技术领域technical field
本发明涉及农用车辆，特别是一种农用车辆路径跟踪控制方法。The invention relates to agricultural vehicles, in particular to a path tracking control method for agricultural vehicles.
背景技术Background technique
精准农业因其节省人工和成本，提高农业生产过程中如耕作、播种、施肥、喷药和收获等生产过程的效率等优点，已经在多个国家获得重点研发和推广。自动导航系统是精准农业的核心技术之一。而农用车辆路径跟踪控制方法是自动导航系统的核心技术之一，对精准农业无人作业的精度具有非常关键的影响。然而，农用车辆大都应用在非结构化道路上，路面易滑不平整，大都无明显标识。常用的汽车路径跟踪控制方法大都只适用于结构化道路，不太适用于农用车辆应用环境。因此，具有较好鲁棒性和跟踪精度的适用非结构化道路的车辆路径跟踪控制方法对于精准农业自动导航系统十分关键。Because of its advantages of saving labor and cost and improving the efficiency of agricultural production processes such as farming, sowing, fertilizing, spraying and harvesting, precision agriculture has been developed and promoted in many countries. Automatic navigation system is one of the core technologies of precision agriculture. The path tracking control method of agricultural vehicles is one of the core technologies of the automatic navigation system, which has a very critical impact on the accuracy of precision agricultural unmanned operations. However, agricultural vehicles are mostly used on unstructured roads, the road surface is slippery and uneven, and most of them have no obvious signs. Most of the commonly used vehicle path tracking control methods are only suitable for structured roads, and are not suitable for the application environment of agricultural vehicles. Therefore, a vehicle path tracking control method suitable for unstructured roads with good robustness and tracking accuracy is critical for automatic navigation systems for precision agriculture.
经对现有技术的文献检索并没有发现在农业车辆非结构化道路路径跟踪控制方法的文献。在车辆路径跟踪控制方法方面，中国发明专利《一种无人驾驶汽车的路径跟踪方法》(申请号CN 201710481831.9，公开号CN 107037818A)公开了一种无人驾驶汽车的路径跟踪方法，可以实现直线路径跟踪和转向路径跟踪。但这种控制方法不适用于农田非结构化道路环境，且没有说明如何根据横向偏差、航向角和期望航向角调整行驶方向，不适用农田复杂环境下的自主导航和路径跟踪。中国发明专利《基于神经网络的农业机械路径跟踪控制方法》(申请号CN200710028874.8，公开号CN 101078935A)公开了一种基于神经网络的农业机械路径跟踪控制方法，具有一定的自适应能力，但是路径跟踪偏差较大，不适应现在精准农业发展的需要，且需要预先采集驾驶员的驾驶数据，受驾驶员驾驶数据样本影响较大。After searching the literature of the prior art, there is no literature on the path tracking control method of agricultural vehicles on unstructured roads. In terms of vehicle path tracking control methods, the Chinese invention patent "A Path Tracking Method for Unmanned Vehicles" (application number CN 201710481831.9, publication number CN 107037818A) discloses a path tracking method for unmanned vehicles, which can achieve straight-line Path following and steering path following. However, this control method is not suitable for the unstructured road environment of farmland, and it does not explain how to adjust the driving direction according to the lateral deviation, heading angle and desired heading angle, and is not suitable for autonomous navigation and path tracking in the complex environment of farmland. Chinese invention patent "Agricultural Machinery Path Tracking Control Method Based on Neural Network" (application number CN200710028874.8, publication number CN 101078935A) discloses a neural network-based agricultural machinery path tracking control method, which has certain self-adaptive ability, but The path tracking deviation is large, which is not suitable for the development of precision agriculture, and the driver's driving data needs to be collected in advance, which is greatly affected by the driver's driving data samples.
