CN109911013A - A kind of method of adjustment and device of steering wheel for vehicle corner - Google Patents
A kind of method of adjustment and device of steering wheel for vehicle corner Download PDFInfo
- Publication number
- CN109911013A CN109911013A CN201910143123.3A CN201910143123A CN109911013A CN 109911013 A CN109911013 A CN 109911013A CN 201910143123 A CN201910143123 A CN 201910143123A CN 109911013 A CN109911013 A CN 109911013A
- Authority
- CN
- China
- Prior art keywords
- point
- vehicle
- discrete
- fitting
- point sequence
- 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.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The embodiment of the invention discloses the methods of adjustment and device of a kind of steering wheel for vehicle corner.Wherein, which includes: the discrete point sequence for obtaining current time expected path；According to the current location of vehicle, path fitting point sequence is selected from the discrete point sequence；Using each match point in the path fitting point sequence as the variable of default matched curve, fitting routines reference curve is determined, wherein the default matched curve is conic section or cubic curve；Reference point corresponding with the future position of vehicle is determined on the fitting routines reference curve；According to the corner of the margin of error adjustment steering wheel for vehicle between the reference point and the future position.By using above-mentioned technical proposal, improve under the special road conditions such as big turning and u-turn, the effect of curve matching, so as to accurately obtain the corner of steering wheel for vehicle.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of method of adjustment and dress of steering wheel for vehicle corner
It sets.
Background technique
At present in robot control and automatic Pilot field, MPC (Model Predictive Control, model prediction
Control) it is widely used in the crosswise joint (i.e. steering wheel control) of vehicle.Since automatic driving vehicle driving trace is changeful
(such as exist turn around, the turning of right-angled bend and greater angle), therefore, brings to the Trajectory Tracking Control of automatic driving vehicle
Huge challenge.
A kind of algorithm of the MPC as real-time optimization, there is unsurpassed performance in Trajectory Tracking Control.In engineering
When using MPC, discrete loci point can be fitted.In current existing implementation, Open Source Code simply uses single
The secondary or cubic polynomial of variable is fitted.But the shortcomings that this fitting, is that the fitting effect at big turning is bad, and
Fitting is unable to complete at u-turn (U-turn).
Summary of the invention
The embodiment of the present invention discloses the method for adjustment and device of a kind of steering wheel for vehicle corner, realize at big turning and
Under the special road conditions such as u-turn, lifting curve fitting effect, accurately to obtain the corner of steering wheel for vehicle.
In a first aspect, the embodiment of the invention discloses a kind of methods of adjustment of steering wheel for vehicle corner, this method comprises:
Obtain the discrete point sequence of current time expected path；
According to the current location of vehicle, path fitting point sequence is selected from the discrete point sequence；
Using each match point in the path fitting point sequence as the variable of default matched curve, determine that fitting routines refer to
Curve, wherein the default matched curve is conic section or cubic curve；
Reference point corresponding with the future position of vehicle is determined on the fitting routines reference curve；
According to the corner of the margin of error adjustment steering wheel for vehicle between the reference point and the future position.
Optionally, according to the current location of vehicle, path fitting point sequence is selected from the discrete point sequence, comprising:
The determining current location with vehicle meets the target point of pre-determined distance requirement in the discrete point sequence；
Select the multiple discrete points adjacent with the target point as path fitting point sequence from the discrete point sequence.
Optionally, select the multiple discrete points adjacent with the target point as path fitting from the discrete point sequence
Point sequence, comprising:
The distance between time and discrete point are taken aim at according to the present speed of vehicle, the pre- of discrete point, determines match point number；
According to position in the discrete point sequence of the match point number, the target point and predetermined number choose because
Son determines position of each match point in the discrete point sequence, and using the corresponding discrete point of each position as path fitting point sequence
Column.
Optionally, the distance between time and discrete point are taken aim at according to the present speed of vehicle, the pre- of discrete point, determines fitting
Point number, comprising:
Match point number is determined according to following formula:
Wherein,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,pathD indicate discrete point it
Between distance, N indicate match point number.
Optionally, reference point corresponding with the future position of vehicle is determined on the fitting routines reference curve, comprising:
When the axial coordinate of the reference point is identical as the corresponding axial coordinate of future position, the fitting routines ginseng is determined
Examine the disaggregation of curve；
The longitudinal coordinate of the reference point is calculated according to the disaggregation；
Using the arc-tangent value of the longitudinal coordinate and the axial coordinate as the angle of the reference point.
