CN113625698A - Method, apparatus and storage medium for controlling steering of vehicle - Google Patents
Method, apparatus and storage medium for controlling steering of vehicle Download PDFInfo
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a method, a device and a storage medium for controlling vehicle steering. The method comprises the following steps: monitoring a steering event for the vehicle; determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning; controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; the offset direction and the advancing direction corresponding to the two preset strategies are different; and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out. By adopting the scheme of the invention, the vehicle can successfully steer in a narrow environment and avoid obstacles, thereby improving the user experience.
Description
Technical Field
The present invention relates to robotics, and more particularly, to a method, apparatus, and storage medium for controlling steering of a vehicle.
Background
The steering function is an important functional design in the landing of a robot technology application scene, such as application scenes of backing up and parking in a side direction of an unmanned automobile. However, in the related art, the method for controlling the steering of the robot needs to be optimized.
Disclosure of Invention
To solve the related art problems, embodiments of the present invention provide a method, an apparatus, and a storage medium for controlling steering of a vehicle.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a method for controlling vehicle steering, which comprises the following steps:
monitoring a steering event for the vehicle;
determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out.
In the foregoing solution, the controlling the vehicle to switch the driving state based on two preset strategies includes:
controlling the driving direction of the vehicle to deviate by a first angle towards a first direction and controlling the vehicle to advance on the basis of a first strategy; and when the obstacle in the traveling direction of the vehicle is monitored, strategy switching is carried out, the traveling direction of the vehicle is controlled to deviate a second angle towards a second direction based on a second strategy, and the vehicle is controlled to back.
In the foregoing solution, the controlling the vehicle to switch the driving state based on two preset strategies includes:
controlling the driving direction of the vehicle to deviate towards a third direction by a third angle and controlling the vehicle to back up based on a third strategy; and when the obstacle in the traveling direction of the vehicle is detected, strategy switching is carried out, the traveling direction of the vehicle is controlled to be deviated to a fourth angle in the fourth direction based on a fourth strategy, and the vehicle is controlled to advance.
In the above scheme, the method further comprises:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
In the above scheme, the method further comprises:
in the process of converting the running state of the vehicle, when an obstacle exists in the traveling direction of the vehicle, judging whether the obstacle is a static obstacle or not to obtain a first judgment result;
under the condition that the first judgment result represents that the obstacle is a static obstacle, strategy switching is carried out;
and under the condition that the first judgment result represents that the obstacle is a dynamic obstacle, controlling the vehicle to wait for a first time period, and switching the driving state based on a strategy before waiting after the first time period.
In the foregoing solution, the monitoring of the steering event for the vehicle includes one of:
receiving a first instruction; the first instruction is to trigger the steering event;
monitoring a first operation; the first operation is to trigger the steering event;
an obstacle is detected to be present in a direction of travel of the vehicle.
The embodiment of the invention also provides a device for controlling the steering of the vehicle, which comprises:
a monitoring unit for monitoring a steering event for a vehicle;
a first processing unit for determining a target driving state of the vehicle according to the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
the second processing unit is used for controlling the vehicle to convert the running state based on two preset strategies until the running state of the vehicle is converted into the target running state from the running state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
the second processing unit is further configured to:
and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out.
In the foregoing solution, the second processing unit is further configured to:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
The embodiment of the invention also provides a device for controlling the steering of the vehicle, which comprises: a processor and a memory for storing a computer program capable of running on the processor;
wherein the processor is configured to perform the steps of any of the above methods when running the computer program.
An embodiment of the present invention further provides a storage medium, where the storage medium stores a computer program, and the computer program, when executed by a processor, implements the steps of any one of the above methods
According to the method, the device and the storage medium for controlling the vehicle steering, provided by the embodiment of the invention, the steering event of the vehicle is monitored; determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning; controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; the offset direction and the advancing direction corresponding to the two preset strategies are different; in the process of converting the driving state of the vehicle, when the obstacle exists in the traveling direction of the vehicle, strategy switching is carried out; so, control the vehicle through two strategies of predetermineeing and turn to carry out the strategy when monitoring the barrier and switch, make the vehicle successfully turn to in narrow and small environment, and avoid the barrier, and then promote user experience.
Drawings
FIG. 1 is a schematic flow chart of a method of controlling vehicle steering in accordance with an embodiment of the present invention;
fig. 2 is a schematic view illustrating a driving state switching for controlling the first scooter to turn around according to the embodiment of the present invention;
fig. 3 is a schematic view illustrating a driving state switching operation for controlling the second scooter to turn around according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating state switching of a scooter state machine when the scooter is controlled to turn around according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an apparatus for controlling steering of a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic hardware configuration diagram of an apparatus for controlling vehicle steering according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further elaborated by combining the drawings and the embodiments in the specification.
