CN109491364B - Driving robot system for vehicle testing and control method - Google Patents
Driving robot system for vehicle testing and control method Download PDFInfo
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- CN109491364B CN109491364B CN201811377453.0A CN201811377453A CN109491364B CN 109491364 B CN109491364 B CN 109491364B CN 201811377453 A CN201811377453 A CN 201811377453A CN 109491364 B CN109491364 B CN 109491364B
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- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
本发明公开了一种用于车辆测试的驾驶机器人系统及控制方法，通过轨迹跟踪单元用于实现驾驶机器人系统对预设的行驶轨迹进行高精度的跟随控制，通过调整车辆的前轮转角和行驶速度，使得车辆跟随预设的目标轨迹行驶，从而实现了将高精度轨迹跟踪单元的目标指令下发至测试车辆，实现对车辆的运动控制。远程数据传输单元用于实现被测试车辆和监控中心的实时全双工通信，监控中心可以随时下发指令控制被测试的车辆，车内的驾驶机器人系统则实时采集被测试车辆的车辆状况信息，实现了对被测试车辆状态的远程监控。本发明采用定位技术与高精度轨迹跟踪技术相结合的方式实现封闭试验场内被测试车辆的自动测试，控制精度高、重复性好、耐久性强。
The invention discloses a driving robot system and a control method for vehicle testing. A trajectory tracking unit is used to realize high-precision following control of the driving robot system on a preset driving trajectory by adjusting the front wheel turning angle and driving of the vehicle. speed, so that the vehicle follows the preset target trajectory, so that the target command of the high-precision trajectory tracking unit is sent to the test vehicle, and the motion control of the vehicle is realized. The remote data transmission unit is used to realize real-time full-duplex communication between the vehicle under test and the monitoring center. The monitoring center can issue commands to control the vehicle under test at any time, and the driving robot system in the vehicle collects the vehicle status information of the vehicle under test in real time. The remote monitoring of the state of the tested vehicle is realized. The invention adopts the combination of the positioning technology and the high-precision trajectory tracking technology to realize the automatic test of the vehicle under test in the closed test field, and has high control precision, good repeatability and strong durability.
Description
Technical Field
The invention relates to the technical field of automatic vehicle driving, in particular to a driving robot system for vehicle testing and a control method.
Background
According to the national legal and legal requirements, all vehicles must be subjected to strict sizing tests and tests before being delivered to the factory and sold, and one important link in the tests is to test the vehicle performance in a closed automobile test field. In a closed automobile test field, a tested vehicle passes through various typical road surfaces such as belgium roads, wading roads and the like according to requirements. At present, in the testing link, a manual driver is still adopted to drive a tested vehicle to pass through the road section, and the evaluation index of the vehicle performance is obtained by long-time repeated driving. The manual driving test has the defects of high labor cost, incapability of testing in full time, great harm to the body of a driver and the like.
Disclosure of Invention
The invention aims to provide a driving robot system and a control method for vehicle testing, which overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a driving robot system for vehicle testing comprises a control unit, a positioning and navigation unit, a track tracking unit, a mechanical execution component control unit and a remote data transmission unit, wherein the positioning and navigation unit, the track tracking unit, the mechanical execution component control unit and the remote data transmission unit are connected with the control unit;
the positioning and navigation unit is used for acquiring longitude and latitude position information of the vehicle and heading information of the vehicle in real time under a global coordinate system and transmitting the acquired information to the control unit;
the track tracking unit is used for tracking the motion track of the vehicle and transmitting tracking track information to the control unit;
the mechanical execution component control unit is connected with the control unit and the vehicle execution component and executes the control signal transmitted by the control unit;
the remote data transmission unit is used for data transmission between the control unit and the monitoring center;
the controller unit is used for receiving the position information sent by the positioning and navigation unit and sending a control signal to be executed to the mechanical execution part control unit.
Furthermore, the positioning and navigation unit comprises a UWB positioning system which is preset in an integrated navigation and test field, the integrated navigation comprises a differential GPS, an inertial navigation unit and a wheel speed meter unit, and the UWB positioning system comprises a vehicle-mounted unit and a road side beacon unit.
Further, the vehicle execution component adopts a direct current brushless motor as power output.
A control method of a robot system for driving, comprising the steps of:
step 1), acquiring longitude and latitude position information and vehicle heading information of a vehicle under a global coordinate system in real time through a positioning and navigation unit;
step 2), converting the longitude and latitude position information and the course information obtained in the step 1) into a global coordinate system position through coordinate conversion;
step 3), according to the position of the local coordinate system, a track tracking algorithm is adopted to realize high-precision tracking of the vehicle motion track;
and 4) obtaining target control information of the drive-by-wire execution component through the step 3).
Further, the global coordinate system position is converted into the local coordinate system position formula as follows:
(xlocal,ylocal,α)＝Tconv(latitude,longitude,heading)
wherein alpha is the front wheel slip angle of the vehicle.
