WO1996015483A1 - Systeme de guidage pour vehicule - Google Patents
Systeme de guidage pour vehicule Download PDFInfo
- Publication number
- WO1996015483A1 WO1996015483A1 PCT/JP1995/002297 JP9502297W WO9615483A1 WO 1996015483 A1 WO1996015483 A1 WO 1996015483A1 JP 9502297 W JP9502297 W JP 9502297W WO 9615483 A1 WO9615483 A1 WO 9615483A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- steering angle
- calculated
- traveling
- deviation
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Definitions
- the present invention relates to a guided driving control device for a vehicle that stores position data of a planned traveling course, controls a steering angle of the vehicle based on the position data, and guides the vehicle along the planned traveling course.
- Japanese Patent Publication No. 5-2 229 25 or No. 229 926 discloses a technology in which a traveling course is approximated by a combination of a plurality of straight lines, and a vehicle is guided along these straight lines.
- the steering angle of the vehicle is set irrespective of the current speed of the vehicle.
- the steering angle may be reduced if the vehicle is traveling on a straight course in the calculation of the steering angle.
- Japanese Patent Publication No. 5-5 037775 discloses that a route represented by a fifth-order polynomial that smoothly leads from the current position to the traveling course is obtained, and the vehicle travels along this route.
- the steering angle is calculated as follows:
- the steering angle of the vehicle is also changed to the current speed of the vehicle, similarly to the technology of Japanese Patent Publication No. 5-229295 or Japanese Patent Publication No. 229266. It is set independently of. For this reason, there is a problem that the vehicle deviates from a curved traveling course.
- the vehicle travels on a straight traveling course without deviation.
- the steering angle is set to zero, and if the alignment of the front and rear wheels of the vehicle is not perfect, it is extremely difficult to travel on a straight course without deviation.
- An object of the present invention is to provide a device that can solve these problems.
- the first invention of the present invention has an object to allow a vehicle to run accurately on a curved running course by simple processing and to prevent the vehicle from coming off the curved running course regardless of the speed of the vehicle.
- An object of the present invention is to provide a vehicle guidance and travel control device that stores position data of a planned traveling course, controls a steering angle of the vehicle based on the position data, and guides the vehicle along the planned traveling course.
- Storage means for storing, for each point on the scheduled traveling course, data indicating a coordinate position of the point and a direction in which the vehicle should travel;
- Position detection means for detecting a current coordinate position of the vehicle
- Speed detection means for detecting the current traveling speed of the vehicle
- Selecting means for selecting the coordinate position data of a point on the scheduled traveling course and the traveling direction data of the closest point from the storage contents of the storage means, which are closest to the current coordinate position detected by the position detection means;
- a current deviation amount of the vehicle position in a direction perpendicular to the vehicle traveling direction is calculated. Means for calculating the amount of deviation;
- Steering angle calculating means for calculating an angle
- Control means for controlling the steering angle of the vehicle based on the vehicle steering angle calculated by the steering angle calculation means
- the second invention of the present invention in addition to the object of the first invention, absorbs and cancels changes in the alignment of the vehicle and accurately moves the vehicle along the planned traveling course.
- the purpose of the present invention is to guide the vehicle to the
- the steering angle calculating means comprises:
- a third invention of the present invention is directed to, in addition to the object of the first invention, to accurately guide a vehicle along a course in which a radius of curvature changes in a complicated manner.
- a first steering angle calculating means for calculating a first vehicle steering angle that decreases as the detected traveling speed increases;
- Second hatchet angle calculation means for calculating a second vehicle steering angle based on a radius of curvature of the scheduled traveling course at the closest point
- a third vehicle steering angle is calculated based on the first vehicle steering angle calculated by the first steering angle calculating means and the second vehicle steering angle calculated by the second steering angle calculating means.
- Third steering angle calculation means
- Control means for controlling the steering angle of the vehicle based on the third vehicle steering angle calculated by the third steering angle calculation means
- the vehicle position in the direction perpendicular to the vehicle traveling direction is determined based on the coordinate position data and the traveling direction data selected by the selection unit and the current coordinate position detected by the position detection unit. In other words, the amount of deviation from the curve traveling course is easily calculated. Then, the amount of deviation calculated by the deviation calculating means and the current traveling detected by the speed detecting means are calculated. Based on the vehicle speed, the smaller the detected traveling speed is, the smaller the vehicle steering angle is easily calculated so that the deviation amount becomes zero.In other words, the vehicle steering angle according to the current vehicle speed is simply and accurately calculated. Is calculated to:
- the steering angle of the vehicle is controlled based on the vehicle steering angle calculated by the steering angle calculation means, and the vehicle is guided accurately on the planned traveling course.