Before describing the technical solution of the embodiment of the present invention in detail, first, a brief description will be given of the problems of the method for controlling the robot to turn in the related art.
In the related art, the robot steering is generally controlled based on a path planning algorithm and a path tracking controller.
Specifically, for a robot with a non-circular chassis and a non-complete constraint motion system, the robot is limited by the structural design (i.e., the non-circular chassis) and the constraint of a motion model (i.e., a motion model corresponding to the non-complete constraint motion system), so that the robot cannot rotate in place, i.e., cannot turn in place. Therefore, in order to control the robot to turn in a narrow environment (such as a corridor, a walking path on both sides of a street, etc.) and avoid obstacles, a path can be planned in real time according to the current position and the target position of the robot, the planned path can include various motion modes such as forward and backward, etc., and the constraint of the turning radius of the robot and the requirement of obstacle avoidance are satisfied. In practical application, a Hybrid a Star (Hybrid a Star) algorithm can be used for path planning of the robot; the Hybrid A-algorithm is a grid-based search algorithm developed from an A Star (A, A Star) algorithm, compared with the A-algorithm, the Hybrid A-algorithm considers the direction problem of the robot and the maximum steering problem of the robot, the heuristic function of the Hybrid A-algorithm adopts a comprehensive cost function generated by a path searched by the A-algorithm, the speed of grid search can be increased, and the path searched by the A-algorithm can be a Dubins path, a Reeds-Shepp path and the like; in practical application, the Hybrid a-algorithm may be combined with a Dynamic Window Approach (DWA) algorithm to plan a path of the robot. In addition, after the path of the robot is planned, a path tracking controller corresponding to the planned path is usually designed to control the robot to turn based on the planned path; the controller may be a Proportional-Integral-derivative (PID) controller, a Production Planning and Control (PPC) controller, a Model Predictive Control (MPC) controller, or the like.
The method for controlling the robot to steer based on the path planning algorithm and the path tracking controller has the following problems:
first, the path planning algorithm has high requirements for the real-time positioning accuracy of the robot and the quality of the map of the environment where the robot is located, and if the robot is controlled to turn by using the above method, the robot is required to have a high-accuracy real-time positioning system and a high-quality environment map.
Secondly, the complexity of the path planning algorithm is high, the calculation capability of a calculation platform is high, and if the robot is controlled to turn by using the method, the operation frequency of the path planning algorithm cannot be guaranteed due to the limited calculation capability of the robot, so that the difficulty in realizing real-time path planning is high.
Thirdly, the path planning algorithm lacks completeness, and if the robot steering is controlled by using the method, the path may not be planned.
Fourth, if the robot steering is controlled using the above method, a path tracking controller with high accuracy is required.
Based on this, in various embodiments of the present invention, for a robot with a non-circular chassis and a non-complete constraint motion system, and under the condition that the robot does not have a global positioning system (i.e., a high-precision real-time positioning system), does not have a global map (i.e., a high-quality environment map), and has limited computing capability, the idea of a greedy algorithm is utilized, the robot is controlled to turn by two preset strategies, and strategy switching is performed when an obstacle is monitored, so that the robot can successfully turn in a narrow environment (e.g., a corridor, a walking channel on both sides of a street, etc.), and avoid the obstacle, thereby improving user experience.
An embodiment of the present invention provides a method for controlling vehicle steering, as shown in fig. 1, the method includes the following steps:
step 101: monitoring a steering event for the vehicle;
step 102: determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
step 103: controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored;
the offset direction and the advancing direction corresponding to the two preset strategies are different; and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out. In the process of converting the driving state of the vehicle, the monitored obstacle can influence the driving of the vehicle along the current offset direction and the traveling direction.
It should be noted that, in various embodiments of the present invention, the vehicle may be a scooter, an unmanned automobile, or the like; of course, the method for controlling vehicle steering provided by the embodiment of the invention can also be applied to any robot with a non-circular chassis and a non-complete constraint motion system, such as an intelligent robot for bank or hotel assistance services. In addition, in various embodiments of the present invention, "direction of travel" means a direction in which a nose of the vehicle is facing; "offset direction" means a direction in which the traveling direction of the vehicle is offset, i.e., a direction in which the head of the vehicle turns, including left and right; "direction of travel" means the direction in which the vehicle moves based on the direction of travel, including front and rear; "turn" means that the traveling direction of the vehicle is offset by a specified angle toward a specified offset direction; the specified angle is greater than 0 degree and less than or equal to 360 degrees; when the specified angle is 180 degrees, the turning is the turning around.
