An unmanned test vehicle operation control method and system

Abstract

The application discloses a kind of unmanned test vehicle operation control method and system, comprising: in remote control mode, according to the signal edge jump of received remote control signal, according to signal edge jump obtains high level time, according to the high level time of each cycle of remote control signal, wheel speed control amount is obtained, to control the operation of test vehicle;In trajectory tracking mode, according to the trajectory deviation of real-time trajectory and preset trajectory determined, if trajectory deviation is not greater than deviation threshold, then according to trajectory deviation, wheel speed control amount is obtained;When trajectory deviation is greater than deviation threshold, then switch to remote control mode and carry out trajectory correction, and whether remote control mode is switched successfully is judged by the high level time difference in remote control state and non-remote control state, after switching successfully, shielding trajectory tracking mode, timely trajectory correction or shutdown is carried out.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method and system for controlling the operation of an unmanned test vehicle. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, the most common vehicles used for unmanned driving testing are tracked vehicles and automated guided vehicles (AGVs).

[0004] Tracked vehicles consist of GPS, frequency converters, NI data acquisition cards, and industrial control computers. The industrial control computer uses path planning and trajectory tracking algorithms to control the vehicle's movement. However, tracked vehicles have the following problems:

[0005] 1. The tracked vehicle did not reach the normal height of a car, which may cause the radar of the unmanned vehicle to fail to detect the tracked vehicle, affecting the normal testing of the unmanned vehicle.

[0006] 2. If an autonomous vehicle fails to react correctly and promptly to a moving vehicle, it may cause damage to the vehicle.

[0007] 3. If the tracked vehicle deviates significantly from the preset route and cannot be manually intervened, the machine must be stopped and the test repeated.

[0008] AGVs typically consist of a drive unit and an onboard controller, and can track paths using pre-laid track tapes. However, AGVs have the following problems:

[0009] 1. It can only travel along a preset tape track, lacking flexibility and increasing additional testing costs.

[0010] 2. AGV vehicles often have the problem of being too low in height, and the radar of unmanned vehicles may also fail to detect the AGV vehicle.

[0011] 3. If an unmanned vehicle fails to react correctly and promptly to a moving vehicle, it may cause damage to the vehicle.

[0012] In addition, there is a method of testing with manually driven vehicles, but when driverless vehicles go out of control, they are prone to causing safety accidents, resulting in injuries to people and damage to vehicles. Summary of the Invention

[0013] To address the aforementioned issues, this invention proposes an unmanned test vehicle operation control method and system that supports both remote control mode and trajectory tracking mode. When the actual trajectory of the test vehicle deviates significantly from the preset trajectory, the system can promptly switch to remote control mode for intervention, enabling timely trajectory correction or shutdown.

[0014] To achieve the above objectives, the present invention adopts the following technical solution:

[0015] In a first aspect, the present invention provides a method for controlling the operation of an unmanned test vehicle, comprising:

[0016] In remote control mode, the signal edge transition is determined based on the received remote control signal, the high-level time is determined based on the signal edge transition, and the wheel speed control quantity is obtained based on the high-level time of each cycle of the remote control signal to control the operation of the test vehicle.

[0017] In trajectory tracking mode, the trajectory deviation between the acquired real-time trajectory and the preset trajectory is determined. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation.

[0018] When the trajectory deviation exceeds the deviation threshold, the system switches to remote control mode for trajectory correction. The system determines whether the remote control mode switch was successful by the time difference between the high-level signals in remote control and non-remote control modes. If the switch is successful, the trajectory tracking mode is disabled.

[0019] As an alternative implementation, the signal edge transition is determined based on the timing of the signal rising edge and the signal falling edge, and the high-level time of the remote control signal is obtained based on the signal edge transition and the number of overflows.

[0020] As an alternative implementation, the remote control signal is a rudder remote control signal and a throttle remote control signal. Based on the high-level time of the rudder remote control signal and the throttle remote control signal in each cycle, the speed control amount of the left and right wheels of the test vehicle when going straight or turning is obtained, thereby controlling the operation of the test vehicle.

