CN108116497B - The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance - Google Patents
The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance Download PDFInfo
- Publication number
- CN108116497B CN108116497B CN201711292330.2A CN201711292330A CN108116497B CN 108116497 B CN108116497 B CN 108116497B CN 201711292330 A CN201711292330 A CN 201711292330A CN 108116497 B CN108116497 B CN 108116497B
- Authority
- CN
- China
- Prior art keywords
- intelligent driving
- driving object
- steering
- advance
- circle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Navigation (AREA)
Abstract
The present invention provides steerings to take aim at a determining method in advance, steering angle determines that method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit.The steering takes aim at a determining method for determining that the steering of the intelligent driving object travelled is taken aim at a little in advance in advance, comprising: obtains expected travel path, current location and its subpoint in expected travel path of intelligent driving object；Calculate radius of curvature, first circle of reference and second circle of reference of the subpoint in expected travel path, first circle of reference and expected travel path are tangent in subpoint, and its radius is the radius of curvature, second circle of reference is using the current location of the intelligent driving object as the center of circle, using preview distance as radius；And determine that the intersection point of the first circle of reference and the second circle of reference is to turn to take aim at a little in advance.In this way, having taken into account the stability and precision of path trace.
Description
Technical field
The present invention generally relates to automatic Pilot fields, and more specifically, are related to turning to a determining method of taking aim in advance, turn
Determine that method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit to angle.
Background technique
With the development of science and technology automatic Pilot technology also has been greatly developed, automatic Pilot technology is especially applied
Automobile.Currently, the high end configuration of many product vehicles all has Function for Automatic Pilot.
This vehicle with Function for Automatic Pilot is otherwise known as intelligent driving vehicle, in Vehicular intelligent technology,
Advanced Automotive Automatic Control is a hot spot in vehicle research field again.Wherein, when control Vehicular turn tracks expected path row
When sailing, taking aim at determination a little in advance is a very crucial factor.According to the current pose for the position and this vehicle taken aim in advance a little, then pass through
Certain control algolithm is crossed, the current expectation front wheel slip angle of this vehicle can be obtained, to control Vehicular turn, makes its tracking expectation
Route.
Accordingly, there exist turn to the need for taking aim at the method for a little and correspondingly determining steering angle in advance for determining for improved
It wants.
Summary of the invention
It is an object of the invention to be directed to above-mentioned defect in the prior art and deficiency, novel and improved steering is provided
A determining method is taken aim in advance, steering angle determines that method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit.
According to an aspect of the present invention, it provides a kind of turn to and takes aim at a determining method in advance, for determining the intelligence travelled
The steering that object can be driven is taken aim at a little in advance, and it includes: to obtain the expectation of the intelligent driving object that a determining method is taken aim in the steering in advance
Driving path；Determine the current location of the intelligent driving object；Determine the current location of the intelligent driving object described
Subpoint in expected travel path；Calculate radius of curvature of the subpoint in the expected travel path；Calculate first
Circle of reference, first circle of reference is tangent in the subpoint with the expected travel path, and the half of first circle of reference
Diameter is the radius of curvature；The second circle of reference is calculated, second circle of reference is with the current location of the intelligent driving object
The center of circle, using preview distance as radius；And determine that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
It is taken aim in a determining method in advance in above-mentioned steering, determines the current location of the intelligent driving object in the desired row
Whether the subpoint sailed on path specifically includes: determining the current location of the intelligent driving object in the expected travel path
On；With, in response to the determination intelligent driving object current location not in the expected travel path, determine the intelligence
The closest approach for driving current location to the expected travel path of object is the subpoint.
It is taken aim in a determining method in advance in above-mentioned steering, passes through at least one described intelligent driving object of acquisition below
Expected travel path: the planning driving path of the intelligent driving object；The path of the intelligent driving object current driving
Extension track；Customized driving path of the user to the intelligent driving object；With the map number of the intelligent driving object
According to.
It is taken aim in a determining method in advance in above-mentioned steering, the preview distance is the current driving speed of the intelligent driving object
Degree is multiplied by a pre-determined factor.
According to another aspect of the present invention, the steering angle for providing a kind of intelligent driving object determines method, comprising: with such as
The upper steering takes aim at a determining method in advance and determines that the steering of the intelligent driving object is taken aim at a little in advance；The steering is obtained to take aim at a little in advance
Coordinate under the local coordinate of the intelligent driving object；And the intelligent driving object is calculated based on the coordinate
Steering angle.
It is determined in method in above-mentioned steering angle, obtains the steering and take aim at a little in the local coordinate system of the intelligent driving object in advance
Coordinate under system specifically includes: determining course angle of the intelligent driving object under earth coordinates；With, be based on the intelligence
The course angle and current location information calculating steering of the object under earth coordinates is driven to take aim at a little in the intelligent driving in advance
Coordinate under the local coordinate of object.
It is determined in method in above-mentioned steering angle, the steering angle for calculating the intelligent driving object based on the coordinate specifically wraps
It includes: calculating the front wheel slip angle of the intelligent driving object based on the coordinate；With, to the front wheel slip angle carry out ratio conversion with
Obtain the expected angle of steering motor.
It is determined in method in above-mentioned steering angle, the front wheel slip angle for calculating the intelligent driving object based on the coordinate is specific
Including calculating the front wheel slip angle with following formula (1):
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
In accordance with a further aspect of the present invention, it provides a kind of turn to and takes aim at a determining device in advance, travelled for determination
The steering of intelligent driving object is taken aim at a little in advance, and it includes: driving path acquiring unit that the steering, which takes aim at a determining device in advance, for obtaining
The expected travel path of the intelligent driving object；Current location determination unit, for determining working as the intelligent driving object
Front position；Subpoint determination unit, for determining the current location of the intelligent driving object in the expected travel path
Subpoint；Curvature radius calculation unit, for calculating radius of curvature of the subpoint in the expected travel path；The
One circle of reference computing unit, for calculating the first circle of reference, first circle of reference and the expected travel path are in the throwing
Shadow point is tangent, and the radius of first circle of reference is the radius of curvature；Second circle of reference computing unit, for calculating second
Circle of reference, second circle of reference is using the current location of the intelligent driving object as the center of circle, using preview distance as radius；With
And turn to and take aim at a determination unit in advance, for determining that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
It is taken aim in a determining device in advance in above-mentioned steering, the subpoint determination unit is specifically used for: determining that the intelligence is driven
The current location of object is sailed whether in the expected travel path；With in response to the current of the determination intelligent driving object
Position determines the current location of the intelligent driving object to the expected travel path not in the expected travel path
Closest approach is the subpoint.
Taken aim in a determining device in advance in above-mentioned steering, the driving path acquiring unit by it is below at least one
Obtain the expected travel path of the intelligent driving object: the planning driving path of the intelligent driving object；The intelligence is driven
Sail the extension track in the path of object current driving；Customized driving path of the user to the intelligent driving object；With it is described
The map datum of intelligent driving object.
