CN108153297A - A kind of unmanned ground vehicle vehicle-mounted motion control method and onboard system - Google Patents
A kind of unmanned ground vehicle vehicle-mounted motion control method and onboard system Download PDFInfo
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- CN108153297A CN108153297A CN201710118310.7A CN201710118310A CN108153297A CN 108153297 A CN108153297 A CN 108153297A CN 201710118310 A CN201710118310 A CN 201710118310A CN 108153297 A CN108153297 A CN 108153297A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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Abstract
The present invention provides a kind of motion control methods and onboard system of unmanned ground vehicle onboard system, this method includes reading and analyzing the motion control instruction received, judges motion mode according to the urgent danger prevention functional requirement and urgent danger prevention mark that drive manipulation setting；The vehicular motion control decision module in the system connects and reads onboard system monitoring module, onboard system parameter configuration management module, vehicle positioning orientation module, vehicle-mounted formation maneuvering planning module and the vehicle-mounted order that sends out of planning tracking module.The various control pattern of the efficient unmanned platform of management provided by the invention, improves the flexibility of pattern switching, can monitor the abnormal conditions under various control pattern simultaneously, ensure that the reliability operation of system.
Description
Technical field
The present invention relates to a kind of unmanned ground vehicle autocontrol method, in particular to a kind of unmanned ground vehicle is vehicle-mounted
Motion control method and onboard system.
Background technology
Unmanned ground vehicle includes the control of the various modes such as remote driving, independent navigation, needs to apply need according to different
Actual environment of summing carries out different pattern switchings.The control of unmanned ground vehicle system is complicated, is related to motor platform feedback of status
Receive and feed back with execution, external environmental information input, control instruction etc., it needs to carry out different control instructions and interactive information
Comprehensive analysis, to determine the motion control instruction performed required for unmanned platform.
In the prior art, most of unmanned platform carries out pattern switching by the way of manual intervention, without automatic
Handoff functionality, it is inconvenient when carrying out test adjustment and performing task.
The prior art exists following insufficient：
(1) pattern switching is dumb.Lack and flexibly switch remote driving, independent navigation isotype under different working condition
Means are needed by means of manual intervention.
(2) decision system is not perfect.Current unmanned platform lacks effective comprehensive managing and control system, to supervise different controls
State of motion of vehicle under molding formula is noted abnormalities and is recorded, reports in time.
In order to overcome the deficiencies of the prior art, it is desirable to provide a kind of unmanned platform intelligent movement Decision Control method.
Invention content
To meet the needs of prior art development, the present invention provides a kind of unmanned ground vehicle vehicular motion control decisions
Method.
The motion control method of unmanned ground vehicle onboard system provided by the invention, it is improved in that the side
Method includes：
It reads and analyzes the motion control instruction and positioning and directing that include remote driving and autonomous driving order that receive
Information, requirement is enabled according to the urgent danger prevention for driving manipulation setting and the mark that stops in emergency judges motion mode, and reading is run over
Parameter in journey, and issue control instruction.
Preferably, the analysis of motion control instruction during remote driving includes：
According to the remote driving order of reading and positioning and directing information, determine it is that the mark that stops in emergency puts 1, transmission promptly stops
Vehicle order terminates the motion control period；Still the mark that stops in emergency does not put 1, reads the throttle of remote driving order, brakes and turn
To data, and analyze remote driving instruction.
Preferably, the analysis remote driving instruction includes：
It is enabled according to the hedging of remote driving mode command and puts 1, read hedging map path message, perform urgent danger prevention simultaneously
The instruction of stopping in emergency of remote driving order is sent, terminates the motion control period；Or, to chassis send remote driving order after
Continuous driving instruction.
Preferably, the analysis of motion control instruction during autonomous driving includes：
Order and positioning and directing information are driven according to the distant control function of reading, the mark that determines to stop in emergency puts 1, sends urgent
Parking order terminates the motion control period；Still the mark that stops in emergency does not put 1, reads disappearing for autonomous driving order accessory channel
Breath, and judge whether the steering of remote driving order and brake are 0.
Preferably, if the steering and brake of the remote driving order are 0, the desired speed of autonomous driving order is read
And curvature, and it is assigned to chassis management and control autonomous driving command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read the message of hedging map and perform urgent danger prevention,
Send the order of stopping in emergency of remote driving order；Otherwise, send remote driving order continues traveling order.
