The invention relates to a port automatic driving vehicle control method. The method comprises the following steps: step 1, obtaining a global path plan of a vehicle; 2, control information of the vehicle is obtained through calculation according to the global path planning of the vehicle, wherein the control information comprises the target pedal opening degree, the target steering wheel turning angle and the target gear of the vehicle; step 3, controlling the vehicle based on the control information; in the first step, a front wheel steering angle and a rear wheel steering angle of the vehicle are in a symmetrical relation, a positioning system is installed in the center of the vehicle, and the vehicle head direction of the vehicle is defaulted to be the positive direction. In the second step, when the target steering wheel steering angle is calculated, the nearest point of the vehicle on the global path is calculated according to global path planning; and calculating an included angle between the positive direction of the vehicle and the tangential direction of the nearest point, and if the included angle is greater than 90 degrees, rotating the positive direction of the vehicle by 180 degrees. The driving gear of the vehicle is adjusted according to the actual working condition, the working efficiency is effectively improved, the operation difficulty and the collision risk are reduced, and the target steering wheel rotation angle calculation simplicity and convenience are improved.

    本公开是关于港口自动驾驶车辆控制方法,包括以下步骤:步骤1:获取车辆的全局路径规划;步骤2:根据车辆的全局路径规划计算得到车辆的控制信息,控制信息包括车辆的目标踏板开度、目标方向盘转角和目标挡位;步骤3:基于控制信息对车辆进行控制;车辆的前轮转向角与后轮转向角呈对称关系,车辆的中心位置安装定位系统,默认车辆的车头方向为正方向,在步骤2中,在计算目标方向盘转角时,根据全局路径规划计算得到车辆在全局路径上的最近点,计算车辆的正方向与最近点的切线方向的夹角,如果夹角大于90°,则将其正方向旋转180°。根据实际工况调整车辆的行驶挡位,有效提高作业效率,降低操作难度和碰撞风险,提高目标方向盘转角计算的简便性。


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    Titel :

    Port automatic driving vehicle control method


    Weitere Titelangaben:

    港口自动驾驶车辆控制方法


    Beteiligte:
    PAN YUANCHENG (Autor:in) / YU JIANBIN (Autor:in) / SHAO ZHIWEN (Autor:in) / HOU XUEFENG (Autor:in) / LIN YATING (Autor:in) / CHEN XING (Autor:in) / JIANG MING (Autor:in)

    Erscheinungsdatum :

    2023-05-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



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