It is taken aim in a determining device in advance in above-mentioned steering, the preview distance is the current driving speed of the intelligent driving object
Degree is multiplied by a pre-determined factor.
According to another aspect of the invention, the steering angle for providing a kind of intelligent driving object determines equipment, comprising: as above
A determining device is taken aim in the steering in advance, for determining that the steering of the intelligent driving object is taken aim at a little in advance；Coordinate acquiring unit is used
The coordinate a little under the local coordinate of the intelligent driving object is taken aim in advance in the acquisition steering；And steering angle calculates list
Member, for calculating the steering angle of the intelligent driving object based on the coordinate.
It is determined in equipment in above-mentioned steering angle, the coordinate acquiring unit is specifically used for: determining the intelligent driving object
Course angle under earth coordinates；With course angle and present bit based on the intelligent driving object under earth coordinates
Confidence breath calculates the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering.
It is determined in equipment in above-mentioned steering angle, the steering angle computing unit is specifically used for: institute is calculated based on the coordinate
State the front wheel slip angle of intelligent driving object；With ratio conversion is carried out to obtain the expectation angle of steering motor to the front wheel slip angle
Degree.
It is determined in equipment in above-mentioned steering angle, the steering angle computing unit is specifically used for calculating institute with following formula (1)
State the front wheel slip angle of intelligent driving object:
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
According to another aspect of the invention, a kind of mobile unit is provided, comprising: memory, it can for storing computer
It executes instruction；With processor, for executing the computer executable instructions of the memory storage, to execute as described above
It turns to and takes aim at a determining method in advance.
According to another aspect of the invention, a kind of mobile unit is provided, comprising: memory, it can for storing computer
It executes instruction；With processor, for executing the computer executable instructions of the memory storage, to execute as described above
Steering angle determines method.
According to another aspect of the invention, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence instruction is operable to execute to turn to as described above and take aim at a little in advance when the computer program instructions are executed by a computing apparatus
Determine method.
According to another aspect of the invention, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence instruction is operable to execute steering angle determination as described above when the computer program instructions are executed by a computing apparatus
Method.
A determining method is taken aim in steering provided by the invention in advance, steering angle determines method, turns to and takes aim at a determining device in advance, turns to
Angle determines equipment and mobile unit, is arranged on circle of reference rather than on expected path by will take aim at position a little in advance, Ke Yishe
Setting biggish preview distance makes the pre- position taken aim at a little farther out, in straight way, tracks the high stability of expected path, while entering
Curved, protruding crook can also be such that the precision of vehicle tracking expected path improves, to take into account the stability and precision of path trace.
Detailed description of the invention
Fig. 1 is diagram for determining that an exemplary schematic diagram of method a little is taken aim in steering in advance；
Fig. 2 is that the schematic flow chart for determining method is taken aim in diagram steering according to an embodiment of the present invention in advance；
Fig. 3 is that the schematic diagram for determining method is taken aim in diagram steering according to an embodiment of the present invention in advance；
Fig. 4 is the schematic flow chart that diagram steering angle according to an embodiment of the present invention determines method；
Fig. 5 is the schematic block diagram that a determining device is taken aim in diagram steering according to an embodiment of the present invention in advance；
Fig. 6 is the schematic block diagram that diagram steering angle according to an embodiment of the present invention determines equipment；
Fig. 7 is the schematic block diagram for illustrating mobile unit according to an embodiment of the present invention.
Specific embodiment
It is described below for the open present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
Term used in following description and claim and word are not limited to literal meaning, but only by the present inventor
The present invention can be understood and consistently understand by being used so that.Therefore, to those skilled in the art clearly only for explanation
Purpose rather than provide this hair for the limitation purpose of the present invention as defined in appended claims and their equivalent
Bright various embodiments are described below.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of inventive concept.Term as used herein " and/
Or " project listed any for including one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singular is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " includes " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
Have and the consistent meaning of the meaning of term in the prior art.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
It is to justify using this vehicle center as origin by radius work of preview distance in general, in the course changing control of vehicle, it will be with
The crosspoint of expected path takes aim at position a little on expected path, as shown in Figure 1 as taking aim at a little in advance in advance.Fig. 1 is that diagram is used for
Determine an exemplary schematic diagram for turning to and taking aim at method a little in advance.
Shown in Fig. 1 turns in the pre- method taken aim at a little for determining, due to taking aim at a little expectation road in vehicle direction of advance in advance
On diameter, by adjusting the size of preview distance, thus it is possible to vary take aim at a little distance with this vehicle in advance, thus corresponding adjusts path with
The stability and precision of track.In the case where vehicle forward speed is certain, when taking aim at the path trace a little with this vehicle when being closer in advance
Precision it is higher, but stability is poor；When take aim in advance a little at a distance from this vehicle farther out when, the stability of path trace is preferable, but with
Track precision is poor.
But due to taking aim at a little on expected path in advance, and in the front of vehicle, this is put to pre- take aim in the center for having ignored vehicle
The expected path shape information of section distance.Therefore, vehicle can not be made to travel completely along expected path based on the control taken aim in advance a little, such as
Entering crook, vehicle can turn in advance, in protruding crook, cannot track expected path in time.
In addition, there are contradictions for stability and precision due to the adjustment of taking aim at a position in advance to path trace, to improve path
The precision of tracking needs to keep the pre- position taken aim at a little closer from this vehicle, but the stability that will lead to path trace again in this way reduces.
Therefore, one side according to an embodiment of the present invention provides a kind of turn to and takes aim at a determining method in advance, for determining just
It is taken aim in advance a little in the steering of the intelligent driving object of traveling, it includes: to obtain the intelligent driving that a determining method is taken aim in the steering in advance
The expected travel path of object；Determine the current location of the intelligent driving object；Determine the current of the intelligent driving object
Subpoint of the position in the expected travel path；Calculate curvature of the subpoint in the expected travel path half
Diameter；The first circle of reference is calculated, first circle of reference is tangent in the subpoint with the expected travel path, and described first
The radius of circle of reference is the radius of curvature；The second circle of reference is calculated, second circle of reference is with the intelligent driving object
Current location is the center of circle, using preview distance as radius；And determine the intersection point of first circle of reference and second circle of reference
It is taken aim at a little in advance for the steering.
Fig. 2 is that the schematic flow chart for determining method is taken aim in diagram steering according to an embodiment of the present invention in advance.Such as Fig. 2 institute
Show, it is pre- that a steering of the determining method for determining the intelligent driving object travelled is taken aim in steering according to an embodiment of the present invention in advance
It takes aim at a little, comprising: S110 obtains the expected travel path of the intelligent driving object；S120 determines the intelligent driving object
Current location；S130 determines subpoint of the current location of the intelligent driving object in the expected travel path；
S140 calculates radius of curvature of the subpoint in the expected travel path；S150, calculates the first circle of reference, and described the
One circle of reference is tangent in the subpoint with the expected travel path, and the radius of first circle of reference is the curvature half
Diameter；S160 calculates the second circle of reference, and second circle of reference is using the current location of the intelligent driving object as the center of circle, with pre-
Taking aim at distance is radius；And S170, determine that the intersection point of first circle of reference and second circle of reference is that the steering is taken aim in advance
Point.