- the shift amount calculated by the shift amount calculating means is multiplied. Minutes are calculated. Then, based on the deviation calculated by the deviation calculating means, the integrated value calculated by the integration calculating means, and the current traveling speed detected by the speed detecting means, the detection is performed such that the deviation ⁇ becomes zero.
- the second vehicle steering angle is calculated based on the radius of curvature of the planned traveling course at the point closest to the current position of the vehicle:
- a third vehicle steering angle is calculated based on the first vehicle steering angle and the second vehicle steering angle, and the vehicle steering angle is controlled based on the third vehicle steering angle.
- FIG. 1 is a block diagram showing a configuration of an embodiment of a vehicle guidance and travel control device according to the present invention.
- FIG. 2 is a block diagram for explaining a process for acquiring data of a scheduled travel course by teaching. is there.
- FIG. 3 is a geometrical relation diagram used to explain a process of calculating a steering angle of a vehicle.
- FIG. 4 is a flowchart showing a procedure of an automatic guided traveling of the vehicle. Best mode for
- FIG. 1 is a block diagram illustrating a guided traveling control device according to an embodiment
- FIG. 2 is a block diagram illustrating contents of teaching performed prior to actual guided traveling. '' Teaching the scheduled driving course
- an unmanned driving dump truck (hereinafter referred to as “vehicle”) 14 shown in FIG. 2 is assumed as a vehicle to travel.
- the vehicle 14 travels unmanned on the planned traveling course S, and data indicating the planned traveling course S is used for teaching, that is, one round of human driving on the course to be traveled. Is set and stored in the memory 5 provided in the vehicle 14 by the teaching operation.
- the vehicle 14 is provided with a gyro 1 for detecting a traveling direction, a distance encoder 2 for detecting a traveling distance, and a position measuring controller 3 for controlling the gyro 1 and the distance encoder 2.
- a position measuring controller 3 for controlling the gyro 1 and the distance encoder 2.
- the coordinate positions PI (XI, Y1), ⁇ 2 ( ⁇ 2, ⁇ 2) -Pi (Xi, Yi)... of the successive vehicles 14 sampled in this way, and the traveling direction (azimuth) K 02 ⁇ of the successive vehicles 14 ⁇ 0 ⁇ ⁇ , and the successive vehicle speeds VI, V2'Vi... are stored in the memory 5 as the course data 6.
- the memory 5 stores, for each point Pl, P2, one Pi on the scheduled traveling course S, the coordinate position (Xi, Xj) where the vehicle 14 should be located, the traveling direction 0i where the vehicle 14 should travel, the vehicle The speed Vi to be output by 14 is stored and stored.
- the course data 6 is obtained by the teaching work.
- the method of obtaining the course data 6 is arbitrary, and may be obtained by surveying or the like.
- a target steering angle ⁇ is calculated as described later, and a steering (not shown) of the vehicle 14 is driven by the hydraulic servo system 11 via the steering controller 8, and the target steering angle ⁇ is calculated.
- Direction of the vehicle 14 is changed so as to obtain (Step 102-: I06)
- a point Pi on the traveling course S which is located in front of the vehicle 14 in the traveling direction and is closest to the current position Q ( ⁇ , ⁇ ) of the vehicle 14 is selected (step 102; see FIG. 3).
- Coordinate data (Xu Yi) and azimuth data ⁇ ji corresponding to the point Pi are read from the memory 5:
- the basic steering angle ⁇ corresponding to the radius of curvature of the traveling course S at the closest point Pi is calculated as described later (step 103).
- ⁇ 4, ⁇ 5, ⁇ 6, ⁇ are control constants
- L is the wheel base of the vehicle 14 (the distance between the front and rear axles).
- V is the current speed of the vehicle 14 and is input to the guidance controller 7 via the position measurement controller 3:
- the basic steering angle ⁇ is shown in first (3) is determined from the following (4) - (7) c
- the radius of curvature Ri can be obtained by the following equation (6).