发明内容Contents of the invention
本发明的目的在于克服上述现有技术中存在的缺点，提供一种农用车辆路径跟踪控制方法，该方法具有路径追踪精度更高、稳定性好的特点。该方法采用车辆纵向航向角偏差和路径横向追踪偏差非线性组合控制模型，建立稳定性好、响应快、精度高的使用非结构化路面的车辆路径跟踪方法。The object of the present invention is to overcome the above-mentioned shortcomings in the prior art, and provide a path tracking control method for agricultural vehicles, which has the characteristics of higher path tracking accuracy and good stability. This method adopts the nonlinear combined control model of vehicle longitudinal heading angle deviation and path lateral tracking deviation, and establishes a vehicle path tracking method using unstructured road surface with good stability, fast response and high precision.
为实现上述目的，本发明的技术解决方案如下：To achieve the above object, the technical solution of the present invention is as follows:
一种农用车辆路径跟踪控制方法，其特点在于该方法包括下述步骤：A method for path tracking control of agricultural vehicles, characterized in that the method comprises the following steps:
1)农用车辆的导航传感器、转角传感器、车速传感器测量车辆当前时刻t的纵向航向角偏差φ、路径横向跟踪偏差d、车辆速度v和前轮转角α；1) The navigation sensor, rotation angle sensor, and vehicle speed sensor of the agricultural vehicle measure the vehicle's longitudinal heading angle deviation φ, path lateral tracking deviation d, vehicle speed v, and front wheel rotation angle α at the current moment t;
2)将所述的纵向航向角偏差φ、路径横向跟踪偏差d、车辆速度v输入车辆控制器，该车辆控制器按下列公式计算出为消除路径横向跟踪偏差d和航向角偏差φ的t时刻车辆期望前轮转角β：2) Input the longitudinal yaw angle deviation φ, the path lateral tracking deviation d, and the vehicle speed v into the vehicle controller, and the vehicle controller calculates the time t for eliminating the path lateral tracking deviation d and the yaw angle deviation φ according to the following formula Vehicle desired front wheel angle β:
式中，L为可调整的参数，表示将车辆后轴横向偏差d转换到车身纵向中轴线的某一点的横向偏差；k1、k2、k3为车辆期望前轮转角β调整的比例系数；In the formula, L is an adjustable parameter, which represents the lateral deviation of converting the lateral deviation d of the rear axle of the vehicle to a certain point on the longitudinal center axis of the vehicle body; k1, k2, and k3 are the proportional coefficients for adjusting the expected front wheel angle β of the vehicle;
3)按下列PID控制模型计算t时刻转向控制器的输出给转向执行机构的速度控制量u(t)：3) According to the following PID control model, calculate the speed control value u(t) output from the steering controller to the steering actuator at time t:
其中，e(t)为t时刻期望前轮转角β(t)与实际前轮转角α(t)的差值，即前轮转角偏差e＝β-α，所述的Kp、Ki、Kd为PID控制的比例系数、积分系数和微分系数；Wherein, e(t) is the difference between the expected front wheel angle β(t) and the actual front wheel angle α(t) at time t, that is, the front wheel angle deviation e=β-α, the Kp , Ki , Kd is the proportional coefficient, integral coefficient and differential coefficient of PID control;
4)将所述的前轮转角偏差e＝β-α输入PID控制器，该PID控制器控制调整车辆前轮转角，实现车辆运动路径的控制；4) input the said front wheel angle deviation e=β-α into the PID controller, and the PID controller controls and adjusts the vehicle front wheel angle to realize the control of the vehicle motion path;
5)若当前位置已经是预设作业路径的终点，则进入步骤6)；否则回到步骤1)；5) If the current position is already the end point of the preset operation path, then go to step 6); otherwise, go back to step 1);
6)结束路径跟踪。6) End path tracing.
