided vehicle suitable for heavy-load cargo handling or transfer, but it is not limited to this, and it can also be a tow-plate type or stacker type automatic guided vehicle.

[0023] In addition, the steering wheel 111 used in the body 11 of the unmanned self-driving vehicle 1 can be a horizontal steering wheel or a vertical steering wheel, and includes a driving wheel, a driving unit (such as a driving motor, a gear box, etc.) and a steering mechanism (such as a steering motor, an encoder, etc.), and has a driving and controlling steering, and can realize the linear movement and steering functions of the body 11 with two degrees of freedom, and the automatic guidance device 12 includes a sensor module 121 and a path planning unit 122, wherein the sensor module 121 includes an internal sensor [such as an encoder, an inertial measurement unit (Inertial Measurement Unit, IMU), etc.] and an external sensor [such as a laser sensor, an optical radar (Light Detection and Ranging, LiDAR) scanner, an ultrasonic (Sonar) sensor or a 3D vision sensor (3D Camera), etc.] and the internal sensor locates the position and posture of the vehicle body 11, so that the automatic guidance device 12 can use the environmental information obtained by the external sensor to correct the position or posture based on this positioning, and the path planning unit 122 adopts an algorithm to plan the movement path of the vehicle body according to a pre-set plan and perform navigation / guidance, and the path navigation / guidance control method can be a fixed path or a virtual path, so that the steering drive system 13 can drive the steering wheel 111 according to the predetermined planned target path, thereby realizing the positioning and position control of the vehicle body 11.

[0024] Specifically, the fixed path navigation / guidance control of the unmanned self-driving vehicle 1 uses physical markers (such as electromagnetic tracks, magnetic tapes, reflective sheets, etc.) set up on the moving path as a guide, and the sensor module 121 of the automatic guidance device 12 detects the markers to locate the position and posture of the vehicle body 11, so as to run along the target path predetermined and planned by the path planning unit 122, including but not limited to direct coordinate guidance (i.e., Cartesian coordinate guidance), electromagnetic guidance (Wire Guidance), magnetic tape guidance (Magnetic Tape Guidance) or optical guidance (Optical Guidance). The virtual path navigation / guidance control of the unmanned self-driving vehicle 1 does not have physical markers, and the configuration map data of the moving path of the vehicle body 11 is stored in the database or the map library route data in the automatic guidance device 12, and the sensor module 121 detects the position and posture of the vehicle body 11, so that the path planning unit 122 can determine the predetermined planned target path by itself, including but not limited to inertial navigation (Inertial Navigation), laser navigation (Laser Navigation). There are many ways of path navigation / guidance control for the unmanned self-driving vehicle 1, such as ultrasonic navigation, visual navigation or geographic navigation [such as global positioning system navigation (Global Position System)], which will not be described in detail here.

[0025] like Figure 2 As shown, the path guidance method adopted by the unmanned self-driving vehicle system of the present invention includes the following implementation steps:

[0026] (S101) The automatic guidance device 12 of the unmanned self-driving vehicle 1 first obtains the position of the center of the vehicle body 11 to establish a vehicle coordinate system in the global coordinate system, and performs coordinate system conversion to establish a local coordinate system.

[0027] (S102) Calculate the shortest distance from the center of the vehicle body 11 to one of the target points in the predetermined target path, and calculate the angle between the center of the vehicle body 11 and the target point, and the rotation radius from the center of the vehicle body 11 to the target point based on the geometric relationship.

[0028] (S103) The turning radius and turning angle required for the steering wheel 111 of the vehicle body 11 to turn to the target point are calculated.

[0029] (S104) The steering drive system 13 controls the steering wheel 111 of the vehicle body 11 to turn to a corresponding position according to the calculated turning angle.

[0030] (S105) The automatic guidance device 12 calculates the error between the current position and rotation radius of the vehicle body 11 and the target path, and uses PID control to obtain the corrected speed and rotation radius, and then uses inverse kinematics to back-calculate the speed of the vehicle body 11, so that the steering drive system 13 can control the steering wheel 111 to correct and adjust the current position and rotation radius of the vehicle body 11.

