CN1163005A - Guidance system for vehicle - Google Patents
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- CN1163005A CN1163005A CN 95196139 CN95196139A CN1163005A CN 1163005 A CN1163005 A CN 1163005A CN 95196139 CN95196139 CN 95196139 CN 95196139 A CN95196139 A CN 95196139A CN 1163005 A CN1163005 A CN 1163005A
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Abstract
The object of the invention is to provide a system for accurately guiding a vehicle along a predetermined driving course. The deviation of a vehicle position in a direction perpendicular to the course is calculated on the basis of coordinates position data and direction data selected by selection means and the actual coordinates position detected by position detection means. Next, the steering angle of the vehicle is so calculated as to decrease with the increase in the actual speed of the vehicle on the basis of this deviation and the detected speed so that the deviation may become zero. The steering angle of the vehicle is controlled on the basis of the vehicle steering angle, and the vehicle can be accurately guided and driven on the predetermined driving course. Alternatively, the vehicle steering angle is so calculated as to decrease with the increase in the actual speed of the vehicle on the basis of the deviation obtained from deviation calculating means, the deviation obtained from integrating means and the actual speed calculated by speed detection means so that the deviation quantity may become zero.
Description
The present invention relates to guide the control device of vehicle ', this installs the position data of storing predetermined travel route, and according to the rudder angle that this position data control vehicle is grasped, the guidance vehicle is along the described predetermined route running that travels.
In the past, carried out all exploitations for guiding the device of vehicle, and applied for patent etc. along the predetermined route running that travels.
Disclose the technology that a kind of like this guidance is travelled in spy fair 5-22925 number and even No. 22926 communiques, formed approximate travel route even many straight lines combine, the guidance vehicle is along this straight-line travelling.
The technology of putting down in writing according to above-mentioned communique, vehicle is that straight ahead gets final product, so can control the rudder angle computing of being grasped of vehicle etc. simply, this is favourable point, but travel route is a curve, its be the straight line that is similar to through route, so vehicle can not be correctly along the predetermined route running that travels, this is a shortcoming.
Also have, according to the technology of above-mentioned communique record, the present speed of the setting of the rudder angle that vehicle is grasped and vehicle has nothing to do.
Therefore, when the speed of vehicle was high, the rudder angle of being grasped was excessive, caused oversteer, broke away from the travel route of curve.Equally, when the speed of vehicle was hanged down, the rudder angle of being grasped was too small, causes understeer, broke away from the travel route of curve.
Also have, according to the technology of above-mentioned communique record, on the rudder angle calculation process of being grasped, do not breaking away from direct route when travelling, the rudder angle of being grasped is set at zero.
Yet under the situation of vehicles such as tipper, because the goods that loads or the state difference of loading, the adjustment of vehicular four wheels changes.Like this, adjust in case change, and still make the rudder angle of being grasped remain zero when continuing to travel, vehicle can break away from direct route, becomes very big problem in practicality.
Also have, disclose the rudder angle computing of being grasped in the special fair 5-503775 communique, obtained by 5 order polynomials represented, can successfully follow the route of sailing route running from the present position, vehicle is along this route running.
According to the technology of this communique record, consideration be that travel route along curve travels, its computing is numerous and diverse, and time-consuming, this is a shortcoming.
Also have, according to the technology of above-mentioned communique record, still as the technology of the fair 5-22925 of described spy number and even No. 22926 communiques, the present speed of the setting of the rudder angle that vehicle is grasped and vehicle has nothing to do.Therefore, also cause breaking away from the problem of the travel route of curve.
Also have, technology with the fair 5-22925 of described spy number and even No. 22926 communiques is such, under the situation that the off-straight travel route does not travel, because of the rudder angle of being grasped is set at zero, so if the adjustment imperfection of vehicle front and back wheel, then otherwise the off-straight route running is exceedingly difficult.
As mentioned above, according to prior art, exist the problem that correctly on the curve driving route, to travel by simple and easy processing.
Also have, exist the problem which type of car speed to cause breaking away from the curve driving route owing to.
Also have, because the adjustment of vehicle changes, even straight-line travelling route for example also has the problem that breaks away from projected route.
The objective of the invention is to, a kind of device that addresses these problems is provided.
Therefore, first goal of the invention of the present invention is by simple and easy processing vehicle correctly to be travelled on the curve driving route, simultaneously no matter the speed of vehicle how, can not make it break away from the curve driving route.
