CN-122018500-A - Road roller autonomous operation path tracking control method, system, equipment and storage medium

CN122018500ACN 122018500 ACN122018500 ACN 122018500ACN-122018500-A

Abstract

The invention discloses a road roller autonomous operation path tracking control method, system, equipment and storage medium, which comprise the steps of collecting current position, attitude, motion state and environment perception data of a road roller through a multi-sensor assembly, calculating distance deviation and angle deviation of the road roller and a preset path according to the preset operation path and the current position, generating a steering control instruction by adopting an algorithm combining feedforward control and PID feedback control based on the distance deviation and the angle deviation, generating a speed control instruction by adopting a trapezoid speed planning algorithm according to the distance of the rest operation path and the total preset operation time, performing cooperative adaptation on the steering control instruction and the speed control instruction through a coordination control mechanism, monitoring the data validity of a sensor, the running state of the system and the safety of an operation environment in real time, and triggering a safety protection measure when preset abnormal conditions are met. The invention can realize high-precision path tracking, forward-backward self-adaptive control, steering speed coordination and multilayer safety guarantee.

Inventors

ZHANG YICHANG
ZHANG YUHANG
WANG QIAN
FAN QINGQUAN

Assignees

徐工集团工程机械股份有限公司道路机械分公司

Dates

Publication Date: 20260512
Application Date: 20260121

Claims (14)