- the coordinate position Y (current position) of the vehicle 14 in the Y-axis direction in the X—Y fixed coordinate system is transformed into yi on the local coordinate system xi—yi.
- the origin is the point Pi on the planned traveling course S
- the direction of the speed Vi (vector) that the vehicle 14 should emit at the point Pi that is, the traveling direction i is the xi axis
- the normal of the course S When the yi axis is taken in the direction, the xi-yi coordinate system is set as the low-force coordinate system:
- the coordinate position yi thus transformed is the normal direction of the planned traveling course S (perpendicular to the traveling direction).
- the target steering angle ⁇ ⁇ to make the normal direction deviation yi zero can be obtained by equation (3):
- the lateral acceleration as includes an integral value of the normal direction deviation amount yi ⁇ 4 ⁇ K6 y id t, and this integral value is added to the target steering angle ⁇ .
- the target steering angle ⁇ ⁇ obtained by the above equation (3) is proportional to 1ZV2: Therefore, as the current speed V of the vehicle 14 increases, the steering angle decreases, and as the speed V decreases, the steering angle decreases. As the angle increases, as a result, the steering can be cut by an appropriate angle according to the speed, and the vehicle 14 can be prevented from coming off the course S.
- the above operation is not a complicated operation such as finding a complicated polynomial, but a simple operation. Therefore, the vehicle 14 can be guided accurately along a curved course by simple processing without requiring complicated calculations (steps 103, 104, 105):
- the position measurement controller 3 calculates the current azimuth angle 0 of the vehicle 14 and inputs it to the guidance controller 7.
- the current azimuth angle 0, the current speed V, and the azimuth corresponding to the point Pi Based on the angle ⁇ , the target speeds Vxi and Vyi of the vehicle 14 are calculated by the following equations (9), (10) and (11):
- Vxi V cos ⁇ i "(10)
- Vyi Vs i n 0 i ⁇ (11)
- Equation (9) above 0 and i may be approximated to be the same, so ⁇ i becomes zero and the lateral (normal) direction velocity Vyi becomes zero. Since only the vertical (tangential) direction speed Vxi needs to be controlled, this is output to the accelerator controller 9 and the brake controller 10 as the target speed, and the accelerator and the brake are controlled. As described above, according to the present invention, since the steering angle of the vehicle can be obtained by a simple calculation, the vehicle can be easily guided on a curved traveling course by a simple process.
- the steering angle is calculated to be smaller as the traveling speed is higher, it is possible to guide the vehicle accurately on the curved traveling course without deviation.
- the steering angle is calculated in consideration of the integrated value of the deviation amount in the normal direction of the traveling course, even if the vehicle is misaligned, the vehicle can be guided accurately along the planned traveling course. be able to
- the required steering angle is given in advance by the basic steering angle based on the curvature of the traveling course, and the deviation from the course is corrected by taking into account the steering angle based on the deviation amount, so that the curve in which the radius of curvature changes complicatedly Even on the course, there is no delay in following, and guidance can be guided with high accuracy.