所述的k1、k2、k3为车辆期望前轮转角β调整的比例系数，k1的取值范围为[0.8～2.7],k2取值范围为[0.6,1.7]，k3取值范围为[0.5,1.8]。The k1, k2 and k3 mentioned above are the proportional coefficients for adjusting the expected front wheel angle β of the vehicle, the value range of k1 is [0.8～2.7], the value range of k2 is [0.6,1.7], and the value range of k3 is [0.5 ,1.8].
所述的的k1、k2、k3的调整方法为：在车辆航向调整响应较慢时，应增大k1；在车辆振荡较大时应减小k1。当车辆调整d较慢或d无法收敛到较小的值时，应增大k2；反之当车辆航向无法收敛到较小的值或者振荡较大时，应当减小k2；当车辆上线速度超调较大时应减小k3；当车辆上线速度太慢时应增大k3。The adjustment methods of k1, k2 and k3 mentioned above are as follows: when the vehicle course adjustment response is slow, k1 should be increased; when the vehicle oscillation is relatively large, k1 should be decreased. When the vehicle adjusts d slowly or d cannot converge to a small value, k2 should be increased; conversely, when the vehicle heading cannot converge to a small value or the oscillation is large, k2 should be reduced; When it is larger, k3 should be reduced; when the speed of the vehicle on the line is too slow, k3 should be increased.
所述的Kp、Ki、Kd为PID控制的比例系数、积分系数和微分系数，Kp、Ki、Kd的取值范围分别为[0.8,1.4]、[0.03，0.08]、[0.01,0.11]。The Kp , Ki , Kd are proportional coefficients, integral coefficients and differential coefficients of PID control, and the value ranges of Kp , Ki , Kd are [0.8,1.4], [0.03,0.08], [0.01,0.11].
所述的Kp、Ki、Kd的调整方法为：车辆实际转向角相对于期望转角的响应速度慢时，增大Kp，当车辆转角响应发生振荡时，减小Kp；当车辆静态误差较大时，增大Ki；当车辆转角响应发生振荡时，减小Ki；车辆超调较大时，增大Kd，当车辆转角响应发生振荡时，减小Kd。The adjustment method of Kp , Ki , and Kd is as follows: when the response speed of the actual steering angle of the vehicle is slow relative to the expected steering angle, increase Kp , and decrease Kp when the response of the vehicle steering angle oscillates; When the static error is large, increase Ki ; when the vehicle corner response oscillates, decrease Ki ; when the vehicle overshoot is large, increase Kd , and when the vehicle corner response oscillates, decrease Kd .
本发明与现有技术相比具有如下优点和效果：Compared with the prior art, the present invention has the following advantages and effects:
(1)本发明路径跟踪方法使用车辆位姿的两个重要信息：路径跟踪横向偏差和纵向航向角偏差，用一个简单的多偏差非线性变换组合的控制模型实现路径跟踪，具有高精度控制，计算量小，实时性强，易于在低成本的嵌入式控制系统上实现。(1) The path tracking method of the present invention uses two important information of the vehicle pose: path tracking lateral deviation and longitudinal heading angle deviation, realizes path tracking with a simple multi-deviation nonlinear transformation combined control model, and has high-precision control, The calculation amount is small, the real-time performance is strong, and it is easy to realize on the low-cost embedded control system.
(2)本发明控制农业机械在如水田、湿地等非结构化路面沿着预设作业路径自动行走，实验表明，最大路径跟踪误差小于10cm，路径跟踪误差绝对平均值小于4cm，绝对局部跟踪误差平均值小于2cm，在旱地上，精度更高，提高了路径跟踪精度。(2) The present invention controls agricultural machinery to automatically walk along the preset operation path on unstructured roads such as paddy fields and wetlands. Experiments show that the maximum path tracking error is less than 10cm, the absolute mean value of path tracking error is less than 4cm, and the absolute local tracking error is less than 4cm. The average value is less than 2cm, and on dry land, the accuracy is higher, which improves the path tracking accuracy.
