Navigation of the autonomous vehicle reverse movement

International Automobile Scientific Forum (IASF-2017) Intelligent Transport Systems

Rachkov, M.^1 ; Petukhov, S.^1

Moscow Polytech, Moscow

107023, Russia^1

关键词: Autonomous Vehicles;    Lateral deviation;    Mathematical formulation;    Multidimensional correlations;    Nominal trajectory;    Radio channels;    Reference trajectories;    Vehicle speed;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/315/1/012019/pdf
DOI  :  10.1088/1757-899X/315/1/012019

来源: IOP

【 摘 要 】

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.