This purpose can reach by following manner, the position data of the storing predetermined travel route of control device of promptly this guidance vehicle ', and according to the rudder angle that this position data control vehicle is grasped, the guidance vehicle is along the described predetermined route running that travels.This device has:
The storage means, the data that respectively this point coordinate position on the described predetermined travel route each point of storage representation and described vehicle are answered travel direction;
Position detection means detects the present coordinate position of described vehicle;
The speed detection means detects the present travel speed of described vehicle;
Selection approach from the memory contents of described storage means, selects to approach most the coordinate position data present coordinate position detected with described position detection means, that put on the predetermined travel route, and the travel direction data in this closest approach;
Deviate computing means, according to the coordinate position data of selecting with described selection approach and travel direction data and the present coordinate position that detects with described position detection means, computing is along the present deviate of vehicle location on the vertical direction of vehicle heading;
The rudder angle computing means of being grasped, according to the deviate of described deviate computing means computing and the present travel speed that detects with described speed detection means, the speed deviation value is zero in order to make, and described detection travel speed is big more, and the rudder angle that the computing vehicle is grasped is more little;
Control device according to the rudder angle of being grasped with the vehicle of described rudder angle computing means computing of being grasped, is controlled the rudder angle that described vehicle is grasped.
Also have, second goal of the invention of the present invention except that the purpose of adding above-mentioned first invention, can absorb and eliminate the variation that vehicle is adjusted, and the guidance vehicle is correctly along the predetermined route running that travels.
In this purpose, added the formation of above-mentioned first invention, and had the integral operation means,, also had the rudder angle computing means of being grasped simultaneously with the deviate of integral method computing with the computing of described deviate computing means.
According to the deviate of described deviate computing means computing with the integrated value of described integral operation means computing, with the present travel speed that detects with described speed detection means, for making described deviate is zero, and described detection travel speed is big more, and then the rudder angle grasped of computing vehicle is more little.
Also have, the 3rd goal of the invention of the present invention except that adding above-mentioned first goal of the invention, can be guided vehicle and correctly travel along the complicated route that changes of radius-of-curvature.
In this purpose, added the formation of above-mentioned first invention, and have integral operation means, computing is with the deviate of described deviate computing means computing, do not adopt simultaneously the rudder angle computing means of being grasped, and have the first rudder angle computing means of grasping, this means are according to the deviate of described deviate computing means computing with the integrated value of described integral operation means computing, with the present travel speed that detects with described speed detection means, for making described deviate is zero, described detection speed is big more, and then the rudder angle grasped of computing first vehicle is more little;
Also have, the second rudder angle computing means of being grasped are according to the radius-of-curvature of the described predetermined travel route of described closest approach, the rudder angle that computing second vehicle is grasped;
The 3rd rudder angle computing means of being grasped, the rudder angle that second vehicle of the rudder angle computing means computing of being grasped according to the rudder angle of being grasped with first vehicle of the described first rudder angle computing means computing of being grasped and described second is grasped, the rudder angle that computing the 3rd vehicle is grasped;
Control device according to the rudder angle of being grasped with the 3rd vehicle of the described the 3rd rudder angle computing means computing of being grasped, is controlled the rudder angle that described vehicle is grasped.
Formation according to above-mentioned first invention, according to the coordinate position data of selecting with selection approach and travel direction data and the present coordinate position detected with position detection means, the present deviate of computing vehicle location on the vertical direction of vehicle heading, the deviate between computing simply and curve driving route.
And, according to the deviate of deviate computing means computing and the present travel speed that detects with the speed detection means, making deviate is zero, it is big more to detect travel speed, the rudder angle that simple and easy computing vehicle is grasped is more little, that is simple and easy and rudder angle that the corresponding vehicle of the present speed of computing correctly and vehicle is grasped.
And according to the rudder angle of being grasped with the vehicle of the rudder angle computing means computing of being grasped, the rudder angle that the control vehicle is grasped guides vehicle accurately and travels on predetermined travel route.
Also have, according to the formation of above-mentioned second invention, with the deviate of deviate computing means computing, by integral operation.And, according to the deviate of deviate computing means computing with the integrated value of integral operation means computing and the present travel speed that detects with the speed detection means, be zero, to detect travel speed big more for making deviate, the rudder angle that the computing vehicle is grasped is more little.That is, consider the integration of deviate, therefore the rudder angle that computing is grasped, can correctly be obtained the adjustment that can absorb and eliminate vehicle and change, and guides vehicle accurately and travels on predetermined travel route.
