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Longitudinal/lateral/vertical personified cooperative control method for off-road electric drive unmanned vehicle

An unmanned vehicle, collaborative control technology, applied in vehicle position/route/altitude control, non-electric variable control, two-dimensional position/channel control, etc., to improve the performance of the control system and improve the overall performance of autonomous driving.

Active Publication Date: 2017-09-05
XIAMEN UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

However, there is little research on the control of unmanned vehicles in off-road environments.

Method used

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  • Longitudinal/lateral/vertical personified cooperative control method for off-road electric drive unmanned vehicle

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Embodiment Construction

[0018] figure 1 As shown, the present invention first acquires information through multi-source sensors, then analyzes the driver’s behavioral characteristics, and then designs a vertical / horizontal / vertical coupling control strategy for off-road electric drive unmanned vehicles to achieve optimal dynamics of off-road electric drive unmanned vehicles. control. The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0019] Step 1 Aiming at the complex and changeable roads in the unstructured environment, multi-factor interference and other characteristics, an environmental feature extraction method based on fusion of vision and radar information is proposed.

[0020] Step 1.1 Use the CCD sensor to collect the road image in front of the vehicle, and use the laser sensor to detect whether there are raised obstacles in the road environment.

[0021] Step 1.2 Design an image enhan...

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Abstract

The invention discloses a longitudinal / lateral / vertical personified cooperative control method for an off-road electric drive unmanned vehicle, and relates to the vehicle control. The method comprises the steps: taking a driver as a research object, and analyzing the steering / acceleration and deceleration operation behavior features of a driver under the off-road condition; constructing a personified control system based on multi-performance target optimization according to the parameter uncertainty, nonlinear coupling and time lag of an unmanned vehicle in a non-structure road environment; building a longitudinal / lateral / vertical coupling dynamic personified control system for the off-road electric drive unmanned vehicle, and achieving the dynamic coupling control of the off-road electric drive unmanned vehicle through the transmission, conversion and evolution of the energy and information of dynamic coordination of the coupling dynamic control system, thereby effectively improving the autonomous running comprehensive energy of the electric drive unmanned vehicle, and remarkably improving the performances of the control system.

Description

technical field [0001] The invention relates to vehicle control, in particular to a vertical / horizontal / vertical anthropomorphic coordinated control method for an off-road electric drive unmanned vehicle. Background technique [0002] As a comprehensive carrier of advanced technology, electric drive unmanned vehicles have important uses in different fields such as civil, aerospace and military. The off-road environment enhances the characteristics of nonlinearity, strong coupling, and uncertainty of the dynamic system of electric-driven unmanned vehicles. If the vehicle dynamics system cannot be organically combined as a whole, decoupling and designing unrelated motion control methods, It will be difficult to reasonably solve the problem of safety guarantee of driving performance of unmanned vehicles under the action of coupling dynamics. How to construct a dynamic coordinated control method of the vertical-horizontal-vertical system to realize the collaborative optimizatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06K9/00G06K9/46G06K9/62
CPCG05D1/0238G05D1/0246G06V20/588G06V10/44G06V10/50G06F18/23
Inventor 郭景华王进
Owner XIAMEN UNIV
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