CN113978547A - Automatic driving steering control method and system - Google Patents
Automatic driving steering control method and system Download PDFInfo
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- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses an automatic driving steering control method and system, wherein the method comprises the following steps: acquiring planning track information sent by a planning module, vehicle chassis information sent by a chassis module and vehicle position information sent by a positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points; finding track points closest to the vehicle in the planned track information according to the vehicle position information, and recording the track points as matching points; determining the remaining driving distance of the vehicle according to the matching points and the planning track information; judging whether the remaining driving distance is greater than a preset pre-aiming distance in a tracking algorithm based on kinematics; if so, calculating the deflection angle of the front wheel of the vehicle by adopting a tracking algorithm based on kinematics to control the steering; if not, the front wheel deflection angle of the vehicle is calculated by adopting an LQR algorithm based on dynamics so as to carry out steering control. The invention can realize accurate steering control in a low-speed scene and simultaneously meet the requirement of stability control of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving data processing, in particular to an automatic driving steering control method and system.
Background
With the development of the internet of vehicles, the automatic driving technology is rapidly developed and applied. In the automatic driving technology, an automatic driving control module receives messages of an upstream planning module, a positioning module and a chassis module, and the automatic driving control module calculates a control instruction according to a planning track of the planning module, a vehicle position of the positioning module and a vehicle state of the chassis module, and sends the control instruction to the chassis module to be executed, so that a vehicle runs according to a target track. Wherein, the automatic driving control is divided into horizontal control and longitudinal control; the transverse control mainly controls the steering of the automatic driving vehicle through a designed control algorithm so as to enable the automatic driving vehicle to drive along a target path; the longitudinal control enables the vehicle to reach the vehicle speed corresponding to the target track or the target vehicle speed set in the program by controlling the opening degree of an accelerator pedal, the opening degree or speed of a brake pedal and the acceleration and deceleration of the vehicle. The calculation of the lateral and longitudinal control targets affects the stability, accuracy, safety and comfort of the autonomous vehicle.
Currently, in the implementation of automatic driving, lateral control algorithms are mainly divided into vehicle kinematics-based tracking algorithms and dynamics-based optimization algorithms, both of which have drawbacks. The vehicle control method based on kinematics does not consider the vehicle dynamics, so the algorithm can not meet the stability control requirement of the vehicle under the condition of too fast vehicle speed or too large curvature change rate, and when the vehicle enters the rear half section of the track and is close to the track end point, the control effect is poor because the preview distance is continuously changed. The vehicle control method based on dynamics considers the vehicle dynamics characteristics, has accurate calculation and small steady-state error, is suitable for medium-high speed automatic driving scenes, and has the defect that the algorithm requires continuous road curvature, so the method has the defects in low-speed scenes such as parking and the like.
Disclosure of Invention
Therefore, an object of the present invention is to provide an automatic driving steering control method, so as to implement accurate steering control in a low-speed scene, and simultaneously meet the stability control requirement of a vehicle.
The invention provides an automatic driving steering control method, which comprises the following steps:
acquiring planning track information sent by a planning module, vehicle chassis information sent by a chassis module and vehicle position information sent by a positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points;
finding track points closest to the vehicle in the planned track information according to the vehicle position information, and recording the track points as matching points;
determining the remaining driving distance of the vehicle according to the matching points and the planning track information;
judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics;
if the remaining driving distance is larger than the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics so as to perform steering control;
and if the remaining driving distance is smaller than or equal to the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting an LQR algorithm based on dynamics so as to perform steering control.
According to the automatic driving steering control method provided by the invention, a tracking algorithm based on kinematics and an LQR algorithm based on dynamics are fused, under the condition that the remaining driving distance is greater than the pre-aiming distance, the front wheel deflection angle of the vehicle is calculated by adopting the tracking algorithm based on the kinematics, the influence of the planning curvature on the transverse control of the vehicle is avoided, and the advantages of the tracking algorithm based on the kinematics under the low-speed automatic driving scene are fully exerted; under the condition that the remaining driving distance is smaller than or equal to the pre-aiming distance, the LQR algorithm based on dynamics is adopted to calculate the front wheel deflection angle of the vehicle, and the problem of calculation misalignment caused by the fact that the pre-aiming distance in the tracking algorithm is continuously reduced due to the limitation of a terminal point is avoided, so that accurate steering control can be realized in a low-speed scene, and meanwhile, the stability control requirement of the vehicle is met.
