CN113253743A - Near-end capturing method for reconfigurable autonomous docking process of unmanned vehicle - Google Patents
Near-end capturing method for reconfigurable autonomous docking process of unmanned vehicle Download PDFInfo
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- CN113253743A CN113253743A CN202110754766.9A CN202110754766A CN113253743A CN 113253743 A CN113253743 A CN 113253743A CN 202110754766 A CN202110754766 A CN 202110754766A CN 113253743 A CN113253743 A CN 113253743A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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Abstract
The invention provides a near-end capturing method for an autonomous docking process of a reconfigurable unmanned vehicle, which is used for determining docking time in the docking process of the reconfigurable unmanned vehicle, so that an unmanned vehicle unit can quickly reach the pose of a docking requirement, and the docking efficiency is improved. The near-end capturing method provides two judgment conditions of posture judgment and position judgment, when the two judgment conditions are simultaneously met, the two unmanned vehicle units to be butted are shown to be in the butt joint time, the movable end and the fixed end can be butted, and the complex control requirement of the reconfigurable unmanned vehicle autonomous topology reconfiguration can be met by adopting the method.
Description
Technical Field
The invention relates to a near-end capturing method in an autonomous docking process of a reconfigurable unmanned vehicle, and belongs to the technical field of unmanned vehicles.
Background
The unmanned vehicle can independently execute functional tasks such as logistics, transportation, distribution, patrol, public transportation, retail, cleaning, connection, rescue and the like, and is a core element for future intelligent transportation and smart city construction. It is expected that most tasks will be completed by unmanned vehicles instead of human beings in future transportation and travel and human life, and vehicles will be evolved from traditional vehicles into intelligent carriers for performing functional tasks, and have great influence on the development of human society. Compared with the traditional intelligent networked automobile, the unmanned automobile aims at executing functional tasks, does not have a human driving mechanism, subverts the basic design concept of the traditional automobile centered on human, and has innovative and flexible configuration, and revolutionary changes of basic characteristics such as system architecture and the like. Therefore, the fundamental theory and key technology of the unmanned vehicle must realize original breakthrough, is a brand new challenge brought by the era of intelligent vehicles, and is a research hotspot in the international and domestic fields.
With the continuous expansion of the connotation of intelligent transportation and smart cities in the future, the development of unmanned vehicles faces major challenges of complex and variable execution tasks, three-dimensional and multidimensional running environments, continuous expansion of functional requirements, single limitation of carrier configuration and the like. Obviously, the traditional unmanned vehicle with a fixed configuration has difficulty in meeting the challenges and cannot meet the requirements of the intelligent transportation and the smart city for a novel intelligent vehicle in the future. The reconfigurable unmanned vehicle technology can thoroughly break through the form constraint of the traditional fixed configuration unmanned vehicle, the reconfigurable unmanned vehicle can independently realize complex functions such as function reconfiguration, topology reconfiguration and the like, the independent combination, butt joint and disassembly among multiple unmanned vehicle units are realized, the reconfigurable unmanned vehicle technology comprehensively expands the function task execution boundary of the unmanned vehicle, and the reconfigurable unmanned vehicle technology is expected to become a subversive innovation technology in the future. In the reconfigurable unmanned vehicle technology, how to determine the docking time after the two unmanned vehicle units to be docked are converged is the key for ensuring smooth and safe docking.
Disclosure of Invention
In view of the above, the invention provides a near-end capturing method for an autonomous docking process of a reconfigurable unmanned vehicle, which is used for determining a docking opportunity in the docking process of the reconfigurable unmanned vehicle, so that an unmanned vehicle unit can rapidly reach a docking requirement pose, and the docking efficiency is improved.
The reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units; each unmanned vehicle unit is provided with a docking mechanism for realizing docking, each docking mechanism comprises a movable end and a fixed end, and during docking, the movable end of the docking mechanism on one unmanned vehicle unit is docked with the fixed end of the docking mechanism on the other unmanned vehicle unit;
when the two unmanned vehicle units are butted, the unmanned vehicle unit for providing the movable end of the butting structure is an active butting vehicle, and the unmanned vehicle unit for providing the fixed end of the butting structure is a passive butting vehicle;
in the process that the active docking vehicle approaches the passive docking vehicle, firstly, attitude judgment is carried out, and the constraint conditions of the attitude judgment are as follows:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ C capturing a self course angle in a judging coordinate system for the active docking car at the near end;γ Dlim the limit direction-seeking angle is an included angle between a butt joint plane of the passive butt joint vehicle and a transverse plane of the active butt joint vehicle; the near-end capturing and distinguishing coordinate system is a coordinate system which takes the positioning center of the passive docking car as the origin of coordinates, the longitudinal direction of the passive docking car is the x direction, and the transverse direction of the passive docking car is the y direction;
if the course angle of the active docking vehicle meets the constraint condition, entering position judgment; if not, the active opposite-direction receiving vehicle carries out course adjustment until the course angle of the active opposite-direction receiving vehicle meets the constraint condition;
the constraint conditions for the position judgment are as follows:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein: (X C，Y C) Capturing the coordinates of the positioning center of the active docking car in the near-end judging coordinate system;X lim ，Y lim the longitudinal and transverse limit movement distances of the movable end of the butt joint structure on the active butt joint vehicle are set;X i1 the longitudinal length of the movable end of the docking mechanism on the active docking car is defined;X i2 the longitudinal length of the fixed end of the docking mechanism on the passive docking car is shown;L f ，L r the distances from the front end surface and the rear end surface of the body of the passive butt joint vehicle to the positioning center of the body of the passive butt joint vehicle are respectively;
if the position of the active docking vehicle meets the constraint condition of the position judgment, the active docking vehicle is indicated to meet the docking condition; and if not, performing attitude adjustment on the active butt joint vehicle until the positioning center of the active butt joint vehicle meets the constraint condition of the position judgment.
Preferably, the active docking vehicle acquires absolute coordinates of the self vehicle and the passive docking vehicle in a world reference system through vehicle-to-vehicle communication between the active docking vehicle and the passive docking vehicle.
Preferably, the passive docking vehicle positioning center is the center of mass thereof; the active docking vehicle positioning center is the center of mass thereof.
Preferably, the active docking vehicle acquires its own heading angle in the near-end capturing discrimination coordinate system through an inertial sensor or a GPS sensor mounted on the vehicle body.
Has the advantages that:
(1) the method effectively solves the problem that the docking opportunity is difficult to determine in the docking process of the reconfigurable unmanned vehicle, and the docking efficiency of the reconfigurable unmanned vehicle is obviously improved.
(2) The method determines the docking time through posture judgment and position judgment, enables the unmanned vehicle unit to rapidly reach the pose of the docking requirement in the complex ground environment, and meets the requirements of reconfigurable unmanned vehicle multifunction and complex working environment.
Drawings
FIG. 1 is a schematic view of the attitude adjustment of an active docking station during docking;
fig. 2 is a schematic view of the two unmanned vehicle units after docking.
Wherein: 1-movable end and 2-fixed end.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a near-end capturing method for an autonomous docking process of a reconfigurable unmanned vehicle, which can solve the problem that the docking opportunity is difficult to determine in the docking process of the reconfigurable unmanned vehicle, and remarkably improve the docking efficiency of the reconfigurable unmanned vehicle.
The reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units, and the more than two unmanned vehicle units are in front-back butt joint according to actual use requirements to realize the reconfiguration of the unmanned vehicle. Each unmanned vehicle unit is provided with a docking mechanism for realizing docking, the docking mechanism comprises a movable end 1 and a fixed end 2, the movable end 1 of the docking mechanism is arranged at the front end of the unmanned vehicle unit, and the fixed end 2 is arranged at the rear end of the unmanned vehicle unit; when in butt joint, the movable end 1 of the butt joint mechanism on one unmanned vehicle unit is in butt joint with the fixed end 2 of the butt joint mechanism on the other unmanned vehicle unit.