1. The autonomous working path tracking control method of the road roller is characterized by comprising the following steps of: S1, collecting current position, attitude, motion state and environment sensing data of a road roller through a multi-sensor assembly, wherein the multi-sensor assembly comprises a GPS positioning sensor, a CAN bus sensor and a radar sensor; S2, calculating the distance deviation and the angle deviation of the road roller and the preset path according to the preset operation path and the current position, and performing sign inversion processing on the distance deviation and the angle deviation according to the forward or backward operation direction of the road roller; s3, generating a steering control instruction by adopting an algorithm combining feedforward control and PID feedback control based on the distance deviation and the angle deviation, and adopting differentiated steering control logic aiming at a forward working condition and a backward working condition; S4, generating a speed control instruction by adopting a trapezoidal speed planning algorithm according to the remaining operation path distance and the preset operation total time, wherein the trapezoidal speed planning algorithm comprises an acceleration section, a uniform speed section and a deceleration section; S5, carrying out cooperative adaptation on the steering control instruction and the speed control instruction through a coordination control mechanism, and preventing invalid steering operation in a low-speed state and steering risk in an overspeed state; S6, monitoring the data effectiveness of the sensor, the running state of the system and the safety of the operation environment in real time, and triggering safety protection measures when the preset abnormal conditions are met.
2. The method for tracking and controlling an autonomous working path of a road roller according to claim 1, wherein in step S2, the distance deviation is a vertical distance from a current position of the road roller to a preset path segment, and the angle deviation is a difference value between a current heading angle of the road roller and a direction of the preset path segment; the calculation process of the distance deviation comprises the following steps: If the square of the length of the preset path section is smaller than a set threshold epsilon, the distance deviation is the linear distance from the current position to the starting point of the path section; If the square of the length of the preset path section is not smaller than the set threshold epsilon, calculating a projection point of the current position on the preset path section, taking the linear distance between the current position and the projection point as a vertical distance, and determining the positive and negative signs of the distance deviation according to the left and right side distribution of the current position relative to the preset path section.
3. The method according to claim 1, wherein in step S3, the control amount of the feedforward control is calculated based on a linear combination of the angle deviation and the distance deviation, and the control amount of the feedforward control is calculated by a formula of u=af. Alpha. -df. D, where af is an angle factor, alpha is an angle deviation, df is a distance factor, and d is a distance deviation; The PID feedback control carries out error correction based on a real-time feedback signal of a steering angle sensor, and an output result calculation formula of the PID feedback control is result=kp.e+Ki· edt +Kd· (de/dt), wherein e is an angle error, and Kp, ki and Kd are respectively a proportional coefficient, an integral coefficient and a differential coefficient.
4. The method according to claim 1, wherein the step S3 further comprises a low-speed steering prohibiting mechanism, wherein the output value of the steering control command is set to 0 when the vehicle speed of the road roller is lower than a preset steering speed threshold or the distance from the current position to the work starting position is smaller than a preset steering distance threshold.
5. The method according to claim 1, wherein in step S4, the acceleration section of the trapezoidal speed plan is configured with two acceleration parameters: Acceleration a_normal is adopted in normal operation, acceleration a_lane_change is adopted in lane change operation, and a_lane_change is < a_normal; The deceleration section adopts preset deceleration a_deceleration, and the constant speed section maintains preset optimal cruising speed; The trapezoid speed planning further comprises triangle speed planning adaptation logic, wherein when the matching relation between the preset total time and the working distance does not meet the generation condition of the trapezoid speed curve, the triangle speed planning is automatically switched to be a triangle speed planning, the maximum speed v_max=2·l/T of the triangle speed planning is set, wherein L is the working total distance, and T is the preset working total time.
6. The method according to claim 1, wherein in step S4, the speed control command further includes radar obstacle avoidance adaptation logic: inquiring the maximum allowable speed under the current working condition through a preset speed limiting table according to the obstacle distance measured by the radar sensor; And if the current target speed is higher than the maximum allowable speed, correcting the target speed in the speed control instruction to the maximum allowable speed.
7. The method according to claim 1, wherein in step S5, the coordination control mechanism specifically includes: the first coordination logic is used for comparing the current vehicle speed with an adaptive vehicle speed range corresponding to the steering control instruction in real time, and if the current vehicle speed exceeds the adaptive vehicle speed range, adjusting the speed control instruction to the adaptive vehicle speed range and then outputting the steering control instruction; and the second coordination logic is used for preferentially executing a speed control instruction corresponding to the radar obstacle avoidance when the radar sensor detects the obstacle and triggers the speed limitation, and synchronously adjusting a steering control strategy to adapt to the obstacle avoidance path.
8. The method according to claim 1, wherein in step S6, the safety protection measures specifically include: The first protection measure is that when the radar sensor detects that the obstacle distance is smaller than the safety threshold value and the vehicle speed is higher than the safety vehicle speed, emergency braking is triggered; when the GPS positioning failure, the CAN bus communication interruption or the accumulated time length of the radar sensor work abnormality exceeds a set threshold value, a fault alarm is sent out and the running speed of the road roller is reduced; And a third protection measure is to stop the operation and try to return to the running track when the deviation value of the road roller from the preset path exceeds the maximum allowable threshold value.
9. The method for tracking and controlling an autonomous working path of a road roller according to claim 1, further comprising a vibration control step, wherein the vibration control step specifically comprises: calculating the target vibration intensity of the current position through linear interpolation of adjacent vibration control points according to a preset vibration control point path; when the speed of the road roller is lower than a preset vibration speed threshold v_vibration, automatically setting the vibration intensity to 0; When the current position is smaller than the preset initial protection distance d_start from the operation start point or smaller than the preset end protection distance d_end from the operation end point, vibration is automatically stopped.
10. An autonomous working path tracking control system for a road roller, comprising: The multi-sensor fusion module is used for collecting the current position, the gesture, the motion state and the environment sensing data of the road roller through a multi-sensor assembly, and the multi-sensor assembly comprises a GPS positioning sensor, a CAN bus sensor and a radar sensor; The path deviation calculation module is used for calculating the distance deviation and the angle deviation of the road roller and the preset path according to the preset operation path and the current position, and carrying out sign reversal processing on the deviation according to the forward or backward operation direction of the road roller; The steering control module is used for generating a steering control instruction by adopting an algorithm combining feedforward control and PID feedback control based on the distance deviation and the angle deviation, and adopting differentiated steering control logic aiming at forward and backward working conditions; The speed control module is used for generating a speed control instruction by adopting a trapezoidal speed planning algorithm according to the distance of the residual operation path and the preset total operation time, wherein the trapezoidal speed planning comprises an acceleration section, a uniform speed section and a deceleration section; The coordination control module is used for carrying out cooperative adaptation on the steering control instruction and the speed control instruction through a coordination control mechanism, so as to prevent invalid steering operation in a low-speed state and steering risk in an overspeed state; The safety monitoring module is used for monitoring the data validity of the sensor, the running state of the system and the safety of the operation environment in real time, and triggering safety protection measures when the preset abnormal conditions are met.
11. An autonomous working path tracking control apparatus for a road roller, comprising: The sensor assembly comprises a GPS positioning sensor, a CAN bus sensor and a radar sensor; A processor; A memory storing a computer program; The processor, when executing the computer program, implements the method for controlling the autonomous working path tracking of a road roller according to any one of claims 1 to 9.
12. The autonomous working path tracking control device for a road roller of claim 11, wherein the sensor assembly further comprises a articulation angle sensor for acquiring steering angle data of the road roller and a vibration status sensor for feeding back a current vibration intensity of the road roller.
13. The autonomous working path tracking control device of claim 11, further comprising an actuator electrically coupled to the processor for receiving the steering control command, the speed control command, and the vibration control command, and for driving the roller to perform path tracking, speed adjustment, and vibration start-stop operations.
14. A computer readable storage medium, characterized in that it stores a computer program, which when executed by a processor, implements the autonomous working path tracking control method of a road roller according to any one of claims 1 to 9.