In step 101, in actual application, there may be a plurality of situations in the monitoring of the steering event for the vehicle; for example, a steering instruction sent by a user is received, and the steering instruction can be a voice instruction or a text instruction sent by the user through a terminal which establishes a communication connection with the vehicle; for another example, the operation of the user on the vehicle is monitored, and the operation may be a key operation (for example, a steering key on the vehicle is triggered), or may also be an operation of a steering assembly of the vehicle (for example, a steering wheel is turned, a handlebar is turned, or the like) by the user; for another example, a sensor (e.g., a camera) on the vehicle monitors that an obstacle exists in the driving direction of the vehicle, and the obstacle may be a stationary object or a dynamic object, such as a wall, a road edge, a pedestrian, a vehicle, or the like.
Based on this, in an embodiment, the monitoring of the steering event for the vehicle may include one of:
receiving a first instruction; the first instruction is to trigger the steering event;
monitoring a first operation; the first operation is to trigger the steering event;
an obstacle is detected to be present in a direction of travel of the vehicle.
In practical applications, when the steering event is monitored, the vehicle may be in a stationary state or a moving state, and both the stationary state and the moving state may be regarded as a driving state of the vehicle (the stationary state may be regarded as a driving state with a moving speed of 0). The steering event may include a direction in which the vehicle is steered (i.e., the specified offset direction) and an angle in which the vehicle is steered (i.e., the specified angle), for example, a voice command "turn 180 ° left" (or turn left) "from a user through a terminal that establishes a communication connection with the vehicle is received; as another example, a user operation to turn the steering assembly of the vehicle 90 ° to the right is monitored. Alternatively, the specified offset direction and the specified angle may be determined based on the steering event; for example, when it is monitored that an obstacle exists in the driving direction of the vehicle, it may be determined that the designated offset direction is left and the designated angle is 45 ° according to the volume and the shape of the monitored obstacle.
In step 102, in practical applications, the determining a target driving state of the vehicle according to the monitored steering event may include:
determining a designated offset direction and a designated angle of the vehicle steering according to the steering event;
and determining the target driving state according to the determined specified offset direction and the specified angle and the driving state of the vehicle when the steering event is monitored.
Specifically, for example, it is assumed that when a vehicle travels north, a first instruction is received, where the first instruction is a voice instruction "turn left 180 ° (or turn left)" issued by a user through a terminal that establishes a communication connection with the vehicle, that is, the designated offset direction is left, and the designated angle is 180 °, and at this time, it may be determined that the traveling direction of the vehicle after turning is south, that is, the target traveling state at least includes the vehicle traveling south; or, assuming that a first operation is monitored when the vehicle is in a stationary state, where the first operation is an operation of rotating a steering assembly of the vehicle by 90 ° to the right by a user, that is, the designated offset direction is right, and the designated angle is 90 °, at this time, it may be determined that the steering direction of the vehicle is east, that is, the target driving state at least includes the vehicle driving to the east; or, assuming that an obstacle exists in front of the vehicle when the vehicle travels southward, at this time, it may be determined that the designated offset direction is left and the designated angle is 45 ° according to the volume and shape of the monitored obstacle, and then it may be determined that the traveling direction of the vehicle after turning is 45 ° southward, that is, the target traveling state at least includes traveling of the vehicle 45 ° southward. Of course, the target running state may also include a running speed of the vehicle after turning; the driving speed of the vehicle after being turned can be determined by a developer according to design requirements and can also be determined by a user according to use requirements.
In step 103, when actually applied, the vehicle may include: a steering assembly, at least one front wheel and at least one rear wheel; when the vehicle moves forwards or backwards, the direction component is controlled to shift leftwards or rightwards, the driving direction of the vehicle can be controlled to shift leftwards or rightwards, and the vehicle moves forwards or backwards with a turning radius corresponding to the shifted angle; here, the greater the angle by which the direction component is controlled to be offset to the left or right, the smaller the turning radius corresponding to the offset angle. Meanwhile, the vehicle may be a sports apparatus whose sports model approximately satisfies an Ackermann (Ackermann) steering model, that is, both front and rear wheels of the vehicle may be steered, and steering angles of the front and rear wheels of the vehicle may be the same or different. Based on this, the steering principle of the vehicle may be: and determining the angle of the direction component of the vehicle which needs to be offset according to the specified angle, and controlling the direction component of the vehicle to be offset by the determined angle, so that the vehicle advances or retreats at a corresponding turning radius, and the effect that the body of the vehicle rotates by the specified angle is achieved.
Based on this, in an embodiment, the controlling the vehicle to switch the driving state based on two preset strategies may include:
controlling the driving direction of the vehicle to deviate by a first angle towards a first direction and controlling the vehicle to advance on the basis of a first strategy; and when the obstacle in the traveling direction of the vehicle is monitored, strategy switching is carried out, the traveling direction of the vehicle is controlled to deviate a second angle towards a second direction based on a second strategy, and the vehicle is controlled to back.