- the present invention is applicable to both unmanned vehicles and manned vehicles:
- the present invention is applicable not only to vehicles such as dump trucks traveling outdoors, but also to vehicles such as unmanned transport vehicles traveling indoors. Is possible-
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU38560/95A AU687270B2 (en) | 1994-11-10 | 1995-11-10 | Guidance system for vehicle |
GB9709154A GB2309556A (en) | 1994-11-10 | 1995-11-10 | Guidance system for vehicle |
US08/836,133 US5781870A (en) | 1994-11-10 | 1995-11-10 | Vehicle steering angle control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6/276670 | 1994-11-10 | ||
JP27667094A JP3266747B2 (ja) | 1994-11-10 | 1994-11-10 | 車両の誘導走行制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996015483A1 true WO1996015483A1 (fr) | 1996-05-23 |
Family
ID=17572686
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/002297 WO1996015483A1 (fr) | 1994-11-10 | 1995-11-10 | Systeme de guidage pour vehicule |
Country Status (6)
Country | Link |
---|---|
US (1) | US5781870A (ja) |
JP (1) | JP3266747B2 (ja) |
AU (1) | AU687270B2 (ja) |
CA (1) | CA2204857A1 (ja) |
GB (1) | GB2309556A (ja) |
WO (1) | WO1996015483A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3642547B2 (ja) * | 1997-08-22 | 2005-04-27 | 株式会社小松製作所 | 自走車両の車速制御装置 |
US5999865A (en) * | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
US6314348B1 (en) * | 1998-02-11 | 2001-11-06 | Trimble Navigation Limited | Correction control for guidance control system |
JP3869108B2 (ja) * | 1998-02-23 | 2007-01-17 | 株式会社小松製作所 | 無人車両の干渉予測装置および無人車両の誘導走行方法 |
US6141613A (en) * | 1998-03-18 | 2000-10-31 | Caterpillar Inc. | Apparatus and method for controlling the steering of a tracked machine |
DE19822508A1 (de) | 1998-05-19 | 1999-12-02 | Daimler Chrysler Ag | Verfahren zur Generierung von Ankopplungsbahnen, verwendbar zur Führung eines Fahrzeugs zu einer vorgegebenen Zielbahn |
DE10019011A1 (de) * | 2000-04-17 | 2001-10-25 | Geo Tec Electronics Gmbh | Verfahren zum Steuern einer Maschine auf einem vorgegebenen Fahrweg und Vorrichtung zu dessen Durchführung |
EP1564614B1 (en) * | 2002-10-30 | 2010-03-03 | Mitsubishi Heavy Industries, Ltd. | Method and device for steering vehicle having no contact with track |
US7991521B2 (en) * | 2006-02-01 | 2011-08-02 | Jervis B. Webb Company | Variable path automated guided vehicle |
US8190330B2 (en) * | 2009-03-06 | 2012-05-29 | GM Global Technology Operations LLC | Model based predictive control for automated lane centering/changing control systems |
JP5332952B2 (ja) * | 2009-06-26 | 2013-11-06 | トヨタ車体株式会社 | 無人搬送車の走行制御装置 |
CN103236199B (zh) * | 2013-04-09 | 2015-02-25 | 北京理工大学 | 一种行人横穿马路自动测试系统及其测试方法 |
CN105857389A (zh) * | 2016-04-29 | 2016-08-17 | 百度在线网络技术(北京)有限公司 | 无人驾驶车辆的转向控制方法和装置 |
CN109416539B (zh) * | 2016-11-24 | 2021-12-21 | 百度时代网络技术(北京)有限公司 | 使用比例、积分与微分(pid)控制器的自主车辆的转向控制的方法和系统 |
JP7412071B2 (ja) * | 2017-11-30 | 2024-01-12 | 株式会社小松製作所 | 無人車両の制御装置及び無人車両の制御方法 |
CN108437981B (zh) * | 2018-03-01 | 2020-02-21 | 东软集团股份有限公司 | 一种自动倒车方法及装置 |
JP7208804B2 (ja) * | 2019-01-17 | 2023-01-19 | 株式会社小松製作所 | 無人車両の制御システム及び無人車両の制御方法 |
CN111966103B (zh) * | 2020-08-18 | 2021-04-20 | 国以贤智能科技(上海)股份有限公司 | 无人驾驶叉车零偏角的动态修正方法、装置、设备及介质 |
CN113433942B (zh) * | 2021-06-30 | 2022-11-18 | 南京理工大学 | 一种基于最优航向角的长轴车辆路径跟踪控制方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01161414A (ja) * | 1987-12-17 | 1989-06-26 | Nippon Yusoki Co Ltd | 自動操舵制御方式 |
JPH02105904A (ja) * | 1988-10-14 | 1990-04-18 | Tsubakimoto Chain Co | 移動体の誘導方法及びその装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5911409A (ja) * | 1982-07-13 | 1984-01-21 | Kubota Ltd | 無人走行作業車 |
