The invention discloses a sanitation vehicle trajectory tracking control system and method, and belongs to the technical field of sanitation vehicle control, and the system comprises a vehicle power system arranged on a sanitation vehicle, a plurality of sensor information collection devices, and a vehicle navigation system. The vehicle power system comprises an advancing motor, an advancing controller electrically connected with the advancing motor, a steering motor, a steering controller electrically connected with the steering motor, a transverse controller and a vehicle speed follower, wherein the transverse controller and the vehicle speed follower are arranged on the sanitation vehicle. The vehicle speed follower and the transverse controller are used for obtaining analog quantity voltage required by the longitudinal speed of the vehicle and the front wheel turning angle of the vehicle to conduct longitudinal control and transverse control on the vehicle, dynamic and accurate estimation of state parameters of the vehicle is achieved, and the dynamic control performance of the vehicle is effectively improved. Compared with an existing trajectory tracking method based on vehicle kinematics, transverse and longitudinal coordination control of the vehicle can be completed quickly and efficiently.

    本发明公开了一种环卫车辆轨迹跟踪控制系统及方法,属于环卫车辆控制技术领域,包括设置在环卫车辆上的车辆动力系统、多种传感器信息采集设备以及车辆导航系统,所述车辆动力系统包括:行进电机及与其电性连接的行进控制器和转向电机及与其电性连接的转向控制器,还包括设置在环卫车辆上的横向控制器和车速跟随器。本专利通过车速跟随器和横向控制器分别获取车辆纵向车速所需的模拟量电压和车辆前轮转角对车辆进行纵向控制和横向控制,实现对车辆状态参数动态精确估计,有效提升车辆动力学控制性能,相比现有的基于车辆运动学的方法来进行轨迹跟踪的方法,能够快速、高效的完成车辆的横向和纵向协调控制。


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    Title :

    Sanitation vehicle trajectory tracking control system and method


    Additional title:

    一种环卫车辆轨迹跟踪控制系统及方法


    Contributors:
    LI TIANYU (author) / LI SHAOQI (author) / YANG TINGYI (author) / HUANG SICHENG (author) / LIU HUIYING (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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