Here, the first direction is the same as the specified offset direction, and the first direction may be determined according to the specified offset direction, assuming that the specified offset direction is left, that is, the first direction is also left; the second direction is opposite to the first direction. The first angle and the second angle may be the same or different, and are determined according to the designated angle and an angular range over which the directional component of the vehicle can be offset. For example, assume that the vehicle's directional component is offset to the left by a maximum angle of 45 ° and to the right by a maximum angle of 50 °; at this time, it may be determined that the range of the first angle is: greater than 0 ° and less than or equal to 45 °; and determining the range of the second angle as: greater than 0 ° and less than or equal to 50 °. When the specified angle is less than or equal to the maximum value of the first angle, the specified angle may be determined as the first angle; when the specified angle is greater than the maximum value of the first angle, the maximum value of the first angle may be determined as the first angle; when the specified angle is less than or equal to the maximum value of the second angle, the specified angle may be determined as the second angle; when the specified angle is greater than the maximum value of the second angle, the maximum value of the second angle may be determined as the second angle.
In practical applications, the vehicle may be controlled to move forward by setting the rear wheel speed of the vehicle to a positive speed, and to move backward by setting the rear wheel speed of the vehicle to a negative speed.
In one embodiment, the controlling the vehicle to switch the driving state based on two preset strategies may include:
controlling the driving direction of the vehicle to deviate towards a third direction by a third angle and controlling the vehicle to back up based on a third strategy; and when the obstacle in the traveling direction of the vehicle is detected, strategy switching is carried out, the traveling direction of the vehicle is controlled to be deviated to a fourth angle in the fourth direction based on a fourth strategy, and the vehicle is controlled to advance.
In practical application, the third direction is opposite to the specified offset direction, and the third direction may be determined according to the specified offset direction, assuming that the specified offset direction is left, that is, the third direction is right; the fourth direction is opposite to the third direction. The third angle and the fourth angle may be the same or different, and the specific manner of determining the third angle and the fourth angle is the same as the manner of determining the first angle and the second angle, which is not described herein again.
In actual application, a user can determine whether to control the vehicle to change the running state based on a first strategy or to control the vehicle to change the running state based on a third strategy according to own requirements; of course, the research and development personnel may also set a preset rule for the vehicle, so that the vehicle may determine whether to control the vehicle to switch the driving state based on the first strategy or to control the vehicle to switch the driving state based on the third strategy based on the obstacle information of the environment where the vehicle is located.
In practical application, the turning radius corresponding to the first angle, the second angle, the third angle and the fourth angle may be determined according to a corresponding relationship between a vehicle offset angle and a turning radius, and the corresponding relationship between the vehicle offset angle and the turning radius may be determined by research and development personnel according to design requirements. In a narrow environment, the smaller the turning radius, the more efficient the control of the vehicle steering. And during the steering process, the first angle, the second angle, the third angle or the fourth angle can be dynamically adjusted, and specifically, the dynamic adjustment can be performed according to the size of the obstacle in the traveling direction, the distance between the obstacle and the vehicle in the traveling direction and the like.
In practical application, taking a turning event of a scooter as an example, assuming that the scooter monitors an event of turning left (i.e. steering left by 180 degrees, the specified offset direction is left, and the specified angle is 180 degrees) in a driving process of advancing to the north, at this time, a handlebar (i.e. the direction component) of the scooter can be controlled to deflect left (i.e. the first direction) by a maximum angle (i.e. the first angle), and meanwhile, a forward speed is given to a rear wheel of the scooter, so that the scooter can advance along an arc with a minimum turning radius until a driving state of the scooter is converted into a southward advancing state; when the scooter advances along the arc, if an obstacle in the advancing direction is monitored, at the moment, a handlebar of the scooter can be controlled to deflect to the right (namely, the second direction) by a maximum angle (namely, the second angle), and meanwhile, a backward speed is given to a rear wheel of the scooter, so that the scooter can retreat along the arc by a minimum turning radius until the driving state of the scooter is converted into the southward advancing; certainly, when the scooter retreats along the arc, if an obstacle in the retreating direction is monitored, the handle of the scooter can be controlled again to shift to the left by a maximum angle, and a forward speed is given to the rear wheel of the scooter, that is, the scooter is controlled again to move forward along the arc; so, whether there is the barrier according to the direction of travel, control the scooter is at the state of advancing along the circular arc and the state mesocycle switching of retreating along the circular arc, until the travel state of scooter converts southward advancing, accomplishes the control the event that the scooter turned around left. Here, when the scooter is advancing along an arc, the angular velocity of the scooter can be expressed by the following formula:
wherein ω represents an angular velocity of the scooter, v represents a velocity of a rear wheel of the scooter, δ represents an angle at which a handlebar of the scooter is deviated to the left, and L represents a body length of the scooter; v, δ and L can be set according to user needs.