Optionally, according to the corner of the margin of error adjustment steering wheel for vehicle between the reference point and the future position, packet
It includes:
By the angle of the first difference of the longitudinal coordinate of the reference point and the longitudinal coordinate of the future position, the reference point
Second difference of the angle of degree and the future position is as the margin of error between prediction locus and reference locus；
The corner of steering wheel for vehicle is determined according to the margin of error.
Second aspect, the embodiment of the invention also provides a kind of adjustment device of steering wheel for vehicle corner, which includes:
Discrete point retrieval module is configured as obtaining the discrete point sequence of current time expected path；
Match point sequence selection module is configured as the current location according to vehicle, selects from the discrete point sequence
Path fitting point sequence；
Reference curve determining module is configured as bent using each match point in the path fitting point sequence as default fitting
The variable of line determines fitting routines reference curve, wherein the default matched curve is conic section or cubic curve；
It is corresponding with the future position of vehicle to be configured as the determination on the fitting routines reference curve for reference point determining module
Reference point；
Steering wheel angle adjusts module, is configured as according to the margin of error adjustment between the reference point and the future position
The corner of steering wheel for vehicle.
Optionally, the match point sequence selection module includes:
Target point determination unit is configured as determining default with the current location satisfaction of vehicle in the discrete point sequence
The target point of required distance；
Match point sequence determination unit is configured as selecting from the discrete point sequence adjacent with the target point more
A discrete point is as path fitting point sequence.
Optionally, the match point sequence determination unit includes:
Match point number determines subelement, be configured as being taken aim at according to the present speed of vehicle, the pre- of discrete point the time and from
The distance between scatterplot determines match point number；
Fitting point sequence determines subelement, is configured as according to the match point number, the target point described discrete
Position in point sequence and predetermined number choose the factor and determine position of each match point in the discrete point sequence, and by everybody
Corresponding discrete point is set as path fitting point sequence.
Optionally, the fitting point sequence determines that subelement is specifically configured to:
Match point number is determined according to following formula:
Wherein,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,pathD indicate discrete point it
Between distance, N indicate match point number.
Optionally, the reference point determining module is specifically configured to:
When the axial coordinate of the reference point is identical as the corresponding axial coordinate of future position, the fitting routines ginseng is determined
Examine the disaggregation of curve；
The longitudinal coordinate of the reference point is calculated according to the disaggregation；
Using the arc-tangent value of the longitudinal coordinate and the axial coordinate as the angle of the reference point.
Optionally, the steering wheel angle adjustment module is specifically configured to:
By the angle of the first difference of the longitudinal coordinate of the reference point and the longitudinal coordinate of the future position, the reference point
Second difference of the angle of degree and the future position is as the margin of error between prediction locus and reference locus；
The corner of steering wheel for vehicle is determined according to the margin of error.
The third aspect, the embodiment of the invention also provides a kind of car-mounted terminals, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes any implementation of the present invention
Some or all of the method for adjustment of steering wheel for vehicle corner provided by example step.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, store computer program,
The computer program includes the method for adjustment for executing steering wheel for vehicle corner provided by any embodiment of the invention
The instruction of part or all of step.
5th aspect, the embodiment of the invention also provides a kind of computer program products, when the computer program product
When running on computers, so that the computer executes the tune of steering wheel for vehicle corner provided by any embodiment of the invention
Some or all of adjusting method step.
Technical solution provided in this embodiment, by being intended the discrete point sequence of expected path using secondary or cubic curve
Synthesize continuous fitting routines reference curve, this fit approach is intended in big corner or in the case where vehicle such as turns around at the road conditions
It is preferable to close effect.It, can be according to reference by determining reference point corresponding with the future position of vehicle on fitting routines reference curve
Error between point and future position accurately obtains the corner of steering wheel for vehicle.
Inventive point of the invention includes:
1, it by being fitted using discrete point sequence of the secondary or cubic curve to expected path, is continuously fitted
Path reference curve can reach preferable fitting effect in big corner or in the case where vehicle such as turns around at the road conditions, be the present invention
One of inventive point.