For convenience of description, when two unmanned vehicle units are butted, the unmanned vehicle unit for providing the movable end 1 of the butting structure is an active butting vehicle, and the unmanned vehicle unit for providing the fixed end 2 of the butting structure is a passive butting vehicle. After receiving an external docking command, the two unmanned vehicle units firstly meet the set distance (far-end approaching stage) at intervals and then are docked (docking stage) through the docking structure; the method is a method for judging the switching time (namely the docking time) from a far-end approach stage to a docking stage in the approach process of an active docking vehicle and a passive docking vehicle.
The near-end capturing method provides two judgment conditions of posture judgment and position judgment, when the two judgment conditions are simultaneously met, the two unmanned vehicle units to be butted are shown to be in the butt joint time, the movable end 1 and the fixed end 2 can be butted, and the method can meet the complex control requirement of the autonomous topology reconstruction of the reconfigurable unmanned vehicle.
After the two unmanned vehicle units receive the external docking instruction (the two unmanned vehicle units are respectively an active docking vehicle and a passive docking vehicle specified in the docking instruction), the active docking vehicle and the passive docking vehicle are crossed; when the two vehicles travel to the set distance, the active docking vehicle starts to judge the docking opportunity, and the judgment is to obtain the switching opportunity from the far-end approach stage to the docking stage by taking the motion range of the movable end 1 of the docking mechanism as a constraint condition in the near-end capturing and judging coordinate system. The near-end capturing and distinguishing coordinate system is established by taking a positioning center of the passive docking car (the positioning center is a set position, generally a centroid position of the passive docking car) as an origin of coordinates, wherein the x direction of the near-end capturing and distinguishing coordinate system is the longitudinal direction of the passive docking car, and the y direction of the near-end capturing and distinguishing coordinate system is the transverse direction of the passive docking car. The external docking instruction received by the active docking vehicle comprises absolute coordinates of the positioning center of the passive docking vehicle needing to be docked with the active docking vehicle under a world reference system.
Specifically, the method comprises the following steps: during the approach process of the active docking vehicle to the passive docking vehicle, firstly, the attitude judgment is carried out, and the active docking vehicle acquires the self course angle in the near-end capturing and judging coordinate system through sensors such as an inertial sensor (IMU) and a GPS (global positioning system)γ C Defining the butt-joint plane and the main plane of the passive butt-joint vehicleIncluded angle between transverse planes of movable butt-jointed vehiclesγ D For the direction finding angle, as can be seen from fig. 1, in the near-end capturing and distinguishing coordinate system, the heading angle of the vehicle is actively dockedγ C Angle with direction findingγ D Equal, the movable end 1 of the docking mechanism is required to be in the docking range and have a direction-finding angleγ D The set attitude constraint condition is required to be met, and the heading angle of the active docking vehicle isγ C Angle with direction findingγ D Equality, i.e. need to judgeγ C Whether the following set posture constraint conditions are satisfied:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ Dlim is the limit steering angle.
If the vehicle is actively docked, the self course angle of the vehicleγ C If the attitude constraint condition is met, entering position judgment; if not, the heading of the butt joint vehicle is actively adjusted until the heading angle of the butt joint vehicle meets the attitude constraint condition.
After the active docking vehicle completes the attitude judgment, based on the course angle meeting the attitude constraint conditionγ C And (4) judging the position:
the active docking vehicle obtains absolute coordinates of the self vehicle and the passive docking vehicle under a world reference system through GPS and vehicle-to-vehicle communication, and determines the positioning center coordinates of the active docking vehicle in a near-end capturing and distinguishing coordinate system which takes the positioning center of the passive docking vehicle as the origin of coordinates as shown in figure 1 through the relative position relationship of the two vehicles (the step of (1)X C，Y C) (typically the active docking vehicle centroid coordinates). To make the movable end 1 of the docking mechanism within the docking range, the coordinates of the positioning center of the active docking vehicle need to be determined (X C，Y C) Whether the following position constraint conditions are satisfied:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein:X lim ，Y lim respectively representing the longitudinal and transverse limit movement distances of the movable end 1 of the butt joint structure on the active butt joint vehicle;X i1 the longitudinal length of the movable end of the docking mechanism is shown,X i2 the longitudinal length of the fixed end of the docking mechanism is shown;L f ，L r respectively, the distances from the front end face and the rear end face of the passive docking station to the positioning center thereof (the distances do not include the length of the docking mechanism), and in fig. 1, (b) isX D1,Y D1) Indicating docking mechanism movementThe center of the connecting end surface of the end and the active butt joint vehicle body captures the coordinates in the distinguishing coordinate system at the near end (step (b)), (X D2,Y D2) And the coordinates of the fixed end of the docking mechanism and the center of the connecting end face of the vehicle body of the passive docking vehicle in the near-end capturing and distinguishing coordinate system are represented.
