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.