In addition, according to the automatic driving steering control method of the present invention, the following additional technical features may be further provided:
further, in the step of determining the remaining driving distance of the vehicle according to the matching points and the planned trajectory information, the remaining driving distance of the vehicle is calculated by adopting the following formula:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfFor the distance between the start track point and the end track point in the planned driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
Further, the method further comprises:
judging whether the vehicle reaches a terminal point or not according to the vehicle chassis information, the matching point and the planned track information;
if the vehicle reaches the end point, the calculation of the front wheel deflection angle of the vehicle is stopped;
and if the vehicle does not reach the terminal point, reselecting a new matching point to calculate the deflection angle of the front wheel of the vehicle next time.
Further, the step of judging whether the vehicle reaches the end point according to the vehicle chassis information, the matching point and the planned track information specifically comprises:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
Further, if the vehicle does not reach the end point, the step of reselecting a new matching point to calculate the front wheel slip angle of the vehicle for the next time specifically comprises:
and if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point.
Another objective of the present invention is to provide an automatic steering control system to realize accurate steering control in low-speed scenes, and simultaneously meet the stability control requirement of the vehicle.
The present invention provides an automatic driving steering control system, comprising:
the acquisition module is used for acquiring planning track information sent by the planning module, vehicle chassis information sent by the chassis module and vehicle position information sent by the positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points;
the searching module is used for finding track points closest to the vehicle in the planned track information according to the vehicle position information and recording the track points as matching points;
the determining module is used for determining the remaining driving distance of the vehicle according to the matching points and the planning track information;
the first judgment module is used for judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics;
the first control module is used for calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics to perform steering control if the remaining driving distance is greater than the pre-aiming distance;
and the second control module is used for calculating the deflection angle of the front wheel of the vehicle by adopting an LQR algorithm based on dynamics to perform steering control if the remaining driving distance is less than or equal to the pre-aiming distance.
According to the automatic driving steering control system provided by the invention, a tracking algorithm based on kinematics and an LQR algorithm based on dynamics are fused, under the condition that the remaining driving distance is greater than the pre-aiming distance, the front wheel deflection angle of the vehicle is calculated by adopting the tracking algorithm based on the kinematics, the influence of the planning curvature on the transverse control of the vehicle is avoided, and the advantages of the tracking algorithm based on the kinematics under the low-speed automatic driving scene are fully exerted; under the condition that the remaining driving distance is smaller than or equal to the pre-aiming distance, the LQR algorithm based on dynamics is adopted to calculate the front wheel deflection angle of the vehicle, and the problem of calculation misalignment caused by the fact that the pre-aiming distance in the tracking algorithm is continuously reduced due to the limitation of a terminal point is avoided, so that accurate steering control can be realized in a low-speed scene, and meanwhile, the stability control requirement of the vehicle is met.
In addition, according to the automatic driving steering control system of the present invention, the following additional technical features may be provided:
further, the determination module is configured to calculate a remaining driving distance of the vehicle using the following equation:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfIs that it isPlanning the distance between the start track point and the end track point in the driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
Further, the system further comprises:
the second judgment module is used for judging whether the vehicle reaches the terminal point or not according to the vehicle chassis information, the matching point and the planned track information;
the termination module is used for terminating the calculation of the front wheel deflection angle of the vehicle if the vehicle reaches a terminal point;
and the recalculation module is used for reselecting a new matching point to calculate the front wheel deflection angle of the vehicle next time if the vehicle does not reach the terminal point.
Further, the second determining module is specifically configured to:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
Further, the recalculation module is specifically configured to:
and if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an automatic driving steering control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an automatic driving steering control method according to another embodiment of the present invention;
fig. 3 is a block diagram of the structure of an automatic driving steering control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic driving steering control method according to an embodiment of the present invention includes steps S101 to S106:
s101, obtaining planning track information sent by a planning module, vehicle chassis information sent by a chassis module and vehicle position information sent by a positioning module, wherein the planning track information comprises a planning running track formed by a series of track points.
The planning track information reflects a route planned to be driven by the vehicle, the planning driving track is provided with a starting track point and an ending track point, a plurality of track points exist between the starting track point and the ending track point, and all the track points jointly form the planning driving track. The vehicle chassis information sent by the chassis module at least comprises data such as the speed, the acceleration and the like of the vehicle. The vehicle position information sent by the positioning module reflects the current actual position of the vehicle.
And S102, finding track points closest to the vehicle in the planned track information according to the vehicle position information, and recording the track points as matching points.
And finding the track point closest to the vehicle from all track points in the planned driving track according to the current actual position of the vehicle, and recording the track point as a matching point.
S103, determining the remaining driving distance of the vehicle according to the matching points and the planning track information.
Specifically, the following formula is adopted to calculate the remaining driving distance of the vehicle:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfFor the distance between the start track point and the end track point in the planned driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
And S104, judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics.
The pre-aiming distance L is preset in a tracking algorithm based on kinematics, and may be an empirical value or may be calibrated manually.
And S105, if the remaining driving distance is greater than the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics to perform steering control.