As described above, compared to as shown in Figure 1 for determining the method for turning to and taking aim in advance a little, according to an embodiment of the present invention
Turn to and taken aim in the method for determination in advance, take aim at position setting a little in advance on circle of reference rather than on expected path, therefore, can be set compared with
Big preview distance makes the pre- position taken aim at a little farther out.In this way, in straight way, the high stability of expected path is tracked, while
Enter curved, protruding crook, the precision of vehicle tracking expected path can also be made to improve.Therefore, steering according to an embodiment of the present invention is taken aim in advance
Point determines that method takes into account the stability and precision of path trace.
In the following, being carried out each step in a determining method is taken aim in advance to steering according to an embodiment of the present invention specifically
It is bright.
In step S110, the expected travel path of the intelligent driving object is obtained.Here, the intelligent driving object
Expected travel path is intelligent driving object, such as the current expected path of vehicle, also, expected path refers to vehicle needs
The driving trace of tracking.It is taken aim in a determining method in advance in steering according to an embodiment of the present invention, expected travel path can pass through
The planning path of vehicle, the extension situation of present road, one or more kinds of modes such as customized route of user obtain, such as
It can be the road medium line obtained by Lane detection module, be also possible to through positioning means (such as GPS, laser radar
SLAM, two dimensional code positioning) combine the obtained current expectation driving trace of road network file.Further, it is also possible to used by vehicle
Map datum directly reads out the expected travel path of vehicle, for example, obtaining vehicle by the navigation feature of map goes to some
The expected travel path of locality.Additionally, it is desirable to the representation of driving path can be parametrization equation, be also possible to by
The point of series of discrete forms.
Therefore, taken aim in the method for determination in advance in steering according to an embodiment of the present invention, by it is below at least one
Obtain the expected travel path of the intelligent driving object: the planning driving path of the intelligent driving object；The intelligence is driven
Sail the extension track in the path of object current driving；Customized driving path of the user to the intelligent driving object；With it is described
The map datum of intelligent driving object.
In step S120, the current location of the intelligent driving object is determined.Here, the current location of intelligent driving object
It can be position of the intelligent driving object under various coordinate systems, for example, the intelligent driving object is in earth coordinates
Under position (x, y).The current location of the intelligent driving object can pass through sensing provisioned in the intelligent driving object
Device obtains, such as camera, laser radar sensor etc., can also be obtained by positioning means, such as GPS, SLAM, two dimensional code
Positioning etc..In addition, the current location of the intelligent driving object can also directly be read from navigation system by map datum
Out.
In step S130, projection of the current location of the intelligent driving object in the expected travel path is determined
Point.As described above, the expected travel path of the current location of the intelligent driving object and the intelligent driving object can be with
It is obtained by positioning means such as GPS, SLAM, two dimensional code positioning, or is read out from map datum.Therefore, in the intelligence
In the case that the current location and expected travel path that object can be driven are obtained by same mode, the intelligent driving object
Current location is just in the expected travel path, therefore, the current location of the intelligent driving object and its in the expectation
Subpoint on driving path is identical.In such a case, it is possible to directly using the current location of the intelligent driving object as
Its subpoint in the expected travel path.
But in the current location and the intelligent driving object for obtaining the intelligent driving object by different modes
In the case where expected travel path, for example, obtaining the current location of the intelligent driving object with GPS positioning, and it is based on map
Reading data goes out the expected travel path of the intelligent driving object, and the current location of the intelligent driving object may not be in institute
In the expected travel path for stating intelligent driving object.Therefore, it is necessary to further determine that the current location of the intelligent driving object
Subpoint in the expected travel path.It is taken aim in a determining method in advance in steering according to an embodiment of the present invention, it will be described
The current location of intelligent driving object to the expected travel path closest approach as the subpoint.
In addition, the expected travel path of the current location of the intelligent driving object and the intelligent driving object is also possible to
It is to be obtained under different coordinates.For example, when with the positioning means such as map datum or GPS, SLAM, two dimensional code positioning
When obtaining the expected travel path of the intelligent driving object, the expected travel path is usually to obtain under earth coordinates
's.And it is obtained by sensor, such as camera, laser radar sensor provisioned in the intelligent driving object itself etc.
In the case where the current location of the intelligent driving object, the current location of the intelligent driving object is usually in the intelligence
It is obtained under the local coordinate system of driving object itself.Therefore, it is necessary to by the current location of the intelligent driving object and described
The expected travel path of intelligent driving object is transformed under the same coordinate system, then determines the current location of the intelligent driving object
Whether in the expected travel path.
In addition, in some embodiments, after intelligent driving object determines current location, due to the steering of bottom, speed
Control precision of controller etc., it may not be possible to guarantee perfect tracking expected path, this will cause the pose of intelligent driving object with
There are certain course deviation or lateral deviations between expected path.Therefore, in the current location for determining intelligent driving object
Afterwards, need to obtain subpoint of the current location of intelligent driving object on expected path.
Therefore, it is taken aim in a determining method in advance in steering according to an embodiment of the present invention, determines the intelligent driving object
Subpoint of the current location in the expected travel path specifically includes: determining the current location of the intelligent driving object is
It is no in the expected travel path；With, in response to the determination intelligent driving object current location not in the desired row
It sails on path, determines that the closest approach of current location to the expected travel path of the intelligent driving object is the projection
Point.
Also, it is taken aim in a determining method in advance in steering according to an embodiment of the present invention, determines the intelligent driving object
Subpoint of the current location in the expected travel path specifically includes: in response to the current of the determination intelligent driving object
Position is in the expected travel path, using the current location of the intelligent driving object as the subpoint.
In step S140, radius of curvature of the subpoint in the expected travel path is calculated.Such as, it is assumed that it is described
The expression formula of expected travel path is x=c2y2+c1y+c0, according to curvature formulations: Acquire certain
A bit (x1,y1) curvature be k1, then by formula: R=1/K acquires point (x1,y1) radius of curvature r1。
Step S150 to step S170 will be illustrated with reference to Fig. 3.Fig. 3, which is that diagram is according to an embodiment of the present invention, to be turned in advance
Take aim at the schematic diagram for determining method.As shown in figure 3, being travelled in the current location for determining the intelligent driving object in the expectation
Subpoint on path after points of tangency that is, as shown in Figure 3, calculates the first circle of reference (step S150), first reference
Circle is tangent in the subpoint with the expected travel path, and the radius of first circle of reference is the radius of curvature.So
Afterwards, calculate the second circle of reference (step S160), second circle of reference using the current location of the intelligent driving object as the center of circle,
Using preview distance as radius.Here, a part of the second circle of reference is illustrated only in Fig. 3, specifically, is intersected with the first circle of reference
A part.Then, it is determined that the intersection point of first circle of reference and second circle of reference is that point (step is taken aim in the steering in advance
S170), i.e., taken aim in advance a little shown in Fig. 3.