2, according to the future position of vehicle, and by determining reference corresponding with future position on fitting routines reference curve
Point, it may be determined that the margin of error gone out between reference locus and prediction locus is hair of the invention to carry out the adjusting of steering wheel angle
One of bright point.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of the method for adjustment of steering wheel for vehicle corner provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the method for adjustment of steering wheel for vehicle corner provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the adjustment device of steering wheel for vehicle corner provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of car-mounted terminal provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes the other step or units intrinsic for these process, methods, product or equipment.
Embodiment one
Referring to Fig. 1, the process that Fig. 1 is a kind of method of adjustment of steering wheel for vehicle corner provided in an embodiment of the present invention is shown
It is intended to.This method is applied in automatic Pilot, can be executed by the adjustment device of steering wheel for vehicle corner, which can be by soft
The mode of part and/or hardware is realized, vehicle-mounted computer, vehicle-mounted industrial control computer (Industrial can be generally integrated in
Personal Computer, IPC) etc. in car-mounted terminals, the embodiment of the present invention is without limitation.As shown in Figure 1, the present embodiment mentions
The method of adjustment of the steering wheel for vehicle corner of confession specifically includes:
110, the discrete point sequence of current time expected path is obtained.
Wherein, expected path is exported by the planning module of vehicle, the discrete point sequence characterization feature of expected path.
In the present embodiment, discrete point in discrete point sequence is intensive equidistant discrete point, the representation of each discrete point be (pathxi
,pathyi), i=1,2 ...,pathL, wherein i is subscript of the discrete point in discrete point,pathxiIndicate the horizontal seat of i-th of discrete point
Mark,pathyiIndicate the ordinate of i-th of discrete point.
120, according to the current location of vehicle, path fitting point sequence is selected from discrete point sequence.
Wherein, the current location of vehicle can be expressed as (curx,curY), according to the current location of vehicle, can choose away from
From the vehicle location meet with a certain distance from range discrete point as match point, the set of all match points forms path fitting point
Sequence.
Optionally, can also be selected from discrete point sequence with the nearest point in the current location of vehicle, and selected before and after the point
Several discrete points are selected as match point, to form path fitting point sequence.
130, using match point each in path fitting point sequence as the variable of default matched curve, determine that fitting routines refer to
Curve.
Wherein, presetting matched curve is conic section or cubic curve.In the present embodiment, using secondary or cubic curve
The reason is that, if fitting precision does not reach requirement using secondary curve is lower than, and if quasi- using the curve being higher than three times
Close, it is higher in the process complexity of subsequent rooting, while being easy to appear overfitting problem again, so the present embodiment using secondary or
Cubic fit curve.
Illustratively, it if certain application scenarios curvature is greater than given threshold, needs to choose more intensive discrete point, at this time
It is preferred that using cubic curve, the cubic parametric equation root fitted in this way retains situation can be more complex.But if certain is applied
The curvature of scene is less than given threshold, then it is preferable to use conic section, the quadratic parameter equation root fitted in this way retains feelings
Condition can be simple.
Wherein, the expression-form of conic section isThe expression-form of cubic curve is
In above-mentioned expression formula, p is the parametric variable of parametric equation, and x (p) is the parameter of axial coordinate under bodywork reference frame
Change expression-form, y (p) is the Parameter Expression form of normal direction coordinate under bodywork reference frame, ai, bi, i=0,1,2,3 is parameter side
The coefficient of journey, that is, need to bring path fitting point sequence into seek in equation as parameter variable values amount.In each coefficient
After being determined, fitting routines reference curve also with being determined, the curve be using p as independent variable, x (p) and y (p) be because
The function of variable.The characteristic of discrete point sequence is able to reflect out by the curve.
It should be noted that coordinate system can be transformed into progress curve under bodywork reference frame and intended in order to enhance fitting effect
It closes.
140, reference point corresponding with the future position of vehicle is determined on fitting routines reference curve.
Wherein, the future position of vehicle is the point on prediction locus, and expression is path that vehicle subsequent time will travel
Point.Prediction locus can based on the kinematics model of vehicle, and according to the current motion state of vehicle, such as speed, position and
Discrete time obtains.For any one discrete instants, each future position can be corresponded on a fitting routines reference curve
Reference point.
Illustratively, reference point and the rule of correspondence of future position can be with are as follows: the axial coordinate of the two is identical, for reference point
Other two coordinate, i.e. longitudinal coordinate and angle can pass through and solve secondary or cubic fit path reference curve equation, will
Obtained solution is as the longitudinal coordinate and angle on fitting routines reference curve.