Also have, according to the formation of above-mentioned the 3rd invention, according near the radius-of-curvature of the predetermined travel route of vehicle present position, the rudder angle that computing second vehicle is grasped.And, according to rudder angle of grasping based on first vehicle of above-mentioned deviate and second vehicle institute steering angle, the rudder angle that computing the 3rd vehicle is grasped, and, control the rudder angle that vehicle is grasped according to the rudder angle that the 3rd vehicle is grasped.Its result, by promptly keeping the 3rd rudder angle of being grasped based on route curvature, can generally guide vehicle along route running, simultaneously, by leave the deviation of route based on the first rudder angle correction of being grasped of deviate, can guide vehicle accurately along the complicated route running that changes of radius-of-curvature.
Below, accompanying drawing is carried out brief description.
Fig. 1 guides the block diagram of the control device embodiment formation of vehicle ' for the relevant the present invention of expression.
The block diagram that Fig. 2 handles for the predetermined running course data that explanation obtains by simulation.
Fig. 3 is used to the rudder angle geometry graph of a relation that illustrates that the computing vehicle is grasped.
Fig. 4 is the procedure chart of expression automatic guidance vehicle ' handling procedure.
Below, with reference to accompanying drawing, illustrate that relevant the present invention guides the embodiment of the control device of vehicle '.
Fig. 1 is the block diagram of the guidance travel controlling system of expression embodiment.The block diagram of the analog content that Fig. 2 is carried out before reality guidance is travelled for explanation.
The simulation of predetermined travel route
Present embodiment is supposed with unpiloted tipper shown in Figure 2 (to call " vehicle " in the following text) 14 as the vehicle that should travel.
For example, vehicle 14 unmanned travelling on predetermined travel route S.The data of representing this predetermined travel route S are by simulation, promptly answer the simulation job in the week of travelling on the travel route to set and be stored in the storer 5 that is provided with on the vehicle 14 by there being the people to be driven in.
The position instrumentation controller 3 of the gyroscope 1 that detects travel direction, the range encoder 2 that detects operating range and control gyroscope 1 and range encoder 2 is housed on the vehicle 14.
In teaching is travelled, vehicle 14 coordinate position, vehicle 14 travel direction, vehicle 14 speed successively successively successively, the detection signal according to by gyroscope 1, range encoder 2 outputs carries out computing by position instrumentation controller, and output, as whole route data 4.
But all for several times to tens of times, data scale is big with second output for route data 4, think the size that makes this data size become the memory capacity that is suitable for reservoir 5, and with given time sampling.The interval τ of sampling is decided to be can not rare, overstocked excessively optimal spacing.
Qu Yang vehicle 14 coordinate position P1 (X1, Y1), P2 (X2Y2) successively like this ... Pi (Xi, Yi) ... and vehicle 14 successively travel direction (position angle) ψ 1, ψ 2... ψ i... and vehicle 14 speed V1, V2...Vi... successively all is stored in the storer 5 as route data 6.
Like this, in storer 5, on each P1, the P2...Pi... of predetermined travel route S each point, all remember and storing coordinate position (Xi, Yj), the travel direction ψ 1 that vehicle 14 should travel, the speed Vi that vehicle 14 should travel of vehicle 14 Ying Chu positions.
Also having, in the present embodiment, is to obtain route data 6 by simulation job, and its method of obtaining is arbitrarily, also can obtain by methods such as measurements.
Automatic guidance is travelled
Below, with reference to the procedure chart of Fig. 4, the handling procedure that automatic guidance vehicle 14 travels is described.
After simulation was travelled, when (repetition) travelled in beginning automatic guidance, then by gyroscope 1, range encoder 2 output detection signals, vehicle 14 present position Q (X, Y) successively was by position instrumentation controller 3 computings, and input guidance controller 7 (step 101).
Then, in guidance controller 7, the computing target rudder angle ζ that is grasped as described later by the not shown steering of Hydrauservo System 11 powered vehicle 14, changes the direction of vehicle 14 (step 102-106) can obtain the above-mentioned target rudder angle ζ that is grasped by steering control device 8.
Also have, in guidance controller 7, computing vehicle 14 target velocities as described later, by not shown accelerator and the detent of mechanical servo 12, pneumatic servo system 13 powered vehicle 14, the speed of vehicle 14 is changed by acceleration controller 9 and brake monitor 10 can obtain above-mentioned target velocity.
