CN113696967B - Vehicle steering control method and device, electronic equipment and storage medium - Google Patents
Vehicle steering control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113696967B CN113696967B CN202111022123.1A CN202111022123A CN113696967B CN 113696967 B CN113696967 B CN 113696967B CN 202111022123 A CN202111022123 A CN 202111022123A CN 113696967 B CN113696967 B CN 113696967B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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Abstract
The embodiment of the application provides a vehicle steering control method, a vehicle steering control device, electronic equipment and a storage medium, wherein a first control angle is acquired and generated based on the current position of a target vehicle and a preset path navigation algorithm; correcting the first control angle according to the angle correction information to generate a second control angle, wherein the angle correction information represents steering deviation of the target vehicle when the target vehicle steers at the first control angle; and performing steering control on the target vehicle according to the second control angle so that the target vehicle runs at the first control angle. Because the second control angle is generated after the first control angle is corrected based on the angle correction information, the target vehicle is controlled according to the second control angle, the deviation generated by a steering execution unit of the target vehicle in the steering process can be eliminated, the actual driving angle of the target vehicle is consistent with the first control angle, and the accuracy and the safety of automatic driving control are improved.
Description
Technical Field
The present disclosure relates to the field of automatic driving control, and in particular, to a method and an apparatus for controlling vehicle steering, an electronic device, and a storage medium.
Background
This section is intended to provide a background or context to the embodiments of the application that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
At present, along with the development of automatic driving technology, the automatic driving function based on intelligent internet automobile is more and more mature, and the automatic driving control of vehicle can be realized to the sensing unit that intelligent internet automobile set up through self, control device such as high in the clouds equipment, roadside equipment, or the controller that sets up on the vehicle.
After the intelligent internet automobile receives the steering control angle determined based on the path navigation algorithm, the intelligent internet automobile can steer according to the steering control angle, however, in the actual use process, the actual driving angle of the automobile and the input control angle have deviation, so that the automobile can not steer according to the steering angle indicated by the path navigation algorithm, and the accuracy and the safety of automatic driving control are influenced.
Disclosure of Invention
The application provides a vehicle steering control method, a vehicle steering control device, electronic equipment and a storage medium, which are used for solving the problem that the actual driving angle of a vehicle is deviated from an input control angle.
According to a first aspect of embodiments herein, there is provided a vehicle steering control method, the method comprising: acquiring a first control angle, wherein the first control angle is generated based on the current position of a target vehicle and a preset path navigation algorithm; correcting the first control angle according to angle correction information to generate a second control angle, wherein the angle correction information represents steering deviation of the target vehicle when the target vehicle steers at the first control angle; and performing steering control on the target vehicle according to the second control angle so as to enable the target vehicle to run at the first control angle.
In one possible implementation, the angle correction information includes a fixed deviation that characterizes an amount of deviation that occurs when the target vehicle is steered based on an input control angle; according to the angle correction information, correcting the first control angle to generate a second control angle, and the method comprises the following steps: and correcting the first control angle according to the fixed deviation to generate a second control angle.
In one possible implementation, the angle correction information includes at least two of the fixed deviations, and the method further includes: determining a target fixed deviation from at least two fixed deviations according to the first control angle, wherein the target fixed deviation represents a deviation amount generated when the target vehicle steers based on the input first control angle; correcting the first control angle according to the fixed deviation to generate a second control angle, comprising: and correcting the first control angle according to the target fixed deviation to generate a second control angle.
In one possible implementation, the method further includes: acquiring the running state of the target vehicle at the current position; generating the dynamic deviation according to the driving state, wherein the dynamic deviation represents a deviation amount generated when the target vehicle is steered based on an input control angle when the target vehicle is driven in the driving state; correcting the first control angle according to the fixed deviation to generate a second control angle, wherein the method comprises the following steps: and correcting the first control angle according to the fixed deviation and the dynamic deviation to generate a second control angle.
In one possible implementation, the driving state includes a body pitch angle of the target vehicle; generating the dynamic deviation according to the driving state, including: generating a second deviation amount according to the body pitch angle, wherein the second deviation amount represents a deviation amount generated when the target vehicle steers based on an input control angle when the target vehicle travels at the body pitch angle; and generating the dynamic deviation according to the second deviation amount.
In one possible implementation, the running state includes a vehicle running speed of the target vehicle; generating the dynamic deviation based on the driving state, comprising: generating a third deviation amount according to the vehicle running speed, wherein the third deviation amount represents a deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle runs at the vehicle running speed; and generating the dynamic deviation according to the third deviation amount.
In one possible implementation manner, the target vehicle comprises a steering execution unit, and the steering execution unit is used for driving the target vehicle to steer; steering control is performed on the target vehicle according to the second control angle so that the target vehicle travels at the first control angle, including: sending a control instruction to the target vehicle, wherein the control instruction is used for instructing a steering execution unit of the target vehicle to rotate by the second control angle; and acquiring a real-time driving angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on a rotation angle of the steering execution unit based on the real-time driving angle and the first control angle so as to drive the target vehicle at the first control angle.
According to a second aspect of embodiments of the present application, there is provided a vehicle steering control apparatus including:
the system comprises an acquisition module, a navigation module and a control module, wherein the acquisition module is used for acquiring a first control angle, and the first control angle is generated based on the current position of a target vehicle and a preset path navigation algorithm;
the correction module is used for correcting the first control angle according to angle correction information to generate a second control angle, and the angle correction information represents steering deviation of the target vehicle when the target vehicle is steered at the first control angle;
and the control module is used for carrying out steering control on the target vehicle according to the second control angle so as to enable the target vehicle to run at the first control angle.
In one possible implementation, the angle correction information includes a fixed deviation that characterizes an amount of deviation that occurs when the target vehicle is steered based on an input control angle; the correction module is specifically configured to: and correcting the first control angle according to the fixed deviation to generate a second control angle.
In a possible implementation manner, the angle correction information includes at least two of the fixed deviations, and the correction module is further configured to: determining a target fixed deviation from at least two fixed deviations according to the first control angle, wherein the target fixed deviation represents a deviation amount generated when the target vehicle steers based on the input first control angle; the correction module is specifically configured to, when correcting the first control angle according to the fixed deviation and generating a second control angle: and correcting the first control angle according to the target fixed deviation to generate a second control angle.
In a possible implementation manner, the modification module is further configured to: acquiring the running state of the target vehicle at the current position; generating the dynamic deviation according to the driving state, wherein the dynamic deviation represents a deviation amount generated when the target vehicle is steered based on an input control angle when the target vehicle is driven in the driving state; the correction module is specifically configured to: and correcting the first control angle according to the fixed deviation and the dynamic deviation to generate a second control angle.
In one possible implementation, the running state includes a body pitch angle of the target vehicle; the correction module is specifically configured to, when generating the dynamic deviation according to the driving state: generating a second deviation amount according to the body pitch angle, wherein the second deviation amount represents the deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle travels at the body pitch angle; and generating the dynamic deviation according to the second deviation amount.
In one possible implementation, the running state includes a vehicle running speed of the target vehicle; the correction module is specifically configured to, when generating the dynamic deviation according to the driving state: generating a third deviation amount according to the vehicle running speed, wherein the third deviation amount represents a deviation amount generated when the target vehicle steers based on an input control angle when the target vehicle runs at the vehicle running speed; and generating the dynamic deviation according to the third deviation amount.
In one possible implementation manner, the target vehicle comprises a steering execution unit, and the steering execution unit is used for driving the target vehicle to steer; the control module is specifically configured to: sending a control instruction to the target vehicle, wherein the control instruction is used for instructing a steering execution unit of the target vehicle to rotate by the second control angle; and acquiring a real-time driving angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on a rotation angle of the steering execution unit based on the real-time driving angle and the first control angle so as to drive the target vehicle at the first control angle.
According to a third aspect of embodiments of the present application, there is provided an electronic device, comprising: a memory, a processor, and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to perform the vehicle steering control method according to any one of the first aspect of the embodiments of the present application.
According to a fourth aspect of embodiments herein, there is provided a computer-readable storage medium having stored therein computer-executable instructions for implementing the vehicle steering control method according to any one of the first aspect of the embodiments herein when executed by a processor.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product comprising a computer program that, when executed by a processor, implements the first aspect as well as various possible vehicle steering control methods of the first aspect.
According to the vehicle steering control method, the vehicle steering control device, the electronic equipment and the storage medium, a first control angle is obtained, and the first control angle is generated based on the current position of a target vehicle and a preset path navigation algorithm; correcting the first control angle according to angle correction information to generate a second control angle, wherein the angle correction information represents steering deviation of the target vehicle when the target vehicle is steered at the first control angle; and performing steering control on the target vehicle according to the second control angle so as to enable the target vehicle to run at the first control angle. The second control angle input when the target vehicle is controlled to turn is the angle generated after the first control angle is corrected based on the angle correction information, so that the deviation generated by the steering execution unit of the target vehicle in the steering process can be eliminated by controlling the target vehicle according to the second control angle, the actual driving angle of the target vehicle is consistent with the first control angle, and the accuracy and the safety of automatic driving control are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.
Fig. 1 is an application scenario diagram of a vehicle steering control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle steering control method provided by one embodiment of the present application;
fig. 3 is a schematic diagram of a control target vehicle steering at a first control angle and steering at a second control angle according to an embodiment of the present application;
FIG. 4 is a flow chart of a vehicle steering control method provided by another embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a method for determining a target stuck deviation according to angle correction information according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle steering control apparatus according to an embodiment of the present application;
fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The following explains an application scenario of the embodiment of the present application:
fig. 1 is an application scenario diagram of a vehicle steering control method provided in the embodiment of the present application, and the vehicle steering control method provided in the embodiment may be applied in a scenario of vehicle automatic driving. Specifically, the vehicle steering control method provided in this embodiment may be applied to an electronic device capable of controlling the driving of a target vehicle, for example, a vehicle device and a controller that are arranged on an intelligent networked vehicle, or a cloud device and a distance device that communicate with the intelligent networked vehicle and can control the driving of the intelligent networked vehicle. In this embodiment, a controller of the intelligent internet automobile is used as an execution main body for explanation, specifically, as shown in fig. 1, the controller 11 of the intelligent internet automobile is in communication with the cloud device 12 and receives path information which is sent by the cloud device 12 and determined based on a path navigation algorithm, the path information includes a control angle, and the controller 11 of the intelligent internet automobile controls the intelligent internet automobile to steer according to the control angle, so that a driving path of the intelligent internet automobile meets a requirement of the path information, and automatic driving control of the intelligent internet automobile is realized.
The lateral control in the automatic driving process of the vehicle is mainly completed based on a control unit (namely, a controller) and an execution unit (a vehicle chassis steering driving mechanism), and more specifically, the controller sends a control command to the driving mechanism through a steering wheel angle control interface, and controls a control angle corresponding to the steering wheel rotation control command, so that the lateral movement (steering) of the vehicle is realized. However, in the prior art, since a driving mechanism connected to a steering wheel for driving a steering rod and steering wheels belongs to a mechanical structure, and the control precision of the driving mechanism is affected by the machining precision and the assembling precision of each component in the driving mechanism, a certain degree of deviation exists between the actual driving angle of a vehicle and the input control angle, and the accuracy and the safety of automatic driving control are affected.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a vehicle steering control method provided in an embodiment of the present application, and is applied to a controller of a target vehicle, as shown in fig. 2, the vehicle steering control method provided in the embodiment includes the following steps:
step S101, a first control angle is obtained, and the first control angle is generated based on the current position of the target vehicle and a preset path navigation algorithm.
Illustratively, the calculation unit executing the navigation path algorithm performs path planning according to the current position of the target vehicle and information such as a preset destination position, generates planning information, the planning information is used for representing the driving path of the vehicle, and after the planning information is sent to the controller of the target vehicle, the controller controls the target vehicle according to the planning information, so that the target vehicle can drive along the driving path described by the planning information. The computing unit executing the navigation path algorithm may be a cloud device, a road side device, or an electronic device disposed in the target vehicle. Further, in a possible implementation, the first control angle may be included in the planning information sent by the calculation unit to the controller of the target vehicle, and the controller obtains the first control angle by receiving the planning information. In another possible implementation manner, the controller obtains the first control angle by receiving the planning information sent by the calculation unit to the controller of the target vehicle, and based on the planning information and the current position of the target vehicle.
And S102, correcting the first control angle according to the angle correction information to generate a second control angle, wherein the angle correction information represents the steering deviation of the target vehicle when the target vehicle steers at the first control angle.
Illustratively, the target vehicle includes a steering execution unit for driving the target vehicle to steer, and after the first control angle is acquired, in order to eliminate steering deviation caused by the steering execution unit of the target vehicle in the process of driving the target vehicle to steer, the first control angle needs to be corrected based on the angle correction information, so as to obtain the second control angle. For example, the first control angle is clockwise rotation (hereinafter referred to as + for short, and similarly, when counterclockwise rotation is referred to as —, which is not described in this embodiment and subsequent embodiments for short), 5 degrees, and if the steering execution unit is controlled according to the first control angle as an input amount, the target vehicle will actually travel at a travel angle of +6 degrees, thereby generating a steering deviation. The difference (+ 1 degree) between the driving angle (+ 6 degrees) at which the target vehicle is actually about to travel and the first control angle (+ 5 degrees), that is, the steering deviation, may be determined by the angle correction information.
Illustratively, one or more steering bias values may be included in the angle correction information. In one possible implementation, when only one steering deviation value (i.e., a fixed deviation) is included in the angle correction information, all of the different first control angles are corrected based on the same fixed deviation, for example, if the fixed deviation is +1 degree (indicating that the actual driving angle is 1 degree greater than the control angle), the first control angle is decreased by 1 degree, and a second control angle is obtained.
In another possible implementation manner, the angle correction information includes a plurality of steering deviation values, and for different first control angles, the angle correction information is corrected based on different steering deviation values according to different factors, such as the current actual driving angle, the driving speed, and the like, so that different steering deviation values are correspondingly obtained for different first control angles, and then a corresponding second control angle is obtained for the first control angle based on the corresponding steering deviation value. By correcting the first control angle for the steering deviation values of different first control angles, the accuracy of the obtained second control angle can be further improved.
Further, the angle correction information in the step of this embodiment may be data obtained based on a test, and the mapping relationship between the first control angle and the steering deviation under different conditions may be determined by the angle correction information, where the process of obtaining the angle correction information through the test is known to those skilled in the art, and is not described herein again.
And step S103, performing steering control on the target vehicle according to the second control angle so that the target vehicle runs at the first control angle.
In the prior art, a controller obtains a first control angle, and sends a control command to a steering execution unit directly based on the first control angle to steer a target vehicle, but due to the execution precision problem of the steering execution unit, the actual driving angle of the target vehicle is inconsistent with the first control angle. In the embodiment of the application, the second control angle is obtained after the first control angle is corrected, and the control instruction is sent to the steering execution unit based on the second control angle, so that the target vehicle runs at the first control angle, and the condition that the running track of the target vehicle is consistent with the planned path generated by the path planning algorithm is met. Fig. 3 is a schematic diagram of a control target vehicle steering at a first control angle and steering at a second control angle according to an embodiment of the present application, and as shown in fig. 3, when the control target vehicle is steering at the first control angle, a steering deviation exists between an actual driving angle of the target vehicle and the first control angle; when the control target vehicle is steered at the second control angle, there is no steering deviation of the actual running angle of the target vehicle from the first control angle.
In the embodiment, a first control angle is obtained, and the first control angle is generated based on the current position of the target vehicle and a preset path navigation algorithm; correcting the first control angle according to the angle correction information to generate a second control angle, wherein the angle correction information represents steering deviation of the target vehicle when the target vehicle steers at the first control angle; and performing steering control on the target vehicle according to the second control angle so that the target vehicle runs at the first control angle. The second control angle input when the target vehicle is controlled to turn is the angle generated after the first control angle is corrected based on the angle correction information, so that the deviation generated by the steering execution unit of the target vehicle in the steering process can be eliminated by controlling the target vehicle according to the second control angle, the actual driving angle of the target vehicle is consistent with the first control angle, and the accuracy and the safety of automatic driving control are improved.
Fig. 4 is a flowchart of a vehicle steering control method according to another embodiment of the present application, and as shown in fig. 4, the vehicle steering control method according to the present embodiment further refines steps S102 to S103 on the basis of the vehicle steering control method according to the embodiment shown in fig. 2, and then the vehicle steering control method according to the present embodiment includes the following steps:
in step S201, a first control angle is obtained, where the first control angle is generated based on the current position of the target vehicle and a preset path navigation algorithm.
Step S202, angle correction information is obtained, and the angle correction information comprises at least two fixed deviations.
Step S203, according to the first control angle, determining a target fixed deviation from at least two fixed deviations, wherein the target fixed deviation represents a deviation amount generated when the target vehicle steers based on the input first control angle.
For example, the angle correction information may be a model or a mapping table for characterizing the mapping relationship between different control angles and different fixed deviations. Fig. 5 is a schematic diagram of determining a target fixed deviation according to angle correction information according to an embodiment of the present application, and as shown in fig. 5, the angle correction information respectively includes, by way of example: -10 degrees corresponding fixed deviation + 2; -a 5 degree corresponding fix deviation + 1; a fixed deviation of 0 degrees; a fixed deviation of-1 corresponding to +5 degrees; a fixed offset of-2 for +10 degrees. When the first control angle is +5 degrees, the corresponding fixed deviation is determined to be-1, namely the target fixed deviation according to the angle correction information.
The angle correction information may be obtained by processing the test data. The mapping relationship between different first control angles and different fixed deviations with higher precision can be obtained through data fitting, and details are not repeated here.
In step S204, the running state of the target vehicle at the current position is acquired.
In step S205, a dynamic deviation representing the amount of deviation occurring when the target vehicle is steered based on the input control angle while traveling in the traveling state is generated in accordance with the traveling state.
The driving state includes a pitch angle of a vehicle body and/or a driving speed of the vehicle.
For example, the driving state is a state in which the target vehicle is driving at the current position, and the driving state of the target vehicle may affect the steering process of the target vehicle. For example, taking the vehicle running speed as an example, when the vehicle running speed changes, the driving mechanism (i.e. the steering execution unit) of the vehicle chassis for driving the steering rod and steering the wheels is influenced by the frictional resistance corresponding to the traction force of the wheels, so that the stress of the driving mechanism is changed, and meanwhile, under the action of the steering damper, the higher the vehicle speed is, the greater the rotational damping of the driving mechanism is, so that when the running speed of the vehicle exceeds a certain threshold value, the target vehicle is steered at the steering angle input by the controller, and the steering deviation exists at the actual running angle, and is related to the vehicle running speed of the vehicle. Similarly, the pitch angle of the body of the target vehicle may change when the target vehicle is ascending or descending. At this time, the stress condition of the driving mechanism is changed along with the change of the gravity center of the vehicle, so that when the target vehicle is steered at the steering angle input by the controller, the actual driving angle has steering deviation, and the steering deviation is related to the vehicle body pitch angle of the vehicle. Therefore, according to the pitch angle of the vehicle body and the running speed of the vehicle, the corresponding dynamic deviation can be determined.
The dynamic deviation corresponding to different driving states can be determined through preset dynamic deviation information, and the dynamic deviation information is used for representing the mapping relation between the driving states and the dynamic deviation. For example, when the vehicle running speed is a, the corresponding dynamic deviation is a; and when the pitching angle of the car body is B, the corresponding dynamic deviation is B.
In a possible implementation manner, the dynamic deviation information is a two-dimensional matrix with two data dimensions, the first data dimension corresponds to the pitch angle of the vehicle body, the second data dimension corresponds to the vehicle running speed, after the pitch angle of the vehicle body and the vehicle running speed of the target vehicle are determined, table lookup is performed according to the dynamic deviation information, and the dynamic deviation which simultaneously meets the pitch angle of the vehicle body and the vehicle running speed of the target vehicle can be determined.
In another possible implementation, the dynamic deviation information is determined based on a first control angle, the dynamic deviation information corresponding to the first control angle. More specifically, the dynamic deviation information is included in the angle correction information or is implemented by the angle correction information. For example, the angle correction information is a three-dimensional matrix with three data dimensions, wherein the first data dimension corresponds to a vehicle body pitch angle, the second data dimension corresponds to a vehicle running speed, and the first data dimension corresponds to a first control angle. The angle correction information represents steering deviations caused by different driving states (body pitch angle, and/or vehicle driving speed) of the target vehicle when the target vehicle is steered at different first control angles. From the driving state and the first control angle, in combination with the angle correction information, a corresponding dynamic deviation can be determined.
And step S206, correcting the first control angle according to the target fixed deviation and the dynamic deviation to generate a second control angle.
In one possible implementation, after the fixed deviation and the dynamic deviation are determined, a deviation correction value is obtained by combining the fixed deviation and the dynamic deviation, and the first control angle is corrected based on the deviation correction value to generate a second control angle.
In the step of the embodiment, the driving state of the target vehicle at the current position is obtained, the dynamic deviation corresponding to the first control angle is determined according to the driving state, so that the influence of the driving state of the target vehicle on the steering control is eliminated, the target fixed deviations corresponding to the first control angle are combined to generate the second control angle, the target vehicle is controlled to drive by the second control angle, and the accuracy of the steering control of the target vehicle is further improved.
And step S207, sending a control instruction to the target vehicle, wherein the control instruction is used for instructing the steering execution unit of the target vehicle to rotate by a second control angle.
And step S208, acquiring the real-time running angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on the rotating angle of the steering execution unit based on the real-time running angle and the first control angle so as to enable the target vehicle to run at the first control angle.
Illustratively, the steering executing unit is a mechanism that drives the target vehicle to steer, such as a steering wheel, or other components for outputting torque to the steering wheel. After the second control angle is determined, a control command is sent to a steering execution unit of the target vehicle based on the second control angle, so that the steering execution unit rotates by the corresponding second control angle, the steering control of the target vehicle is realized, and the steering deviation is reduced. However, in the actual use process, due to the complexity of the vehicle driving environment, according to the preset angle correction information, the complete and accurate steering correction of the target vehicle may not be realized, so that the actual driving angle of the target vehicle still has a small deviation, and the potential safety hazard of the automatic driving control is caused.
Therefore, in this embodiment, after the control instruction is sent to the target vehicle, the real-time driving angle of the target vehicle is acquired, and the closed-loop control is continuously performed on the rotation angle of the steering execution unit performed by the target vehicle based on the first control angle generated by the route guidance algorithm until the difference between the real-time driving angle and the first control angle is smaller than the error threshold. The purpose of further reducing the rotation deviation is achieved, and the safety of automatic driving control is improved.
It should be noted that the closed-loop control process in the steps of this embodiment must be executed after the foregoing steps are executed, that is, step S208 and the other steps described above constitute a complete solution, and cannot be executed separately. The reason for this is as follows:
the real-time driving angle of the vehicle needs to be continuously acquired in the closed-loop control process, the difference value is fed back to the steering execution unit for adjustment through comparison with the first control angle, when the difference value between the real-time driving angle of the target vehicle and the first control angle is large, long-time adjustment is needed to enable the system to be converged, the vehicle steering control is used as a conventional control operation, the steering error is controlled by directly utilizing a closed-loop control method, the real-time performance is poor, a large amount of computing resources of the target vehicle are consumed, and the stability of the intelligent networked automobile is influenced. In the embodiment, in the foregoing step, the first control angle is corrected through the angle correction information to generate the second control angle, and since the angle correction information is preset constant data, it is determined that the second control angle consumes few computing resources based on the angle correction information, and the real-time performance is better. Meanwhile, the difference between the determined second control angle and the first control angle generated by the path navigation algorithm is small, so that safe driving of the target vehicle can be basically realized, and at the moment, fine adjustment is performed by utilizing closed-loop control with lower computing resource priority on the basis of the second control angle, so that not only can the steering precision be further improved, but also the problems of computing resource consumption and response real-time performance are avoided, and the safety of automatic driving control is improved.
In this embodiment, the implementation manner of step S201 is the same as the implementation manner of step S101 in the embodiment shown in fig. 2 of this application, and is not described in detail here.
Fig. 6 is a schematic structural diagram of a vehicle steering control device according to an embodiment of the present application, which is applied to a target vehicle, and as shown in fig. 6, the vehicle steering control device 3 according to the present embodiment includes:
the acquiring module 31 is configured to acquire a first control angle, where the first control angle is generated based on a current position of a target vehicle and a preset path navigation algorithm;
the correction module 32 is configured to correct the first control angle according to the angle correction information to generate a second control angle, where the angle correction information represents a steering deviation of the target vehicle when steering at the first control angle;
and the control module 33 is used for performing steering control on the target vehicle according to the second control angle so that the target vehicle runs at the first control angle.
In one possible implementation, the angle correction information includes a fixed deviation that characterizes an amount of deviation that occurs when the target vehicle is steered based on the input control angle; the modification module 32 is specifically configured to: and correcting the first control angle according to the fixed deviation to generate a second control angle.
In a possible implementation manner, the angle correction information includes at least two fixed deviations, and the correction module 32 is further configured to: determining a target fixed deviation from at least two fixed deviations according to the first control angle, wherein the target fixed deviation represents a deviation amount generated when the target vehicle steers based on the input first control angle; the correction module is used for correcting the first control angle according to the fixed deviation and generating a second control angle, and is specifically used for: and correcting the first control angle according to the target fixed deviation to generate a second control angle.
In a possible implementation manner, the modification module 32 is further configured to: acquiring the running state of a target vehicle at the current position; generating a dynamic deviation according to the driving state, wherein the dynamic deviation represents a deviation amount generated when the target vehicle is steered based on the input control angle when the target vehicle is driven in the driving state; the correction module is specifically configured to: and correcting the first control angle according to the fixed deviation and the dynamic deviation to generate a second control angle.
In one possible implementation, the driving state includes a body pitch angle of the target vehicle; the correction module 32, when generating the dynamic deviation according to the driving state, is specifically configured to: generating a second deviation amount according to the vehicle body pitch angle, wherein the second deviation amount represents the deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle runs at the vehicle body pitch angle; and generating the dynamic deviation according to the second deviation amount.
In one possible implementation, the running state includes a vehicle running speed of the target vehicle; the correction module 32, when generating the dynamic deviation according to the driving state, is specifically configured to: generating a third deviation amount according to the vehicle running speed, wherein the third deviation amount represents a deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle runs at the vehicle running speed; and generating a dynamic deviation according to the third deviation amount.
In one possible implementation, the target vehicle comprises a steering execution unit, and the steering execution unit is used for driving the target vehicle to steer; the control module 33 is specifically configured to: sending a control instruction to the target vehicle, wherein the control instruction is used for instructing a steering execution unit of the target vehicle to rotate by a second control angle; and acquiring a real-time driving angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on the rotating angle of the steering execution unit based on the real-time driving angle and the first control angle so as to drive the target vehicle at the first control angle.
The obtaining module 31, the correcting module 32 and the control module 33 are connected in sequence. The vehicle steering control device 3 provided in this embodiment may execute the technical solutions of the method embodiments shown in fig. 2 to fig. 5, and the implementation principle and the technical effects are similar, and are not described herein again.
Fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 7, the electronic device according to the embodiment includes: a memory 41, a processor 42 and a computer program.
The computer program is stored in the memory 41 and configured to be executed by the processor 42 to implement the vehicle steering control method provided by any one of the embodiments corresponding to fig. 2 to 5 of the present application.
The memory 41 and the processor 42 are connected by a bus 43.
The relevant descriptions and effects corresponding to the steps in the embodiments corresponding to fig. 2 to fig. 5 can be understood, and are not described in detail herein.
One embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a vehicle steering control method provided in any one of embodiments corresponding to fig. 2 to 5 of the present application.
The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
One embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is used for implementing the vehicle steering control method provided in any one of the embodiments corresponding to fig. 2 to 5 of the present application when being executed by a processor.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application 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 within 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 appended claims.
Claims (8)
1. A vehicle steering control method, characterized by comprising:
acquiring a first control angle, wherein the first control angle is generated based on the current position of a target vehicle and a preset path navigation algorithm;
correcting the first control angle according to angle correction information to generate a second control angle, wherein the angle correction information represents steering deviation of the target vehicle when the target vehicle is steered at the first control angle;
sending a control instruction to the target vehicle, wherein the control instruction is used for instructing a steering execution unit of the target vehicle to rotate by the second control angle; the target vehicle comprises a steering execution unit, and the steering execution unit is used for driving the target vehicle to steer;
acquiring a real-time driving angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on a rotation angle of the steering execution unit based on the real-time driving angle and the first control angle so as to drive the target vehicle at the first control angle;
the angle correction information includes a fixed deviation representing an amount of deviation generated when the target vehicle is steered based on an input control angle;
according to the angle correction information, correcting the first control angle to generate a second control angle, and the method comprises the following steps:
correcting the first control angle according to the fixed deviation to generate a second control angle;
the method further comprises the following steps:
acquiring the running state of the target vehicle at the current position;
generating a dynamic deviation according to the driving state, wherein the dynamic deviation represents a deviation amount generated when the target vehicle is steered based on an input control angle when the target vehicle drives in the driving state;
correcting the first control angle according to the fixed deviation to generate a second control angle, comprising:
and correcting the first control angle according to the fixed deviation and the dynamic deviation to generate a second control angle.
2. The method of claim 1, wherein the angular correction information includes at least two of the fixed deviations, the method further comprising:
determining a target fixed deviation from at least two fixed deviations according to the first control angle, wherein the target fixed deviation represents a deviation amount generated when the target vehicle steers based on the input first control angle;
correcting the first control angle according to the fixed deviation to generate a second control angle, wherein the method comprises the following steps:
and correcting the first control angle according to the target fixed deviation to generate a second control angle.
3. The method of claim 1, wherein the driving condition comprises a body pitch angle of the target vehicle;
generating a dynamic deviation based on the driving state, comprising:
generating a second deviation amount according to the body pitch angle, wherein the second deviation amount represents the deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle travels at the body pitch angle;
and generating the dynamic deviation according to the second deviation amount.
4. The method according to claim 1, characterized in that the running state includes a vehicle running speed of the target vehicle;
generating a dynamic deviation based on the driving state, comprising:
generating a third deviation amount according to the vehicle running speed, wherein the third deviation amount represents a deviation amount generated when the target vehicle steers based on the input control angle when the target vehicle runs at the vehicle running speed;
and generating the dynamic deviation according to the third deviation amount.
5. A vehicle steering control apparatus, characterized by comprising:
the system comprises an acquisition module, a navigation module and a control module, wherein the acquisition module is used for acquiring a first control angle, and the first control angle is generated based on the current position of a target vehicle and a preset path navigation algorithm;
the correction module is used for correcting the first control angle according to angle correction information to generate a second control angle, and the angle correction information represents steering deviation of the target vehicle when the target vehicle is steered at the first control angle;
the control module is used for sending a control instruction to the target vehicle, and the control instruction is used for indicating a steering execution unit of the target vehicle to rotate by the second control angle; the target vehicle comprises a steering execution unit, and the steering execution unit is used for driving the target vehicle to steer;
acquiring a real-time driving angle of the target vehicle after the steering execution unit rotates, and performing closed-loop control on a rotation angle of the steering execution unit based on the real-time driving angle and the first control angle so as to drive the target vehicle at the first control angle;
the angle correction information includes a fixed deviation representing an amount of deviation generated when the target vehicle is steered based on an input control angle;
the correction module is specifically configured to:
correcting the first control angle according to the fixed deviation to generate a second control angle;
the correction module is further configured to:
acquiring the running state of the target vehicle at the current position;
generating a dynamic deviation according to the driving state, wherein the dynamic deviation represents a deviation amount generated when the target vehicle is steered based on an input control angle when the target vehicle drives in the driving state;
the correction module is specifically configured to:
and correcting the first control angle according to the fixed deviation and the dynamic deviation to generate a second control angle.
6. An electronic device, comprising: a memory, a processor, and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the vehicle steering control method according to any one of claims 1 to 4.
7. A computer-readable storage medium having stored therein computer-executable instructions for implementing the vehicle steering control method of any one of claims 1 to 4 when executed by a processor.
8. A computer program product comprising a computer program which, when executed by a processor, implements the vehicle steering control method of any one of claims 1 to 4.
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| CN202111022123.1A CN113696967B (en) | 2021-09-01 | 2021-09-01 | Vehicle steering control method and device, electronic equipment and storage medium |
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| CN202111022123.1A CN113696967B (en) | 2021-09-01 | 2021-09-01 | Vehicle steering control method and device, electronic equipment and storage medium |
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| KR100963967B1 (en) * | 2008-11-19 | 2010-06-15 | 현대모비스 주식회사 | Method for compensating steering of motor drive power steering system |
| JP5251898B2 (en) * | 2010-02-04 | 2013-07-31 | 日本精工株式会社 | Electric power steering device |
| JP6299415B2 (en) * | 2014-05-16 | 2018-03-28 | 株式会社ジェイテクト | Steering device |
| CN106891896B (en) * | 2017-03-27 | 2019-06-07 | 中国第一汽车股份有限公司 | A kind of commercial vehicle automatic mechanical transmission load identification calculation method |
| CN110271534B (en) * | 2019-06-14 | 2021-05-28 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle, computer equipment and storage medium |
| CN112109804A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle steering wheel angle correction method, vehicle, and readable storage medium |
| CN112208515B (en) * | 2020-10-19 | 2022-02-18 | 一汽解放汽车有限公司 | Vehicle transverse control method, device, equipment and medium |
| CN112918553B (en) * | 2021-03-12 | 2022-08-09 | 合肥工业大学 | Self-adaptive steering control method and device for vehicle on longitudinal ramp |
| CN113119947A (en) * | 2021-05-21 | 2021-07-16 | 前海七剑科技(深圳)有限公司 | Vehicle control method and device |
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