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A vertical/horizontal/vertical anthropomorphic collaborative control method for off-road electric drive unmanned vehicles

An unmanned vehicle and cooperative control technology, applied in vehicle position/route/height control, non-electric variable control, two-dimensional position/channel control, etc., to achieve the effect of improving the comprehensive performance of autonomous driving and improving the performance of the control system

Active Publication Date: 2019-12-10
XIAMEN UNIV
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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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  • A vertical/horizontal/vertical anthropomorphic collaborative control method for off-road electric drive unmanned vehicles

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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

A vertical / horizontal / vertical anthropomorphic collaborative control method for an off-road electric drive unmanned vehicle relates to vehicle control. Taking the driver as the research object, analyze the characteristics of the driver's steering / acceleration / deceleration maneuvering behavior on off-road roads; in view of the characteristics of unmanned vehicles in the unstructured road environment, such as parameter uncertainty, nonlinear coupling and delay, etc., construct a multi-performance objective based Optimized anthropomorphic control system. Establish a vertical / horizontal / vertical coupling dynamics anthropomorphic control system for off-road electric drive unmanned vehicles, and realize the dynamic coupling of off-road electric drive unmanned vehicles through the dynamic coordination of the coupled dynamics system for energy, information transmission, conversion and evolution Control can effectively improve the comprehensive performance of autonomous driving of electric-driven unmanned vehicles, thereby significantly improving the performance 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 coupled dynamics. How to construct a dynamic coordinated control method of the vertical-horizontal-vertical system to realize the collaborative optimization...

Claims

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Application Information

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Patent Type & Authority Patents(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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