[0021] As an alternative implementation, in trajectory tracking mode, the obtained wheel speed control quantity is converted into the pulse frequency required by the servo motor to control the operation of the test vehicle.

[0022] As an alternative implementation, the decision to go straight or turn is made based on the pulse frequency of the left and right wheels and the level of the control for forward and reverse rotation. If the pulse frequencies of the left and right wheels are equal, the vehicle goes straight; if they are not equal, it turns. If the level is low, the vehicle moves forward; if it is high, the vehicle moves backward.

[0023] As an alternative implementation method, when performing trajectory correction, a forward / backward error factor and a left / right error factor are set. If the absolute value of the difference between the high-level time of the throttle remote control signal in the forward / backward direction in remote control mode and the high-level time of the throttle remote control signal in non-remote control mode is greater than the forward / backward error factor, or the absolute value of the difference between the high-level time of the rudder remote control signal in the left / right direction in remote control mode and the high-level time of the rudder remote control signal in non-remote control mode is greater than the left / right error factor, then the remote control mode is judged to have been successfully switched.

[0024] As an alternative implementation, if the test vehicle becomes uncontrollable, the remote control mode is turned off, the remote control signal is stopped, and the machine is shut down.

[0025] As an alternative implementation, the actual trajectory is converted into planar coordinates through Gaussian projection and displayed in real time in the form of a map.

[0026] Secondly, the present invention provides an unmanned test vehicle operation control system, comprising: a chassis vehicle, a microcontroller mounted on the chassis vehicle, and a cloud server communicating with the microcontroller.

[0027] The microcontroller is configured to, in remote control mode, determine the signal edge transition based on the received remote control signal, determine the high-level time based on the signal edge transition, and obtain the wheel speed control amount based on the high-level time of each cycle of the remote control signal, so as to control the operation of the chassis vehicle.

[0028] The cloud server is configured to determine the trajectory deviation between the real-time trajectory sent by the microcontroller and the preset trajectory in trajectory tracking mode. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation.

[0029] If the trajectory deviation is greater than the deviation threshold, the system switches to remote control mode for trajectory correction. The system determines whether the remote control mode has been successfully switched by the time difference between the high level in remote control mode and non-remote control mode. If the switch is successful, the trajectory tracking mode is disabled.

[0030] As an alternative implementation, the chassis vehicle includes a chassis vehicle frame and a car-shaped foam disposed on the chassis vehicle frame. The interior of the vehicle body is provided with an installation compartment for fixing equipment, and all four sides of the chassis vehicle are slopes with a certain angle.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] This invention proposes a method and system for controlling the operation of an unmanned test vehicle, which supports two modes: remote control mode and trajectory tracking mode. When it is necessary to drive into the target test site, it is more convenient to manually remotely control the test vehicle to drive into the test site. When it is necessary for the test vehicle to drive along a preset trajectory, it is controlled through trajectory tracking mode. When the actual trajectory of the test vehicle deviates too much from the preset trajectory, or when it becomes uncontrollable, the remote control mode can be switched in time to intervene, and the trajectory can be corrected or the vehicle can be stopped in time.

[0033] The present invention proposes an unmanned test vehicle consisting of a chassis and a car-shaped foam. It can replace the manually driven vehicle in the unmanned vehicle testing process. If the unmanned vehicle does not react correctly to the moving chassis in time, it will only break the car-shaped foam on the chassis and run over the chassis, without injuring personnel. This improves the safety of unmanned vehicle testing and reduces testing costs.

[0034] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0036] Figure 1 A flowchart of the control method is provided for Embodiment 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of the chassis vehicle device provided in Embodiment 2 of the present invention;

[0038] Figure 3 This is a schematic diagram of the overall architecture of the control system provided in Embodiment 2 of the present invention;

[0039] Figure 4 This is a schematic diagram of the electrical connection circuit of the chassis vehicle provided in Embodiment 2 of the present invention;

[0040] Figure 5 This is a schematic diagram of the chassis vehicle and the foam model of a car body provided in Embodiment 2 of the present invention. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0044] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0045] Example 1

[0046] One type of testing tool for autonomous vehicles is a moving car. However, current autonomous vehicle test vehicles have issues such as inconsistent height with real cars, the use of expensive equipment like industrial control computers, and the potential for chassis damage when an autonomous vehicle goes out of control, increasing testing costs. If manually driven vehicles are used directly for testing, safety accidents are likely to occur, resulting in injuries.