If S is larger than L, a tracking algorithm based on kinematics is adopted to calculate the deflection angle of the front wheels of the vehicle so as to carry out steering control.
And S106, if the remaining driving distance is smaller than or equal to the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting an LQR algorithm based on dynamics so as to perform steering control.
And if S is less than or equal to L, calculating the deflection angle of the front wheels of the vehicle by adopting an LQR algorithm based on dynamics so as to perform steering control.
Specifically, if S > L, the boolean state variable Use _ dynamic _ measured is false, and at this time, a front wheel slip angle of the vehicle is calculated by using a kinematic tracking algorithm, and then a calculation result is issued to perform steering control. And if S is less than or equal to L, the Boolean type state variable Use _ dynamic _ measured is true, at the moment, the front wheel deflection angle of the vehicle is calculated by adopting an LQR algorithm based on dynamics, and then the calculation result is issued to perform steering control.
In addition, referring to fig. 2, as a specific example, the method further includes steps S201 to S203:
s201, judging whether the vehicle reaches the terminal point or not according to the vehicle chassis information, the matching point and the planned track information.
The step of judging whether the vehicle reaches the terminal point according to the vehicle chassis information, the matching point and the planned track information specifically comprises the following steps:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
And S202, if the vehicle reaches the end point, the calculation of the front wheel deflection angle of the vehicle is terminated.
If the vehicle reaches the end, which indicates that the low-speed running process (such as parking) of the vehicle is finished, the calculation of the front wheel slip angle of the vehicle is ended.
And S203, if the vehicle does not reach the terminal, reselecting a new matching point to calculate the front wheel deflection angle of the vehicle next time.
If the vehicle does not reach the end point, the step of reselecting a new matching point to calculate the deflection angle of the front wheel of the vehicle for the next time specifically comprises the following steps:
if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point, so that the control precision can be improved.
According to the automatic driving steering control method, a kinematics-based tracking algorithm and a dynamics-based LQR algorithm are fused, under the condition that the remaining driving distance is greater than the pre-aiming distance, the kinematics-based tracking algorithm is adopted to calculate the front wheel deflection angle of the vehicle, the influence of the planning curvature on the transverse control of the vehicle is avoided, and the advantages of the kinematics-based tracking algorithm in the low-speed automatic driving scene are fully exerted; under the condition that the remaining driving distance is smaller than or equal to the pre-aiming distance, the LQR algorithm based on dynamics is adopted to calculate the front wheel deflection angle of the vehicle, and the problem of calculation misalignment caused by the fact that the pre-aiming distance in the tracking algorithm is continuously reduced due to the limitation of a terminal point is avoided, so that accurate steering control can be realized in a low-speed scene, and meanwhile, the stability control requirement of the vehicle is met.
Referring to fig. 3, an automatic steering control system according to an embodiment of the present invention includes:
the acquisition module is used for acquiring planning track information sent by the planning module, vehicle chassis information sent by the chassis module and vehicle position information sent by the positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points;
the searching module is used for finding track points closest to the vehicle in the planned track information according to the vehicle position information and recording the track points as matching points;
the determining module is used for determining the remaining driving distance of the vehicle according to the matching points and the planning track information;
the first judgment module is used for judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics;
the first control module is used for calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics to perform steering control if the remaining driving distance is greater than the pre-aiming distance;
and the second control module is used for calculating the deflection angle of the front wheel of the vehicle by adopting an LQR algorithm based on dynamics to perform steering control if the remaining driving distance is less than or equal to the pre-aiming distance.
In this embodiment, the determining module is configured to calculate the remaining driving distance of the vehicle by using the following formula:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfFor the distance between the start track point and the end track point in the planned driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
In this embodiment, the system further includes:
the second judgment module is used for judging whether the vehicle reaches the terminal point or not according to the vehicle chassis information, the matching point and the planned track information;
the termination module is used for terminating the calculation of the front wheel deflection angle of the vehicle if the vehicle reaches a terminal point;
and the recalculation module is used for reselecting a new matching point to calculate the front wheel deflection angle of the vehicle next time if the vehicle does not reach the terminal point.
In this embodiment, the second determining module is specifically configured to:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
In this embodiment, the recalculation module is specifically configured to:
and if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point.
According to the automatic driving steering control system provided by the embodiment, a kinematics-based tracking algorithm and a dynamics-based LQR algorithm are fused, under the condition that the remaining driving distance is greater than the pre-aiming distance, the kinematics-based tracking algorithm is adopted to calculate the front wheel deflection angle of the vehicle, the influence of the planning curvature on the transverse control of the vehicle is avoided, and the advantages of the kinematics-based tracking algorithm in the low-speed automatic driving scene are fully exerted; under the condition that the remaining driving distance is smaller than or equal to the pre-aiming distance, the LQR algorithm based on dynamics is adopted to calculate the front wheel deflection angle of the vehicle, and the problem of calculation misalignment caused by the fact that the pre-aiming distance in the tracking algorithm is continuously reduced due to the limitation of a terminal point is avoided, so that accurate steering control can be realized in a low-speed scene, and meanwhile, the stability control requirement of the vehicle is met.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An automatic driving steering control method characterized by comprising:
acquiring planning track information sent by a planning module, vehicle chassis information sent by a chassis module and vehicle position information sent by a positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points;
finding track points closest to the vehicle in the planned track information according to the vehicle position information, and recording the track points as matching points;
determining the remaining driving distance of the vehicle according to the matching points and the planning track information;
judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics;
if the remaining driving distance is larger than the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics so as to perform steering control;
and if the remaining driving distance is smaller than or equal to the pre-aiming distance, calculating a front wheel deflection angle of the vehicle by adopting an LQR algorithm based on dynamics so as to perform steering control.
2. The automatic driving steering control method according to claim 1, wherein in the step of determining the remaining driving distance of the vehicle based on the matching point and the planned trajectory information, the remaining driving distance of the vehicle is calculated using the following formula:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfFor the distance between the start track point and the end track point in the planned driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
3. The automatic driving steering control method according to claim 1, characterized by further comprising:
judging whether the vehicle reaches a terminal point or not according to the vehicle chassis information, the matching point and the planned track information;
if the vehicle reaches the end point, the calculation of the front wheel deflection angle of the vehicle is stopped;
and if the vehicle does not reach the terminal point, reselecting a new matching point to calculate the deflection angle of the front wheel of the vehicle next time.
4. The automatic driving steering control method according to claim 3, wherein the step of determining whether the vehicle reaches the end point according to the vehicle chassis information, the matching point, and the planned trajectory information specifically comprises:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
5. The automatic driving steering control method according to claim 3, wherein if the vehicle does not reach the end point, the step of reselecting a new matching point for the next calculation of the front wheel slip angle of the vehicle specifically comprises:
and if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point.
6. An automatic driving steering control system, characterized by comprising:
the acquisition module is used for acquiring planning track information sent by the planning module, vehicle chassis information sent by the chassis module and vehicle position information sent by the positioning module, wherein the planning track information comprises a planning running track consisting of a series of track points;
the searching module is used for finding track points closest to the vehicle in the planned track information according to the vehicle position information and recording the track points as matching points;
the determining module is used for determining the remaining driving distance of the vehicle according to the matching points and the planning track information;
the first judgment module is used for judging whether the remaining driving distance is larger than a preset aiming distance in a tracking algorithm based on kinematics;
the first control module is used for calculating a front wheel deflection angle of the vehicle by adopting a tracking algorithm based on kinematics to perform steering control if the remaining driving distance is greater than the pre-aiming distance;
and the second control module is used for calculating the deflection angle of the front wheel of the vehicle by adopting an LQR algorithm based on dynamics to perform steering control if the remaining driving distance is less than or equal to the pre-aiming distance.
7. The autopilot steering control system of claim 6 wherein the determination module is configured to calculate the remaining range of the vehicle using the equation:
S＝Sf-Sm；
wherein S is the remaining driving distance, SfFor the distance between the start track point and the end track point in the planned driving track, SmAnd the distance between the matching point and the initial track point in the planned driving track is obtained.
8. The autopilot steering control system of claim 6 wherein the system further comprises:
the second judgment module is used for judging whether the vehicle reaches the terminal point or not according to the vehicle chassis information, the matching point and the planned track information;
the termination module is used for terminating the calculation of the front wheel deflection angle of the vehicle if the vehicle reaches a terminal point;
and the recalculation module is used for reselecting a new matching point to calculate the front wheel deflection angle of the vehicle next time if the vehicle does not reach the terminal point.
9. The autopilot steering control system of claim 8 wherein the second determination module is specifically configured to:
acquiring the speed and the acceleration of the vehicle in the vehicle chassis information, and judging whether the matching point is overlapped with the tail track point in the planning track information;
if the speed and the acceleration are both 0, and the matching point is overlapped with the tail track point in the planned track information, judging that the vehicle reaches the end point;
and if any condition of the speed being 0, the acceleration being 0 and the coincidence of the matching point and the tail track point in the planned track information is not met, judging that the vehicle does not reach the terminal point.
10. The autopilot steering control system of claim 8 wherein the recalculation module is specifically configured to:
and if the vehicle does not reach the terminal point, selecting a track point closest to the current position of the vehicle in the planned driving track as a new matching point according to the vehicle position information, and calculating the deflection angle of the front wheel of the vehicle next time according to the new matching point.
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