[0031] It can be clearly seen from the figure and the above-mentioned implementation steps that the unmanned self-propelled vehicle 1 of the following specification of the present invention is preferably implemented by taking a forklift-type automatic guided vehicle as an example, and using the sensor module 121 of the automatic guided device 12 to locate the position and posture of the vehicle body 11, and the path planning unit 122 generates a predetermined planned target path. Since the driving mechanism of the vehicle body 11 mainly utilizes a front steering wheel 111 (i.e., the driving wheel) with a steering function, and cooperates with the two rear rotating wheels 112 (i.e., the driven wheels) to operate, its actual moving path trajectory is only related to the turning angle or heading angle of the front steering wheel 111. Therefore, as long as the turning angle or heading angle of the steering wheel 111 is controlled, the path guidance control of the unmanned self-propelled vehicle 1 can be achieved.

[0032] In this embodiment, in order to use the automatic guiding device 12 to first establish a global coordinate system (Global Coordinate System) in the environment where the unmanned self-driving vehicle 1 is located (such as Figure 3 X in G Y G coordinate plane), and obtain the coordinates (X C , Y C ) as the center point C, and the target point P as one of the target points of the predetermined target path, and the predetermined target path includes a straight path and a curved path to establish a vehicle coordinate system (such as X GM Y GM Coordinate plane), and then use the rotation matrix to transform the coordinate system to establish a local coordinate system (Local Coordinate System) (such as X L Y L Coordinate plane) we can get:

[0033]

[0034] Where θ is the current posture angle of the vehicle body 11, which can be expressed as the X GM or Y GM Axis rotates to the local coordinate system X L or Y L The angle of the axis; X C Y is the global coordinate system G Axis and vehicle coordinate system Y GMAxis spacing; Y C is the X coordinate system of the global coordinate system G Axis and vehicle coordinate system X GM Axis spacing; X G , Y G is the coordinates (X, Y) of a target point P in the planned target path in the global coordinate system; L , Y L is the coordinates (X, Y) of the target point P in the local coordinate system to locate the current position and posture of the vehicle body 11.

[0035] According to the geometric relationship of the right triangle, we can get:

[0036]

[0037]

[0038]

[0039] Where D is the center point C (X C , Y C ) to the target point P(X L , Y L )’s shortest path distance; θ S Y is the local coordinate system L The angle of the axis rotated clockwise to the target point P can be expressed as the angle between the center or center point C of the vehicle body 11 and the target point P, that is, the turning angle or heading angle of the steering wheel 111 of the vehicle body 11 to the target point P; since the current heading angle of the steering wheel 111 of the vehicle body 11 is the same as the Y direction of the vehicle body 11 in the local coordinate system L The axis is consistent, at D, θ S Under known circumstances, it can be obtained that R is the rotation radius from the center of the vehicle body 11 (ie, the geometric center of the steering wheel 111) to the target point P according to the geometric relationship.

[0040] like Figure 4 As shown, when the automatic guidance device 12 obtains the current position (i.e., center point C) of the center of the vehicle body 11 or the geometric center of the steering wheel 111, the distance D, and the speed V, the deviation between the current position and the target path can be calculated. When V and D are known, according to the geometric relationship of the right triangle, it can be obtained:

[0041]

[0042]

[0043]

[0044] Where R is the rotation radius of the center of the vehicle body 11 (i.e., the geometric center of the steering wheel 111) turning to the target point P; l is the fixed distance between the geometric center of the steering wheel 111 in front of the vehicle body 11 and the midpoint M of the line connecting the centers of the two rotating wheels 112 at the rear; w is the variable distance between the midpoint M of the line connecting the centers of the two rotating wheels 112 and the origin O of the rotation radius of the center of the vehicle body 11; θ S is the turning angle or heading angle of the steering wheel 111 of the vehicle body 11 to the target point P, so that the steering drive system 13 can S The steering wheel 111 of the vehicle body 11 is controlled to turn to the corresponding position according to the deviation amount, so as to realize the guidance control of the unmanned self-driving vehicle 1 to run along the predetermined target path. In addition, the steering drive algorithm adopted by the built-in processor of the vehicle controller or the automatic guidance device 12 does not need to go through a large number of complex calculations or a long calculation processing cycle, and the calculation performance requirements for the vehicle controller or the processor are relatively reduced, which can also effectively improve the overall navigation efficiency.

[0045] Please refer to Figure 5 to Figure 7 As shown, there are respectively a block diagram of the closed-loop guidance control of the target path of the present invention, a schematic diagram of correcting the rotation radius of the vehicle body turning (I), and a schematic diagram of correcting the rotation radius of the vehicle body turning (II). It can be clearly seen from the figure that the unmanned self-propelled vehicle 1 of the present invention can perform PID (proportional, integral and differential) control according to the moving state of the vehicle body 11 and the predetermined planned target path generated by the automatic guidance device 12 to form a closed-loop control process, thereby realizing the control adjustment of the periodic cycle of the vehicle body 11.

