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Unmanned vehicle control method, apparatus and device and storage medium

A technology of unmanned vehicles and control methods, which is applied in the field of vehicles, can solve problems such as unsatisfactory control effects and vehicles deviating from the set driving path, and achieve precise and stable control, and reduce overshoot or following errors.

Inactive Publication Date: 2019-03-01
ZHIJIU XIAMEN ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, when the PID control method is used to control the unmanned vehicle to follow the set driving path, it is easy to cause the vehicle to deviate from the set driving path, resulting in unsatisfactory control effect

Method used

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  • Unmanned vehicle control method, apparatus and device and storage medium
  • Unmanned vehicle control method, apparatus and device and storage medium
  • Unmanned vehicle control method, apparatus and device and storage medium

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Embodiment Construction

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

[0027] figure 1 A method for controlling an unmanned vehicle provided in an embodiment of the present invention, the method is executed by a control device of the unmanned vehicle, the device can be implemented by software and / or hardware, and the device can be configured in the vehicle control device. Wherein, the control device is installed on the vehicle, or the control device may not be installed on the vehicle. When the control device is not installed on the vehicle, the control device may be a terminal or a...

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Abstract

The embodiment of the invention discloses an unmanned vehicle control method, apparatus and device and a storage medium. The method comprises the steps of: determining the speed of a vehicle and the current position of the vehicle; determining the deviation of the current position relative to a set driving path; determining a PID parameter set corresponding to the speed of the vehicle; inputting the PID parameter set and the deviation into the PID controller to obtain output PID control amount; and according to the PID control amount, determining the control angle of a steering wheel in the vehicle, and outputting the control angle to the steering wheel. The technical scheme provided by the embodiment of the invention can reduce the overshoot or following errors of the vehicle in differentspeeds and is more accurate and stable for vehicle control.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of vehicles, and in particular to a control method, device, equipment and storage medium for an unmanned vehicle. Background technique [0002] Proportion-integral-derivative (PID) control is one of the earliest control strategies developed using classical control theory. Due to its simple algorithm, good robustness and high reliability, it is widely used in industrial processes and A good control effect has been achieved. With the development of industry, PID control is applied to the control system of vehicles, especially in the control system of unmanned vehicles. [0003] In the prior art, when the PID control method is used to control the unmanned vehicle to follow the set travel route, it is easy to cause the vehicle to deviate from the set travel route, resulting in an unsatisfactory control effect. Contents of the invention [0004] Embodiments of the present invention p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/024G05D1/0242G05D1/0259G05D1/028G05D1/0285
Inventor 戴燕玲
Owner ZHIJIU XIAMEN ROBOT TECH CO LTD
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