Description

Road roller autonomous operation path tracking control method, system, equipment and storage medium Technical Field The invention relates to a method, a system, equipment and a storage medium for tracking and controlling an autonomous working path of a road roller, and belongs to the field of intelligent control of road rollers. Background The traditional road roller is operated in a long-term dependent manual operation mode, so that the actual pain points such as high labor intensity of operators and bad operation environment are faced, the technical limitation is obvious, the manual control is difficult to accurately control the compaction path and the compaction pass number, the problems of pressure leakage, overpressure or uneven compaction are easy to occur, the operation precision is insufficient, the engineering quality is directly affected, meanwhile, the continuity and the efficiency of manual operation are limited by the artificial factors, and the large-scale and high-standard construction requirement is difficult to adapt. Along with the rapid development of engineering machinery intelligent and unmanned technologies, the unmanned road roller has become a core development direction for solving the pain point of the traditional operation and improving the construction quality and efficiency. However, the existing path tracking system of the unmanned road roller still has the technical problems that firstly, the path tracking precision is insufficient, particularly when the forward working condition and the backward working condition are switched, track deviation is easy to occur due to lack of a specific deviation compensation mechanism, compaction continuity is affected, secondly, steering control and speed control are mutually independent, an effective cooperative mechanism is not formed, misoperation such as invalid steering or overspeed steering and the like in a low-speed state often occurs, the working efficiency is reduced, the mechanical loss is increased, thirdly, the multi-sensor data fusion scheme is not perfect enough, the adaptability to GPS positioning interference and sensor data fluctuation under complex working conditions is weak, the stability of the system under severe construction environments is insufficient, fourthly, a safety guarantee system is not perfect enough, and safety risks are easy to be caused due to lack of an omnibearing monitoring and quick response mechanism for abnormal scenes such as sensor faults, path deviation and obstacle burst and the like, so that the unmanned road roller is restricted from being applied on scale. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a road roller autonomous operation path tracking control method, a system, equipment and a storage medium, which can realize high-precision path tracking, front-back self-adaptive control, steering speed coordination and multilayer safety guarantee. In order to achieve the above purpose, the method for tracking and controlling the autonomous working path of the road roller comprises the following steps: S1, collecting current position, attitude, motion state and environment sensing data of a road roller through a multi-sensor assembly, wherein the multi-sensor assembly comprises a GPS positioning sensor, a CAN bus sensor and a radar sensor; S2, calculating the distance deviation and the angle deviation of the road roller and the preset path according to the preset operation path and the current position, and performing sign inversion processing on the distance deviation and the angle deviation according to the forward or backward operation direction of the road roller; s3, generating a steering control instruction by adopting an algorithm combining feedforward control and PID feedback control based on the distance deviation and the angle deviation, and adopting differentiated steering control logic aiming at a forward working condition and a backward working condition; S4, generating a speed control instruction by adopting a trapezoidal speed planning algorithm according to the remaining operation path distance and the preset operation total time, wherein the trapezoidal speed planning algorithm comprises an acceleration section, a uniform speed section and a deceleration section; S5, carrying out cooperative adaptation on the steering control instruction and the speed control instruction through a coordination control mechanism, and preventing invalid steering operation in a low-speed state and steering risk in an overspeed state; S6, monitoring the data effectiveness of the sensor, the running state of the system and the safety of the operation environment in real time, and triggering safety protection measures when the preset abnormal conditions are met. As an improvement, in step S2, the distance deviation is the vertical distance from the current position of the road roller to the preset path section, and the angle deviation is the difference between