It is taken aim in a determining method in advance in steering according to an embodiment of the present invention, the preview distance is the intelligent driving pair
The current driving speed of elephant is multiplied by a pre-determined factor.
In some embodiments, the preview distance can be obtained by expected path and vehicle pose.More specifically,
The preview distance is obtained by the curvature and vehicle of expected path and the relative position of expected path and angle.
Also, taken aim in the method for determination in advance in steering according to an embodiment of the present invention, preview distance usually in minimum value and
It is determined in the range of maximum value.
It is taken aim in the method for determination in advance in steering according to an embodiment of the present invention, due to taking aim at position a little in advance not in expected path
On, and on circle of reference, biggish preview distance, which can be set, makes the pre- position taken aim at a little farther out.Therefore, in straight way, the phase is tracked
It hopes the high stability in path, while entering curved, protruding crook, the precision of vehicle tracking expected path can also be made to improve, thus simultaneous
Care for the stability and precision of path trace.
According to another aspect of an embodiment of the present invention, the steering angle for providing a kind of intelligent driving object determines method, packet
It includes: determining that the steering of the intelligent driving object is taken aim at a little in advance to turn to a pre- determining method of taking aim at as described above；Obtain described turn
To the coordinate taken aim at a little under the local coordinate of the intelligent driving object in advance；And the intelligence is calculated based on the coordinate
Drive the steering angle of object.
Fig. 4 is the schematic flow chart that diagram steering angle according to an embodiment of the present invention determines method.As shown in figure 4, root
It determines that method includes: S210 according to the steering angle of the embodiment of the present invention, determines that the steering of the intelligent driving object is taken aim at a little in advance；
S220 obtains the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And S230, it is based on institute
State the steering angle that coordinate calculates the intelligent driving object.
Here, determined in step S210 specific method that the steering of the intelligent driving object is taken aim at a little in advance have been described above into
Detailed description is gone, it will be understood by those skilled in the art that steering angle according to an embodiment of the present invention, which determines, determines institute in method
Stating the steering of intelligent driving object, the concrete mode taken aim at a little is identical with describing before in advance, here just not in order to avoid redundancy
It repeats again.
In step S220, the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering is obtained.
It is for instance possible to obtain the position (x, y) and course angle θ of the pose of vehicle, i.e. vehicle under earth coordinates, this can pass through vehicle
Sensor obtain, such as camera, laser radar sensor etc. can also be obtained by positioning means, for example, GPS,
SLAM, two dimensional code positioning etc..It can a little be changed to taking aim in advance under local coordinate system by earth coordinates according to the posture information of vehicle.
Here, the local coordinate of the intelligent driving object can be former using the center of the intelligent driving object as coordinate system
Point, using the horizontal and vertical as x-axis and y-axis of the intelligent driving object.For example, using the rear shaft center of vehicle as vehicle
Center, the origin of the local coordinate as vehicle, using vehicle rear axle direction as x-axis, using vehicle body direction as y-axis.
In addition, it will be understood by those skilled in the art that if turning to pre- take aim at is a little in the local of the intelligent driving object
It is determined under coordinate system, that is, if expected travel path, current location and the subpoint of the intelligent driving object are in institute
Determination under the local coordinate of intelligent driving object is stated, and calculates institute under the local coordinate of the intelligent driving object
It states steering to take aim at a little in advance, then it is exactly under the local coordinate of the intelligent driving object that the steering, which takes aim at coordinate a little in advance,.This
Sample, so that it may directly using the calculated steering take aim at coordinate a little in advance as described turn to and take aim at a little in the intelligent driving in advance
Coordinate under the local coordinate of object, without carrying out coordinate conversion.
Therefore, a determining method is taken aim in advance in steering according to an embodiment of the present invention and steering angle determines in method, and unlimited
Parameters processed obtain under the same coordinate system, can also be in different coordinates according to the difference of the acquisition pattern of parameters
System is lower to be obtained, and is then switched under the same coordinate system and is calculated.Therefore, steering according to an embodiment of the present invention is taken aim at a little in advance
Determine that method and steering angle determine that method does not also limit the specific opportunity of the coordinate conversion of parameters.
That is, being determined in method in steering angle according to an embodiment of the present invention, obtains the steering and take aim at a little in institute in advance
The coordinate stated under the local coordinate of intelligent driving object specifically includes: determining the intelligent driving object under earth coordinates
Course angle；With, based on the intelligent driving object under earth coordinates course angle and current location information calculate described in
Turn to the coordinate taken aim at a little under the local coordinate of the intelligent driving object in advance.
Coordinate at step S230, the local coordinate based on the intelligent driving object calculates the intelligent driving pair
The steering angle of elephant.For example, formula can be passed throughFront wheel slip angle is calculated, wherein δ indicates that front-wheel is inclined
Angle, L indicate that vehicle wheelbase, α are pre- to take aim at a little angle with the line of origin and vehicle local coordinate system y-axis, ldFor preview distance.
In addition it is also possible to pass through self-adapting steering control algolithm, robust shift control algorithm, sliding formwork shift control algorithm, fuzzy steering
Control algolithm, one of PID (Proportion Integral Derivative: proportional integration derivation) scheduling algorithm or more
Desired front wheel slip angle is calculated in kind combination.
For the intelligent driving object of such as vehicle, vehicle is controlled by steering motor and is turned to, therefore, it is necessary to
Generate steering motor expected angle.Specifically, according to the installation site of steering motor, calculated front wheel slip angle is done centainly
Ratio conversion, obtains the expected angle of steering motor, and generate control signal, control steering motor rotation.
That is, determining in method in steering angle according to an embodiment of the present invention, the intelligence is calculated based on the coordinate
The steering angle that object can be driven specifically includes: the front wheel slip angle of the intelligent driving object is calculated based on the coordinate；With, to institute
It states front wheel slip angle and carries out ratio conversion to obtain the expected angle of steering motor.
