Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A method for automatic driving of intelligent vehicles based on corrected proportional guidance

An automatic driving and proportional correction technology, applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., to achieve the effect of comfortable ride quality, good engineering practical value, and fast elimination speed

Active Publication Date: 2021-03-05
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
View PDF6 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A method for automatic driving of intelligent vehicles based on corrected proportional guidance
  • A method for automatic driving of intelligent vehicles based on corrected proportional guidance
  • A method for automatic driving of intelligent vehicles based on corrected proportional guidance

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a method for automatic driving of a smart car based on correction proportional guidance. The method measures the distance of the smart car deviating from the center line of the lane, and then estimates the differential of the deviation distance. 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 angle rate of the corrected proportional guidance, and finally use the above proportional guidance line of sight angle The speed and the corrected line-of-sight angular rate form an automatic driving law, which realizes the automatic driving of the vehicle along the lane line. This method is cleverly designed to better solve the angle conversion problem between the vehicle position deviation and the steering angle of the front wheel. Experiments show that the intelligent vehicle automatic guidance method has fast elimination speed in eliminating position deviation, and the dynamic response is relatively smooth without obvious It has a very comfortable ride quality and can be widely used in 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0229G05D2201/0212
Inventor 马照瑞李霞周蕴文王浩栗娜雷军委
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com