150, according to the corner of the margin of error adjustment steering wheel for vehicle between reference point and future position.
Wherein, the margin of error between reference point and future position is that each coordinate value of reference point and future position work is poor.If
The obtained margin of error is greater than preset error value, and specification error amount is bigger than normal, the corner of big steering wheel for vehicle adjustable at this time；If obtained
The margin of error be less than preset error value, specification error amount is less than normal, the corner of small steering wheel for vehicle adjustable at this time.
Specifically, in the present embodiment calculation existing in MPC can be utilized using the calculated margin of error as the input of MPC
Method accurately calculates the target rotation angle value of steering wheel, then adjusts using work as front hook of the target rotation angle value to vehicle
It is whole.
Technical solution provided in this embodiment, by being intended the discrete point sequence of expected path using secondary or cubic curve
Synthesize continuous fitting routines reference curve, this fit approach is intended in big corner or in the case where vehicle such as turns around at the road conditions
It is preferable to close effect.It, can be according to reference by determining reference point corresponding with the future position of vehicle on fitting routines reference curve
The margin of error between point and future position accurately obtains the corner of steering wheel for vehicle.
Embodiment two
Referring to Fig. 2, the process that Fig. 2 is a kind of method of adjustment of steering wheel for vehicle corner provided in an embodiment of the present invention is shown
It is intended to.The present embodiment on the basis of the above embodiments, selection and subsequent reference point to match point in curve fitting process
The process of selection is optimized.As shown in Fig. 2, this method comprises:
210, the discrete point sequence of current time expected path is obtained.
220, determine that the current location with vehicle meets the target point of pre-determined distance requirement in discrete point sequence.
In the present embodiment, meet pre-determined distance requirement target point (pathxnearest,pathynearest) be with current location most
Close discrete point, the target point can be determined by way of search.Wherein, nearest is the subscript of target point.
230, the distance between time and discrete point are taken aim at according to the present speed of vehicle, the pre- of discrete point, determines match point
Number.
Specifically, match point number can be determined by following formula:
Wherein, N indicates match point number,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,
This is pre- take aim at that the time is generally MPC predicted time 2-3 times, i.e., if the predicted time of MPC is 2.5-3.0 seconds (s), 5.0s
≤pathtp≤6.0s。pathD indicates the distance between discrete point,pathThe selection principle of d is can be fully described by driving path
Shape.It will be appreciated by persons skilled in the art that the curvature in path is bigger, discrete point is chosen more intensive,pathD is smaller.
In the present embodiment, when determining match point number,pathtpWithpathD selection is empirical value.
240, the position according to match point number, target point in discrete point sequence and predetermined number are chosen the factor and are determined respectively
Position of the match point in discrete point sequence, and using the corresponding discrete point of each position as fitting point sequence.
Wherein, it is empirical value, 0≤α≤1 that predetermined number, which chooses factor-alpha,.α is bigger, obtains and is fitted more, fitting essence of counting
It spends higher.
In the present embodiment, after target point is selected, quilt can be determined according to α value and match point number before and after target point
The subscript sequence of the match point of selection, i.e., position of each match point in discrete point sequence, such as:
Under be designated as each match point of above-mentioned position and can form fitting point sequence.
250, using match point each in path fitting point sequence as the variable of default matched curve, determine that fitting routines refer to
Curve.
Wherein, the default matched curve is conic section or cubic curve.
260, when the axial coordinate of reference point is identical as the corresponding axial coordinate of future position, determine fitting routines with reference to bent
The solution set of equation of line, and according to the longitudinal coordinate for solving calculating reference point.
Specifically, illustrating the selection process of reference point by taking cubic parametric equation as an example below.Assuming that some solution of MPC
In period, the coordinate of jth moment future position be (predxj,predyj,predφj), wherein j=1,2 ..., Np, NpFor the prediction of MPC
Time domain, then the corresponding reference point information of the future position (refxj,refyj,refφj) can seek as follows:
1, p is soughtj: it enablesrefxj=pred xj, solve equation:refxj=a0+a1p+a2p2+a3p3Obtain 3 solutions.These three are solved
According to practical significance value, it is denoted as pj；Here practical significance includes: (1) pjFor real number；(2)pmin≤pj≤pmax。
2, it asksrefyj: directly by pjBringing following formula into can obtainrefyj=b0+b1pj+b2pj 2+b3pj 3。
3, it asksrefφj: directly by pjBringing following formula into can obtain:
270, the angle that the arc-tangent value of longitudinal coordinate and axial coordinate is as a reference point.