JPS5914711A (ja) * | 1982-07-13 | 1984-01-25 | 株式会社クボタ | 無人走行作業車 |
JPS60204012A (ja) * | 1983-11-24 | 1985-10-15 | Toyota Central Res & Dev Lab Inc | 無人車の走行指令装置 |
NO864109L (no) * | 1985-10-17 | 1987-04-21 | Knepper Hans Reinhard | Fremgangsmaate for automatisk foering av selvgaaende gulvrengjoeringsmaskiner samt gulvrengjoeringsmaskin for utfoerelse av fremgangsmaaten. |
US4803640A (en) * | 1986-05-12 | 1989-02-07 | Matsushita Electric Industrial Co., Ltd. | Control arrangement for an industrial robot |
JPH0517704A (ja) * | 1991-07-16 | 1993-01-26 | Nippon Steel Chem Co Ltd | カーボンブラツク造粒品の製造方法 |
JP3001701B2 (ja) * | 1991-12-25 | 2000-01-24 | 本田技研工業株式会社 | 移動体の操向制御装置 |
-
1994
- 1994-11-10 JP JP27667094A patent/JP3266747B2/ja not_active Expired - Fee Related
-
1995
- 1995-11-10 AU AU38560/95A patent/AU687270B2/en not_active Ceased
- 1995-11-10 US US08/836,133 patent/US5781870A/en not_active Expired - Lifetime
- 1995-11-10 CA CA002204857A patent/CA2204857A1/en not_active Abandoned
- 1995-11-10 GB GB9709154A patent/GB2309556A/en not_active Withdrawn
- 1995-11-10 WO PCT/JP1995/002297 patent/WO1996015483A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01161414A (ja) * | 1987-12-17 | 1989-06-26 | Nippon Yusoki Co Ltd | 自動操舵制御方式 |
JPH02105904A (ja) * | 1988-10-14 | 1990-04-18 | Tsubakimoto Chain Co | 移動体の誘導方法及びその装置 |
Non-Patent Citations (1)
Title |
---|
CD-ROM OF THE SPECIFICATION AND DRAWINGS ANNEXED TO THE WRITTEN APPLICATION OF JAPANESE UTILITY MODEL, Application No. 39039/1991 (Laid-Open No. 17704/1993) (MITSUBISHI AGRICULTURAL MACHINERY CO., LTD.), (05.03.93). * |
Also Published As
Publication number | Publication date |
---|---|
US5781870A (en) | 1998-07-14 |
JP3266747B2 (ja) | 2002-03-18 |
CA2204857A1 (en) | 1996-05-23 |
AU3856095A (en) | 1996-06-06 |
GB2309556A (en) | 1997-07-30 |
AU687270B2 (en) | 1998-02-19 |
JPH08137549A (ja) | 1996-05-31 |
GB9709154D0 (en) | 1997-06-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO1996015483A1 (fr) | Systeme de guidage pour vehicule | |
US6199011B1 (en) | Navigation system and a vehicle control system | |
US5073749A (en) | Mobile robot navigating method | |
JPH09319430A (ja) | 自動誘導車両の航行操舵制御システム | |
JP2007213356A (ja) | 無人搬送設備 | |
JP3378843B2 (ja) | 無人搬送車の位置および方位の補正装置 | |
JPS6170618A (ja) | 無人走行システム | |
JPH10171535A (ja) | 無人搬送車 | |
JPS61294512A (ja) | 無人搬送車 | |
JP2002108453A (ja) | 無人搬送車 | |
JPH03189805A (ja) | 車両の自動操舵方法及びその自動操舵装置 | |
JP2001202131A (ja) | 無人搬送車 | |
JP3846828B2 (ja) | 移動体の操舵角制御装置 | |
JPH0772926A (ja) | 推測航法における推測位置修正方法 | |
JP3846829B2 (ja) | 移動体の操舵角制御装置 | |
JP2002108447A (ja) | ジャイロ誘導式無人搬送装置 | |
JPH08202449A (ja) | 搬送台車の自動運転制御装置 | |
JP5390360B2 (ja) | 自動搬送車 | |
JPS63182518A (ja) | 車載用ナビゲ−シヨン装置 | |
JP2002373023A (ja) | 自動誘導式荷役車両 | |
JPH0334087B2 (ja) | ||
JP2640446B2 (ja) | 地点追従方式による無人移動機械の誘導装置 | |
JP3338922B2 (ja) | 無軌道式クレーンの走行軌道制御装置 | |
JP2001318718A (ja) | 無軌道自動搬送車及び自動搬送車の制御方法 | |
JP2003067052A (ja) | 無人搬送車の実姿勢角検出方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 95196139.X Country of ref document: CN |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AU CA CN DE GB US |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
ENP | Entry into the national phase |
Ref document number: 2204857 Country of ref document: CA Ref document number: 2204857 Country of ref document: CA Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 08836133 Country of ref document: US |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
NENP | Non-entry into the national phase |
Ref country code: GB Free format text: 19951110 A 9709154 |