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Trajectory tracking control driving system for unmanned vehicle

An unmanned vehicle and trajectory tracking technology, which is applied in control/adjustment system, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as difficult to meet commercialization, poor tracking accuracy, etc., to improve safety performance, improve positioning accuracy, and improve real-time effects

Inactive Publication Date: 2018-09-07
HUBEI UNIV OF AUTOMOTIVE TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

For now, the trajectory tracking control driving system of unmanned vehicles has shortcomings such as poor tracking accuracy, and it is difficult to meet the requirements of commercialization

Method used

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  • Trajectory tracking control driving system for unmanned vehicle
  • Trajectory tracking control driving system for unmanned vehicle
  • Trajectory tracking control driving system for unmanned vehicle

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Experimental program
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Embodiment

[0026] Such as figure 2 As shown, the working process of a kind of unmanned vehicle trajectory tracking control driving system provided by the present invention is as follows:

[0027] Collect a high-precision map based on the GPS / INS system. When the unmanned vehicle traces on this map, locate the current position information of the vehicle according to GPS / INS; collect vehicle status information such as the engine, accelerator, brake, etc. in the vehicle through the CAN bus; The above information is analyzed by the industrial computer and communicated with the computing unit microcomputer using LCM; the computing unit microcomputer generates control commands through the trajectory tracking control algorithm and sends them to the industrial computer, and then communicates to the vehicle execution unit through CAN communication to realize the trajectory of the unmanned vehicle track control.

[0028] The trajectory tracking control algorithm mainly adopts the feedforward-fee...

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Abstract

The invention discloses a trajectory tracking control driving system for an unmanned vehicle. The trajectory tracking control driving system includes a navigation unit, a calculation unit, a control unit, a communication unit and an execution unit. The navigation unit is configured to collect a reference trajectory and determine a current position of the unmanned vehicle, and determine a trajectory tracking state quantity according to a reference trajectory and an actual trajectory; the calculation unit is configured to calculate vehicle state information according to the trajectory tracking state quantity and generate a control instruction; the control unit is configured to parse the vehicle state information, and performs information interaction with the calculation unit through the communication unit; the communication unit is used for message sending and data marshaling processing; and the execution unit is configured to receive the control instruction and complete trajectory tracking control of the unmanned vehicle. The system can improve the accuracy of the trajectory tracking control of the unmanned vehicle, and also improve the safety of the trajectory tracking control.

Description

technical field [0001] The invention belongs to the technical field of vehicle automatic driving, and in particular relates to an unmanned vehicle trajectory tracking control driving system. Background technique [0002] With the continuous development of science and technology, various intelligent vehicles have begun to appear. As a new thing, unmanned vehicles are getting more and more attention. Unmanned vehicles will become an integral part of the future intelligent transportation system because they do not require manual driving and omit the driver. Vehicle automatic steering system occupies a very important position in the control of unmanned vehicles, and is also one of the key technologies of unmanned vehicles. Trajectory tracking control is one of the basic control problems in the automatic steering process, which requires the unmanned vehicle to reach a given or planned trajectory point at a specified time. [0003] Trajectory tracking control driving system has...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276G05D1/0278
Inventor 张友兵周海鹰陶冰冰周奎龚家元王思山毕栋兰建平彭强朱政泽
Owner HUBEI UNIV OF AUTOMOTIVE TECH
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