It is determined in method in steering angle according to an embodiment of the present invention, the intelligent driving object is calculated based on the coordinate
Front wheel slip angle specifically include the front wheel slip angle calculated with following formula (1):
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
It is according to an embodiment of the present invention in another aspect, provide it is a kind of steering take aim at a determining device in advance, for determination
The steering of the intelligent driving object of traveling is taken aim at a little in advance, and it includes: driving path acquiring unit that the steering, which takes aim at a determining device in advance, uses
In the expected travel path for obtaining the intelligent driving object；Current location determination unit, for determining the intelligent driving pair
The current location of elephant；Subpoint determination unit, for determining that the current location of the intelligent driving object is travelled in the expectation
Subpoint on path；Curvature radius calculation unit, for calculating curvature of the subpoint in the expected travel path
Radius；First circle of reference computing unit, for calculating the first circle of reference, first circle of reference and the expected travel path exist
The subpoint is tangent, and the radius of first circle of reference is the radius of curvature；Second circle of reference computing unit, based on
The second circle of reference is calculated, second circle of reference is half with preview distance using the current location of the intelligent driving object as the center of circle
Diameter；And turn to and take aim at a determination unit in advance, for determining that the intersection point of first circle of reference and second circle of reference is described
Steering is taken aim at a little in advance.
Fig. 5 is the schematic block diagram that a determining device is taken aim in diagram steering according to an embodiment of the present invention in advance.As shown in figure 5,
Steering according to an embodiment of the present invention take aim in advance determining device 300 for determine the steering of intelligent driving object that is travelling it is pre-
It takes aim at a little, comprising: driving path acquiring unit 310, for obtaining the expected travel path of the intelligent driving object；Current location
Determination unit 320, for determining the current location of the intelligent driving object；Subpoint determination unit 330, described in determining
The current location of intelligent driving object determined by current location determination unit 320 is in 310 institute of driving path acquiring unit
Subpoint in the expected travel path of acquisition；Curvature radius calculation unit 340, for calculating the subpoint determination unit
Radius of curvature of the subpoint determined by 330 in the expected travel path acquired in the driving path acquiring unit 310；The
One circle of reference computing unit 350, for calculating the first circle of reference, first circle of reference and the driving path obtain single
Expected travel path subpoint determined by the subpoint determination unit 330 acquired in member 310 is tangent, and described first
The radius of circle of reference is the calculated radius of curvature of the curvature radius calculation unit 340；Second circle of reference computing unit
360, for calculating the second circle of reference, second circle of reference is with the intelligence determined by the current location determination unit 320
The current location that object can be driven is the center of circle, using preview distance as radius；And turn to and take aim at a determination unit 370 in advance, for true
Fixed calculated first circle of reference of first circle of reference computing unit 350 and the second circle of reference computing unit 360
The intersection point of calculated second circle of reference is that the steering is taken aim at a little in advance.
It is taken aim in a determining device 300 in advance in above-mentioned steering, the subpoint determination unit 330 is specifically used for: described in determining
Whether the current location of intelligent driving object is in the expected travel path；With in response to the determination intelligent driving object
Current location not in the expected travel path, determine that the current location of the intelligent driving object is travelled to the expectation
The closest approach in path is the subpoint.
Taken aim in a determining device 300 in advance in above-mentioned steering, the driving path acquiring unit 310 by it is below at least its
One of obtain the expected travel path of the intelligent driving object: the planning driving path of the intelligent driving object；It is described
The extension track in the path of intelligent driving object current driving；Customized driving path of the user to the intelligent driving object；
With the map datum of the intelligent driving object.
It is taken aim in a determining device 300 in advance in above-mentioned steering, the preview distance is the current line of the intelligent driving object
Speed is sailed multiplied by a pre-determined factor.
Here, it will be understood by those skilled in the art that its of determining device is taken aim in steering according to an embodiment of the present invention in advance
It is identical that its details previously with regards to steering according to an embodiment of the present invention takes aim at relevant details described in the method for determination in advance,
In order to avoid redundancy will not be described in great detail.
Another aspect according to an embodiment of the present invention, the steering angle for providing a kind of intelligent driving object determine equipment, packet
Include: as described above turn to takes aim at a determining device in advance, for determining that the steering of the intelligent driving object is taken aim at a little in advance；Coordinate obtains
Unit, for obtaining the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And steering angle
Computing unit, for calculating the steering angle of the intelligent driving object based on the coordinate.
Fig. 6 is the schematic block diagram that diagram steering angle according to an embodiment of the present invention determines equipment.As shown in fig. 6, according to
The steering angle of the intelligent driving object of the embodiment of the present invention determines that equipment 400 includes: to turn to take aim at a determining device 410 in advance, is used for
Determine that the steering of the intelligent driving object is taken aim at a little in advance；Coordinate acquiring unit 420 takes aim at a determining dress for obtaining the steering in advance
The coordinate taken aim at a little under the local coordinate of the intelligent driving object in advance is turned to determined by setting 410；And steering angle calculates
Unit 430, for calculating the steering angle of the intelligent driving object based on coordinate acquired in the coordinate acquiring unit 420.
It is determined in equipment 400 in above-mentioned steering angle, the coordinate acquiring unit 420 is specifically used for: determining that the intelligence is driven
Sail course angle of the object under earth coordinates；With, course angle based on the intelligent driving object under earth coordinates and
Current location information calculates the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering.
It is determined in equipment 400 in above-mentioned steering angle, the steering angle computing unit 430 is specifically used for: based on the coordinate
Calculate the front wheel slip angle of the intelligent driving object；With, to the front wheel slip angle carry out ratio conversion to obtain steering motor
Expected angle.
It is determined in equipment 400 in above-mentioned steering angle, the steering angle computing unit 430 is specifically used for following formula (1)
Calculate the front wheel slip angle of the intelligent driving object:
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
Also, turning to and taking aim at a determining device 410 in advance includes: driving path acquiring unit, for obtaining the intelligent driving
The expected travel path of object；Current location determination unit, for determining the current location of the intelligent driving object；Subpoint
Determination unit, for determining the current location of intelligent driving object determined by the current location determination unit in the traveling
Subpoint in expected travel path acquired in the acquiring unit of path；Curvature radius calculation unit, for calculating the projection
Curvature of the subpoint in the expected travel path acquired in the driving path acquiring unit half determined by point determination unit
Diameter；First circle of reference computing unit, for calculating the first circle of reference, first circle of reference and the driving path are obtained
The subpoint determined by the subpoint determination unit of expected travel path acquired in unit is tangent, and first reference
Round radius is the calculated radius of curvature of curvature radius calculation unit；Second circle of reference computing unit, for calculating
Second circle of reference, second circle of reference are current with the intelligent driving object determined by the current location determination unit
Position is the center of circle, using preview distance as radius；And turn to and take aim at a determination unit in advance, by determining based on first circle of reference
Calculate calculated first circle of reference of unit and calculated second circle of reference of the second circle of reference computing unit
Intersection point is that the steering is taken aim at a little in advance.
Here, function performed by above-mentioned modules is taken aim at a little really in advance previously with regards to steering according to an embodiment of the present invention
Determine method with steering angle determine method described in function it is identical, just repeat no more herein.