Below, with the computing that illustrates in greater detail about the above-mentioned target rudder angle of grasping.
That is to say, select near the some Pi (step 102 is consulted Fig. 3) on the travel route S of the present position Q (X, Y) of vehicle 14 in the place aheads of vehicle 14 travel directions.
So, with the corresponding position coordinate data of this selected element Pi (Xi, Yi), bearing data ψ i, can be by reading in the storer 5.
Also have, for the corresponding basic rudder angle ζ P that is grasped of radius-of-curvature of the travel route S of above-mentioned closest approach Pi, carry out computing (step 103) as described later.
Then, according to the present position Q (X, Y) of position coordinates on the route that obtains like this (Xi, Yi), position angle ψ i, the basic rudder angle ζ p that is grasped and vehicle, carry out the computing of following (1), (2), (3) formula, the target rudder angle ζ that computing vehicle 14 is grasped.
yi＝-(X-Xi)sinφi+(Y-Yi)cosφi …(1)
αs＝-(K4+K5·K6)yi-K4·K6?yidt-K5dyi/dt…(2)
ζ＝tan-1(αsL/V2)+Kp·ζp…(3)
In the formula, K4, K5, K6, Kp are the control constant; L is the wheel base (distance between the forward and backward axletree) of vehicle 14.
V is the present speed of vehicle 14, is transfused to guidance controller 7 by position instrumentation controller 3.
If be illustrated, then at first can obtain the basic rudder angle ζ p that is grasped shown in (3) formula by following (4)-(7) formula with regard to above-mentioned (1)-(3) formula.
That is to say, be G if make the some Pi on the predetermined travel route S with arc length on the route that following some Pi+1 connects mutually, is V with the present speed of vehicle 14, and be τ sample time, then can ask following formula:
G＝V·τ...(4)
And, be Ri if put the radius-of-curvature of the circular arc between Pi and the following some Pi+ 1, then the length G of circular arc can be tried to achieve by following formula:
G＝Ri·(ψi+1-ψi)...(5)
By above-mentioned (4), (5) formula, can ask radius of curvature R i by following formula (6):
Ri＝V·τ/(ψi+1-ψi)...(6)
So, utilize radius of curvature R i and the wheelbase L try to achieve like this, can obtain the basic rudder angle ζ p that grasped, following formula (7):
ζp＝arctan(L/Ri)...(7)。
And say, in above-mentioned (1) formula, the Y direction coordinate position Y (present position) of vehicle 14 in the X-Y fixed coordinate system, the variable yi that is changed on the local coordinate system xi-yi.
That is to say, as shown in Figure 3, with the some Pi on the predetermined travel route S is initial point, in the Pi point, the direction of the speed Vi (vector) that should travel with vehicle 14, the direction of promptly travelling ψ 1 is as the xi axle, and then, xi-yi coordinate system when getting the yi axle on the normal direction of circuit S, form that then can local coordinate system is set.Therefore, just mean the deviate that goes up vehicle 14 in the normal direction (following the vertical direction of sailing direction) of predetermined travel route S through the coordinate position yi of coordinate conversion.Then, can ask the target rudder angle ζ that is grasped by (3) formula with this normal direction deviate yi vanishing.
Also have, the X-direction coordinate position X (present position) of vehicle 14 on the X-Y fixed coordinate system, coordinate conversion is the xi on the local coordinate system xi-yi, shown in following (8):
xi＝(X-X
1)cosψi+(Y-Yi)sinψi...(8)
In normal direction deviate yi substitution above-mentioned (2) formula that above-mentioned (1) formula is obtained, try to achieve horizontal stroke (normal) the directional acceleration α s of vehicle 14, by method with this transverse acceleration α s substitution above-mentioned (3) formula, the target rudder angle ζ that computing is grasped.
Here, contain integrated value-K4K6yidt of normal direction deviate yi among the transverse direction acceleration alpha s, this integrated value is near the target rudder angle ζ that is grasped.
Therefore, if this target rudder angle ζ that grasps is become zero steering of controlling vehicle 14 like that, even then the adjustment of vehicle 14 is cranky, also can by above-mentioned integrated value with its absorption, eliminate away, thereby might make not off-straight route running of vehicle 14.
Also have, proportional by the target rudder angle ζ and the 1/V2 that are grasped that above-mentioned (3) formula is asked.Therefore, the present speed V of vehicle 14 is high more, and the rudder angle of being grasped is more little, and speed is low more, and the rudder angle of being grasped is big more.Its result only can get rid of and the speed steering of suitable suitable angle mutually, can prevent from that vehicle 14 from being gone up by route S to break away from.