When the scooter retreats along the arc, the angular velocity of the scooter can be expressed by the following formula:
wherein, -v represents the speed of the rear wheel of the scooter, - δ represents the angle by which the handlebars of the scooter are offset to the right.
Therefore, when the scooter advances along the arc or retreats along the arc, the direction and the magnitude of the angular speed are kept unchanged; therefore, the handle of the scooter deviates the maximum angle leftwards or rightwards when the strategy is switched, so that the scooter advances or retreats along the arc with the minimum turning radius, and the turning process of the scooter can be realized at the fastest speed.
In practical application, the area required for turning around the scooter is associated with the L; specifically, for the same narrow environment, such as a lane with a fixed width, the number of times of switching strategies for the scooter with the larger L is larger. Assuming that the length of the first scooter is l1, the length of the second scooter is l2, l2 is greater than l1, the process of controlling the first scooter and the second scooter to turn around in the same alley (with a width of 1.5 m) can be as shown in fig. 2 and 3, and the strategy of controlling the first scooter 201 to turn around in the alley 200 only needs to be switched once, and the strategy of controlling the second scooter 301 to turn around in the alley 200 needs to be switched three times.
In practical application, in the process of converting the driving state of the vehicle, the monitored obstacle in the traveling direction of the vehicle may be a static obstacle (such as a wall, a road edge, and the like) or a dynamic obstacle (such as a small animal, a vehicle, and the like), and it is necessary to perform policy switching when the monitored obstacle is determined to be the static obstacle; therefore, before policy switching is performed, whether the monitored obstacle is a static obstacle needs to be judged, and policy switching is performed under the condition that the monitored obstacle is determined to be the static obstacle; and under the condition that the monitored obstacle is the dynamic obstacle, strategy switching is not required, and the vehicle is controlled to wait for a preset time period, so that the monitored dynamic obstacle does not influence the running of the vehicle any more.
Based on this, in an embodiment, the method may further include:
in the process of converting the running state of the vehicle, when an obstacle exists in the traveling direction of the vehicle, judging whether the obstacle is a static obstacle or not to obtain a first judgment result;
under the condition that the first judgment result represents that the obstacle is a static obstacle, strategy switching is carried out;
and under the condition that the first judgment result represents that the obstacle is a dynamic obstacle, controlling the vehicle to wait for a first time period, and switching the driving state based on a strategy before waiting after the first time period.
In practical application, the first time period may be set according to user requirements, for example, 5 seconds.
In practical application, a sensor (such as a camera) of the vehicle can be used for directly judging whether the monitored obstacle is a static obstacle or a dynamic obstacle; a second time period (for example, 2 seconds) may also be set, and when it is monitored that an obstacle exists in the traveling direction of the vehicle, the vehicle is controlled to wait for the second time period, and after waiting, whether the monitored obstacle is displaced or not is determined, or whether the obstacle can also be monitored is determined.
In practical applications, in order to avoid collision between the vehicle and an obstacle existing in the monitored traveling direction of the vehicle, when the obstacle existing in the monitored traveling direction of the vehicle is monitored, the vehicle needs to be controlled to decelerate so that the vehicle can avoid the monitored obstacle.
Based on this, in an embodiment, the method may further include:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
In practical application, the first speed can be determined by a developer according to design requirements, or can be determined by a user according to use requirements; for example, the first speed may be set to 0.
Specifically, in practical application, the running speed of the vehicle may be sampled (i.e., the sampling speed is obtained in real time) based on a preset period (e.g., 1 second), for each sampling speed, a predicted trajectory of the vehicle in a third time period may be determined by combining a turning radius of the vehicle and a preset third time period (e.g., 2 seconds), where the predicted trajectory is a part (i.e., an arc) of a circle with a radius equal to the turning radius of the vehicle, and a first rule for reducing the running speed of the vehicle at the time of policy switching to a first speed (e.g., 0) is determined by using the determined predicted trajectory and a monitored obstacle existing in the running direction of the vehicle; here, the predicted trajectory changes with a change in the sampling speed, and the first rule changes with a change in the predicted trajectory; since the sampling speed is obtained in real time, the predicted trajectory and the first rule are also updated in real time; that is, the vehicle is controlled to run at a reduced speed based on the first rule, that is, the running speed of the vehicle is planned in real time, and when the planned running speed is the first speed, the position where the vehicle has reached the monitored obstacle can be determined, and a policy needs to be implemented instead. Therefore, the vehicle can avoid the monitored obstacles, and the user experience is improved.
According to the method for controlling the steering of the vehicle, the steering event aiming at the vehicle is monitored; determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning; controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; the offset direction and the advancing direction corresponding to the two preset strategies are different; in the process of converting the driving state of the vehicle, when the obstacle exists in the traveling direction of the vehicle, strategy switching is carried out; so, can make the vehicle turn to in the narrow and small environment successfully to avoid the barrier, and then promote user experience.
