CN110962928B - Method and device for determining steering wheel angle of vehicle - Google Patents
Method and device for determining steering wheel angle of vehicle Download PDFInfo
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- CN110962928B CN110962928B CN201811162691.XA CN201811162691A CN110962928B CN 110962928 B CN110962928 B CN 110962928B CN 201811162691 A CN201811162691 A CN 201811162691A CN 110962928 B CN110962928 B CN 110962928B
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- 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
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Abstract
The application provides a method and a device for determining a steering wheel angle of a vehicle, comprising the following steps: acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path; and determining the target steering wheel angle of the vehicle according to the expected running path and the target position. That is, in the embodiment of the present application, when determining the steering wheel angle, the target position of the vehicle is considered, so that a problem that the determined target steering wheel angle does not match the target position of the vehicle because the vehicle has traveled a distance according to the current travel path in the process of determining the target steering wheel angle is avoided, and thus the actual travel path of the corresponding vehicle matches the expected travel path when the vehicle is controlled to travel according to the target steering wheel angle.
Description
Technical Field
The present application relates to the field of automatic control, and in particular, to a method and apparatus for determining a steering angle of a steering wheel of a vehicle.
Background
With the development of automatic control technology, the application of automatic control technology to vehicles is becoming more and more widespread, for example, many vehicles are applied with automatic driving technology, automatic parking technology and the like.
The automatic driving or automatic parking technology can plan an expected driving path according to environmental information around a road where a vehicle is currently driving, such as road edges, obstacles, road center lines and the like, and determine a steering wheel angle by combining the current position of the vehicle and an expected track, so that the actual driving path of the vehicle tends to the expected driving path, and automatic driving or automatic parking is realized.
However, the current steering wheel angle is determined based on the deviation of the current vehicle position from the desired travel path. And determining the steering wheel angle by using the deviation between the current vehicle position and the expected running path, wherein a certain time is required for determining the deviation between the current vehicle position and the expected running path, so that when the vehicle determines the steering wheel angle according to the deviation, the vehicle already runs for a certain distance according to the current running path, and the steering wheel angle is not matched with the position where the vehicle is actually located, and an error exists between the actual running path and the expected running path of the vehicle.
Therefore, it is necessary to provide a solution that can accurately determine the steering wheel angle so that the steering wheel angle matches with the current position of the vehicle, so that the actual driving path of the corresponding vehicle matches with the expected driving path when the vehicle is controlled to drive according to the steering wheel angle.
Disclosure of Invention
The technical problem to be solved by the application is how to accurately determine the steering wheel angle, so that the actual running path of the corresponding vehicle is matched with the expected running path when the vehicle is controlled to run according to the steering wheel angle, and a method and a device for determining the steering wheel angle of the vehicle are provided.
In a first aspect, an embodiment of the present application provides a method for determining a steering wheel angle of a vehicle, including:
acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path;
and determining the target steering wheel angle of the vehicle according to the expected running path and the target position.
Optionally, the determining a target steering wheel angle of the vehicle according to the expected travel path and the target position includes:
determining a projection point of the target point on the expected driving path curve;
calculating a target front wheel steering angle of the vehicle according to the current point and the projection point;
determining the target steering wheel angle according to the target front wheel angle;
and a straight line formed by the projection point and the target point is perpendicular to a tangent line of the expected driving path curve at the projection point.
Optionally, the calculating a target front wheel rotation angle of the vehicle according to the current point and the projection point includes:
calculating an included angle between the first ray and the second ray to obtain a target front wheel corner;
the first ray is a ray which takes the current point as a starting point and passes through the target point;
the second ray is a ray which takes the current point as a starting point and passes through the projection point.
Optionally, the determining the target steering wheel angle according to the target front wheel steering angle includes:
and determining a target steering wheel angle corresponding to the target front wheel steering angle according to the corresponding relation between the vehicle front wheel steering angle and the vehicle steering wheel angle.
In a second aspect, an embodiment of the present application provides an apparatus for determining a steering angle of a steering wheel of a vehicle, including:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path;
a determination unit configured to determine a target steering wheel angle of the vehicle according to the desired travel path and the target position;
wherein the current position is embodied as a current point, the target position is embodied as a target point, the expected travel path is embodied as an expected travel path curve, and the determining unit is specifically configured to:
determining a projection point of the target point on the expected driving path curve;
calculating a target front wheel steering angle of the vehicle according to the current point and the projection point;
and determining the target steering wheel angle according to the target front wheel angle.
Optionally, a straight line formed by the projected point and the target point is perpendicular to a tangent line of the expected driving path curve at the projected point.
