The invention discloses an auxiliary navigation control method for an unmanned vehicle. The method comprises the following steps: S1, starting the unmanned vehicle; s2, enabling a driving motor, setting a to-be-operated distance sensor and a to-be-operated speed gear, and then entering S3; s3, starting an auxiliary navigation function, and then entering S4; s4, whether LAB and LCF are both in [Lmin ', Lmax'] is judged, if yes, S6 is executed, and if not, S5 is executed; s5, sending out an alarm signal, and entering S13; s6, entering an automatic navigation mode, and entering S7; s7, executing the first delta t, and entering S8; S8, detecting to obtain LAB and LCF, and entering S9; according to the auxiliary navigation control method for the unmanned vehicle, the driving route of the unmanned vehicle is corrected by utilizing the road information provided by the curb, so that the auxiliary navigation function of the unmanned vehicle is realized, the unmanned vehicle navigation of differential steering assisted by sensing the curb is realized, and the sensing blind areas of a sweeping unmanned vehicle, a patrol unmanned vehicle, a meal delivery unmanned vehicle and the like on the curb can be filled.
本发明公开了一种无人车辅助导航控制方法,包括以下步骤:S1:启动无人车;S2:使能驱动电机,设置将要工作的距离传感器和速度档,然后进入S3;S3:开启辅助导航功能,然后进入S4;S4:判断LAB和LCF是否都在[Lmin′,Lmax′]中,如果是则进入S6,如果否则进入S5;S5:发出报警信号,进入S13;S6:进入自动导航模式,进入S7;S7:执行第一个Δt,进入S8:S8:检测得到LAB和LCF,进入S9;本无人车辅助导航控制方法利用路缘石提供的道路信息,修正无人车的行驶路线,实现无人车辅助导航的功能,实现了利用感知路缘石辅助差速转向的无人车导航,能够填补清扫无人车、巡逻无人车、送餐无人车等对路缘石的感知盲区。
Unmanned vehicle aided navigation control method
一种无人车辅助导航控制方法
2024-01-26
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08C Übertragungssysteme für Messwerte, Regel-, Steuer- oder ähnliche Signale , TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS |
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