Preferably, if the steering and brake of the remote driving order be not for 0, read remote driving order throttle,
Brake and desired curvature information are simultaneously assigned to chassis management and control manual intervention command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read hedging map message and perform urgent danger prevention, send out
The order of stopping in emergency of work of making a gift to someone intervention command；Otherwise, send artificial intervention command continues traveling order.
A kind of onboard system of motion control method using unmanned ground vehicle onboard system, the system comprises：
The vehicular motion control decision module travels life for receiving the formation maneuvering that onboard system monitoring module issues
It enables, and analyzes the algorithm of formation maneuvering traveling order；According to the urgent danger prevention functional requirement and urgent danger prevention for driving manipulation setting
Mark judges motion mode；
Onboard system monitoring module, the onboard system parameter configuration pipe of the vehicular motion control decision module reading order
Manage module, vehicle positioning orientation module, vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module.
Preferably, the onboard system with including environment sensing map building module and urgent danger prevention map building module
External system cooperates；The environment sensing map building module and urgent danger prevention map building module, for for the vehicle
Loading system provides cartographic information and sector planning map.
Preferably, the onboard system monitoring module, for receiving the long-range order for driving manipulation unit and sending out；Monitoring car
The operating status of loading system；Self-test is carried out extremely to onboard system；
Onboard system parameter configuration management module acquisition and sensors configured parameter, acquire and send chassis parameter and
Chassis positioning and directing device parameter；
The vehicle positioning orientation module, for driving the location information for manipulating unit and sending all vehicles to long-range；
The vehicle-mounted formation maneuvering planning module for judging this vehicle role, performs formation maneuvering planning algorithm, and send
Reference path and reference velocity；
The vehicle-mounted planning tracking module, for according to reference velocity, reference path and travel condition of vehicle information planning
Vehicle operating path adjusts travel speed.
Compared with the latest prior art, technical solution provided by the invention has the advantages that：
1st, vehicular motion control decision method provided by the invention, by read and analyze receive include remote driving
With the motion control instruction of autonomous driving order and positioning and directing information, and according to drive manipulation setting urgent danger prevention enable will
Summation stop in emergency mark judge motion mode, issue control instruction, realize unmanned platform to remote driving, autonomous driving mould
The comprehensive analysis of different control instructions under formula, execution motion control instruction, ensures simultaneously needed for the unmanned platform that can make decisions on one's own
The ability of unmanned platform collision prevention safety.
2nd, the various control pattern of the efficient unmanned platform of management provided by the invention, improves the flexibility of pattern switching,
The abnormal conditions under various control pattern can be monitored simultaneously, ensure that the operational reliability of system.
Description of the drawings
Fig. 1 is the flow chart of unmanned ground vehicle vehicular motion control decision method provided by the invention；
Fig. 2 is the state diagram of unmanned ground vehicle vehicular motion control decision method provided by the invention；
Fig. 3 is remote driving order flow chart provided by the invention；
Fig. 4 is autonomous driving order flow chart provided by the invention；
Fig. 5 is onboard system structure diagram provided by the invention.
Specific embodiment
Below with reference to Figure of description, technical solution provided by the invention is discussed in detail in a manner of specific embodiment.
Decision-making technique provided by the invention carries out remote driving motion control instruction, independent navigation motion control instruction
Comprehensive analysis, execution motion control instruction needed for the unmanned platform of decision, as shown in Figure 1, this method includes：
Step 1 reads the motion control instruction that system monitoring is sent, the analysis platform maneuver model to be performed；
If step 2 remote driving pattern, remote driving motion control instruction is read；
If step 3 autonomous driving pattern, following steps are performed：
Step 3.1 reads autonomous driving motion control instruction and remote driving motion control instruction；
Step 3.2 judges whether current kinetic is manual intervention under autonomous driving pattern；
The urgent danger prevention functional requirement that step 4 is set according to manipulation is driven carries out safety judgement to motion control instruction,
If decision instruction is dangerous, hedging parking；Otherwise send instructions down；
Step 5 to vehicle-mounted independent navigation planning software send unmanned platform current motion state (current vehicle speed and curvature) or
Hedging cutoff command.