[0047] In view of this, this embodiment proposes a method for controlling the operation of an unmanned test vehicle, specifically including:

[0048] In remote control mode, the signal edge transition is determined based on the received remote control signal, the high-level time is determined based on the signal edge transition, and the wheel speed control quantity is obtained based on the high-level time of each cycle of the remote control signal to control the operation of the test vehicle.

[0049] In trajectory tracking mode, the trajectory deviation between the acquired real-time trajectory and the preset trajectory is determined. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation.

[0050] When the trajectory deviation exceeds the deviation threshold, the system switches to remote control mode for trajectory correction. The system determines whether the remote control mode switch was successful by the time difference between the high-level signals in remote control and non-remote control modes. If the switch is successful, the trajectory tracking mode is disabled.

[0051] In this embodiment, the test vehicle is controlled to move in both remote control mode and trajectory tracking mode, such as... Figure 1 As shown, the specific process is as follows:

[0052] S1: The chassis is controlled to be in remote control mode or trajectory tracking mode by determining whether the host computer issues a start command. If the host computer does not issue a start command, it is in remote control mode. The specific control method is as follows:

[0053] (1) Acquire remote control signals emitted by the wireless remote control module, wherein the remote control signals are rudder remote control signals and throttle remote control signals;

[0054] (2) Determine the edge transition of the PWM signal in the steering channel based on the rudder remote control signal, and determine the edge transition of the PWM signal in the throttle channel based on the throttle remote control signal; specifically, obtain the timing of the rising edge and falling edge of the PWM.

[0055] (3) Obtain the high-level time of the PWM signal of each channel based on the edge transition of the PWM signal of the two channels;

[0056] Specifically, T PWM =T H -T L +N Over ×Count; where T H It is the rising edge time, T L It is the falling edge time, Count is the number of times the counter overflows, N Over This is the upper limit of the counter count;

[0057] (4) Based on the high-level time of the PWM signal in each cycle, the wheel speed control quantity is obtained to control the straight-line or turning of the test vehicle;

[0058] Specifically, the formula for converting high-level time into vehicle speed is as follows:

[0059]

[0060]

[0061]

[0062]

[0063] Among them, T thrQ T thrA T thrD These represent the maximum forward speed, maximum reverse speed, and the stop PWM high-level time corresponding to the throttle, respectively. The relationship between them is T. thrA >T thrQ >T thrD ;T dirQ T dirR T dirL These represent the maximum PWM high-level times for straight-ahead, right-turn, and left-turn respectively, corresponding to the rudder. The relationship between them is T.dirR >T dirQ >T dirL V thrA V thrD It is the component of wheel speed in the forward and backward directions, V dirL V dirR V1 represents the wheel speed components in the left and right directions; V2 represents the frequency multiplier factor for forward or reverse speed, and V3 represents the frequency multiplier factor for left or right turn speed. L It is the speed of the left wheel of the chassis vehicle, V. R It refers to the speed of the right wheel of the chassis vehicle.

[0064] Among them, straight: V dirR =V dirL =0; Forward: V L =V R =V thrA Back: V L =V R =V thrD Forward and left turn: V R =V thrA +V dirR V L =V thr Reverse and turn left: V R =V thrD +V dirR V L =V thrD Forward and right turn: V R =V thrA +V dirL V L =V thr Reverse and turn right: V R =V thrD +V dirL V L =V thrD .

[0065] S2: If the host computer issues a start command after power-on, it will be in trajectory tracking mode, controlling the vehicle to travel along a preset trajectory. In this mode, latitude and longitude data, yaw angle, speed data, etc. are received through serial port, and the received data is parsed, data headers and data tails are added, and then processed accordingly to obtain the speed control values ​​of the left and right wheels.

