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Acceleration-based follow-up vehicle control method

A control method and technology of following cars, which are applied in the control of finding targets, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problems of poor following effect of the following cars, and achieve a good motion control scheme. , Small computational workload, ensuring the effect of the follow-up effect

Inactive Publication Date: 2019-07-05
成都永奉科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a following vehicle control method based on acceleration in order to solve the problem of poor following effect of the following vehicle when a specific target suddenly accelerates or decelerates suddenly. This method provides a set of power control methods for the following vehicle. Solution, so that the following car can smoothly follow the target at a safe distance

Method used

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  • Acceleration-based follow-up vehicle control method
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  • Acceleration-based follow-up vehicle control method

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Embodiment 1

[0044] An acceleration-based following car control method provided by a preferred embodiment of the present invention, such as figure 1 with 2 shown, including the following steps:

[0045] Step 1: Set the safe distance L between the base station of the following vehicle and the target tag s , the maximum speed V of the following car max and shorten the distance between the base station of the following vehicle and the target tag to a safe distance L s The time shortening amount T v , to initialize the historical velocity V 0 , the current speed V t and the acquisition count i=0.

[0046] Step 2: Set the number of acquisitions i=1, and acquire the following vehicle passing through ΔT i Current speed after time interval; ΔT i Indicates the time when the Hall signal generates two adjacent pulses. When the Hall signal generates two adjacent pulses, the distance traveled by the following vehicle is a fixed value S. details as follows:

[0047] Acquire the driving data Δ...

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Abstract

The invention discloses an acceleration-based follow-up vehicle control method, which relates to the technical field of intelligent control, and comprises the steps of: 1, setting a safety distance Lsof a base station of a follow-up vehicle and a target tag, a maximum speed Vmax of the follow-up vehicle, and a time shortening amount Tv of shortening the distance between the base station of the follow-up vehicle and the target tag to the safety distance Ls, and initializing an acquisition number i=0; 2, setting i=1, and acquiring a current speed of the follow-up vehicle after a time interval Delta Ti; 3, setting i=i+1, acquiring a current speed Vt of the follow-up vehicle after the time interval Delta Ti and acquiring a distance Li between a current base station of the follow-up vehicle and the target tag; 4, calculating current acceleration An of the follow-up vehicle according to the current speed Vt of the follow-up vehicle after the time interval Delta Ti and a speed of the follow-up vehicle after the time interval Delta Ti-1; 5, calculating estimated acceleration Am of the follow-up vehicle according to the distance Li, the safety distance Ls, the current speed Vt and the timeTv; 6, controlling a motion state of the follow-up vehicle according to the Am, An, Vt, and Vmax; 7, and repeating the steps from 3 to 6.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to an acceleration-based following vehicle control method. Background technique [0002] The function of the cargo cart in life is to transport goods, such as shopping carts in supermarkets, trolleys in libraries, etc. They increase people's single handling capacity and improve work efficiency. With the rapid development of science and technology and economy, people have higher and higher requirements for the quality of life, so various smart devices have appeared one after another, which facilitates our life. With the continuous development and maturity of control technology, in order to liberate human hands, so that humans do not need to push the cart by manpower, people have developed a cart that can automatically follow the user, and apply it in large shopping malls, supermarkets, books, etc. Museum and smart home and other fields, bringing people more experience of...

Claims

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Application Information

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IPC IPC(8): G05D1/12G05D1/02
CPCG05D1/0223G05D1/028G05D1/0295G05D1/12
Inventor 杨勇
Owner 成都永奉科技有限公司
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