(3)本发明适用于智能农业机械装备的辅助或自动导航行走，不仅适用于旱地农业机械的作业需要，还适用于水田湿地等恶劣环境农业机械的自动行走，对于我国提高精准农业水平、振兴三农等战略具有十分广阔的推广应用前景。(3) The present invention is suitable for the auxiliary or automatic navigation of intelligent agricultural machinery and equipment, not only for the operation needs of agricultural machinery in dry land, but also for the automatic walking of agricultural machinery in harsh environments such as paddy fields and wetlands. Sannong and other strategies have very broad prospects for promotion and application.
附图说明Description of drawings
图1是本发明农用车辆路径跟踪控制方法示意图。Fig. 1 is a schematic diagram of the method for path tracking control of an agricultural vehicle according to the present invention.
图2是本发明农用车辆路径跟踪方法的流程图。Fig. 2 is a flow chart of the method for tracking the path of an agricultural vehicle in the present invention.
图3是本发明实施例提供的农用车辆转向控制方法示意图。Fig. 3 is a schematic diagram of a steering control method for an agricultural vehicle provided by an embodiment of the present invention.
图4是本发明实施例水田间试验的路径跟踪效果图。Fig. 4 is a path tracking effect diagram of a paddy field test according to an embodiment of the present invention.
图5是本发明实施例水田间试验的路径跟踪横向偏差图。Fig. 5 is a path tracking lateral deviation diagram of a paddy field test according to an embodiment of the present invention.
具体实施方式Detailed ways
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述，但本发明的实施方式不限于此。The technical solutions of the present invention will be described in further detail below with reference to the drawings and examples, but the embodiments of the present invention are not limited thereto.
本实施例以洋马VP6D插秧机为测试平台，使用非结构化路面的车辆路径跟踪方法。具体实施步骤如下：In this embodiment, the Yanmar VP6D rice transplanter is used as a test platform, and a vehicle path tracking method on an unstructured road surface is used. The specific implementation steps are as follows:
步骤1，导航定位传感器获得车辆航向角Φ1和后轮轴中心位置坐标Pr(xr,yr)，如图1所示，根据预设路径上的对应点Pt(xt,yt)处的路径切线航向角Φ2和两点的坐标计算出车辆在当前时刻的航向角偏差φ、路径横向跟踪偏差d，由车速传感器测得车辆当前的前进速度v，由转角传感器测得当前的前轮转角α；Step 1, the navigation positioning sensor obtains the vehicle heading angle Φ1 and the center position coordinates Pr (xr , yr ) of the rear wheel axle, as shown in Figure 1, according to the corresponding point Pt (xt , yt ) at the path tangent heading angle Φ2 and the coordinates of the two points to calculate the heading angle deviation φ and path lateral tracking deviation d of the vehicle at the current moment, the vehicle’s current forward speed v is measured by the vehicle speed sensor, and the current forward speed v is measured by the rotation angle sensor. The front wheel rotation angle α;
所述的航向角偏差φ的计算公式如下：The formula for calculating the heading angle deviation φ is as follows:
所述的路径横向跟踪偏差d的计算公式如下：The calculation formula of the path lateral tracking deviation d is as follows:
步骤2，将传感器测得的农用车辆当前时刻的纵向航向角偏差φ、路径横向跟踪偏差d、车辆速度v输入所述路径跟踪sjtu控制模型，按下列公式计算出车辆所需的前轮转角β：Step 2, input the longitudinal heading angle deviation φ, path lateral tracking deviation d, and vehicle speed v of the agricultural vehicle measured by the sensor at the current moment into the path tracking sjtu control model, and calculate the required front wheel angle β of the vehicle according to the following formula :
式中，β为消除路径横向跟踪偏差d和航向角偏差φ车辆所需的期望前轮转角；L为调整的参数，表示将车辆后轴横向偏差d转换到车身纵向中轴线的某一点的横向偏差；k1、k2、k3为调整的比例系数，k1越大，则所述控制模型计算出的前轮转角β受路径横向跟踪偏差d和航向角偏差影响φ都越大；k2越大，则所述控制模型更多考虑横向偏差的影响，反之则更多考虑航向角的影响；k3越大，则所述控制模型横向偏差d非线性变换越容易进入饱和区。通过实验测定，k1取值范围为[0.8,2.7],k2取值范围为[0.6,1.7]，k3取值范围为[0.5,1.8]。在车辆航向调整响应较慢时，应增大k1；在车辆振荡较大叫快时应减小k1。当车辆调整d较慢或d无法收敛到较小的值时，应增大k2；反之当车辆航向无法收敛到较小的值或者振荡较大时，应当减小k2。当车辆上线超调较大时应减小k3；当车辆上线速度太慢时应增大k3。本实施例取k1＝1，k2＝1，k3＝1.4，L为车辆前后轮轴距；In the formula, β is the expected front wheel angle required by the vehicle to eliminate the path lateral tracking deviation d and the heading angle deviation φ; L is an adjusted parameter, which represents the lateral direction of converting the lateral deviation d of the rear axle of the vehicle to a certain point on the longitudinal central axis of the vehicle body. deviation; k1 , k2 , and k3 are proportional coefficients for adjustment, and the larger k1 is, the greater the front wheel rotation angle β calculated by the control model is affected by path lateral tracking deviation d and heading angle deviation φ; k The larger2 is, the more the influence of the lateral deviation is considered in the control model, otherwise the influence of the heading angle is considered more; the larger the k3 is, the easier the nonlinear transformation of the lateral deviation d of the control model enters the saturation region. Through experimental determination, the value range of k1 is [0.8, 2.7], the value range of k2 is [0.6, 1.7], and the value range of k3 is [0.5, 1.8]. When the response of the vehicle course adjustment is slow, k1 should be increased; when the vehicle oscillates relatively fast, k1 should be decreased. When the vehicle adjusts d slowly or d cannot converge to a small value, k2 should be increased; on the contrary, when the vehicle heading cannot converge to a small value or the oscillation is large, k2 should be decreased. When the vehicle on-line overshoot is large, k3 should be reduced; when the vehicle on-line speed is too slow, k3 should be increased. In this embodiment, k1 =1, k2 =1, k3 =1.4, and L is the wheelbase of the front and rear wheels of the vehicle;
步骤3，根据sjtu控制模型计算出的前轮转角β和车辆当前前轮转角α作为转向系统控制输入，用PID控制器控制转向系统动作，控制车辆调整前轮转角和航向，实现车辆运动路径的控制，如图3所示。Step 3, the front wheel angle β calculated according to the sjtu control model and the current front wheel angle α of the vehicle are used as the steering system control input, the PID controller is used to control the steering system action, and the vehicle is controlled to adjust the front wheel angle and heading, so as to realize the vehicle movement path control, as shown in Figure 3.