Optionally, the calculating a target front wheel rotation angle of the vehicle according to the current point and the projection point includes:
calculating an included angle between the first ray and the second ray to obtain a target front wheel corner;
the first ray is a ray which takes the current point as a starting point and passes through the target point;
the second ray is a ray which takes the current point as a starting point and passes through the projection point.
Optionally, the determining the target steering wheel angle according to the target front wheel steering angle includes:
and determining a target steering wheel angle corresponding to the target front wheel steering angle according to the corresponding relation between the vehicle front wheel steering angle and the vehicle steering wheel angle.
Compared with the prior art, the embodiment of the application has the following advantages:
the method and the device for determining the steering angle of the steering wheel of the vehicle provided by the embodiment of the application comprise the following steps: acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path; and determining the target steering wheel angle of the vehicle according to the expected running path and the target position. That is, in the embodiment of the present application, when determining the steering wheel angle, the target position of the vehicle is considered, so that a problem that the determined target steering wheel angle does not match the target position of the vehicle because the vehicle has traveled a distance according to the current travel path in the process of determining the target steering wheel angle is avoided, and thus the actual travel path of the corresponding vehicle matches the expected travel path when the vehicle is controlled to travel according to the target steering wheel angle.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of an exemplary application scenario provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a method for determining a steering angle of a steering wheel of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating a method for determining a target steering wheel angle of a vehicle according to a desired driving path and a target position according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of another exemplary application scenario provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of an apparatus for determining a steering wheel angle of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The inventor of the present application has found through research that, in the prior art, an automatic driving or automatic parking technology may plan a desired driving path according to environmental information around a road on which a vehicle is currently driving, for example, information such as a road edge, an obstacle, and a road center line, and determine a steering wheel angle by combining a current position of the vehicle and a desired trajectory, so that an actual driving path of the vehicle approaches the desired driving path, thereby implementing automatic driving or automatic parking.
However, the current steering wheel angle is determined based on the deviation of the current vehicle position from the desired travel path. And determining the steering wheel angle by using the deviation between the current vehicle position and the expected running path, wherein a certain time is required for determining the deviation between the current vehicle position and the expected running path, so that when the vehicle determines the steering wheel angle according to the deviation, the vehicle already runs for a certain distance according to the current running path, and the steering wheel angle is not matched with the position where the vehicle is actually located, and an error exists between the actual running path and the expected running path of the vehicle.
For example, as can be appreciated in conjunction with FIG. 1, in FIG. 1, the vehicle is currently depicted at position A (x)0,y0) The expected travel track is 101, the deviation between the current vehicle position a and the expected travel path 101 is used to determine the steering wheel angle α, and the process of determining the steering wheel angle α requires a certain time during which the vehicle has traveled to the position B (x)1,y1) That is, the steering angle α is a steering wheel angle corresponding to the position a, and not a steering wheel angle corresponding to the position B, resulting in controlling the vehicle to travel according to the steering angle α, which causes an error between the actual travel path and the desired travel path of the vehicle.
In order to solve the above problem, an embodiment of the present application provides a method and an apparatus for determining a steering angle of a steering wheel of a vehicle, including: acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path; and determining the target steering wheel angle of the vehicle according to the expected running path and the target position. That is, in the embodiment of the present application, when determining the steering wheel angle, the target position of the vehicle is considered, so that a problem that the determined target steering wheel angle does not match the target position of the vehicle because the vehicle has traveled a distance according to the current travel path in the process of determining the target steering wheel angle is avoided, and thus the actual travel path of the corresponding vehicle matches the expected travel path when the vehicle is controlled to travel according to the target steering wheel angle.
Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
Exemplary method
Referring to fig. 2, a flowchart of a method for determining a steering wheel angle of a vehicle according to an embodiment of the present application is shown.
In this embodiment, the method may be implemented, for example, by the following steps S201-S202.
S201: the method comprises the steps of obtaining an expected running path of a vehicle and a target position where the vehicle runs between presets from a current position according to the current running path.
It should be noted that the embodiment of the present application is not particularly limited to a specific implementation manner for acquiring the expected traveling path of the vehicle, and as an example, the expected traveling path may be acquired by using environmental information around a road on which the vehicle is currently traveling, for example, information such as a road edge, an obstacle, and a center line of the road.
The preset time is not particularly limited, and may be determined by factors such as a response time of a controller of the vehicle, a delay time of the controller, and the like. Generally, the predetermined time is smaller.
It can be understood that, because the preset time is smaller in value, the vehicle may have a travel track from the current position to the target position according to the current travel path, and may be regarded as a straight line. The distance traveled by the vehicle within the preset time can be calculated according to the current position and the traveling speed of the vehicle, so that the target position of the vehicle is determined.
S202: and determining the target steering wheel angle of the vehicle according to the expected running path and the target position.
