The trajectory information processing control method of AGV smart car includes four steps: track information piecewise fitting, slope offset conversion, weight calculation, and decision output; track information piecewise fitting uses the least square method for piecewise fitting, Approximately straight line processing to extract the slope and offset; the slope and offset conversion uses a coordinate transformation to change the slope value to a linear relationship with the angle; the weight calculation is based on the image coordinate position, The total number of segments is assigned a certain decision weight; decision output refers to the output of the optimal steering wheel angle calculated and combined with the wheelbase and wheelbase of the vehicle according to the final decision amount, and is sent to the vehicle VCU controller in the form of instructions, which is then controlled by the controller EPS turns.
The trajectory information processing control method of AGV smart car includes the following steps:
(1) Obtaining the trajectory information of the AGV smart car in the image, and performing segmental fitting on the trajectory information to obtain multiple groups of connected line segments in sequence;
(2) For any group of line segments, extract the slope of the line segment and the offset of each point on the line segment from the Y axis of the image, and then calculate the decision-making amount of each group of line segments through coordinate transformation;
(3) According to the decision amount of each group of lines, the decision amount of the entire trajectory is calculated through attenuation and summation, and then the steering angle and speed of the AGV smart car are determined and sent to the VCU based on the decision amount and the relationship between the steering wheel angle and the turning radius The VCU controls the travel of the AGV smart car.
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