280, by the first difference of the longitudinal coordinate of reference point and the longitudinal coordinate of future position, the angle of reference point and prediction
Second difference of the angle of point is determined as the margin of error between prediction locus and fitting routines reference curve, and according to the margin of error
The corner of steering wheel for vehicle.
In the present embodiment, due to being setrefxj=predxj, so the margin of error between prediction locus and reference locus
Include:
The margin of error can be used for the corner that MPC calculates steering wheel for vehicle.
In the present embodiment, using the point nearest with the current location of vehicle as target point, and selection is more before and after target point
A discrete point is to form fitting point sequence.The fitting point sequence can be used for determining fitting routines reference curve, to reflect
The feature of expected path.By determining reference point corresponding with the future position of vehicle from fitting routines reference curve, can be obtained
The margin of error between prediction locus and fitting routines reference curve, to carry out the accurate calculating of subsequent steering wheel angle.
Embodiment three
Referring to Fig. 3, the structure that Fig. 3 is a kind of adjustment device of steering wheel for vehicle corner provided in an embodiment of the present invention is shown
It is intended to.As shown in figure 3, the device includes: discrete point retrieval module 310, match point sequence selection module 320, with reference to song
Line determining module 330, reference point determining module 340 and steering wheel angle adjust module 350, wherein
Discrete point retrieval module 310 is configured as obtaining the discrete point sequence of current time expected path；
Match point sequence selection module 320 is configured as the current location according to vehicle, selects from the discrete point sequence
Routing diameter is fitted point sequence；
Reference curve determining module 330 is configured as using each match point in the path fitting point sequence as default quasi-
The variable for closing curve, determines fitting routines reference curve, wherein the default matched curve is conic section or cubic curve；
Reference point determining module 340 is configured as the determining future position with vehicle on the fitting routines reference curve
Corresponding reference point；
Steering wheel angle adjusts module 350, is configured as according to the margin of error between the reference point and the future position
Adjust the corner of steering wheel for vehicle.
Technical solution provided in this embodiment, by being intended the discrete point sequence of expected path using secondary or cubic curve
Synthesize continuous fitting routines reference curve, this fit approach is intended in big corner or in the case where vehicle such as turns around at the road conditions
It is preferable to close effect.It, can be according to reference by determining reference point corresponding with the future position of vehicle on fitting routines reference curve
Error between point and future position accurately obtains the corner of steering wheel for vehicle.
On the basis of the above embodiments, the match point sequence selection module includes:
Target point determination unit is configured as determining default with the current location satisfaction of vehicle in the discrete point sequence
The target point of required distance；
Match point sequence determination unit is configured as selecting from the discrete point sequence adjacent with the target point more
A discrete point is as path fitting point sequence.
On the basis of the above embodiments, the match point sequence determination unit includes:
Match point number determines subelement, be configured as being taken aim at according to the present speed of vehicle, the pre- of discrete point the time and from
The distance between scatterplot determines match point number；
Fitting point sequence determines subelement, is configured as according to the match point number, the target point described discrete
Position in point sequence and predetermined number choose the factor and determine position of each match point in the discrete point sequence, and by everybody
Corresponding discrete point is set as path fitting point sequence.
On the basis of the above embodiments, the fitting point sequence determines that subelement is specifically configured to:
Match point number is determined according to following formula:
Wherein,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,pathD indicate discrete point it
Between distance, N indicate match point number.
On the basis of the above embodiments, the reference point determining module is specifically configured to:
When the axial coordinate of the reference point is identical as the corresponding axial coordinate of future position, the fitting routines ginseng is determined
Examine the disaggregation of curve；
The longitudinal coordinate of the reference point is calculated according to the disaggregation；
Using the arc-tangent value of the longitudinal coordinate and the axial coordinate as the angle of the reference point.
On the basis of the above embodiments, the steering wheel angle adjustment module is specifically configured to:
By the angle of the first difference of the longitudinal coordinate of the reference point and the longitudinal coordinate of the future position, the reference point
Second difference of the angle of degree and the future position is as the margin of error between prediction locus and fitting routines reference curve；
The corner of steering wheel for vehicle is determined according to the margin of error.