[0066] The specific control method is as follows:

[0067] (1) Obtain the real-time trajectory and determine its trajectory deviation from the preset trajectory. If the trajectory deviation is not greater than the deviation threshold, calculate the speed control amount of the left and right wheels of the chassis vehicle according to the given trajectory tracking algorithm. It is understood that the calculation algorithm for the speed control amount here can be a conventional algorithm.

[0068] (2) Convert the wheel speed control quantity into the pulse frequency required by the servo motor controller. The conversion formula is as follows: Where F is the pulse frequency, f is the number of revolutions of the pulse motor, V is the wheel speed, and D is the wheel diameter;

[0069] (3) Determine whether to go straight or turn based on the pulse frequency of the left and right wheels and the level of the control for forward and reverse rotation. Specifically: if the pulse frequencies of the left and right wheels are equal, go straight; if they are not equal, turn; if the level is low, go forward; if it is high, go backward.

[0070] S3: If the trajectory deviation exceeds the deviation threshold, it indicates that the chassis has significantly deviated from the preset trajectory. In this case, the system will switch to remote control mode for trajectory correction. Specifically:

[0071] (1) Set the error factor T before and after. δt and left and right error factors T δd To prevent human error;

[0072] (2) When in trajectory tracking mode, i.e. in non-remote control mode, the high-level time of the rudder remote control signal in non-remote control mode is T. dir The high-level time of the throttle remote control signal is T. thr ;

[0073] (3) In remote control mode, i.e., in remote control state, the high-level time of the throttle remote control signal in the forward and backward directions is T. thrQ The high-level time of the rudder remote control signal in the left and right directions is T. dirQ ;

[0074] (4) If T thr With T thrQ The absolute value of the difference is greater than the error factor T. δt , or, T dir With T dirQ The absolute value of the difference is greater than the left and right error factors T. δd That is, |T thr -T thrQ |>T δt or |T dir -T dirQ |>T δd If the remote control mode is successfully switched, the control quantity in the trajectory tracking mode is blocked, and the chassis vehicle speed is controlled remotely until it returns to the preset trajectory.

[0075] (5) If the chassis is not controlled by the host computer, the remote control mode will be turned off and the remote control signal will be stopped. The MCU will not be able to detect the edge transition and will immediately stop unconditionally.

[0076] In this embodiment, latitude and longitude coordinates are converted into planar XY coordinates through Gaussian projection, allowing the actual trajectory of the chassis vehicle to be displayed in real-time on a map in the host computer, facilitating monitoring of the chassis vehicle's driving status by test personnel; specifically:

[0077] Using Gaussian projection, latitude and longitude coordinates are transformed into a two-dimensional planar coordinate system. Given latitude and longitude coordinates (Lon, Lat), then the two-dimensional planar coordinates (x...) are... p y p )for:

[0078]

[0079]

[0080] in, Let L be the arc length from the equator along the meridian to that point, L0 be the central meridian, Δl = Lon - L0, τ = tan Lon, and a be the semi-major axis of the ellipsoid. It is the eccentricity of the ellipsoid. N is the radius of curvature of the coordinate point.

[0081] Example 2

[0082] This embodiment provides an unmanned test vehicle operation control system, including: a chassis vehicle, a microcontroller mounted on the chassis vehicle, and a cloud server communicating with the microcontroller;

[0083] The microcontroller is configured to, in remote control mode, determine the signal edge transition based on the received remote control signal, determine the high-level time based on the signal edge transition, and obtain the wheel speed control amount based on the high-level time of each cycle of the remote control signal, so as to control the operation of the chassis vehicle.

[0084] The cloud server is configured to determine the trajectory deviation between the real-time trajectory sent by the microcontroller and the preset trajectory in trajectory tracking mode. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation.

[0085] If the trajectory deviation is greater than the deviation threshold, the system switches to remote control mode for trajectory correction. The system determines whether the remote control mode has been successfully switched by the time difference between the high level in remote control mode and non-remote control mode. If the switch is successful, the trajectory tracking mode is disabled.