The target steering wheel angle referred to in the embodiments of the present application means an angle by which the steering wheel of the vehicle is turned.
It should be noted that, in a possible implementation manner of the embodiment of the present application, the current position is represented as a current point, the target position is represented as a target point, and the expected travel path is represented as an expected travel path curve. Step S202, when embodied, may be implemented by steps S301-S303 as follows.
S301: and determining the projection point of the target point on the expected driving path curve.
When determining the projection point, the determination may be performed according to the following principle: and a straight line formed by the projection point and the target point is perpendicular to a tangent line of the expected driving path curve at the projection point. For example, as will be understood in conjunction with fig. 4, a straight line formed by the projected point T and the target point P is perpendicular to a tangent line of the desired travel path curve 401 at the projected point T.
S302: and calculating the target front wheel rotation angle of the vehicle according to the current point and the projection point.
It should be noted that the target front wheel turning angle mentioned in the embodiment of the present application means an angle at which the front wheels of the vehicle turn.
Step S302, in a specific implementation, an included angle between the first ray and the second ray may be calculated to obtain the target front wheel corner; the first ray is a ray which takes the current point as a starting point and passes through the target point; the second ray is a ray which takes the current point as a starting point and passes through the projection point.
For example, as will be understood in conjunction with fig. 4, if the first ray is a ray OP passing through the target point P from the current point O, and the second ray is a ray OT passing through the projection point T from the current point O, the target front wheel rotation angle is an included angle δ between OP and OT.
Referring to FIG. 4, the geometric relationship indicates that the target point P (x)p，yp) The coordinates of (c) can be obtained by the following formula (1).
Wherein x ispIs the abscissa of the target point P;
x0the abscissa representing the current point O;
d represents the distance between the current point O and the target point P;
ypis the ordinate of the target point P;
y0indicating the ordinate of the current point O.
The front wheel turning angle δ may satisfy the following formula (2):
wherein, ytIs the ordinate of the projection point T;
xtthe abscissa of the projection point T.
Therefore, the front wheel turning angle δ can be determined by the following formula (3):
s303: and determining the target steering wheel angle according to the target front wheel angle.
Generally, there is a certain correspondence between the vehicle front wheel angle and the vehicle steering wheel angle, for example, the vehicle front wheel angle is 20 degrees, and the corresponding steering wheel angle is 360 degrees. Therefore, in the embodiment of the present application, the target steering wheel angle corresponding to the target front wheel steering angle may be determined based on the correspondence relationship between the vehicle front wheel steering angle and the vehicle steering wheel angle.
Therefore, by using the method for determining the steering wheel angle of the vehicle provided by the embodiment of the application, the target position of the vehicle is considered when the steering wheel angle is determined, so that the problem that the determined target steering wheel angle is not matched with the target position of the vehicle due to the fact that the vehicle runs for a certain distance according to the current running path in the process of determining the target steering wheel angle is solved, and the actual running path of the corresponding vehicle is controlled to be matched with the expected running path when the vehicle runs according to the target steering wheel angle.
Exemplary device
Referring to fig. 5, a schematic structural diagram of an apparatus for determining a steering angle of a steering wheel of a vehicle according to an embodiment of the present application is shown.
The apparatus 500 provided in the embodiment of the present application may specifically include: an acquisition unit 510 and a determination unit 520.
An obtaining unit 510, configured to obtain an expected travel path of a vehicle and a target location where the vehicle travels for a preset time from a current location according to the current travel path;
a determining unit 520, configured to determine a target steering wheel angle of the vehicle according to the desired driving path and the target position.
Wherein the current position is embodied as a current point, the target position is embodied as a target point, the expected travel path is embodied as an expected travel path curve, and the determining unit 520 is specifically configured to:
determining a projection point of the target point on the expected driving path curve;
calculating a target front wheel steering angle of the vehicle according to the current point and the projection point;
and determining the target steering wheel angle according to the target front wheel angle.
Optionally, a straight line formed by the projected point and the target point is perpendicular to a tangent line of the expected driving path curve at the projected point.
Optionally, the calculating a target front wheel rotation angle of the vehicle according to the current point and the projection point includes:
calculating an included angle between the first ray and the second ray to obtain a target front wheel corner;
the first ray is a ray which takes the current point as a starting point and passes through the target point;
the second ray is a ray which takes the current point as a starting point and passes through the projection point.
Optionally, the determining the target steering wheel angle according to the target front wheel steering angle includes:
and determining a target steering wheel angle corresponding to the target front wheel steering angle according to the corresponding relation between the vehicle front wheel steering angle and the vehicle steering wheel angle.
For the description of the units of the apparatus 500, reference may be made to the description part of the above method embodiment, which is not described herein again.