[0046] When the vehicle 11 moves along the target path, the automatic guidance device 12 can perform coordinate conversion on the current position and rotation radius of the vehicle 11 and calculate the error between the current position and rotation radius of the vehicle 11 and the target path. d and error R ), and then PID control is performed according to the error to obtain the corrected speed V* and rotation radius R* of the vehicle body 11, and then inverse kinematics can be used to calculate the speed V or acceleration A required for the vehicle body 11 to move to the target path in a reverse manner, so that the steering drive system 13 can control the steering wheel 111 to correct and adjust the current position and rotation radius of the vehicle body 11, and the correction is repeated so that the movement state of the vehicle body 11 meets the desired target path until the path guidance control of the vehicle body 11 is completed.

[0047] In this embodiment, the predetermined target path generated by the automatic guidance device 12 can guide the vehicle 11 to run along a straight path or a curved path, and provide the current position and rotation radius of the vehicle 11, and can continuously detect the error between the current position, rotation radius and the target path of the vehicle 11, wherein the error dis the error between the current position of the vehicle 11 and the final position of the target path, and error R =RR false is the error between the rotation radius of the center of the vehicle body 11 and the rotation radius caused by the deviation of the vehicle body 11. Then, different algorithms of PID control can be used to calculate the corrected speed of the vehicle body 11 V*=K PR *(error d ), and the corrected rotation radius of the vehicle body 11 R*=K PR *(R-error R ), where K PR is the gain amount.

[0048] When the vehicle body 11 is traveling on a curved path, the turning range of the vehicle body 11 can be changed by adjusting the rotation radius. For example, when the rotation radius of the center of the vehicle body 11 becomes larger, it means that the vehicle body 11 has deviated to the outside of the curved path, and the turning range of the vehicle body 11 adjusted to change should become smaller; in other words, when the rotation radius of the vehicle body 11 becomes smaller, it means that the vehicle body 11 has deviated to the inside of the curved path, and the turning range of the vehicle body 11 adjusted to change should become larger. As for the turning direction of the center of the vehicle body 11, it can be determined in the algorithm. Therefore, the rotation radius of the center of the vehicle body 11 can be used as a variation to correct the steering of the vehicle body 11, so that when the vehicle body 11 deviates from the curved path, the deviation can be corrected quickly and accurately, and the vehicle body 11 can be stably maintained on the predetermined planned target path.

[0049] Please also see Figure 8 to Figure 12 As shown, they are respectively a schematic diagram of the straight line control of the vehicle body of the present invention, a schematic diagram of the posture direction of the vehicle body relative to the target path, a schematic diagram of the vehicle body guiding to the next target point (I), a schematic diagram of the vehicle body guiding to the next target point (II) and a schematic diagram of the length of the vehicle body switching target point. It can be clearly seen from the figure that the predetermined planned target path generated by the above-mentioned automatic guidance device 12 is divided into multiple line segments using multiple target points P0~P9, and the multiple line segments are connected to form a straight line path trajectory, wherein the target point P0 can be represented as the starting point of the straight line path, the target point P9 can be represented as the end point of the straight line path, and is divided according to the predetermined length according to the straight line equation y=ax+b. When the vehicle body 11 is moving, according to the vehicle coordinate system, the first target point P0 is on the left side of the vehicle body 11 (such as Fig. 9 As shown), the angle [arctan(x / y)] between the center of the vehicle body 11 and the target point P0 is calculated and can be used as a control for the steering of the vehicle body 11. It can also be used to determine whether the direction of the vehicle body 11 turning is counterclockwise or clockwise, where the direction of the counterclockwise turning is positive and the direction of the clockwise turning is negative.

[0050] In this embodiment, when the vehicle body 11 tracks a plurality of target points P0 to P9 divided on the straight path, if the center of the vehicle body 11 exceeds the target point, it will track the next target point (such as Figure 10-11 As shown), as for judging whether the target point is exceeded, it can be determined whether the y-axis direction vector of the target point of the vehicle coordinate itself is less than 0 for the vehicle body 11. If it is judged that the y-axis direction vector of the target point for the vehicle body 11 is less than 0, tracking will start from the next target point. For example, if the positioning point n projected onto the straight path by the center of the vehicle body 11 is located between the target point P2 and the target point P3, the y-axis direction vector of the target point P2 on the straight path for the vehicle body 11 is 2-n less than 0, that is, y is less than 0, and the y-axis direction vector of the target point P3 on the straight path for the vehicle body 11 is 3-n greater than 0, which can be expressed as y greater than 0, and function calculation is performed in combination with the program code, where index is the target point on the straight path, y=index-n, if the calculated y is less than 0, the preset index needs to be added by 1 until y is greater than 0, that is, the final index calculation result is 3, and the vehicle body 11 will start tracking from the third target point P3.