The position constraint conditions form a position envelope area of the active docking vehicle, if the positioning center of the active docking vehicle is within the envelope range, the docking condition is met, the docking can be started, and the state of the two unmanned vehicle units after docking is shown in fig. 2; if the position of the vehicle is not in the envelope curve, the vehicle posture of the vehicle is actively adjusted until the positioning center coordinate of the vehicle meets the position constraint condition.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A near-end capturing method for an autonomous docking process of a reconfigurable unmanned vehicle is characterized by comprising the following steps: the reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units; each unmanned vehicle unit is provided with a docking mechanism for realizing docking, each docking mechanism comprises a movable end and a fixed end, and during docking, the movable end of the docking mechanism on one unmanned vehicle unit is docked with the fixed end of the docking mechanism on the other unmanned vehicle unit;
when the two unmanned vehicle units are butted, the unmanned vehicle unit for providing the movable end of the butting structure is an active butting vehicle, and the unmanned vehicle unit for providing the fixed end of the butting structure is a passive butting vehicle;
in the process that the active docking vehicle approaches the passive docking vehicle, firstly, attitude judgment is carried out, and the constraint conditions of the attitude judgment are as follows:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ C capturing self in a discriminative coordinate system for the active docking cart at the near endA body course angle;γ Dlim the limit direction-seeking angle is an included angle between a butt joint plane of the passive butt joint vehicle and a transverse plane of the active butt joint vehicle; the near-end capturing and distinguishing coordinate system is a coordinate system which takes the positioning center of the passive docking car as the origin of coordinates, the longitudinal direction of the passive docking car is the x direction, and the transverse direction of the passive docking car is the y direction;
if the course angle of the active docking vehicle meets the constraint condition, entering position judgment; if not, the active opposite-direction receiving vehicle carries out course adjustment until the course angle of the active opposite-direction receiving vehicle meets the constraint condition;
the constraint conditions for the position judgment are as follows:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein: (X C，Y C) Capturing the coordinates of the positioning center of the active docking car in the near-end judging coordinate system;X lim ，Y lim the longitudinal and transverse limit movement distances of the movable end of the butt joint structure on the active butt joint vehicle are set;X i1 the longitudinal length of the movable end of the docking mechanism on the active docking car is defined;X i2 the longitudinal length of the fixed end of the docking mechanism on the passive docking car is shown;L f ，L r the distances from the front end surface and the rear end surface of the body of the passive butt joint vehicle to the positioning center of the body of the passive butt joint vehicle are respectively;
if the position of the active docking vehicle meets the constraint condition of the position judgment, the active docking vehicle is indicated to meet the docking condition; and if not, performing attitude adjustment on the active butt joint vehicle until the positioning center of the active butt joint vehicle meets the constraint condition of the position judgment.
2. The reconfigurable unmanned vehicle autonomous docking process near-end capture method of claim 1, wherein the active docking vehicle obtains absolute coordinates of the self vehicle and the passive docking vehicle in a world reference system through vehicle-to-vehicle communication with the passive docking vehicle.
3. The reconfigurable unmanned vehicle autonomous docking process near-end capture method of claim 1, wherein the passive docking vehicle location center is its center of mass.
4. The reconfigurable unmanned vehicle autonomous docking process near-end capture method of claim 1, wherein the active docking vehicle location center is its center of mass.
5. The reconfigurable unmanned vehicle autonomous docking process near-end capturing method of claim 1, wherein the active docking vehicle obtains its own heading angle in a near-end capturing discrimination coordinate system through an inertial sensor or a GPS sensor mounted on a vehicle body.
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