The present invention will be described in further detail with reference to the following application examples.
In this application embodiment, the vehicle is a scooter, the monitored steering event is a left turn event, that is, the designated offset direction is left, and the designated angle is 180 °. The scooter is a motion device with a motion model approximately meeting the Ackermann steering model; the turning principle of the scooter is as follows: the scooter is characterized in that a scooter handle (namely the direction component) is rotated to the left or the right to a maximum rotation angle, so that the scooter moves forwards or backwards according to the minimum turning radius until the scooter body rotates 180 degrees, and the purpose of turning around is achieved; after the steering event is monitored, controlling the scooter to turn around based on a first strategy and a second strategy, namely, the first direction is left, and the second direction is right; meanwhile, the first angle and the second angle are the same and are the maximum rotation angle of the handle of the scooter.
The turn-around in-process of Scooter, the state machine (Scooter TurnRound statemechine) of Scooter can divide into 8 states: the state of the scooter is characterized by comprising an initialization state (InitialState), a termination state (TerminateState) after the turn-around task is completed, a state (turnleft state) that a scooter handle turns left, a state (turnright state) that the scooter handle turns right, a state (ForwardState) that the scooter advances, a state (BackwardState) that the scooter retreats, a state (forwardlimit state) that the scooter encounters an obstacle when advancing, and a state (backwardconvergence state) that the scooter encounters an obstacle when retreating.
Based on this, the method for controlling the steering of the vehicle provided by the embodiment of the application can comprise the following steps:
step 1: monitoring an event that the scooter turns around leftwards; step 2 is then performed.
Here, the specific implementation process of step 1 is the same as the specific implementation process of step 101 in the method for controlling vehicle steering shown in fig. 1, and is not described herein again.
Step 2: and controlling the Scooter to move forwards or backwards along the arc, and switching the state of the Scooter Turnround Statemmachine when the obstacle exists in the advancing direction of the Scooter, until the Scooter Turnround Statemmachine reaches the terminal state.
Specifically, the Scooter turning round state switching process in step 2 may be as shown in fig. 4, where at the beginning, the Scooter is in an initial state, after an event that the Scooter turns around to the left is monitored, the Scooter is switched to a turning left state, at this time, a counter (turning _ counter) may monitor whether the angle of the handle of the Scooter turning left reaches a maximum angle (max _ turning _ counter), and when it is determined that the angle of the handle of the Scooter turning left reaches the maximum angle, the Scooter may be switched to a ForwardState; when an obstacle exists in the advancing direction of the scooter, the scooter is switched to a forwardcholelisationState state, whether the time when the obstacle stays still reaches the maximum time (max _ collisionState) is monitored through another timer (collisionState) to judge whether the obstacle is a static obstacle, if so, the scooter is switched to a TurnRight State state, and if not, the scooter is not switched; at this time, the turning _ counter may also monitor whether the angle of the handlebar of the scooter rotating rightward reaches max _ turning _ counter, and switch the scooter to the backhandestate when determining that the angle of the handlebar of the scooter rotating rightward reaches max _ turning _ counter; then, when an obstacle is monitored to exist in the advancing direction of the scooter, the scooter is switched to a backswardcollision state, whether the time for which the obstacle is still reaches max _ collision _ counter is monitored through the collision _ counter to judge whether the obstacle is a static obstacle or not, if yes, the scooter is switched to a TurnLeftState state, and if not, the scooter is not switched to the scooter state; the cycle is repeated until the scooter body rotates by 180 degrees, and the scooter can be switched to a TerminateState.
Here, the specific implementation process of step 2 is the same as the specific implementation process of step 201 in the method for controlling vehicle steering shown in fig. 1, and is not described herein again.
The method for controlling the steering of the vehicle provided by the application embodiment has the following advantages:
first, the thought of the greedy algorithm is utilized, namely, the state of the scooter can be switched until meeting an obstacle in the process of advancing or retreating for turning around, and the path planning of the scooter is not needed, so that the calculation resources of the scooter are saved.
The second can improve the mobility of scooter in narrow and small environment, realizes the purpose that the scooter turned around to avoid the barrier, promoted user experience.
In order to implement the method of the embodiment of the present invention, an apparatus for controlling vehicle steering is further provided in the embodiment of the present invention, as shown in fig. 5, the apparatus 500 for controlling vehicle steering includes a monitoring unit 501, a first processing unit 502, and a second processing unit 503; wherein the content of the first and second substances,
the monitoring unit 501 is configured to monitor a steering event for a vehicle;
the first processing unit 502 is configured to determine a target driving state of the vehicle according to the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
the second processing unit 503 is configured to control the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
the second processing unit 503 is further configured to:
and when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, strategy switching is carried out.
