The invention provides a load trajectory tracking method and device for an unmanned vehicle. The method comprises the following steps: obtaining parameter information and an Ackermann kinematics modelof the unmanned vehicle; calculating the total mass of the vehicle body load at the current moment according to the parameter information; calculating average load mass according to the vehicle bodyload total mass at the current moment; constructing a vehicle kinematics model according to the Ackermann kinematics model; under different front wheel turning angle conditions, calculating position information and orientation information of the unmanned vehicle in n control periods according to the vehicle kinematics model; determining a front wheel turning angle control quantity according to theposition information and orientation information of the unmanned vehicle in the n control periods; and dynamically estimating the vehicle load in real time by analyzing the parameter information of the unmanned vehicle. By constructing the vehicle kinematics model, the computational complexity of control is greatly reduced under the condition of ensuring that the vehicle quickly realizes trajectory tracking.
本发明提供了无人车辆的载荷轨迹跟踪方法和装置,包括:获取无人车辆的参数信息和阿克曼运动学模型;根据参数信息计算当前时刻的车身载荷总质量;根据当前时刻的车身载荷总质量计算平均载荷质量;根据阿克曼运动学模型构建车辆运动学模型;在不同的前轮转角条件下,根据车辆运动学模型计算n个控制周期内无人车辆的位置信息和朝向信息;根据n个控制周期内无人车辆的位置信息和朝向信息,确定前轮转角控制量;通过分析无人车辆的参数信息,实时动态估算车辆载荷;通过构建车辆运动学模型,在保证车辆快速实现轨迹跟踪的情况下,大大降低控制的计算复杂度。
Load trajectory tracking method and device for unmanned vehicle
无人车辆的载荷轨迹跟踪方法和装置
2021-04-02
Patent
Electronic Resource
Chinese
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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