Any embodiment of that present invention institute can be performed in the adjustment device of steering wheel for vehicle corner provided by the embodiment of the present invention
The method of adjustment of the steering wheel for vehicle corner of offer has the corresponding functional module of execution method and beneficial effect.Not above-mentioned
The technical detail of detailed description in embodiment, reference can be made to the adjustment of steering wheel for vehicle corner provided by any embodiment of the invention
Method.
Example IV
Referring to Fig. 4, Fig. 4 is a kind of structural schematic diagram of car-mounted terminal provided in an embodiment of the present invention.As shown in figure 4,
The car-mounted terminal may include:
It is stored with the memory 701 of executable program code；
The processor 702 coupled with memory 701；
Wherein, processor 702 calls the executable program code stored in memory 701, executes any implementation of the present invention
The method of adjustment of steering wheel for vehicle corner provided by example.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute the method for adjustment of steering wheel for vehicle corner provided by any embodiment of the invention.
The embodiment of the present invention discloses a kind of computer program product, wherein when computer program product is transported on computers
When row, so that computer executes the part or complete of the method for adjustment of steering wheel for vehicle corner provided by any embodiment of the invention
Portion's step.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
The method of adjustment and device of a kind of steering wheel for vehicle corner disclosed by the embodiments of the present invention have been carried out in detail above
It introduces, used herein a specific example illustrates the principle and implementation of the invention, the explanation of above embodiments
It is merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (12)
1. a kind of method of adjustment of steering wheel for vehicle corner is applied to automatic Pilot characterized by comprising
Obtain the discrete point sequence of current time expected path；
According to the current location of vehicle, path fitting point sequence is selected from the discrete point sequence；
Using each match point in the path fitting point sequence as the variable of default matched curve, determine fitting routines with reference to bent
Line, wherein the default matched curve is conic section or cubic curve；
Reference point corresponding with the future position of vehicle is determined on the fitting routines reference curve；
According to the corner of the margin of error adjustment steering wheel for vehicle between the reference point and the future position.
2. the method according to claim 1, wherein according to the current location of vehicle, from the discrete point sequence
Middle selection path fitting point sequence, comprising:
The determining current location with vehicle meets the target point of pre-determined distance requirement in the discrete point sequence；
Select the multiple discrete points adjacent with the target point as path fitting point sequence from the discrete point sequence.
3. according to the method described in claim 2, it is characterized in that, from the discrete point sequence selection and the target point phase
Adjacent multiple discrete points are as path fitting point sequence, comprising:
The distance between time and discrete point are taken aim at according to the present speed of vehicle, the pre- of discrete point, determines match point number；
It is true that the factor is chosen according to position in the discrete point sequence of the match point number, the target point and predetermined number
Fixed position of each match point in the discrete point sequence, and using the corresponding discrete point of each position as path fitting point sequence.
4. according to the method described in claim 3, it is characterized in that, taking aim at the time according to the present speed of vehicle, the pre- of discrete point
The distance between discrete point determines match point number, comprising:
Match point number is determined according to following formula:
Wherein,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,pathD is indicated between discrete point
Distance, N indicate match point number.
5. method according to claim 1 to 4, which is characterized in that on the fitting routines reference curve determine with
The corresponding reference point of the future position of vehicle, comprising:
When the axial coordinate of the reference point is identical as the corresponding axial coordinate of future position, determine the fitting routines with reference to bent
The solution set of equation of line；
The longitudinal coordinate of the reference point is calculated according to the disaggregation；
Using the arc-tangent value of the longitudinal coordinate and the axial coordinate as the angle of the reference point.
6. -5 any method according to claim 1, which is characterized in that according between the reference point and the future position
The margin of error adjustment steering wheel for vehicle corner, comprising:
By the first difference of the longitudinal coordinate of the reference point and the longitudinal coordinate of the future position, the angle of the reference point and
Second difference of the angle of the future position is as the margin of error between prediction locus and the fitting routines reference curve；
The corner of steering wheel for vehicle is determined according to the margin of error.