The flow of remote driving order is as shown in Figure 3：
Remote driving order and positioning and directing information are read, if the mark that stops in emergency puts 1, sends order of stopping in emergency,
Terminate the motion control period；
Otherwise, throttle, brake and the steering data of remote driving order are read, and analyze remote driving instruction.
If the hedging of remote driving mode command, which enables, puts 1, hedging map path message is read, performs urgent danger prevention simultaneously
The instruction of stopping in emergency of remote driving order is sent, terminates the motion control period；Otherwise, remote driving order is sent to chassis
Continue driving instruction.
The flow chart of autonomous driving order is as shown in Figure 4：
It reads distant control function and drives order and positioning and directing information, if the mark that stops in emergency puts 1, send life of stopping in emergency
It enables, terminates the motion control period；
Otherwise, the message of autonomous driving order accessory channel is read, and judges that the steering of remote driving order and brake are
No is 0.
If the steering and brake of the remote driving order are 0, the desired speed and curvature of autonomous driving order are read,
And it is assigned to chassis management and control autonomous driving command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read the message of hedging map and perform urgent danger prevention,
Send the order of stopping in emergency of remote driving order；Otherwise, send remote driving order continues traveling order.
If the steering and brake of the remote driving order are not 0, throttle, brake and the phase of remote driving order are read
It hopes curvature information and is assigned to chassis management and control manual intervention command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read hedging map message and perform urgent danger prevention, send out
The order of stopping in emergency of work of making a gift to someone intervention command；Otherwise, send artificial intervention command continues traveling order.
State transformational relation figure as shown in Figure 2, it is specific as shown in table 1：
1 unmanned ground vehicle vehicular motion control decision method state transformational relation of table
The onboard system of application control decision-making technique, structure chart as shown in figure 5, including：
The vehicular motion control decision module travels life for receiving the formation maneuvering that onboard system monitoring module issues
It enables, and analyzes the algorithm of formation maneuvering traveling order；According to the urgent danger prevention functional requirement and urgent danger prevention for driving manipulation setting
Mark judges motion mode；
Onboard system monitoring module, the onboard system parameter configuration pipe of the vehicular motion control decision module reading order
Manage module, vehicle positioning orientation module, vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module.
The onboard system monitoring module, for receiving the long-range order for driving manipulation unit and sending out；Monitor onboard system
Operating status；Self-test is carried out extremely to onboard system；
Onboard system parameter configuration management module acquisition and sensors configured parameter, acquire and send chassis parameter and
Chassis positioning and directing device parameter；
The vehicle positioning orientation module, for driving the location information for manipulating unit and sending all vehicles to long-range；
The vehicle-mounted formation maneuvering planning module for judging this vehicle role, performs formation maneuvering planning algorithm, and send
Reference path and reference velocity；
The vehicle-mounted planning tracking module, for according to reference velocity, reference path and travel condition of vehicle information planning
Vehicle operating path adjusts travel speed.
The onboard system with being including environment sensing map building module and the external of urgent danger prevention map building module
System cooperates；The environment sensing map building module and urgent danger prevention map building module, for for the onboard system
Cartographic information and sector planning map are provided.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skill in the art still can to the present invention specific embodiment into
Row modification either equivalent replacement these without departing from any modification of spirit and scope of the invention or equivalent replacement, applying
Within the claims of the pending present invention.
Claims (9)
1. a kind of motion control method of unmanned ground vehicle onboard system, which is characterized in that the method includes：
Read and analyze receive include remote driving and the motion control instruction of autonomous driving order and positioning and directing information,
Urgent danger prevention according to manipulation setting is driven enables requirement and the mark that stops in emergency judges motion mode, reads in driving process
Parameter, and issue control instruction.
2. the method as described in claim 1, which is characterized in that the analysis bag when motion control instruction is remote driving
It includes：
According to the remote driving order of reading and positioning and directing information, determine it is that the mark that stops in emergency puts 1, transmission is stopped in emergency life
It enables, terminates the motion control period；Still the mark that stops in emergency does not put 1, reads throttle, brake and the steering number of remote driving order
According to, and analyze remote driving instruction.
3. method as claimed in claim 2, which is characterized in that the analysis remote driving instruction includes：
It is enabled according to the hedging of remote driving mode command and puts 1, read hedging map path message, perform urgent danger prevention and sent
The instruction of stopping in emergency of remote driving order terminates the motion control period；Or, to chassis send remote driving order after continuing
Sail instruction.
