The vehicle control technology of human driving is a comprehensive technology composed of sensor perception, self-regulation control, self-discipline learning, mechanical dynamics, system integration and optimization, energy consumption, heat management and many other most advanced scientific and technological fields.<br>Unmanned vehicle system can be divided into the following four parts<br>。 ① Task meaning decision<br>There are many tasks in the operation of driverless vehicles. The location, path and environment of the vehicle will have a certain impact on the priority of task selection and workload of the system. influence. When deciding tasks, pay attention to real-time and effectiveness. This is a dynamic system, which can make decisions quickly and effectively according to the change of real-time environment.<br>② Environmental perception<br>As the eye and touch of unmanned vehicle, it can know the change and integration of road environment in real time. There are two main ways to realize the recognition, such as vehicle location, vehicle location, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle identification, vehicle. Object recognition and tracking. The second is the communication network of roads, vehicles and vehicles<br>Traffic information is collected through communication center and external.<br>③ Path planning<br>The route planning is to find the safe driving route from the starting point to the end point in the real-time environment of the road, adopting the principle of the shortest route length or the shortest time and the minimum energy consumption. It can be divided into global path planning and local path planning. Global path planning mainly uses the known local information to plan the best feasible path with the map. Local path planning is mainly the local driving path generated in emergency (that is, the external real-time environment changes). Therefore, local path planning is based on the premise of global path planning. The plan adapts to the real-time changes of external environment and generates optimized driving path.<br>④ Vehicle control<br>The so-called vehicle control refers to the direction plan of unmanned vehicles<br>On the premise of environment identification, horizontal and vertical control such as vehicle tracking speed control, overtaking control rudder and emergency brake control can be realized. Vehicle control involves unmanned vehicles in both time and space to achieve the best solution to reduce errors between vehicles and path planning.<br>
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