7. a kind of adjustment device of steering wheel for vehicle corner is applied to automatic Pilot characterized by comprising
Discrete point retrieval module is configured as obtaining the discrete point sequence of current time expected path；
Match point sequence selection module is configured as the current location according to vehicle, selects path from the discrete point sequence
It is fitted point sequence；
Reference curve determining module is configured as using each match point in the path fitting point sequence as default matched curve
Variable determines fitting routines reference curve, wherein the default matched curve is conic section or cubic curve；
Reference point determining module is configured as determining ginseng corresponding with the future position of vehicle on the fitting routines reference curve
Examination point；
Steering wheel angle adjusts module, is configured as adjusting vehicle according to the margin of error between the reference point and the future position
The corner of steering wheel.
8. device according to claim 7, which is characterized in that the match point sequence selection module includes:
Target point determination unit is configured as the determining current location with vehicle in the discrete point sequence and meets pre-determined distance
It is required that target point；
Match point sequence determination unit, be configured as selecting from the discrete point sequence it is adjacent with the target point it is multiple from
Scatterplot is as path fitting point sequence.
9. device according to claim 8, which is characterized in that the match point sequence determination unit includes:
Match point number determines subelement, is configured as taking aim at time and discrete point according to the present speed of vehicle, the pre- of discrete point
The distance between, determine match point number；
Fitting point sequence determines subelement, is configured as according to the match point number, the target point in the discrete point sequence
Position in column and predetermined number choose the factor and determine position of each match point in the discrete point sequence, and by each position pair
The discrete point answered is as path fitting point sequence.
10. device according to claim 9, which is characterized in that the fitting point sequence determines that subelement is specifically configured
Are as follows:
Match point number is determined according to following formula:
Wherein,curV indicates the present speed of vehicle,pathtpIndicate that the pre- of discrete point takes aim at the time,pathD is indicated between discrete point
Distance, N indicate match point number.
11. according to any device of claim 7-10, which is characterized in that the reference point determining module is specifically configured
Are as follows:
When the axial coordinate of the reference point is identical as the corresponding axial coordinate of future position, determine the fitting routines with reference to bent
The solution set of equation of line；
The longitudinal coordinate of the reference point is calculated according to the disaggregation；
Using the arc-tangent value of the longitudinal coordinate and the axial coordinate as the angle of the reference point.
12. device according to claim 7, which is characterized in that the steering wheel angle adjustment module is specifically configured to:
By the first difference of the longitudinal coordinate of the reference point and the longitudinal coordinate of the future position, the angle of the reference point and
Second difference of the angle of the future position is as the margin of error between prediction locus and the fitting routines reference curve；
The corner of steering wheel for vehicle is determined according to the margin of error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910143123.3A CN109911013B (en) | 2019-02-26 | 2019-02-26 | Method and device for adjusting steering angle of vehicle steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910143123.3A CN109911013B (en) | 2019-02-26 | 2019-02-26 | Method and device for adjusting steering angle of vehicle steering wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109911013A true CN109911013A (en) | 2019-06-21 |
| CN109911013B CN109911013B (en) | 2020-11-06 |
Family
ID=66962442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910143123.3A Active CN109911013B (en) | 2019-02-26 | 2019-02-26 | Method and device for adjusting steering angle of vehicle steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109911013B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113673028A (en) * | 2021-08-03 | 2021-11-19 | 中汽创智科技有限公司 | Speed planning method and device, electronic equipment and storage medium |
| WO2022135408A1 (en) * | 2020-12-25 | 2022-06-30 | 奇瑞汽车股份有限公司 | Rotation angle control method and apparatus for steering wheel of vehicle, and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101384522B1 (en) * | 2011-12-15 | 2014-04-14 | 현대자동차주식회사 | Auto Steering Control Method Relating to the Driver's Driving Pattern |