Further, the trajectory tracking algorithm includes the following:
in the vehicle body coordinate oxlocalylocalIn, P (x)local,ylocal) For planning a point on the path, L is the chord length of an arc where the automobile runs and is the forward-looking distance of the automobile in motion, and R is the radius of the arc section; the magnitude of the front wheel steering angle is obtained as follows:
h: a vehicle wheel base; p: a lateral distance between the vehicle and the planned path;
the tracking algorithm is formulated as follows:
(αTarget,FCtarget,BCTarget,HCTarget)＝Functionpurepursuit(Mtrajectory,xlocal,ylocal,α)
wherein alpha isTargetIs the steering wheel target position information, FC, of the next control moment calculated by the tracking algorithmTargetIs the target throttle opening information, BC, for the next control momentTargetTarget braking quantity information at the next control moment, wherein the control of the accelerator and the braking quantity belongs to a decoupling relation; HCTargetIs the target gear information of the next control moment.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a driving robot system for vehicle testing, which comprises a control unit, a positioning and navigation unit, a track tracking unit, a mechanical execution component control unit and a remote data transmission unit, wherein the positioning and navigation unit, the track tracking unit, the mechanical execution component control unit and the remote data transmission unit are connected with the control unit. The remote data transmission unit is used for realizing real-time full duplex communication between the tested vehicle and the monitoring center, the monitoring center can issue instructions at any time to control the tested vehicle, the test track and the test frequency are modified, the driving robot system in the vehicle acquires the vehicle condition information of the tested vehicle in real time and uploads the vehicle condition information to the monitoring center in real time, and remote monitoring of the state of the tested vehicle is realized. The invention realizes the automatic test of the tested vehicle in the closed test field by combining the positioning technology and the high-precision track tracking technology, and has high control precision, good repeatability and strong durability.
A driving robot system control method for vehicle testing is used for realizing high-precision following control of a driving robot system on a preset running track through a track tracking unit, and enables a vehicle to run along the preset target track by adjusting the rotation angle and the running speed of a front wheel of the vehicle, so that a target instruction of the high-precision track tracking unit is issued to a test vehicle, and motion control of the vehicle is realized.
Drawings
FIG. 1 is a schematic representation of a geometric representation of a pure tracking model;
FIG. 2 is a schematic flow diagram of the process of the present invention;
FIG. 3 is a diagram of a model structure of a robot control system according to the present invention;
fig. 4 is a structural view of the automobile driving robot system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
a driving robot system for vehicle testing comprises a control unit, a positioning and navigation unit, a track tracking unit, a mechanical execution component control unit and a remote data transmission unit, wherein the positioning and navigation unit, the track tracking unit, the mechanical execution component control unit and the remote data transmission unit are connected with the control unit;
the positioning and navigation unit is used for acquiring longitude and latitude position information of the vehicle and heading information of the vehicle in real time under a global coordinate system and transmitting the acquired information to the control unit;
the track tracking unit is used for tracking the motion track of the vehicle and transmitting tracking track information to the control unit;
the mechanical execution part control unit is connected with the control unit and executes the control signal transmitted by the control unit;
the remote data transmission unit is used for data transmission between the control unit and the monitoring center;
the controller unit is used for receiving the position information sent by the positioning and navigation unit and sending a control signal to be executed to the mechanical execution part control unit.
The positioning and navigation unit realizes stable and reliable vehicle positioning by combining a combined navigation and a UWB positioning system preset in a test field, the combined navigation comprises a differential GPS, an inertial navigation and a wheel speed meter unit, and the UWB positioning system comprises a vehicle-mounted unit and a road side beacon unit; the positioning and navigation unit is used for realizing high-precision self-positioning and attitude determination of the driving robot system in a test field;
the track tracking unit is used for realizing high-precision following of a preset running track by the driving robot system, and controlling and adjusting the front wheel rotation angle and the running speed of the vehicle through the control unit so that the vehicle runs along the preset target track;
the mechanical execution part control unit is connected with the control unit and the vehicle execution part, the vehicle execution part adopts a direct current brushless motor as power output, and the steering, braking, accelerator and gear of the tested vehicle are controlled in real time through a series of power generation devices and mechanical transmission devices, so that a target instruction of the high-precision track tracking unit is issued to the tested vehicle, and the motion control of the vehicle is realized;
the remote data transmission unit is used for realizing real-time full duplex communication between the tested vehicle and the monitoring center, the remote transmission unit adopts a V2X communication technology, the monitoring center can issue instructions at any time to control the tested vehicle, the test track and the test frequency are modified, the driving robot system in the vehicle acquires the vehicle condition information of the tested vehicle in real time and uploads the vehicle condition information to the monitoring center in real time, and the remote monitoring of the state of the tested vehicle is realized.
A control method of a robot driving system for vehicle testing, comprising the steps of:
step 1), acquiring longitude and latitude position information of a vehicle and heading information (latitude, longtude, heading) of the vehicle in a global coordinate system in real time through a positioning and navigation unit;
step 2), the longitude and latitude position information and the course information obtained in the step 1) can be converted into a global coordinate system position into a local coordinate system position only by coordinate conversion:
(xlocal,ylocal,α)＝Tconv(latitude,longitude,heading)
wherein alpha is the front wheel deflection angle of the vehicle;
step 3), after the position and the course data of the vehicle platform where the automatic driving system is located at the current moment relative to the test field coordinate system are obtained, high-precision tracking of the vehicle motion track is achieved by adopting a high-precision track tracking algorithm;
because under the test environment of the closed test field, when various road surface conditions are tested, the motion speed of the vehicle is always in a low-speed environment, the pure tracking algorithm can well meet the requirements:
as shown in fig. 1, at the vehicle body coordinate oxlocalylocalIn, P (x)local,ylocal) For the point on the planned path, L is the chord length of the circular arc traveled by the automobile and is the forward-looking distance of the automobile, and R is the radius of the arc. The magnitude of the steering angle of the front wheel can be obtained as follows:
h: a vehicle wheel base; p: a lateral distance between the vehicle and the planned path;
the traditional pure tracking algorithm needs to consider the driving safety of the vehicle and the comfort level of passengers in the vehicle, so that deviation is slight in the aspect of tracking precision, the driving robot system related by the invention does not need to consider the comfort level of the passengers in the vehicle, only needs to consider the driving safety constraint of the vehicle, and therefore the track tracking precision of the tested vehicle can be improved:
(αTarget,FCtarget,BCTarget,HCTarget)＝Functionpurepursuit(Mtrajectory,xlocal,ylocal,α)
wherein alpha isTargetIs the steering wheel target position information, FC, of the next control moment calculated by the tracking algorithmTargetIs the target throttle opening information, BC, for the next control momentTargetTarget braking quantity information at the next control moment, wherein the control of the accelerator and the braking quantity belongs to a decoupling relation; HCTargetTarget gear information at the next control moment; the target control information is output to a drive-by-wire execution component of the robot driving system through a CAN bus of the vehicle;
step 4), obtaining target control information of the wire control execution component through the step 3); in order to enable the driving robot system to be suitable for various vehicle types, the driving robot system adopts various electric driving systems as power sources, and adopts a transmission system to transmit power of the power system.
As shown in fig. 3, the mechanical leg of the accelerator adopts a stepping motor servo control mode to realize high-precision positioning of the accelerator; the braking mechanical leg is driven by a stepping motor, and the braking deceleration is controlled by self-adjusting the braking force; the gear shifting mechanical arm is a key execution component of a driving robot system, a seven-connecting-rod two-degree-of-freedom closed chain mechanism is adopted, two-joint angular displacement sensors are adopted to feed back moving information, the space displacement coordinate of the mechanical arm is determined according to the angular displacement, mechanical decoupling of movement in two directions of gear selection and gear engaging and disengaging is achieved on the premise that an automobile gear shifting mechanism is not required to be modified, and finally accurate control over the driving robot mechanical arm is achieved.
The driving robot obtains high-precision self-positioning information at a test site at the positioning and navigation unit, high-precision following control is carried out on a preset running track at the track tracking unit, and the vehicle runs along the preset target track by adjusting the front wheel rotating angle and the running speed of the vehicle. After the mechanical execution component unit obtains the control information, the steering, braking, throttle and gear of the tested vehicle are controlled in real time through a series of power generation devices and mechanical transmission devices, meanwhile, the vehicle condition information of the tested vehicle is collected in real time and uploaded to a monitoring center in real time to remotely monitor the state of the tested vehicle, and the monitoring center can also issue commands at any time to control the tested vehicle, modify the test track, test frequency and the like.
Structure of the driving robot referring to fig. 4, the main control computer receives information of current position, vehicle speed, engine speed, etc. of each actuator, calculates and outputs an actuator command signal in real time according to the obtained input data and data inputted into the memory in advance, and controls the starting and stopping of the engine. In addition, in order to ensure that the test vehicle and the test bed are protected from being damaged when faults such as overhigh cooling water temperature, tire burst, deviation and the like occur, the servo control of each actuating mechanism can adopt a pneumatic driving mode, an electric driving mode or a gas-electric hybrid driving mode, and the servo control unit receives signals of the main control unit and then drives the stepping motor or the air inlet and outlet electromagnetic valve on the air cylinder cavity to realize the control of the position of the stepping motor or the air cylinder. In order to realize the accurate positioning of the position of the accelerator, the mechanical leg of the accelerator adopts a motor servo control mode; the brake is controlled pneumatically by electrically adjustable braking force; the clutch is pneumatically controlled with electrically adjustable speed; the gear-shifting manipulator adopts a pneumatic seven-connecting-rod gear-shifting executing mechanism, the length of the connecting rod is optimally designed, and the mechanical decoupling of motion in two directions of gear selection and gear picking is realized, so that the simplified control of the mechanical decoupling of the gear-shifting motion is realized, the accurate positioning of any position of the manipulator can be realized by the unique cylinder positioning technology, and the action of the manipulator has the elasticity and the flexibility of human muscles by adopting pneumatic drive.
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