In addition, a determining device is taken aim in above-mentioned steering in advance and steering angle determines that each unit in equipment is according to functional module
It is divided, in the concrete realization, multiple functional units can also be realized by same hardware element.For example, navigation can be passed through
System realizes driving path acquiring unit, current location determination unit and subpoint determination unit, for obtaining the intelligence
Drive expected travel path, current location and its subpoint in expected travel path of object.And it is possible to by such as
The processor of chip realizes curvature radius calculation unit, the first circle of reference computing unit, the second circle of reference computing unit and steering
A determination unit is taken aim in advance, is taken aim at a little in advance with obtaining to turn to by operation.
In another example determining in equipment in steering angle according to an embodiment of the present invention, the phase of such as positioning device can be passed through
It hopes path obtain the expected travel path that module obtains intelligent driving object, and module is obtained by the pose of such as sensor and is obtained
Obtain current location and the course angle of intelligent driving object.Also, preview distance is calculated by crosswise joint module, calculates and takes aim at a little in advance
Position and front wheel slip angle, then steering motor is controlled by steer motor control module and is based on the calculated front-wheel deviation realization intelligence of institute
The steering of object can be driven.
According to another aspect of the invention, a kind of mobile unit is provided, comprising: memory, it can for storing computer
It executes instruction；With processor, for executing the computer executable instructions of the memory storage, to execute as described above
It turns to and takes aim at a determining method in advance.
According to another aspect of the invention, a kind of mobile unit is provided, comprising: memory, it can for storing computer
It executes instruction；With processor, for executing the computer executable instructions of the memory storage, to execute as described above
Steering angle determines method.
Fig. 7 is the schematic block diagram for illustrating mobile unit according to an embodiment of the present invention.As shown in fig. 7, according to the present invention
The mobile unit 500 of embodiment includes: memory 510, for storing computer executable instructions；With processor 520 is used for
The computer executable instructions that the memory stores are executed, take aim at determining method and a steering angle in advance to execute as described above turn to
Determine method.
Here, it will be understood by those skilled in the art that other details of mobile unit according to an embodiment of the present invention therewith
It is preceding to take aim at the method for determination in advance about steering according to an embodiment of the present invention and steering angle determines that relevant details described in method are complete
It is exactly the same, in order to avoid redundancy will not be described in great detail.
In an embodiment of the present invention, mobile unit can be installed in various types of transport facilitys, and not
It is only limitted to the family-sized car of conventional meaning, is also possible to the vehicle or manned or unpiloted of any other type
The vehicles, such as ground, transport facility waterborne and/or aerial.Therefore, although in the description of the present invention, using
Term " mobile unit " and can be it will be appreciated by a person skilled in the art that the equipment is not limited to associated with vehicle
Any airborne equipment having with the communication function of mobile terminal, including but not limited to various types of navigation devices, the whole world are fixed
Position system (GPS) receiver, event data recorder (EDR), flight data recorder (FDR), automotive infotainment device, ship
Oceangoing ship electronic device (for example, marine navigation device, gyroscope or compass), avionic unit.
Therefore, steering according to an embodiment of the present invention takes aim at the method for determination in advance, turns to that take aim at a determining device, steering angle in advance true
Determine method and steering angle determines equipment also and can be applied to the automatic Pilot of various types of transport facilitys, is not limited solely to
The automatic Pilot of vehicle.
The mobile unit includes one or more processors, such as above processor 520 shown in Fig. 7.This or more
Each of a processor can be able to carry out machine readable and executable instruction equipment, for example, computer, Wei Chu
Reason device, microcontroller, integrated circuit, microchip or any other calculating are set.The one or more processors can couple
To the communication path that offer signal interconnects between the modules of vehicle.The communication path can make any amount of
Processor couples with being in communication with each other, including but not limited to the processor in mobile unit, and can permit and be coupled to communication lines
Module in the mobile unit of diameter calculates environmental operations in a distributed manner.Specifically, each module may be operative to it is transmittable and/
Or receive the node of data.Also, " communicatively coupled " refers to that number can be exchanged with each other between the component part to intercouple
According to, such as in the form of electric signal, electromagnetic signal, optical signal.
In addition, mobile unit includes the one or more memory modules for being coupled to communication path, such as shown in figure 7 above
Memory 510.The memory module is configurable to include volatile memory, such as static random access memory (S-
?
(ROM) and erasable programmable read-only memory (EPROM) and Electrically Erasable Programmable Read-Only Memory (EEPROM).In the memory
In module, any form of machine readable and executable instruction is stored to be accessed by processor.The machine readable and executable finger
Order can be with logic written by any programming language or algorithm, such as the machine language that can be directly executed by processor, or
Person can be compiled or be collected as machine readable instructions and be stored in the assembler language in memory module, Object-Oriented Programming
(OOP) language, Javascript language, microcode etc..Alternatively, which can also be retouched with hardware
Predicate speech is write as, such as with the logic of the realizations such as programmable logic array (FPGA) or specific integrated circuit (ASIC).
A determining method is taken aim in steering provided by the invention in advance, steering angle determines method, turns to and takes aim at a determining device in advance, turns to
Angle determines equipment and mobile unit, is arranged on circle of reference rather than on expected path by will take aim at position a little in advance, Ke Yishe
Setting biggish preview distance makes the pre- position taken aim at a little farther out, in straight way, tracks the high stability of expected path, while entering
Curved, protruding crook can also be such that the precision of vehicle tracking expected path improves, to take into account the stability and precision of path trace.
Claims (20)
1. a determining method is taken aim in a kind of steering in advance, the steering for the determining intelligent driving object travelled is taken aim at a little in advance, including
The expected travel path for obtaining the intelligent driving object determines the current location of the intelligent driving object, which is characterized in that
Further include:
Determine subpoint of the current location of the intelligent driving object in the expected travel path；
Calculate radius of curvature of the subpoint in the expected travel path；
The first circle of reference is calculated, first circle of reference is tangent in the subpoint with the expected travel path, and described
The radius of one circle of reference is the radius of curvature；
Calculate the second circle of reference, second circle of reference using the current location of the intelligent driving object as the center of circle, with take aim in advance away from
From for radius；And
The intersection point for determining first circle of reference and second circle of reference is that the steering is taken aim at a little in advance.
2. as described in claim 1 turn to takes aim at a determining method in advance, wherein determine the current location of the intelligent driving object
Subpoint in the expected travel path specifically includes:
Determine the current location of the intelligent driving object whether in the expected travel path；With
In response to the determination intelligent driving object current location not in the expected travel path, determine that the intelligence is driven
The closest approach for sailing current location to the expected travel path of object is the subpoint.
3. as described in claim 1 turn to takes aim at a determining method in advance, wherein by described at least one acquisition below
The expected travel path of intelligent driving object:
The planning driving path of the intelligent driving object；
The extension track in the path of the intelligent driving object current driving；
Customized driving path of the user to the intelligent driving object；With
The map datum of the intelligent driving object.
4. as described in claim 1 turn to takes aim at a determining method in advance, wherein the preview distance is the intelligent driving object
Current driving speed multiplied by a pre-determined factor.
