The invention belongs to the technical field of unmanned driving, and particularly relates to a longitudinal following control method for an unmanned heavy truck. The method comprises the following steps of: 1, acquiring driving data of a heavy truck in a driving process in real time; sending the acquired driving data to a preset data preprocessing model, and performing data preprocessing on the driving data by the data preprocessing model to obtain preprocessed driving data; and 2, using an ultrasonic distance measuring device to collect height data of the heavy truck in the running process in real time, wherein the height data is the vertical distance between the chassis of the heavy truck and the road. Driving of the heavy truck is controlled by acquiring driving data and height data of the heavy truck in the driving process and driving data of a preceding vehicle in the control process, an image preprocessing method and a data preprocessing method are used, interference is removed, the following accuracy is guaranteed, and the following safety is improved.
本发明属于无人驾驶技术领域,具体涉及一种无人驾驶重卡纵向跟随控制方法,所述方法执行以下步骤:步骤1:实时采集重卡车辆在行驶过程中的行驶数据;将采集到的行驶数据发送给预先设置的数据预处理模型,数据预处理模型对行驶数据进行数据预处理,得到预处理行驶数据;步骤2:使用超声测距装置,实时采集重卡车辆在行驶过程中的高度数据;所述高度数据为重卡车辆底盘距离道路的垂直距离。其通过获取重卡车辆在行驶过程中的行驶数据、高度数据以及与前车的行驶数据和前车的行驶数据,来控制重卡车辆的行驶,在控制过程中,使用图像预处理和数据预处理的方法,去除干扰,保证跟随的准确性,提升跟随的安全性。
Longitudinal following control method for unmanned heavy truck
一种无人驾驶重卡纵向跟随控制方法
27.04.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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