Research On Driverless Measurement And Control System Of Electric Patrol Vehicle In Factory Area

Unmanned vehicle is an unmanned technology which integrates computer,control engineering and vehicle engineering science.It is one of the seven major industries supported by the state.Safety is the basic guarantee for the normal driving of driverless vehicles and one of the important indicators reflecting the level of intelligence.Safe driving mainly depends on the quality and performance of driving unit,steering unit and braking unit of driverless vehicle.With the development of computer vision technology,navigation technology and environment perception technology,it reduces the general safety risks and avoids the occurrence of serious traffic accidents for driverless vehicles on the road.Based on the detailed analysis of the key technology and industrial application of the driverless electric patrol vehicle,this paper mainly studies and designs the driving unit,steering unit and braking unit of the driverless electric patrol vehicle.Firstly,the driving unit,steering unit and braking unit of the existing electric patrol vehicle are analyzed and studied in detail,the measurement and control objects of each unit are defined,and the method of fuzzy-PID compound control is selected to improve the performance of driving unit and steering unit.Secondly,the driving,steering and braking control systems suitable for unmanned patrol vehicles are established.Simulink,LabVIEW RT and other simulation software are used to establish an on-line hardware simulation platform for unmanned intelligent patrol vehicles.The simulation analysis is carried out to verify the reliability and stability of the driving,steering and braking control systems in different environments.According to the simulation results,the structure and control performance parameters of the three measurement and control systems are further optimized.Finally,aiming at the requirements of autonomous driving,steering and braking of electric patrol vehicle in the unmanned state,the hardware platform is built with the unmanned vehicle as the carrier.For the drive measurement and control system,STM32 MCU is used to design the motor speed capture unit and intelligent accelerator,which realizes the self-driving function under the condition of unmanned driving.For the steering measurement and control system,STM32 MCU is used as the core to establish the middle-level structure of the steering measurement and control system,and according to the road information acquired by computer vision,the actuator can steer according to the desired position.The braking measurement and control system,which is suitable for emergency braking and braking under two different working conditions,is developed by using laser ranging sensor group,STM32 single chip computer and relay.Figure [57] Table [4] Reference [56]...