The invention discloses an unmanned front wheel steering and backing tracking control method and terminal, and the method comprises the steps: obtaining a vehicle positioning point coordinate in real time through satellite positioning, and enabling a positioning point at the middle part of a front steering wheel to deviate from a vehicle tail part through a positioning point deviation algorithm, and obtaining a deviation positioning point coordinate; calculating a steering angle according to the offset positioning point coordinate and the target tracking positioning point coordinate; a steering wheel steering angle is calculated according to the steering angle matching, and a steering wheel is controlled; according to the invention, offset calculation is carried out on the coordinates of the satellite positioning point during tracking and backing, and subsequent control calculation is carried out based on the offset positioning point coordinates after offset calculation, so that the problems of positioning lag and inaccurate backing tracking driving caused by the fact that the vehicle positioning point is arranged in the middle of the steering wheel are avoided.
本发明公开了一种无人驾驶的前轮转向倒车的循迹控制方法与终端,通过卫星定位实时获取车辆定位点坐标,通过定位点偏移算法,将前转向轮中部的定位点偏移值车尾部,得到偏移定位点坐标;根据所述偏移定位点坐标以及目标循迹定位点坐标,计算转向角度;根据所述转向角度匹配计算方向盘转向角度,对方向盘进行控制;本发明在循迹倒车时对卫星定位点坐标进行偏移计算,并基于偏移计算后的偏移定位点坐标进行后续的控制计算,避免了由于车辆定位点设置于转向轮中部,导致定位滞后,倒车循迹驾驶不准确的问题。
Unmanned front wheel steering and backing tracking control method and terminal
一种无人驾驶的前轮转向倒车的循迹控制方法与终端
2024-02-06
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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