4. the method as described in claim 1, which is characterized in that the analysis bag when motion control instruction is autonomous driving
It includes：
Order and positioning and directing information are driven according to the distant control function of reading, the mark that determines to stop in emergency puts 1, and transmission is stopped in emergency
Order terminates the motion control period；Still the mark that stops in emergency does not put 1, reads the message of autonomous driving order accessory channel, and
Whether the steering and brake for judging remote driving order are 0.
5. method as claimed in claim 4, which is characterized in that if the steering and brake of the remote driving order are 0, read
The desired speed and curvature of main driving order are derived from, and is assigned to chassis management and control autonomous driving command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read the message of hedging map and perform urgent danger prevention, send
The order of stopping in emergency of remote driving order；Otherwise, send remote driving order continues traveling order.
6. method as claimed in claim 4, which is characterized in that if the steering and brake of the remote driving order are not 0,
It reads throttle, brake and the desired curvature information of remote driving order and is assigned to chassis management and control manual intervention command messages；
And when the hedging enabler flags of autonomous driving pattern put 1, read hedging map message and perform urgent danger prevention, sender
The order of stopping in emergency of work intervention command；Otherwise, send artificial intervention command continues traveling order.
7. a kind of onboard system using motion control method described in claim 1-6, which is characterized in that the system comprises：
The vehicular motion control decision module travels order for receiving the formation maneuvering that onboard system monitoring module issues,
And analyze the algorithm of formation maneuvering traveling order；The urgent danger prevention functional requirement of setting and urgent danger prevention mark are manipulated according to driving
Judge motion mode；
The vehicular motion control decision module connects and reads onboard system monitoring module, onboard system parameter configuration management mould
The order that block, vehicle positioning orientation module, vehicle-mounted formation maneuvering planning module and vehicle-mounted planning tracking module are sent out.
8. system as claimed in claim 7, which is characterized in that the onboard system is with including environment sensing map building module
It cooperates with the external system of urgent danger prevention map building module；The environment sensing map building module and urgent danger prevention
Figure creation module for creating environment sensing map, and provides sector planning map in onboard system operation irregularity.
9. system as claimed in claim 7, which is characterized in that the onboard system monitoring module, for receiving long-range driving
The order that manipulation unit is sent out；Monitor the operating status of onboard system；Check onboard system abnormal operating condition；
The onboard system parameter configuration management module：For acquiring simultaneously sensors configured parameter；For acquiring and sending chassis
Parameter and chassis positioning and directing device parameter；
The vehicle positioning orientation module, for sending vehicle in itself and the positioning of other vehicles to the long-range manipulation unit that drives
Information；
The vehicle-mounted formation maneuvering planning module for judging this vehicle role, performs formation maneuvering planning algorithm, and send reference
Path and reference velocity；
The vehicle-mounted planning tracking module, for according to reference velocity, reference path and travel condition of vehicle information planning vehicle
Operating path adjusts travel speed.
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| CN201710118310.7A CN108153297A (en) | 2017-03-01 | 2017-03-01 | A kind of unmanned ground vehicle vehicle-mounted motion control method and onboard system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109101014A (en) * | 2018-07-20 | 2018-12-28 | 驭势科技（北京）有限公司 | A kind of intelligent driving vehicle remote control apparatus, method and storage medium |
| CN110390810A (en) * | 2019-07-25 | 2019-10-29 | 中国科学院合肥物质科学研究院 | A remote control and remote control method for a high-mobility ground unmanned platform |
| CN111815115A (en) * | 2020-06-08 | 2020-10-23 | 中国北方车辆研究所 | A universal command and command system with interoperability for heterogeneous ground unmanned platforms |
| CN113360229A (en) * | 2021-06-02 | 2021-09-07 | 哈尔滨理工大学 | Human-in-the-loop aid decision control system framework and functional module composition of foot type mobile equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111815115B (en) * | 2020-06-08 | 2024-11-08 | 中国北方车辆研究所 | An interoperable universal command and control system for heterogeneous ground unmanned platforms |
| CN113360229A (en) * | 2021-06-02 | 2021-09-07 | 哈尔滨理工大学 | Human-in-the-loop aid decision control system framework and functional module composition of foot type mobile equipment |
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Application publication date: 20180612 |