震源车无人驾驶控制算法设计与应用

In order to meet the operation demand of the vibroseis vehicle in the case of unmanned driving, an unmanned driving system that meets the working characteristics of the vibroseis vehicle is designed, and the key technical problems are studied. Firstly, the system is designed and built. Secondly, according to the structural characteristics of articulated vehicle, the kinematic analysis and modeling of the vibroseis vehicle are carried out. A local path planning algorithm based on steering geometry constraint is proposed to solve the problem of work point deviation. A model predictive control algorithm based on the kinematic model is designed for vehicle path tracking to improve the path tracking accuracy of the vibroseis vehicle. A compensation algorithm for positioning error of the working point is proposed to reduce the positioning error caused by terrain factors. A new car following distance calculation algorithm is designed to ensure vehicle safety during formation operation. Finally, the real-vehicle experiment and field production test are carried out. The experiment results verify the effectiveness of the proposed algorithms. And the field production data shows that the system can improve the work efficiency of the vibroseis vehicle by 15% and the accuracy by 57%.