Therefore, the device for determining the steering wheel angle of the vehicle provided by the embodiment of the application considers the target position of the vehicle when determining the steering wheel angle, so that the problem that the determined target steering wheel angle is not matched with the target position of the vehicle due to the fact that the vehicle drives for a certain distance according to the current driving path in the process of determining the target steering wheel angle is solved, and the corresponding actual driving path of the vehicle is controlled to be matched with the expected driving path when the vehicle drives according to the target steering wheel angle.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the attached claims
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (4)
1. A method of determining a steering wheel angle of a vehicle, comprising:
acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path;
determining a target steering wheel angle of the vehicle according to the expected driving path and the target position;
wherein the current position is embodied as a current point, the target position is embodied as a target point, the expected travel path is embodied as an expected travel path curve, and the determining the target steering wheel angle of the vehicle according to the expected travel path and the target position includes:
determining a projection point of the target point on the expected driving path curve, wherein a straight line formed by the projection point and the target point is vertical to a tangent line of the expected driving path curve at the projection point;
calculating a target front wheel steering angle of the vehicle according to the current point and the projection point, specifically: calculating an included angle between the first ray and the second ray to obtain a target front wheel corner; the first ray is a ray which takes the current point as a starting point and passes through the target point; the second ray is a ray which takes the current point as a starting point and passes through the projection point; the target front wheel turning angle is as follows:
delta represents a target front-wheel steering angle,
representing the angle of the current path of travel with the X-axis, ytIs the ordinate, x, of the projection pointtBeing said projected pointsAbscissa, y0Is the ordinate, x, of the current point0Is the abscissa of the current point;
and determining the target steering wheel angle according to the target front wheel angle.
2. The method of claim 1, wherein said determining the target steering wheel angle based on the target front wheel steering angle comprises:
and determining a target steering wheel angle corresponding to the target front wheel steering angle according to the corresponding relation between the vehicle front wheel steering angle and the vehicle steering wheel angle.
3. An apparatus for determining a steering wheel angle of a vehicle, comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring an expected running path of a vehicle and a target position where the vehicle runs for a preset time from a current position according to the current running path;
a determination unit configured to determine a target steering wheel angle of the vehicle according to the desired travel path and the target position;
wherein the current position is embodied as a current point, the target position is embodied as a target point, the expected travel path is embodied as an expected travel path curve, and the determining unit is specifically configured to:
determining a projection point of the target point on the expected driving path curve, wherein a straight line formed by the projection point and the target point is vertical to a tangent line of the expected driving path curve at the projection point;
calculating a target front wheel steering angle of the vehicle according to the current point and the projection point, specifically: calculating an included angle between the first ray and the second ray to obtain a target front wheel corner; the first ray is a ray which takes the current point as a starting point and passes through the target point; the second ray is a ray which takes the current point as a starting point and passes through the projection point; the target front wheel turning angle is as follows:
delta represents a target front-wheel steering angle,
representing the angle of the current path of travel with the X-axis, ytIs the ordinate, x, of the projection pointtIs the abscissa, y, of the projection point0Is the ordinate, x, of the current point0Is the abscissa of the current point;
and determining the target steering wheel angle according to the target front wheel angle.
4. The apparatus of claim 3, wherein said determining the target steering wheel angle based on the target front wheel steering angle comprises:
and determining a target steering wheel angle corresponding to the target front wheel steering angle according to the corresponding relation between the vehicle front wheel steering angle and the vehicle steering wheel angle.
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| CN201811162691.XA CN110962928B (en) | 2018-09-30 | 2018-09-30 | Method and device for determining steering wheel angle of vehicle |
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| CN201811162691.XA CN110962928B (en) | 2018-09-30 | 2018-09-30 | Method and device for determining steering wheel angle of vehicle |
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| CN114013430B (en) * | 2021-12-23 | 2023-09-19 | 东风悦享科技有限公司 | Automatic driving vehicle control method with unified driving and parking |
| CN114834529B (en) * | 2022-06-07 | 2023-06-16 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium |
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| 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 |
| CN105752154A (en) * | 2014-10-15 | 2016-07-13 | 华创车电技术中心股份有限公司 | Vehicle steering control system and method |
| CN107323450A (en) * | 2017-06-08 | 2017-11-07 | 广州汽车集团股份有限公司 | The control method and device of vehicle lane change, storage medium |
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| JP4596063B2 (en) * | 2008-09-30 | 2010-12-08 | 株式会社デンソー | Vehicle steering control device |
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| 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 |
| CN105752154A (en) * | 2014-10-15 | 2016-07-13 | 华创车电技术中心股份有限公司 | Vehicle steering control system and method |
| CN107323450A (en) * | 2017-06-08 | 2017-11-07 | 广州汽车集团股份有限公司 | The control method and device of vehicle lane change, storage medium |
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