International Journal of Vehicle Structures and Systems 版面费-刊鹿论文编译

Design of Dynamic Tracking System for Unmanned Intelligent Vehicle Trajectory Based on Inversion Method

Abstract:

When using automatic driving control system to track vehicle trajectory dynamically, there are certain errors in tracking curve. A dynamic tracking system for unmanned intelligent vehicle (UIV) trajectory based on inversion method is designed. The monitoring module transmits the information collected by the camera and the obstacle, edge and battery information judged by the sensor to the monitoring and control terminals through the TCP network communication protocol. At the visual end and the control end, according to the received information, the control end makes corresponding operation instructions for the UIV and transmits them to the inversion controller to control, so that the position and prediction error of the tracking system tends to zero. The vehicle kinematics model is made linear by system software to obtain the vehicle’s kinematics linear tracking error model to predict the future behaviour of the vehicle. Back-stepping control algorithm is used to complete the dynamic tracking of the unmanned intelligent vehicle trajectory. The experimental results show that the distance deviation is controlled in the range of ± 0.1 m and the azimuth deviation is in the range of ± 5°. The system can track the reference trajectory accurately and quickly in different scenarios as simulated using vortex seal time multimedia dynamics platform.

Author Listing： Hui Wang;Jie Song

Volume： 11

Pages： None

DOI： 10.4273/ijvss.11.5.19

Language： English

Journal： International Journal of Vehicle Structures & Systems

International Journal of Vehicle Structures and Systems

影响因子：0.0

是否综述期刊：否

是否OA：否

是否预警：不在预警名单内

发行时间：-

ISSN：0975-3060

发刊频率：-

收录数据库：Scopus收录

出版国家/地区：-

出版社：MechAero Foundation for Technical Research & Education Excellence (MAFTREE)

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自引率	0.0%
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偏重研究方向	Engineering-Mechanical Engineering
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时间	预警情况
2024年02月发布的2024版	不在预警名单中
2023年01月发布的2023版	不在预警名单中
2021年12月发布的2021版	不在预警名单中
2020年12月发布的2020版	不在预警名单中

JCR分区 WOS分区等级：Q0区

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WOS期刊SCI分区（2021-2022年最新版）

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版本	大类学科	小类学科	Top期刊	综述期刊
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