The embodiment of the invention relates to a target following control method for a speed difference slip steering vehicle. The method is characterized in that the method comprises the steps of receiving a control instruction sent by an interaction device; the control instruction comprising transmission protocol information; determining whether the vehicle enters a following mode according to the transmission protocol information; when the vehicle enters the following mode, obtaining the distance between the vehicle and a preset target following object; comparing the distance with preset distance threshold values, and when the distance is between a preset first distance threshold value and a preset second distance threshold value, determining that the following mode is an in-situ steering mode; the first distance threshold value being smaller than the second distance threshold value; and in the pivot steering mode, obtaining the first moving angle information of the target following object, generating a first pivot steering control signal according to the first moving angle information, and carrying out pivot steering through the first pivot steering control signal.
本发明实施例涉及一种速差滑移转向车辆的目标跟随控制方法,其特征在于,目标跟随控制方法包括:接收交互装置发送的控制指令;控制指令包括传输协议信息;根据传输协议信息,确定车辆是否进入跟随模式;当车辆进入跟随模式时,获取车辆与预设的目标跟随对象之间的距离;将距离与预设的距离阈值进行比较,当距离处于预设的第一距离阈值和预设的第二距离阈值之间时,确定跟随模式为原地转向模式;其中,第一距离阈值小于第二距离阈值;当为原地转向模式时,获取目标跟随对象的第一移动角度信息,并根据第一移动角度信息,生成第一原地转向控制信号,并通过第一原地转向控制信号进行原地转向。
Target following control method and device for speed difference slip steering vehicle
一种速差滑移转向车辆的目标跟随控制方法和装置
2021-06-25
Patent
Electronic Resource
Chinese
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