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Intelligent vehicle automatic driving method based on amendable proportional guidance

A technology of automatic driving and proportional correction, which is applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., to achieve smooth dynamic response, fast elimination speed, good theoretical innovation and new effects

Active Publication Date: 2018-12-21
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a smart car automatic driving method based on corrected proportional guidance, which solves the problem that the existing control method must rely on the vehicle model and requires the vehicle state to be measured as accurately as possible

Method used

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  • Intelligent vehicle automatic driving method based on amendable proportional guidance
  • Intelligent vehicle automatic driving method based on amendable proportional guidance
  • Intelligent vehicle automatic driving method based on amendable proportional guidance

Examples

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Embodiment 1

[0060] Example 1. A smart car automatic driving method based on corrected proportional guidance. This method uses a position sensor to measure the distance of the smart car from the center line of the lane, and then uses digital differential technology and filters to estimate the differential of the deviation distance. On this basis, it is assumed that there is a The target is located on the centerline of the lane and moves with the movement of the smart car. The proportional guidance method is used to calculate the change rate of the imaginary line-of-sight angle, and then make corrections on this basis to obtain the line-of-sight angular rate of the corrected proportional guidance. Finally, the above-mentioned The ratio-guided line-of-sight angular velocity and the corrected line-of-sight angular velocity form an automatic driving law, which realizes the automatic driving of the vehicle along the lane. The principle refers to figure 1 .

[0061] The above method specificall...

Embodiment 2

[0099] Example 2. A smart car automatic driving method based on corrected proportional guidance. This method uses a position sensor to measure the distance of the smart car from the center line of the lane, and then uses digital differential technology and filters to estimate the differential of the deviation distance. On this basis, it is assumed that there is a The target is located on the centerline of the lane and moves with the movement of the smart car. The proportional guidance method is used to calculate the change rate of the imaginary line-of-sight angle, and then make corrections on this basis to obtain the line-of-sight angular rate of the corrected proportional guidance. Finally, the above-mentioned The ratio-guided line-of-sight angular velocity and the corrected line-of-sight angular velocity form an automatic driving law, which realizes the automatic driving of the vehicle along the lane. The principle refers to figure 1 .

[0100] The above method specificall...

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Abstract

The invention relates to an intelligent vehicle automatic driving method based on amendable proportional guidance. The method comprises the following steps: measuring the distance of deviating from alane center line by an intelligent vehicle, and estimating the differential of the deviation distance, assuming that a target is located on the lane center line and moves along the movement of the intelligent vehicle on this basis, computing a visual angle change rate of the assumption by adopting the proportional guidance law, amending on this basis to obtain the visual angle rate based on the amendable proportional guidance, and finally forming the automatic driving rule by adopting the visual angle rate based on the proportional guidance and the amended visual angle rate, thereby realizingthe automatic driving of the vehicle along the lane line. Through the method disclosed by the invention, the vehicle location deviation and the angle conversion problem of a front wheel steering anglecan be well solved through smart design, the experiment shows that the intelligent vehicle automatic guidance method is fast in elimination speed on the aspect of eliminating the location deviation,and is smooth in dynamic response, free from obvious fluctuation and oscillation conditions, extremely comfortable in riding quality and can be extensively applied to various unmanned vehicles.

Description

technical field [0001] The invention belongs to the field of automatic driving and intelligent transportation, and in particular relates to a method for automatic driving of intelligent vehicles based on corrected proportional guidance. Background technique [0002] At present, various vehicle automatic driving technologies have little difference in the measurement technology of the center deviation between the vehicle and the lane line, but in the elimination of the position deviation, various methods are flourishing. Most of them are based on accurate modeling of the controlled vehicle, analyzing its dynamics and kinematics characteristics, and then using classical or modern automatic control technology to eliminate the direction finding position error. Among them, the classic control attention is to use the proportion, integral and differential of the error to form a closed-loop control to eliminate the error. Various modern control methods, such as adaptive control, are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0229
Inventor 马照瑞李霞周蕴文王浩栗娜雷军委
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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