| JP2015123857A (en) * | 2013-12-26 | 2015-07-06 | 株式会社ジェイテクト | Steering device |
| CN108622084A (en) * | 2018-05-14 | 2018-10-09 | 奇瑞汽车股份有限公司 | Chevron shaped vertical auxiliary is parked method and device |
| CN108958258A (en) * | 2018-07-25 | 2018-12-07 | 吉林大学 | A kind of track follow-up control method, control system and the relevant apparatus of unmanned vehicle |
| CN109204298A (en) * | 2017-07-04 | 2019-01-15 | 现代自动车株式会社 | Device and method thereof and lane for controlling steering angle keep auxiliary system |
| CN109343522A (en) * | 2018-09-27 | 2019-02-15 | 中山大学 | A kind of intelligent vehicle path following method based on Pure Pursuit improvement |
-
2019
- 2019-02-26 CN CN201910143123.3A patent/CN109911013B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101384522B1 (en) * | 2011-12-15 | 2014-04-14 | 현대자동차주식회사 | Auto Steering Control Method Relating to the Driver's Driving Pattern |
| JP2015123857A (en) * | 2013-12-26 | 2015-07-06 | 株式会社ジェイテクト | Steering device |
| CN109204298A (en) * | 2017-07-04 | 2019-01-15 | 现代自动车株式会社 | Device and method thereof and lane for controlling steering angle keep auxiliary system |
| CN108622084A (en) * | 2018-05-14 | 2018-10-09 | 奇瑞汽车股份有限公司 | Chevron shaped vertical auxiliary is parked method and device |
| CN108958258A (en) * | 2018-07-25 | 2018-12-07 | 吉林大学 | A kind of track follow-up control method, control system and the relevant apparatus of unmanned vehicle |
| CN109343522A (en) * | 2018-09-27 | 2019-02-15 | 中山大学 | A kind of intelligent vehicle path following method based on Pure Pursuit improvement |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135408A1 (en) * | 2020-12-25 | 2022-06-30 | 奇瑞汽车股份有限公司 | Rotation angle control method and apparatus for steering wheel of vehicle, and vehicle |
| CN113673028A (en) * | 2021-08-03 | 2021-11-19 | 中汽创智科技有限公司 | Speed planning method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109911013B (en) | 2020-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021238303A1 (en) | Motion planning method and apparatus | |
| JP6827539B2 (en) | Training action selection neural networks | |
| CN111098852B (en) | Parking path planning method based on reinforcement learning | |
| CN112356830B (en) | Intelligent parking method based on model reinforcement learning | |
| CN109885891A (en) | A kind of intelligent vehicle GPU accelerates method for planning track parallel | |
| CN110221611A (en) | A kind of Trajectory Tracking Control method, apparatus and automatic driving vehicle | |
| CN110646009A (en) | DQN-based vehicle automatic driving path planning method and device | |
| CN109726676B (en) | Planning method for automatic driving system | |
| CN111121777A (en) | Unmanned equipment trajectory planning method and device, electronic equipment and storage medium | |
| CN111126598B (en) | Automatic parking method, automatic parking device, computer equipment and storage medium | |
| CN113168566A (en) | Controlling a robot by using entropy constraints | |
| CN109911013A (en) | A kind of method of adjustment and device of steering wheel for vehicle corner | |
| Kamran et al. | Learning path tracking for real car-like mobile robots from simulation | |
| CN110174112B (en) | Path optimization method for automatic mapping task of mobile robot | |
| CN105527963B (en) | Lateral parking method and system | |
| Denny et al. | Adapting RRT growth for heterogeneous environments | |
| EP4102405A1 (en) | Demonstration-conditioned reinforcement learning for few-shot imitation | |
| CN110509923A (en) | Automatic Pilot paths planning method, system, computer readable storage medium and vehicle | |
| CN116734877A (en) | Robot dynamic obstacle avoidance method based on improved A-algorithm and dynamic window method | |
| CN114239974A (en) | Multi-agent position prediction method and device, electronic equipment and storage medium | |
| WO2020136770A1 (en) | Mobile object control device, mobile object control learning device, and mobile object control method | |
| CN114997048A (en) | Automatic driving vehicle lane keeping method based on TD3 algorithm improved by exploration strategy | |
| CN113532457B (en) | Robot path navigation method, system, equipment and storage medium | |
| US11780467B2 (en) | Method and apparatus for creating driving route of autonomous vehicle and computer program therefor | |
| JP2023531927A (en) | Driving decision-making method, driving decision-making device, and chip |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220309 Address after: 215100 floor 23, Tiancheng Times Business Plaza, No. 58, qinglonggang Road, high speed rail new town, Xiangcheng District, Suzhou, Jiangsu Province Patentee after: MOMENTA (SUZHOU) TECHNOLOGY Co.,Ltd. Address before: Room 601-a32, Tiancheng information building, No. 88, South Tiancheng Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: MOMENTA (SUZHOU) TECHNOLOGY Co.,Ltd. |