In an embodiment, the second processing unit 503 is further configured to:
controlling the driving direction of the vehicle to deviate by a first angle towards a first direction and controlling the vehicle to advance on the basis of a first strategy; and when the obstacle in the traveling direction of the vehicle is monitored, strategy switching is carried out, the traveling direction of the vehicle is controlled to deviate a second angle towards a second direction based on a second strategy, and the vehicle is controlled to back.
In an embodiment, the second processing unit 503 is further configured to:
controlling the driving direction of the vehicle to deviate towards a third direction by a third angle and controlling the vehicle to back up based on a third strategy; and when the obstacle in the traveling direction of the vehicle is detected, strategy switching is carried out, the traveling direction of the vehicle is controlled to be deviated to a fourth angle in the fourth direction based on a fourth strategy, and the vehicle is controlled to advance.
In an embodiment, the second processing unit 503 is further configured to:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
In an embodiment, the second processing unit 503 is further configured to:
in the process of converting the running state of the vehicle, when an obstacle exists in the traveling direction of the vehicle, judging whether the obstacle is a static obstacle or not to obtain a first judgment result;
under the condition that the first judgment result represents that the obstacle is a static obstacle, strategy switching is carried out;
and under the condition that the first judgment result represents that the obstacle is a dynamic obstacle, controlling the vehicle to wait for a first time period, and switching the driving state based on a strategy before waiting after the first time period.
In an embodiment, the monitoring unit 501 is further configured to:
receiving a first instruction; the first instruction is to trigger the steering event; alternatively, the first and second electrodes may be,
monitoring a first operation; the first operation is to trigger the steering event; alternatively, the first and second electrodes may be,
detecting the presence of an obstacle in the direction of travel of the vehicle
In practical applications, the monitoring unit 501, the first processing unit 502 and the second processing unit 503 may be implemented by a processor in the device 500 for controlling vehicle steering, in combination with a communication interface.
It should be noted that: the device 500 for controlling vehicle steering according to the above embodiment is only illustrated by dividing the above program modules when performing vehicle control, and in practical applications, the above processing may be distributed and completed by different program modules according to needs, that is, the internal structure of the terminal may be divided into different program modules to complete all or part of the above-described processing. In addition, the device 500 for controlling vehicle steering provided by the above embodiment and the method embodiment for controlling vehicle steering belong to the same concept, and the specific implementation process is described in the method embodiment, and will not be described again.
Based on the hardware implementation of the program modules, and in order to implement the method according to the embodiment of the present invention, an apparatus for controlling vehicle steering is further provided in the embodiment of the present invention, as shown in fig. 6, where the apparatus 60 for controlling vehicle steering includes:
the communication interface 61 can perform information interaction with other electronic equipment;
the processor 62 is connected with the communication interface 61 to realize information interaction with other electronic devices, and is used for executing the method provided by one or more technical schemes when running a computer program;
a memory 63 for storing a computer program capable of running on the processor 62.
In particular, the processor 62 is configured to perform the following operations:
monitoring a steering event for the vehicle;
determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out.
In an embodiment, the processor 62 is further configured to perform the following operations:
controlling the driving direction of the vehicle to deviate by a first angle towards a first direction and controlling the vehicle to advance on the basis of a first strategy; and when the obstacle in the traveling direction of the vehicle is monitored, strategy switching is carried out, the traveling direction of the vehicle is controlled to deviate a second angle towards a second direction based on a second strategy, and the vehicle is controlled to back.
In an embodiment, the processor 62 is further configured to perform the following operations:
controlling the driving direction of the vehicle to deviate towards a third direction by a third angle and controlling the vehicle to back up based on a third strategy; and when the obstacle in the traveling direction of the vehicle is detected, strategy switching is carried out, the traveling direction of the vehicle is controlled to be deviated to a fourth angle in the fourth direction based on a fourth strategy, and the vehicle is controlled to advance.
In an embodiment, the processor 62 is further configured to perform the following operations:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
In an embodiment, the processor 62 is further configured to perform the following operations:
in the process of converting the running state of the vehicle, when an obstacle exists in the traveling direction of the vehicle, judging whether the obstacle is a static obstacle or not to obtain a first judgment result;
under the condition that the first judgment result represents that the obstacle is a static obstacle, strategy switching is carried out;
and under the condition that the first judgment result represents that the obstacle is a dynamic obstacle, controlling the vehicle to wait for a first time period, and switching the driving state based on a strategy before waiting after the first time period.
In an embodiment, the processor 62 is further configured to perform the following operations:
receiving a first instruction; the first instruction is to trigger the steering event;
monitoring a first operation; the first operation is to trigger the steering event;
an obstacle is detected to be present in a direction of travel of the vehicle.