Also have, above computing is not to ask complicated polynomial complex calculation, but easy computing.Therefore, do not need numerous and diverse computing and, can guide vehicle 14 on Curve Path, correctly travel (step 103,104,105) with easy processing.
But, but by the present azimuth angle theta of position instrumentation controller 3 computing vehicles 14, and with in its input guidance controller 7.Then, according to this present azimuth angle theta and the present position angle ψ i of speed V and corresponding point Pi, by target velocity Vxi, the Vyi of following (9), (10), (11) formula computing vehicle 14:
θi＝θ-ψi…(9)
Vxi＝Vcosθi…(10)
Vyi＝Vsinθi…(11)
But, in above-mentioned (9) formula, if θ is identical with ψ 1, also can be similar, therefore, θ i becomes zero, horizontal (normal) direction speed Vyi becomes zero. the result, as long as vertical (tangent line) direction speed Vxi shown in control (10) formula is just passable, therefore, form input acceleration controller 9 and brake monitor 10 that can target velocity be with control accelerator, detent.
As mentioned above, according to the present invention, therefore the rudder angle by simple and easy computing can ask vehicle to grasp, can guide vehicle by simple and easy processing and travel on the curve driving route simply.
Also have, owing to considered the integrated value of travel route normal direction deviate, and the rudder angle that computing is grasped, so, also can guide vehicle accurately along the predetermined route running that travels even the vehicle adjustment is out of order.
Also have, according to basic institute rudder angle based on travel route curvature, give the essential rudder angle grasped in advance, and then make based on the rudder angle of being grasped of compiling difference approaching, correction is from the deviation of route, even so, also can guide in time, accurately and travel for the complicated Curve Path that changes of radius-of-curvature.
No matter the present invention is for being unpiloted vehicle, still manned vehicle is all applicable.In addition, no matter the present invention is for being the outdoor vehicles such as self-unloading that travel, still the indoor vehicles such as unpiloted carrier that travel are also all applicable.
Claims (3)
1. control device that guides vehicle ', the position data of storing predetermined travel route, according to the rudder angle that this position data control vehicle is grasped, the guidance vehicle is characterized in that along the described predetermined route running that travels this device has:
The storage means, the coordinate position of respectively this point on the described predetermined travel route each point of storage representation and the data that described vehicle is answered travel direction;
Position detection means detects the present coordinate position of described vehicle;
The speed detection means detects the present travel speed of described vehicle;
Selection approach, from the memory contents of described storage means, selection approaches the data with each coordinate position on the travel route present coordinate position of described position detection means detection, predetermined most, and the travel direction data in this closest approach;
Deviate computing means, according to the coordinate position data of selecting with described selection approach and travel direction data and the present coordinate position that detects with described position detection means, computing is along the present deviate of vehicle location on the vertical direction of vehicle heading;
The rudder angle computing means of being grasped, according to the deviate of described deviate computing means computing and the present travel speed that detects with described speed detection means, for making described deviate is zero, and described detection travel speed is big more, and then the rudder angle grasped of computing vehicle is more little;
Control device according to the rudder angle of being grasped with the vehicle of described rudder angle computing means computing of being grasped, is controlled the rudder angle that described vehicle is grasped.
2. control device that guides vehicle ', the position data of storing predetermined travel route, according to the rudder angle that this position data control vehicle is grasped, the guidance vehicle travels along described projected route, it is characterized in that this device has:
The storage means, the data that the coordinate position of respectively this point on the each point of the described predetermined travel route of storage representation and described vehicle are answered travel direction;
Position detection means detects the present coordinate position of described vehicle;
The speed detection means detects the present travel speed of described vehicle;
Selection approach, from the memory contents of described storage means, selection approaches the data with coordinate position on the travel route present coordinate position of described position detection means detection, predetermined most, and the travel direction data of this closest approach;
Deviate computing means, according to the coordinate position data of selecting with described selection approach and travel direction data and the present coordinate position detected with described position detection means, computing is along the present deviate of vehicle location on the vertical direction of vehicle heading;
The integral operation means are with the deviate of integral method computing with the computing of described deviate computing means;
The rudder angle computing means of being grasped, according to the deviate of described deviate computing means computing with the integrated value of described integral operation means computing, with the present travel speed that detects with described speed detection means, for making described deviate is zero, described detection travel speed is big more, and then the rudder angle grasped of computing vehicle is more little;
Control device according to the rudder angle of being grasped with the vehicle of described rudder angle computing means computing of being grasped, is controlled the rudder angle that described vehicle is grasped.
