Path tracking control and adjustment method for expressway unmanned motor sweeper
A highway and path tracking technology, applied in the field of kinematics research, can solve problems such as the inapplicability of the algorithm, affecting the safety performance of path planning, and being unsuitable for high-speed path tracking, so as to improve the accuracy of path tracking.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment Construction
[0045] The present invention will be further described below in conjunction with the accompanying drawings.
[0046] Such as figure 1 , 2 , 3, and 4 show a path control adjustment method for an unmanned highway sweeper. The unmanned sweeper is driven by a motor, and the main control computer combines the Beidou navigation module to execute map path planning, and the control commands are transmitted to the on-board ECU. The ECU controls the driving wheel speed and steering angle, and controls the lateral deviation e of the unmanned sweeper relative to the path planning d , course deviation e θ , characterized in that it includes the following steps:
[0047] Step 1: Use laser radar to pick up the distance D between the unmanned sweeper and the right guardrail of the expressway 1 , denoted as D 1 、D 2 、D 3 ΛD n ,D 1 Take its average: Use the camera to assist in picking up the distance M between the unmanned sweeper and the right guardrail of the expressway 1 , denote...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
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