[0086] In this embodiment, the chassis is equipped with devices such as a microcontroller (MCU), a BeiDou Navigation Satellite System (BDS), an inertial navigation system (INS), a data transmission unit (DTU), a servo motor, a servo motor controller, and a wireless remote control module. Figures 2-3 As shown, the MCU interacts with the cloud server's host computer via the DTU;

[0087] In remote control mode, the MCU receives the remote control signal sent by the wireless remote control module, obtains the wheel speed control quantity, and then the servo motor controller controls the action of the servo motor.

[0088] In trajectory tracking mode, BDS and INS send latitude and longitude data, yaw angle, and speed data to the MCU via serial port. The MCU parses the received data, adds data headers and tails, and sends it to the DTU device via serial port. The DTU device sends it to the cloud server via the configured UDP. The cloud server executes trajectory tracking mode and sends the speed control values ​​of the left and right wheels to the MCU in real time via UDP. This allows the MCU to control the servo motors through the servo motor controller, making the chassis vehicle travel along the preset trajectory. If the chassis vehicle has a large tracking deviation or is not controlled by the host computer, the wireless remote control module can be used to correct the trajectory or stop the vehicle.

[0089] In this embodiment, the chassis is also equipped with a lithium battery, such as... Figure 4 As shown, four lithium batteries are connected in parallel to provide power to devices such as the servo motor controller, MCU, BDS, INS, and DTU. When the air switch is normally closed, the lithium batteries stop supplying power, and the chassis can be connected to an external power source to charge the lithium batteries. When the air switch is normally open, the lithium batteries supply power to the chassis equipment.

[0090] In this embodiment, the MCU also samples the lithium battery voltage. To accurately reflect the lithium battery power in real time, the lithium battery voltage is sampled every 100ms, and the voltage values ​​are sampled 5 times. The maximum and minimum values ​​among the 5 voltage values ​​are discarded, and the average value of the remaining three sampled voltage values ​​is calculated and saved. When the next average value is calculated, the average of the two average values ​​is calculated, and then sent to the host computer through the DTU device. The battery power status is judged by the voltage. The voltage of the lithium battery when fully charged is 24V, and the low voltage threshold is set to 90% of the full voltage.

[0091] In this embodiment, as Figure 5 As shown, the chassis vehicle includes a chassis frame 1 and a car-shaped foam 2 mounted on the chassis frame 1. The chassis frame 1 is made of metal. The interior of the vehicle has a mounting compartment 3 for fixing equipment. All equipment is placed in the mounting compartment. The mounting compartment is topped with a metal plate. All four sides of the chassis vehicle are slopes with a certain angle. If the chassis vehicle is not reacted to in time, the car-shaped foam will be scattered instead of impacting the chassis vehicle, thus reducing testing costs.

[0092] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for controlling the operation of an unmanned test vehicle, characterized in that, include: In remote control mode, the signal edge transition is determined based on the received remote control signal, the high-level time is determined based on the signal edge transition, and the wheel speed control quantity is obtained based on the high-level time of each cycle of the remote control signal to control the operation of the test vehicle. In trajectory tracking mode, the trajectory deviation between the acquired real-time trajectory and the preset trajectory is determined. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation. When the trajectory deviation exceeds the deviation threshold, the system switches to remote control mode for trajectory correction. The success of the remote control mode switch is determined by the high-level time difference between the remote control and non-remote control states. Upon successful switch, the trajectory tracking mode is disabled. Specifically: Setting error factors before and after and left and right error factors To prevent human error; When in trajectory tracking mode, i.e., in non-remote control mode, the high-level time of the rudder remote control signal in non-remote control mode is: The high-level time of the throttle remote control signal is ; In remote control mode, i.e., when in remote control state, the high-level time of the throttle remote control signal in the forward and backward directions is: The high-level time of the rudder remote control signal in the left and right directions is ; like and The absolute value of the difference is greater than the error factor before and after. ,or, and The absolute value of the difference is greater than the left and right error factors. ,Right now or If the remote control mode is successfully switched, the control quantity in the trajectory tracking mode is blocked, and the chassis vehicle speed is controlled remotely until it returns to the preset trajectory. If the chassis vehicle is out of control of the host computer, the remote control mode will be turned off and the remote control signal will be stopped. The MCU will not be able to detect the edge transition and will immediately and unconditionally stop. The chassis vehicle includes a chassis frame and a car-shaped foam set on the chassis frame. The interior of the vehicle body has a mounting compartment for fixing equipment, and all four sides of the chassis vehicle are slopes with a certain angle.