5. a kind of steering angle of intelligent driving object determines method, comprising:
It is taken aim in advance a little with the steering of intelligent driving object as described in the method determination as described in any one of claims 1 to 4；
Obtain the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And
The steering angle of the intelligent driving object is calculated based on the coordinate.
6. steering angle as claimed in claim 5 determines method, wherein obtain the steering and take aim at a little in the intelligent driving pair in advance
Coordinate under the local coordinate of elephant specifically includes:
Determine course angle of the intelligent driving object under earth coordinates；With
The steering is calculated based on course angle of the intelligent driving object under earth coordinates and current location information to take aim in advance
Coordinate of the point under the local coordinate of the intelligent driving object.
7. steering angle as claimed in claim 5 determines method, wherein calculate the intelligent driving object based on the coordinate
Steering angle specifically includes:
The front wheel slip angle of the intelligent driving object is calculated based on the coordinate；With
Ratio conversion is carried out to obtain the expected angle of steering motor to the front wheel slip angle.
8. steering angle as claimed in claim 7 determines method, wherein calculate the intelligent driving object based on the coordinate
Front wheel slip angle, which is specifically included, calculates the front wheel slip angle with following formula (1):
Wherein, δ is the front wheel slip angle, and L is that the front axle of the intelligent driving object away from, α is that the steering is taken aim at a little and institute in advance
State the line of the current location of intelligent driving object and the angle with the y-axis of the local coordinate of the intelligent driving object, ld
It is the preview distance.
9. a kind of steering takes aim at a determining device in advance, the steering for the determining intelligent driving object travelled is taken aim at a little in advance, including
Driving path acquiring unit and current location determination unit, wherein driving path acquiring unit is for obtaining the intelligent driving pair
The expected travel path of elephant, current location determination unit are used to determine the current location of the intelligent driving object, and feature exists
In a determining device is taken aim in the steering in advance further include:
Subpoint determination unit, for determining throwing of the current location of the intelligent driving object in the expected travel path
Shadow point；
Curvature radius calculation unit, for calculating radius of curvature of the subpoint in the expected travel path；
First circle of reference computing unit, for calculating the first circle of reference, first circle of reference and the expected travel path exist
The subpoint is tangent, and the radius of first circle of reference is the radius of curvature；
Second circle of reference computing unit, for calculating the second circle of reference, second circle of reference is with the intelligent driving object
Current location is the center of circle, using preview distance as radius；And
Steering takes aim at a determination unit in advance, for determining that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
10. as claimed in claim 9 turn to takes aim at a determining device in advance, wherein the subpoint determination unit is specifically used for:
Determine the current location of the intelligent driving object whether in the expected travel path；With
In response to the determination intelligent driving object current location not in the expected travel path, determine that the intelligence is driven
The closest approach for sailing current location to the expected travel path of object is the subpoint.
11. as claimed in claim 9 turn to takes aim at a determining device in advance, wherein the driving path acquiring unit passes through following
At least one obtain the expected travel path of the intelligent driving object:
The planning driving path of the intelligent driving object；
The extension track in the path of the intelligent driving object current driving；
Customized driving path of the user to the intelligent driving object；With
The map datum of the intelligent driving object.
12. as claimed in claim 9 turn to takes aim at a determining device in advance, wherein the preview distance is the intelligent driving pair
The current driving speed of elephant is multiplied by a pre-determined factor.
13. a kind of steering angle of intelligent driving object determines equipment, comprising:
A determining device is taken aim in steering as described in any one of claim 9 to 12 in advance, for determining the intelligent driving pair
The steering of elephant is taken aim at a little in advance；
Coordinate acquiring unit, for obtaining the pre- seat taken aim at a little under the local coordinate of the intelligent driving object of the steering
Mark；
Steering angle computing unit, for calculating the steering angle of the intelligent driving object based on the coordinate.
14. steering angle as claimed in claim 13 determines equipment, wherein the coordinate acquiring unit is specifically used for:
Determine course angle of the intelligent driving object under earth coordinates；With
The steering is calculated based on course angle of the intelligent driving object under earth coordinates and current location information to take aim in advance
Coordinate of the point under the local coordinate of the intelligent driving object.
15. steering angle as claimed in claim 13 determines equipment, wherein the steering angle computing unit is specifically used for:
The front wheel slip angle of the intelligent driving object is calculated based on the coordinate；
Ratio conversion is carried out to obtain the expected angle of steering motor to the front wheel slip angle.
16. steering angle as claimed in claim 15 determines equipment, wherein the steering angle computing unit is specifically used for following
Formula (1) calculates the front wheel slip angle of the intelligent driving object:
Wherein, δ is the front wheel slip angle, and L is that the front axle of the intelligent driving object away from, α is that the steering is taken aim at a little and institute in advance
State the line of the current location of intelligent driving object and the angle with the y-axis of the local coordinate of the intelligent driving object, ld
It is the preview distance.
17. a kind of mobile unit, comprising:
Memory, for storing computer executable instructions；With
Processor, for executing the computer executable instructions of the memory storage, to execute as appointed in claims 1 to 4
A determining method is taken aim in steering described in meaning one in advance.
18. a kind of mobile unit, comprising:
Memory, for storing computer executable instructions；With
Processor, for executing the computer executable instructions of the memory storage, to execute as appointed in claim 5 to 8
Steering angle described in meaning one determines method.
19. a kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions quilt
When computing device executes, it is operable to execute the steering as described in any one of claims 1 to 4 and takes aim at a determining method in advance.
