CN108646747A - Agri-vehicle path tracking control method - Google Patents
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- CN108646747A CN108646747A CN201810568672.0A CN201810568672A CN108646747A CN 108646747 A CN108646747 A CN 108646747A CN 201810568672 A CN201810568672 A CN 201810568672A CN 108646747 A CN108646747 A CN 108646747A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004044 response Effects 0.000 claims description 18
- 230000010355 oscillation Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A kind of agri-vehicle path tracking control method, includes the following steps：The navigation sensor of agri-vehicle, rotary angle transmitter, vehicle speed sensor measure longitudinal heading angle deviation φ, path lateral tracing deviation d, car speed v and the front wheel angle α of vehicle current time t；It calculates t moment vehicle and it is expected front wheel angle β and rate controlling amount u (t)：The front wheel angle deviation e=β α are inputted into PID controller, PID controller control adjustment vehicle front wheel angle realizes the control in vehicle movement path；If current location has been the terminal of default working path, terminate path trace.The method of the present invention has the characteristics that path tracing precision higher, stability are good.This method tracks deviation nonlinear combination Controlling model using longitudinal direction of car heading angle deviation and path lateral, establishes that stability is good, responds the vehicle route tracking fast, with high accuracy using unstructured road surface.
Description
Technical field
The present invention relates to agri-vehicle, especially a kind of agri-vehicle path tracking control method.
Background technology
Precision agriculture because its saving is artificial and cost, improve in agricultural production process as farming, sowing, fertilising, spray and
The advantages that efficiency of production processes such as harvest, obtains emphasis research and development in multiple countries and promotes.Automated navigation system is essence
One of the core technology of quasi- agricultural.And agri-vehicle path tracking control method is one of core technology of automated navigation system,
There is very crucial influence to the precision of precision agriculture unmanned operation.However, agri-vehicle is mostly applied in unstructured road
On the road, the easily sliding out-of-flatness in road surface, mostly without apparent mark.Common automobile path tracking control method is mostly only applicable to structure
Change road, is poorly suitable for agri-vehicle application environment.Therefore, with preferable robustness and tracking accuracy be applicable in it is unstructured
The vehicle route tracking and controlling method of road is very crucial for precision agriculture automated navigation system.
It is not found in agricultural vehicle unstructured road path following control side through the literature search to the prior art
The document of method.In terms of vehicle route tracking and controlling method, Chinese invention patent《A kind of path trace side of pilotless automobile
Method》(application number CN 201710481831.9, publication number CN 107037818A) discloses a kind of path of pilotless automobile
Straight line path tracking and turning path tracking may be implemented in tracking.But it is non-structural that this control method is not suitable for farmland
Change road environment, and do not illustrate how to adjust travel direction according to lateral deviation, course angle and desired course angle, is not suitable for agriculture
Independent navigation under the complex environment of field and path trace.Chinese invention patent《Agricultural machine path tracking based on neural network
Control method》(application number CN200710028874.8, publication number CN 101078935A) discloses a kind of based on neural network
Agricultural machine path tracking control method has certain adaptive ability, but path trace deviation is larger, is not suitable with present
Precision agriculture development needs, and need in advance acquisition driver driving data, by driver's driving data sample influenced compared with
Greatly.
Invention content
It is an object of the invention to overcome above-mentioned disadvantage existing in the prior art, a kind of agri-vehicle path trace is provided
Control method, this method have the characteristics that path tracing precision higher, stability are good.This method is inclined using longitudinal direction of car course angle
Difference and path lateral track deviation nonlinear combination Controlling model, establish that stability is good, response is fast, with high accuracy using non-structural
Change the vehicle route tracking on road surface.
To achieve the above object, technical solution of the invention is as follows：
A kind of agri-vehicle path tracking control method, feature are that this method includes the following steps：
1) navigation sensor of agri-vehicle, rotary angle transmitter, vehicle speed sensor measure longitudinal boat of vehicle current time t
To angular displacement φ, path lateral tracing deviation d, car speed v and front wheel angle α；
2) longitudinal heading angle deviation φ, path lateral tracing deviation d, car speed v are inputted into vehicle control device,
The vehicle control device is calculated according to the following formula out to eliminate the t moment vehicle of path lateral tracing deviation d and heading angle deviation φ
It is expected that front wheel angle β：
In formula, L is adjustable parameter, and vehicle rear axle lateral deviation d is transformed into certain of vehicle body longitudinal central axis line by expression
The lateral deviation of a bit；K1, k2, k3 are the proportionality coefficient that vehicle it is expected front wheel angle β adjustment；
3) it presses following PID control model and calculates the output of t moment steering controller to the speed control for turning to executing agency
Measure u (t)：
Wherein, e (t) is the difference that t moment it is expected front wheel angle β (t) and actual front wheel corner α (t), i.e. front wheel angle is inclined
Poor e=β-α, the Kp、Ki、KdFor the proportionality coefficient, integral coefficient and differential coefficient of PID control；
4) the front wheel angle deviation e=β-α are inputted into PID controller, PID controller control adjustment vehicle front-wheel
Corner realizes the control in vehicle movement path；
5) if current location has been the terminal of default working path, enter step 6)；Otherwise step 1) is returned to；
6) terminate path trace.
Described k1, k2, the k3 is the proportionality coefficient that vehicle it is expected front wheel angle β adjustment, the value range of k1 be [0.8~
2.7], k2 value ranges are [0.6,1.7], and k3 value ranges are [0.5,1.8].
The method of adjustment of described k1, k2, the k3 is：When the adjustment response of vehicle course is slower, k1 should be increased；In vehicle
K1 should be reduced when vibrating larger.When vehicle adjustment d is relatively slow or d can not converge to smaller value, k2 should be increased；Otherwise work as vehicle
When course can not converge to smaller value or larger oscillation, k2 should be reduced；It should subtract when linear velocity overshoot is larger on vehicle
Small k3；K3 should be increased when linear velocity is too slow on vehicle.
The Kp、Ki、KdFor the proportionality coefficient, integral coefficient and differential coefficient of PID control, Kp、Ki、KdValue range
Respectively [0.8,1.4], [0.03,0.08], [0.01,0.11].
The Kp、Ki、KdMethod of adjustment be：When vehicle actual steering angle is slow relative to the response speed of desired corner,
Increase Kp, when vehicle rotational response vibrates, reduce Kp；When vehicle static error is larger, increase Ki；When vehicle corner
When response is vibrated, reduce Ki；When vehicle overshoot is larger, increase Kd, when vehicle rotational response vibrates, reduce Kd。
The present invention has the following advantages that compared with prior art and effect：
(1) path following method of the present invention uses two important informations of vehicle pose：Path trace lateral deviation and vertical
To heading angle deviation, is tracked, had high-precision with the Controlling model realizing route of a simple more deviation nonlinear transformation combinations
Degree control, calculation amount is small, real-time, is easy to realize on the embedded control system of low cost.
(2) present invention control agricultural machinery is automatic along default working path on the unstructured road surface such as such as paddy field, wetland
Walking, experiment show that maximum path tracking error is less than 10cm, and path trace error absolute average is less than 4cm, absolutely part
Tracking error average value is less than 2cm, and on nonirrigated farmland, precision higher improves path trace precision.
(3) present invention is suitable for auxiliary or the self-navigation walking of Intelligent agricultural machinery equipment, is applicable not only to nonirrigated farmland agriculture
The operation of industry machinery needs, and applies also for the automatically walk of the adverse circumstances agricultural machinery such as paddy field marsh, and essence is improved for China
The strategies such as quasi- Agricultural Level, development agriculture-countryside-farmer have very broad application prospects.
Description of the drawings
Fig. 1 is agri-vehicle path tracking control method schematic diagram of the present invention.
Fig. 2 is the flow chart of agri-vehicle path following method of the present invention.
Fig. 3 is agri-vehicle rotating direction control method schematic diagram provided in an embodiment of the present invention.
Fig. 4 is the path trace design sketch of water field trial of the embodiment of the present invention.
Fig. 5 is the path trace lateral deviation figure of water field trial of the embodiment of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail, but the present invention
Embodiment is without being limited thereto.
The present embodiment uses the vehicle route track side on unstructured road surface using foreign horse VP6D rice transplanters as test platform
Method.Specific implementation step is as follows：
Step 1, navigator fix sensor obtains vehicle course angle Φ1With hind axle center position coordinates Pr(xr,yr), such as
Shown in Fig. 1, according to the corresponding points P in preset patht(xt,yt) at path tangent line course angle Φ2Coordinate with 2 points calculates
Heading angle deviation φ, path lateral tracing deviation d of the vehicle at current time, the current advance of vehicle is measured by vehicle speed sensor
Speed v is measured current front wheel angle α by rotary angle transmitter；
The calculation formula of the heading angle deviation φ is as follows：
The calculation formula of the path lateral tracing deviation d is as follows：
Step 2, longitudinal heading angle deviation φ at agri-vehicle current time sensor measured, path lateral tracking are inclined
Poor d, car speed v input the path trace sjtu Controlling models, and the front wheel angle needed for vehicle is calculated according to the following formula out
β：
In formula, β is the expectation front wheel angle eliminated needed for path lateral tracing deviation d and heading angle deviation φ vehicles；L is
The parameter of adjustment indicates the lateral deviation that vehicle rear axle lateral deviation d is transformed into the certain point of vehicle body longitudinal central axis line；k1、
k2、k3For the proportionality coefficient of adjustment, k1Bigger, then the calculated front wheel angle β of the Controlling model is by path lateral tracing deviation
It is all bigger that d and heading angle deviation influence φ；k2Bigger, then the Controlling model more considers the influence of lateral deviation, it is on the contrary then
More influences for considering course angle；k3Bigger, then the Controlling model lateral deviation d nonlinear transformations are more easily accessible saturation
Area.It is determined by experiment, k1Value range is [0.8,2.7], k2Value range is [0.6,1.7], k3Value range be [0.5,
1.8].When the adjustment response of vehicle course is slower, k should be increased1；It should reduce k when vehicle oscillation relatively cries fast1.When vehicle adjusts
When d is relatively slow or d can not converge to smaller value, k should be increased2；Otherwise when vehicle course can not converge to smaller value or shake
When swinging larger, k should be reduced2.When vehicle reach the standard grade overshoot it is larger when should reduce k3；K should be increased when linear velocity is too slow on vehicle3。
The present embodiment takes k1=1, k2=1, k3=1.4, L are wheel base before and after vehicle；
Step 3, according to the calculated front wheel angle β of sjtu Controlling models and the current front wheel angle α of vehicle as steering system
System control input, with PID controller control steering action, vehicle fortune is realized in control vehicle adjustment front wheel angle and course
The control in dynamic path, as shown in Figure 3.
The calculation formula of steering PID controller output wherein used is as follows：
Wherein, e (t) is difference β (t)-α (t) that t moment it is expected front wheel angle β (t) and actual front wheel corner α (t)；Kp、
Ki、KdFor the proportionality coefficient, integral coefficient, differential coefficient of PID control, steering can be allowed to have by adjusting the value of this three
Satisfied response performance, to adapt to the needs of path following control algorithm.Through measuring, Kp、Ki、KdCan be [0.8,1.4],
[0.03,0.08], [0.01,0.11].Kp、Ki、KdMethod of adjustment is：Response of the vehicle actual steering angle relative to desired corner
When speed is slow, increase Kp.When vehicle rotational response vibrates, reduce Kp.Until there are one relatively satisfactory responses for vehicle corner
Speed.When vehicle static error is larger, increase Ki.When vehicle rotational response vibrates, reduce Ki.When vehicle overshoot is larger,
Increase Kd.When vehicle rotational response vibrates, reduce Kd.U (t) is that exporting for t moment steering controller gives steering execution machine
The rate controlling amount of structure, the i.e. input of speed ring, are set to the rotating speed of steering, you can control wheel steering angle is adjusted to
It is expected that wheel steering angle β.
In step 3, if current location has been the terminal of default working path, terminate path trace；Otherwise step is returned to
Rapid 1, continue to track default working path, until fulfiling assignment.As shown in Figure 2.
When water field test, on foreign horse VP6D rice transplanter test platforms, by the path tracking control method in ARM
It realizes in Cortex-A8 embedded systems, using Big Dipper global positioning system as navigator fix sensor and vehicle speed sensor, obtains
Pick up the car a course angle Φ1, hind axle center position coordinates Pr(xr,yr) and speed v, in gait of march in 0.7m/s or so, to water
Tanaka presets working path and carries out path trace.Fig. 4 be the path following method in paddy field to preset working path with
Track result.Fig. 5 is after artificially one initial lateral deviation of setting, and the path following method is in paddy field to presetting operation road
The lateral deviation figure of diameter tracking.
Test result shows that path following method of the present invention is suitable for the unstructured road surfaces such as paddy field, maximum transversal deviation
Average transverse absolute deviation for 0.092m, monoblock paddy-field-working path trace is 0.028m, improves agri-vehicle in paddy field
Path trace precision under environment meets requirement of the precision agriculture operation to path tracking accuracy.
Claims (5)
1. a kind of agri-vehicle path tracking control method, it is characterised in that this method includes the following steps：
1) navigation sensor of agri-vehicle, rotary angle transmitter, vehicle speed sensor measure longitudinal course angle of vehicle current time t
Deviation φ, path lateral tracing deviation d, car speed v and front wheel angle α；
2) longitudinal heading angle deviation φ, path lateral tracing deviation d, car speed v are inputted into vehicle control device, the vehicle
Controller is calculated according to the following formula out it is expected to eliminate the t moment vehicle of path lateral tracing deviation d and heading angle deviation φ
Front wheel angle β：
In formula, L is adjustable parameter, indicates the certain point that vehicle rear axle lateral deviation d is transformed into vehicle body longitudinal central axis line
Lateral deviation；K1, k2, k3 are the proportionality coefficient that vehicle it is expected front wheel angle β adjustment；
3) it presses following PID control model and calculates the output of t moment steering controller to the rate controlling amount u for turning to executing agency
(t)：
Wherein, e (t) is the difference that t moment it is expected front wheel angle β (t) and actual front wheel corner α (t), i.e. front wheel angle deviation e
=β-α, the Kp、Ki、KdFor the proportionality coefficient, integral coefficient and differential coefficient of PID control；
4) the front wheel angle deviation e=β-α are inputted into PID controller, is rotated before PID controller control adjustment vehicle
The control in vehicle movement path is realized at angle；
5) if current location has been the terminal of default working path, enter step 6)；Otherwise step 1) is returned to；
6) terminate path trace.
2. agri-vehicle path tracking control method according to claim 1, it is characterised in that described k1, k2, the k3 be
Vehicle it is expected the proportionality coefficient of front wheel angle β adjustment, and the value range of k1 is [0.8~2.7], k2 value ranges be [0.6,
1.7], k3 value ranges are [0.5,1.8].
3. agri-vehicle path tracking control method according to claim 1, which is characterized in that described k1, k2, the k3
Method of adjustment be：When the adjustment response of vehicle course is slower, k1 should be increased；It should reduce k1 when vehicle oscillation is larger.Work as vehicle
When adjustment d is relatively slow or d can not converge to smaller value, k2 should be increased；Otherwise when vehicle course can not converge to smaller value
Or when vibrating larger, k2 should be reduced；K3 should be reduced when linear velocity overshoot is larger on vehicle；When linear velocity is too slow on vehicle
When should increase k3.
4. agri-vehicle path tracking control method according to claim 3, which is characterized in that the Kp、Ki、KdFor
Proportionality coefficient, integral coefficient and the differential coefficient of PID control, Kp、Ki、KdValue range be respectively [0.8,1.4], [0.03,
0.08]、[0.01,0.11]。
5. agri-vehicle path tracking control method according to claim 4, which is characterized in that the Kp、Ki、Kd's
Method of adjustment is：When vehicle actual steering angle is slow relative to the response speed of desired corner, increase Kp, when vehicle rotational response is sent out
When raw oscillation, reduce Kp；When vehicle static error is larger, increase Ki；When vehicle rotational response vibrates, reduce Ki；Vehicle
When overshoot is larger, increase Kd, when vehicle rotational response vibrates, reduce Kd。
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Cited By (15)
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| CN110275529A (en) * | 2019-06-11 | 2019-09-24 | 东南大学 | Cropper intelligence auxiliary driving method based on median angle automatic adjusument |
| CN110703783A (en) * | 2019-11-11 | 2020-01-17 | 上海交通大学 | Algorithm for judging current reference track point in real time in unmanned track tracking |
| CN111806444A (en) * | 2020-05-29 | 2020-10-23 | 北汽福田汽车股份有限公司 | Vehicle transverse control method and device, medium, equipment and vehicle |
| CN112327836A (en) * | 2020-10-27 | 2021-02-05 | 南宁市第一人民医院 | Wheelchair automatic driving control method based on 5G technology and automatic driving wheelchair |
| CN112414404A (en) * | 2019-08-20 | 2021-02-26 | 中国科学院沈阳自动化研究所 | Automatic navigation modeling and control method of agricultural machinery based on steer-by-wire |
| CN112859844A (en) * | 2021-01-04 | 2021-05-28 | 中国神华能源股份有限公司国华电力分公司 | Method, device and communication system for controlling steering of movable device |
| CN112965373A (en) * | 2021-02-02 | 2021-06-15 | 上海华测导航技术股份有限公司 | Path tracking control method for agricultural and mining articulated vehicle |
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| CN113848953A (en) * | 2021-10-25 | 2021-12-28 | 济南大学 | Unmanned path tracking control method for large hydraulic plant protection machine |
| CN113911206A (en) * | 2021-11-29 | 2022-01-11 | 中国人民解放军陆军装甲兵学院士官学校 | Automatic control method of agricultural machine |
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| CN110275529A (en) * | 2019-06-11 | 2019-09-24 | 东南大学 | Cropper intelligence auxiliary driving method based on median angle automatic adjusument |
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