3. control device that guides vehicle ', the position data of storing predetermined travel route, according to the rudder angle that this position data control vehicle is grasped, the guidance vehicle travels along described projected route, it is characterized in that this device has:
The storage means, the data that the coordinate position of respectively this point on the each point of the described predetermined travel route of storage representation and described vehicle are answered travel direction;
Position detection means detects the present coordinate position of described vehicle;
The speed detection means detects the present travel speed of described vehicle;
Selection approach, from the memory contents of described storage means, selection approaches the data with coordinate position on the travel route present coordinate position of described position detection means detection, predetermined most, and the travel direction data of this closest approach;
Deviate computing means, according to the coordinate position data of selecting with described selection approach and travel direction data and the present coordinate position detected with described position detection means, computing is along the present deviate of vehicle location on the vertical direction on the vehicle heading;
The integral operation means are with the deviate of integral method computing with the computing of described deviate computing means;
The first rudder angle computing means of being grasped, according to the deviate of described deviate computing means computing with the integrated value of described integral operation means computing, with the present travel speed that detects with described speed detection means, for making described deviate is zero, described detection travel speed is big more, and then the rudder angle grasped of computing vehicle is more little;
The second rudder angle computing means of being grasped are according to the radius-of-curvature of the described predetermined travel route of described closest approach, the rudder angle that computing second vehicle is grasped;
The 3rd rudder angle computing means of being grasped, according to the rudder angle of being grasped with first vehicle of the described first rudder angle computing means computing of being grasped, with the rudder angle of being grasped with second vehicle of the described second rudder angle computing means computing of being grasped, the rudder angle that the vehicle of computing the 3rd is grasped;
Control device according to the rudder angle of being grasped with the 3rd vehicle of the described the 3rd rudder angle computing means computing of being grasped, is controlled the rudder angle that described vehicle is grasped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 95196139 CN1163005A (en) | 1994-11-10 | 1995-11-10 | Guidance system for vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP276670/94 | 1994-11-10 | ||
| CN 95196139 CN1163005A (en) | 1994-11-10 | 1995-11-10 | Guidance system for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1163005A true CN1163005A (en) | 1997-10-22 |
Family
ID=5083127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 95196139 Pending CN1163005A (en) | 1994-11-10 | 1995-11-10 | Guidance system for vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN1163005A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104541219A (en) * | 2012-07-12 | 2015-04-22 | 雷诺两合公司 | Method for controlling the path of an autonomous vehicle having steered wheels |
| CN105242673A (en) * | 2015-11-20 | 2016-01-13 | 南车株洲电力机车研究所有限公司 | Road vehicle automatic driving control system based on ultra-wideband positioning system |
| CN106020203A (en) * | 2016-07-15 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Method and device for controlling unmanned vehicle |
| CN106647773A (en) * | 2017-02-10 | 2017-05-10 | 北京理工大学 | Unmanned vehicle horizontal-and-vertical direction cooperation control method |
| CN111703421A (en) * | 2020-05-13 | 2020-09-25 | 重庆长安汽车股份有限公司 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
-
1995
- 1995-11-10 CN CN 95196139 patent/CN1163005A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104541219A (en) * | 2012-07-12 | 2015-04-22 | 雷诺两合公司 | Method for controlling the path of an autonomous vehicle having steered wheels |
| CN104541219B (en) * | 2012-07-12 | 2018-03-02 | 雷诺两合公司 | For the method in the path for controlling the autonomous vehicle with deflecting roller |
| CN105242673A (en) * | 2015-11-20 | 2016-01-13 | 南车株洲电力机车研究所有限公司 | Road vehicle automatic driving control system based on ultra-wideband positioning system |
| CN106020203A (en) * | 2016-07-15 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Method and device for controlling unmanned vehicle |
| CN106647773A (en) * | 2017-02-10 | 2017-05-10 | 北京理工大学 | Unmanned vehicle horizontal-and-vertical direction cooperation control method |
| CN106647773B (en) * | 2017-02-10 | 2019-09-17 | 北京理工大学 | A kind of unmanned vehicle transverse and longitudinal cooperative control method |
| CN111703421A (en) * | 2020-05-13 | 2020-09-25 | 重庆长安汽车股份有限公司 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
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