[0051] In addition, in order to prevent the center of the vehicle 11 from being too close to the target point on the straight path while there is still a large gap in the X-axis direction, which may easily cause the steering angle [arctan(x / y)] of the vehicle 11 to be too large, resulting in the vehicle 11 being offset or shaking strongly, the length of the switching target point can be set by parameters (such as Fig.12 As shown), it is ensured that the vehicle body 11 can stably move forward along the target path.

[0052] The above detailed description is only for a preferred feasible embodiment of the present invention, and the embodiment is not used to limit the scope of the present invention. Any other equivalent changes and modifications made without departing from the technical spirit disclosed by the present invention should be included in the scope covered by the present invention.

[0053] In summary, the guidance and control method of the unmanned self-propelled vehicle of the present invention can indeed achieve its efficacy and purpose when used.

Claims

1. A guidance and control method for an unmanned self-propelled vehicle, characterized in that: The unmanned self-propelled vehicle comprises a vehicle body, an automatic guidance device and a steering drive system, wherein the vehicle body comprises a steering wheel for driving and controlling steering and at least two rotating wheels for assisting steering, the automatic guidance device is used to locate the position and posture of the vehicle body, and generate a predetermined target path for the steering drive system to drive the steering wheel of the vehicle body to run along the target path, and the path guidance method comprises the following steps: (A) the automatic guiding device obtains the position of the center of the vehicle body to establish a vehicle coordinate system in the global coordinate system, and obtains the current posture angle of the vehicle body to perform coordinate system conversion to establish a local coordinate system; (B) calculating the shortest distance from the center of the vehicle body to a target point on the target path, and calculating the angle between the center of the vehicle body and the target point, and the rotation radius from the center of the vehicle body to the target point based on a geometric relationship; (C) Obtain the speed of the center of the vehicle body and calculate the turning radius and turning angle required for the steering wheel of the vehicle body to turn to the target point based on the shortest distance: Where D is the shortest distance; R is the rotation radius of the steering wheel turning to the target point; l is the distance from the center of the steering wheel to the midpoint of the line connecting the centers of the two rotating wheels; w is the distance from the midpoint of the two rotating wheels to the origin of the rotation radius of the steering wheel; θ S is the turning angle of the steering wheel to the target point; (D) the steering drive system controls the steering wheel of the vehicle body to turn to a corresponding position according to the calculated turning angle; Among them, the step (A) is to use the rotation matrix to transform the coordinate system: Where θ is the current posture angle of the vehicle; X C Y is the global coordinate system G Axis and vehicle coordinate system Y GM Axis spacing; Y C is the X coordinate system of the global coordinate system G Axis and vehicle coordinate system X GM Axis spacing; X G , Y G is the coordinate of the target point in the global coordinate system; X L , Y L is the coordinate of the target point in the local coordinate system; And, after the steering wheel of the vehicle body is turned in step (D), the next step is performed: (E) The automatic guidance device calculates the error between the current position and rotation radius of the vehicle body and the target path, and uses PID control to obtain the corrected speed and rotation radius of the vehicle body based on the error, and then uses inverse kinematics to calculate the speed or acceleration required for the vehicle body to move to the target path in a reverse manner, so that the steering drive system controls the steering wheel of the vehicle body to correct and adjust the current position and rotation radius of the vehicle body until the path guidance control of the vehicle body is completed.

2. The guidance control method of the unmanned self-propelled vehicle according to claim 1, characterized in that: The automatic guidance device comprises a sensor module for locating the position and posture of the vehicle body and a path planning unit for generating the target path.

3. The guidance control method of the unmanned self-propelled vehicle according to claim 1, characterized in that: The calculation method of step (B) is obtained based on the geometric relationship of the right triangle: Where D is the shortest distance from the center of the vehicle to the target point; θ S is the angle between the center of the vehicle body and the target point; R is the rotation radius from the center of the vehicle body to the target point.

Images