其中所用转向系统PID控制器输出的计算公式如下：The calculation formula of the PID controller output of the steering system used is as follows:
其中，e(t)为t时刻期望前轮转角β(t)与实际前轮转角α(t)的差值β(t)-α(t)；Kp、Ki、Kd为PID控制的比例系数、积分系数、微分系数，通过调整这三者的值可以让转向系统有满意的响应性能，以适应路径跟踪控制算法的需要。经实验测定，Kp、Ki、Kd可为[0.8,1.4]、[0.03，0.08]、[0.01,0.11]。Kp、Ki、Kd调整方法为：车辆实际转向角相对于期望转角的响应速度慢时，增大Kp。当车辆转角响应发生振荡时，减小Kp。直到车辆转角有一个较满意的响应速度。车辆静态误差较大时，增大Ki。当车辆转角响应发生振荡时，减小Ki。车辆超调较大时，增大Kd。当车辆转角响应发生振荡时，减小Kd。u(t)为t时刻转向控制器的输出给转向执行机构的速度控制量，即速度环的输入，将其设置为转向系统的转速，即可控制车轮转角调整为期望车轮转角β。Among them, e(t) is the difference β(t)-α(t) between the expected front wheel angle β(t) and the actual front wheel angle α(t) at time t; Kp , Ki , Kd are PID control By adjusting the proportional coefficient, integral coefficient and differential coefficient of these three values, the steering system can have a satisfactory response performance to meet the needs of the path-following control algorithm. As determined by experiments, Kp , Ki , and Kd can be [0.8, 1.4], [0.03, 0.08], [0.01, 0.11]. The adjustment method of Kp , Ki , and Kd is as follows: when the response speed of the actual steering angle of the vehicle is slow relative to the expected steering angle, increase Kp . When the vehicle corner response oscillates,Kp is decreased. Until the vehicle corners have a satisfactory response speed. When the static error of the vehicle is large, increase Ki . When the vehicle corner response oscillates, Ki is decreased. When the vehicle overshoot is large, increase Kd . Kd is decreased when the vehicle corner response oscillates. u(t) is the speed control quantity output from the steering controller to the steering actuator at time t, that is, the input of the speed loop, which is set as the speed of the steering system, and the wheel angle can be controlled to adjust to the desired wheel angle β.
步骤3中，若当前位置已经是预设作业路径的终点，则结束路径跟踪；否则回到步骤1，继续跟踪预设作业路径，直到完成作业为止。如图2所示。In step 3, if the current position is already the end point of the preset operation path, end the path tracking; otherwise, go back to step 1 and continue to track the preset operation path until the operation is completed. as shown in picture 2.
水田间测试时，在洋马VP6D插秧机试验平台上，将所述路径跟踪控制方法在ARMCortex-A8嵌入式系统上实现，以北斗全球定位系统作为导航定位传感器和车速传感器，获取车辆航向角Φ1、后轮轴中心位置坐标Pr(xr,yr)和车速v，在行进速度在0.7m/s左右，对水田中预设作业路径进行路径跟踪。图4为所述路径跟踪方法在水田中对预设作业路径的跟踪结果。图5为在人为设置一个初始横向偏差后，所述路径跟踪方法在水田中对预设作业路径跟踪的横向偏差图。During the paddy field test, on the Yanmar VP6D rice transplanter test platform, the path tracking control method was implemented on the ARM Cortex-A8 embedded system, and the Beidou global positioning system was used as the navigation positioning sensor and the vehicle speed sensor to obtain the vehicle heading angle Φ1. The position coordinates Pr (xr , yr ) of the center of the rear wheel axle and the vehicle speed v, when the traveling speed is about 0.7m/s, track the preset operation path in the paddy field. Fig. 4 is the tracking result of the preset operation path in the paddy field by the path tracking method. Fig. 5 is a lateral deviation diagram of the path tracking method tracking a preset operation path in a paddy field after an initial lateral deviation is artificially set.
试验结果表明，本发明路径跟踪方法适用于水田等非结构化路面，最大横向偏差为0.092m，整块水田作业路径跟踪的平均横向绝对偏差为0.028m，提高了农用车辆在水田环境下的路径跟踪精度，满足精准农业作业对路径跟踪精度的要求。The test results show that the path tracking method of the present invention is suitable for unstructured road surfaces such as paddy fields, the maximum lateral deviation is 0.092m, and the average lateral absolute deviation of the entire paddy field operation path tracking is 0.028m, which improves the path of agricultural vehicles in the paddy field environment. Tracking accuracy, meeting the requirements of precision agricultural operations for path tracking accuracy.
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| CN201810568672.0ACN108646747A (en) | 2018-06-05 | 2018-06-05 | Agri-vehicle path tracking control method |
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| CN201810568672.0ACN108646747A (en) | 2018-06-05 | 2018-06-05 | Agri-vehicle path tracking control method |
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