2. The unmanned test vehicle operation control method as described in claim 1, characterized in that, The signal edge transition is determined by the timing of the rising and falling edges of the signal, and the high-level time of the remote control signal is obtained by the signal edge transition and the number of overflows.

3. The method for controlling the operation of an unmanned test vehicle as described in claim 1, characterized in that, The remote control signals are rudder remote control signals and throttle remote control signals. Based on the high level time of the rudder remote control signals and throttle remote control signals in each cycle, the speed control amount of the left and right wheels of the test vehicle when going straight or turning is obtained, thereby controlling the operation of the test vehicle.

4. The unmanned test vehicle operation control method as described in claim 1, characterized in that, In trajectory tracking mode, the obtained wheel speed control quantity is converted into the pulse frequency required by the servo motor to control the operation of the test vehicle.

5. The unmanned test vehicle operation control method as described in claim 4, characterized in that, The system determines whether to go straight or turn based on the pulse frequency of the left and right wheels and the level status of the control for forward and reverse rotation. If the pulse frequencies of the left and right wheels are equal, go straight; if they are not equal, turn. If the level status is low, move forward; if it is high, move backward.

6. The unmanned test vehicle operation control method as described in claim 1, characterized in that, The actual trajectory is converted into planar coordinates using Gaussian projection and displayed in real time as a map.

7. A control system for an unmanned test vehicle, characterized in that, include: A chassis vehicle, a microcontroller mounted on the chassis vehicle, and a cloud server that communicates with the microcontroller; The microcontroller is configured to, in remote control mode, determine the signal edge transition based on the received remote control signal, determine the high-level time based on the signal edge transition, and obtain the wheel speed control amount based on the high-level time of each cycle of the remote control signal, so as to control the operation of the chassis vehicle. The cloud server is configured to determine the trajectory deviation between the real-time trajectory sent by the microcontroller and the preset trajectory in trajectory tracking mode. If the trajectory deviation is not greater than the deviation threshold, the wheel speed control quantity is obtained based on the trajectory deviation. If the trajectory deviation exceeds the deviation threshold, the system switches to remote control mode for trajectory correction. The success of the remote control mode switch is determined by the high-level time difference between the remote control and non-remote control states. Upon successful switch, the trajectory tracking mode is disabled. Specifically: Setting error factors before and after and left and right error factors To prevent human error; When in trajectory tracking mode, i.e., in non-remote control mode, the high-level time of the rudder remote control signal in non-remote control mode is: The high-level time of the throttle remote control signal is ; In remote control mode, i.e., when in remote control state, the high-level time of the throttle remote control signal in the forward and backward directions is: The high-level time of the rudder remote control signal in the left and right directions is ; like and The absolute value of the difference is greater than the error factor before and after. ,or, and The absolute value of the difference is greater than the left and right error factors. ,Right now or If the remote control mode is successfully switched, the control quantity in the trajectory tracking mode is blocked, and the chassis vehicle speed is controlled remotely until it returns to the preset trajectory. If the chassis vehicle is out of control of the host computer, the remote control mode will be turned off and the remote control signal will be stopped. The MCU will not be able to detect the edge transition and will immediately and unconditionally stop. The chassis vehicle includes a chassis frame and a car-shaped foam set on the chassis frame. The interior of the vehicle body has a mounting compartment for fixing equipment, and all four sides of the chassis vehicle are slopes with a certain angle.

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