It should be noted that: the process of the processor 62 specifically executing the above operations is detailed in the method embodiment, and is not described here again.
Of course, in practice, the various components of the device 60 for controlling the steering of the vehicle are coupled together by a bus system 64. It will be appreciated that the bus system 64 is used to enable communications among the components. The bus system 64 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 64 in fig. 6.
The memory 63 in the embodiment of the present invention is used to store various types of data to support the operation of the device 60 for controlling the steering of the vehicle. Examples of such data include: any computer program for operating on the device 60 for controlling the steering of a vehicle.
The method disclosed in the above embodiments of the present invention may be applied to the processor 62, or may be implemented by the processor 62. The processor 62 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 62. The Processor 62 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 62 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in memory 63, and processor 62 reads the information in memory 63 and performs the steps of the foregoing method in conjunction with its hardware.
In an exemplary embodiment, the means 60 for controlling the steering of the vehicle may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors (gpus), controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
It will be appreciated that the memory (memory 63) of embodiments of the present invention may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
In an exemplary embodiment, the present invention further provides a storage medium, i.e. a computer storage medium, in particular a computer readable storage medium, for example comprising a memory 63 storing a computer program executable by a processor 62 of the apparatus 60 for controlling vehicle steering to perform the steps of the aforementioned method. The computer readable storage medium may be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method of controlling steering of a vehicle, comprising:
monitoring a steering event for the vehicle;
determining a target driving state of the vehicle based on the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
controlling the vehicle to convert a driving state based on two preset strategies until the driving state of the vehicle is converted into the target driving state from the driving state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out.
2. The method of claim 1, wherein controlling the vehicle to transition driving states based on two preset strategies comprises:
controlling the driving direction of the vehicle to deviate by a first angle towards a first direction and controlling the vehicle to advance on the basis of a first strategy; and when the obstacle in the traveling direction of the vehicle is monitored, strategy switching is carried out, the traveling direction of the vehicle is controlled to deviate a second angle towards a second direction based on a second strategy, and the vehicle is controlled to back.
3. The method of claim 1, wherein controlling the vehicle to transition driving states based on two preset strategies comprises:
controlling the driving direction of the vehicle to deviate towards a third direction by a third angle and controlling the vehicle to back up based on a third strategy; and when the obstacle in the traveling direction of the vehicle is detected, strategy switching is carried out, the traveling direction of the vehicle is controlled to be deviated to a fourth angle in the fourth direction based on a fourth strategy, and the vehicle is controlled to advance.
4. The method of claim 1, further comprising:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
5. The method according to any one of claims 1 to 4, further comprising:
in the process of converting the running state of the vehicle, when an obstacle exists in the traveling direction of the vehicle, judging whether the obstacle is a static obstacle or not to obtain a first judgment result;
under the condition that the first judgment result represents that the obstacle is a static obstacle, strategy switching is carried out;
and under the condition that the first judgment result represents that the obstacle is a dynamic obstacle, controlling the vehicle to wait for a first time period, and switching the driving state based on a strategy before waiting after the first time period.
6. The method of claim 1, wherein the monitoring of the steering event for the vehicle comprises one of:
receiving a first instruction; the first instruction is to trigger the steering event;
monitoring a first operation; the first operation is to trigger the steering event;
an obstacle is detected to be present in a direction of travel of the vehicle.
7. An apparatus for controlling steering of a vehicle, comprising:
a monitoring unit for monitoring a steering event for a vehicle;
a first processing unit for determining a target driving state of the vehicle according to the monitored steering event; the target running state at least includes a running direction of the vehicle after turning;
the second processing unit is used for controlling the vehicle to convert the running state based on two preset strategies until the running state of the vehicle is converted into the target running state from the running state when the steering event is monitored; wherein the content of the first and second substances,
the offset directions and the advancing directions corresponding to the two preset strategies are different;
the second processing unit is further configured to:
and in the process of converting the running state of the vehicle, when the obstacle exists in the running direction of the vehicle, strategy switching is carried out.
8. The apparatus of claim 7, wherein the second processing unit is further configured to:
when the obstacle exists in the advancing direction of the vehicle in the process of converting the running state of the vehicle, controlling the vehicle to run at a reduced speed based on a first rule; the first rule is determined from a predicted trajectory of the vehicle; the predicted track is determined according to the monitored running speed of the vehicle;
when the traveling speed of the vehicle is reduced to a first speed, strategy switching is performed.
9. An apparatus for controlling steering of a vehicle, comprising: a processor and a memory for storing a computer program capable of running on the processor;
wherein the processor is adapted to perform the steps of the method of any one of claims 1 to 6 when running the computer program.
10. A storage medium storing a computer program, characterized in that the computer program realizes the steps of the method according to any one of claims 1 to 6 when executed by a processor.
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