20. a kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions quilt
When computing device executes, it is operable to execute the steering angle as described in any one of claim 5 to 8 and determines method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711292330.2A CN108116497B (en) | 2017-12-08 | 2017-12-08 | The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711292330.2A CN108116497B (en) | 2017-12-08 | 2017-12-08 | The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108116497A CN108116497A (en) | 2018-06-05 |
| CN108116497B true CN108116497B (en) | 2019-09-17 |
Family
ID=62229761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711292330.2A Active CN108116497B (en) | 2017-12-08 | 2017-12-08 | The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116497B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108871338B (en) * | 2018-06-25 | 2021-01-29 | 驭势科技（北京）有限公司 | Trailer system pose prediction method and device and storage medium |
| CN110673593B (en) * | 2018-07-03 | 2022-11-15 | 杭州海康威视数字技术股份有限公司 | Vehicle control method and device |
| CN109032140A (en) * | 2018-07-27 | 2018-12-18 | 江苏盛海智能科技有限公司 | A kind of unmanned vehicle tracking drive manner and terminal |
| CN109283926A (en) * | 2018-08-16 | 2019-01-29 | 郑州轻工业学院 | A method of based on the azimuthal vehicle of program along lane line automatic Pilot |
| CN109345856A (en) * | 2018-11-07 | 2019-02-15 | 成都航空职业技术学院 | A kind of automobile auxiliary signal control system and method based on navigation |
| CN109823393A (en) * | 2018-12-14 | 2019-05-31 | 清华大学苏州汽车研究院（相城） | A kind of intelligent driving Vehicle tracing control method |
| CN109976341B (en) * | 2019-03-21 | 2022-09-23 | 驭势科技（北京）有限公司 | Method for automatically driving vehicle to attach to road network, vehicle-mounted equipment and storage medium |
| CN110262506A (en) * | 2019-07-02 | 2019-09-20 | 华人运通(上海)自动驾驶科技有限公司 | Confirmation method, vehicle travel control method, device and equipment a little is taken aim in advance |
| CN111427346B (en) * | 2020-03-09 | 2023-07-14 | 中振同辂(江苏)机器人有限公司 | Local path planning and tracking method suitable for vehicle type robot |
| CN111538334B (en) * | 2020-05-13 | 2023-08-29 | 合肥卓科智能技术有限公司 | Path tracking system of AGV dolly |
| EP3932779B1 (en) * | 2020-07-03 | 2022-08-31 | Volvo Truck Corporation | A method for guiding a vehicle |
| CN113419542B (en) * | 2021-07-16 | 2022-11-11 | 浙江大华技术股份有限公司 | Path planning method, device and storage medium |
| CN116118751B (en) * | 2023-04-19 | 2023-08-29 | 深圳佑驾创新科技有限公司 | Control method and device for vehicle, vehicle and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101093396A (en) * | 2007-07-04 | 2007-12-26 | 华南农业大学 | Navigation control method for agricultural machinery |
| CN101734252A (en) * | 2009-12-23 | 2010-06-16 | 合肥工业大学 | Preview tracking control unit for intelligent vehicle vision navigation |
| JP2010155527A (en) * | 2008-12-26 | 2010-07-15 | Toyota Motor Corp | Vehicle for changing mode of driving assist based on preview information |
| CN102358287A (en) * | 2011-09-05 | 2012-02-22 | 北京航空航天大学 | Trajectory tracking control method used for automatic driving robot of vehicle |
| KR20130102240A (en) * | 2012-03-07 | 2013-09-17 | 재단법인차세대융합기술연구원 | A preview control system for vehicle roller prevention |
| CN104118430A (en) * | 2014-07-22 | 2014-10-29 | 南京航空航天大学 | Parallel parking system and method based on sliding-mode active-disturbance-rejection control |
| CN104960520A (en) * | 2015-07-16 | 2015-10-07 | 北京工业大学 | Preview point determining method based on Pure Pursuit algorithm |
| CN106004996A (en) * | 2016-06-23 | 2016-10-12 | 北京智行者科技有限公司 | Intelligent vehicle steering control method and system |
| CN106275066A (en) * | 2016-08-30 | 2017-01-04 | 北京智行者科技有限公司 | The rotating direction control method of a kind of intelligent vehicle and device |
| CN107264621A (en) * | 2017-06-15 | 2017-10-20 | 驭势科技（北京）有限公司 | Vehicle preview distance computational methods, device, medium and rotating direction control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9499197B2 (en) * | 2014-10-15 | 2016-11-22 | Hua-Chuang Automobile Information Technical Center Co., Ltd. | System and method for vehicle steering control |
-
2017
- 2017-12-08 CN CN201711292330.2A patent/CN108116497B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101093396A (en) * | 2007-07-04 | 2007-12-26 | 华南农业大学 | Navigation control method for agricultural machinery |
| JP2010155527A (en) * | 2008-12-26 | 2010-07-15 | Toyota Motor Corp | Vehicle for changing mode of driving assist based on preview information |
| CN101734252A (en) * | 2009-12-23 | 2010-06-16 | 合肥工业大学 | Preview tracking control unit for intelligent vehicle vision navigation |
| CN102358287A (en) * | 2011-09-05 | 2012-02-22 | 北京航空航天大学 | Trajectory tracking control method used for automatic driving robot of vehicle |
| KR20130102240A (en) * | 2012-03-07 | 2013-09-17 | 재단법인차세대융합기술연구원 | A preview control system for vehicle roller prevention |
| CN104118430A (en) * | 2014-07-22 | 2014-10-29 | 南京航空航天大学 | Parallel parking system and method based on sliding-mode active-disturbance-rejection control |
| CN104960520A (en) * | 2015-07-16 | 2015-10-07 | 北京工业大学 | Preview point determining method based on Pure Pursuit algorithm |
| CN106004996A (en) * | 2016-06-23 | 2016-10-12 | 北京智行者科技有限公司 | Intelligent vehicle steering control method and system |
| CN106275066A (en) * | 2016-08-30 | 2017-01-04 | 北京智行者科技有限公司 | The rotating direction control method of a kind of intelligent vehicle and device |
| CN107264621A (en) * | 2017-06-15 | 2017-10-20 | 驭势科技（北京）有限公司 | Vehicle preview distance computational methods, device, medium and rotating direction control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108116497A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108116497B (en) | The determination method and device of point, steering angle is taken aim in steering for intelligent driving in advance | |
| US11520349B2 (en) | Autonomous driving device | |
| CN109952547B (en) | Automatic control of a motor vehicle on the basis of lane data and motor vehicle | |
| US11143514B2 (en) | System and method for correcting high-definition map images | |
| US10579062B2 (en) | Scalable smooth reference path generator for autonomous driving vehicles | |
| CN110667563B (en) | Transverse control method and device for automatic driving vehicle and vehicle | |
| CN106080598B (en) | Real-time goal pace control | |
| EP3018448B1 (en) | Methods and systems for enabling improved positioning of a vehicle | |
| US20200341474A1 (en) | Method and device for generating an autonomous driving trajectory of a vehicle | |
| CN110861642A (en) | Vehicle lateral motion control | |
| CN106476883A (en) | The travel controlling system of vehicle | |
| CN104960520A (en) | Preview point determining method based on Pure Pursuit algorithm | |
| CN110001773A (en) | Self-steering control | |
| CN211956223U (en) | Lane change track planning system | |
| CN112433531A (en) | Trajectory tracking method and device for automatic driving vehicle and computer equipment | |
| CN108340915A (en) | Controller of vehicle | |
| CN111795692A (en) | Method and apparatus for parallel tracking and positioning via multi-mode SLAM fusion process | |
| CN113805145A (en) | Dynamic lidar alignment | |
| WO2022115215A1 (en) | Systems and methods for monocular based object detection | |
| CN115127576A (en) | Path planning method, device, chip, terminal, electronic equipment and storage medium | |
| JP6943127B2 (en) | Position correction method, vehicle control method and position correction device | |
| Jo et al. | Overall reviews of autonomous vehicle a1-system architecture and algorithms | |
| KR20190141724A (en) | Driving assistance method and driving assistance device | |
| CN111623766B (en) | Positioning system for autonomous driving truck based on two inertial measurement units and GPS | |
| Brown et al. | Lateral vehicle state and environment estimation using temporally previewed mapped lane features |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |