CN114179909B - Driving direction correction method, device, medium, equipment and vehicle - Google Patents
Driving direction correction method, device, medium, equipment and vehicle Download PDFInfo
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- CN114179909B CN114179909B CN202111597479.8A CN202111597479A CN114179909B CN 114179909 B CN114179909 B CN 114179909B CN 202111597479 A CN202111597479 A CN 202111597479A CN 114179909 B CN114179909 B CN 114179909B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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Abstract
The application relates to the technical field of vehicle control, and discloses a driving direction correction method, a driving direction correction device, a driving direction correction medium, driving direction correction equipment and a vehicle, wherein the method comprises the following steps: acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver; determining a target angle of the current period based on the correction angle of the steering wheel of the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver; and generating corresponding control motor torque based on the target angle, adjusting the driving direction of the vehicle based on the motor torque, and repeatedly executing the steps until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value. The implementation of the method effectively reduces the technical problem that the slope of the correction angle of the steering wheel determined by the driving assistance system is large, so that the steering force for controlling the rotation of the steering wheel by a driver conflicts with the correction angle of the steering wheel, and the target angle is adopted to control the steering of the vehicle, so that the correction process is smoother and smoother.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a driving direction correction method, apparatus, medium, device, and vehicle.
Background
In the traditional intelligent Driving process of an automobile, an Advanced Driving Assistance System (ADAS) identifies road information and makes a path plan, sends a correction angle of a Steering wheel to an Electric Power Steering (EPS), the EPS obtains required motor torque through an angle control algorithm, and an assist motor on a Steering gear executes the torque, so that the target angle is followed. However, if for some reason the driver subjectively wants to modify or control the steering wheel, it will conflict with the correction angle of the steering wheel of the ADAS and the feel will be unacceptable.
Disclosure of Invention
The present disclosure provides a driving direction correction method, apparatus, medium, device, and vehicle, to at least solve the problem in the related art that there is a steering force conflict with a driver during a correction angle of an ADAS steering wheel, causing the vehicle to drive in a direction expected by the driver, and the problem that the correction angle of the ADAS is different from the steering force of the driver, causing the driver to feel an incompletely controlled vehicle. The technical scheme of the disclosure is as follows:
in a first aspect of the disclosed embodiments, a driving direction correction method is provided, where the method includes:
acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver;
determining a target angle of the current period based on the correction angles of the steering wheel in the current period and the two previous periods and the steering force of the steering wheel actively controlled by the driver, wherein the target angle is the corrected correction angle and is used for offsetting the difference value of the correction angle of the current period and the expected angle corresponding to the steering force of the current period;
generating a corresponding control motor torque based on the target angle, and adjusting the driving direction of the vehicle based on the motor torque;
repeatedly executing: acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the driver for actively controlling the steering wheel; determining a target angle of the current period based on the correction angles of the steering wheel of the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver; and generating corresponding control motor torque based on the target angle, and adjusting the driving direction of the vehicle based on the motor torque until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
Further, the correction angle of the steering wheel is determined by the following method, including:
acquiring environmental information around a vehicle and a current steering wheel angle of the vehicle, wherein the environmental information comprises lane line information and obstacle information;
planning a driving track of a vehicle based on the lane line information and the obstacle information, wherein the driving track comprises a plurality of track points and a driving angle corresponding to each track point;
determining a correction angle of the steering wheel based on the travel angle and the current steering wheel angle.
Further, the generating the corresponding control motor torque based on the target angle comprises:
determining an expected angle of a driver according to the steering force of the current period;
and generating corresponding control motor torque by utilizing an angle control algorithm of the electric power steering system according to the expected angle and the target angle.
Further, the adjusting the driving direction of the vehicle based on the motor torque comprises:
acquiring the current speed of the vehicle;
determining the magnitude and direction of the steering assistance according to the motor torque and the current speed;
and adjusting the steering angle and the running speed of the vehicle based on the magnitude and the direction of the steering assistance.
Further, the determining the target angle of the current cycle based on the correction angle of the steering wheel of the current cycle and the previous two cycles and the steering force of the driver for actively controlling the steering wheel includes:
inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
transforming the differential equation of the admittance control algorithm by adopting Laplace transform to obtain a transfer function of the correction angle of the current period and the steering force of the current shaft;
discretizing the transfer function to obtain a discretized transfer function;
converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
the target angle is determined based on the difference equation.
In a first aspect of the disclosed embodiments, there is provided a driving direction correction apparatus, the apparatus including:
the data acquisition module is used for acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver;
a target angle determining module, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and a steering force of the steering wheel actively controlled by the driver, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
the control module is used for generating corresponding control motor torque based on the target angle and adjusting the driving direction of the vehicle based on the motor torque;
and the repeated execution module is used for returning to the data acquisition module, the target angle determination module and the control module until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
Further, the target angle determination module includes:
the data input unit is used for inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
a first transfer function determining unit, configured to transform the differential equation of the admittance control algorithm by using laplace transform, to obtain a transfer function of the correction angle of the current period and the steering force of the current shaft;
the second transfer function determining unit is used for discretizing the transfer function to obtain a discretized transfer function;
the difference equation determining unit is used for converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
and the target angle determining unit is used for determining the target angle based on the difference equation.
In a third aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the driving direction correction method as described above.
In a fourth aspect of the disclosed embodiments, an electronic device is provided that includes at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the driving direction correction method as described above by executing the instructions stored by the memory.
In a fifth aspect of the disclosed embodiments, there is provided a vehicle provided with an automatic driving system provided with a traveling direction correction device, the device including:
the vehicle is provided with an automatic driving system provided with a driving direction correction device, the device including:
the data acquisition module is used for acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver;
a target angle determining module, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and a steering force of the steering wheel actively controlled by the driver, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
the control module is used for generating corresponding control motor torque based on the target angle and adjusting the driving direction of the vehicle based on the motor torque;
and the repeated execution module is used for returning to the data acquisition module, the target angle determination module and the control module until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
The technical scheme of the invention at least brings the following beneficial effects:
the driving direction correction method, the device, the medium, the equipment and the vehicle can determine the target angle of the current period according to the correction angle of the steering wheel of the current period and the first two periods and the steering force of the steering wheel actively controlled by the driver when a vehicle driving auxiliary system is started and the determined correction angle of the steering wheel is different from the steering force determined by the steering wheel of the vehicle controlled by the driver, namely, the correction angle of the steering wheel is corrected in real time through a historical correction angle and historical steering force to obtain a plurality of continuous target angles, the target angles can be used for offsetting the difference value of the correction angle of the current period and the expected angle corresponding to the steering force of the current period, so that the plurality of continuous target angles form a more smooth curve, the curvature is larger compared with the correction angle of the steering wheel determined by ADAS before correction, meanwhile, when the vehicle steering is controlled, the steering force and the target angle are simultaneously controlled, the correction angle of the steering wheel determined by the driving auxiliary system is effectively offset, the conflict between the steering force of the steering wheel rotated by the driver and the correction angle of the steering wheel is solved, the technical problem of the conflict between the steering force of the steering wheel controlled by the driver is effectively, the steering of the vehicle, the steering of the steering is more smooth control of the steering of the vehicle, and the driver, and the conflict can be ensured, and the control of the vehicle is more effectively.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a flow chart illustrating a method of travel direction correction according to an exemplary embodiment;
FIG. 2 is a graph illustrating a time series of steering force, correction angle, and target angle responses in accordance with an exemplary embodiment;
FIG. 3 is a block diagram illustrating a travel direction correction device in accordance with an exemplary embodiment;
FIG. 4 is a block diagram illustrating an electronic device for travel direction correction in accordance with an exemplary embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In a first aspect, the present disclosure is described in an embodiment of the present disclosure with a driving computer or an Electronic Control Unit (ECU) as a main execution body, and fig. 1 is a flowchart illustrating a driving direction correction method according to an exemplary embodiment, where as shown in fig. 1, the method may include the following steps:
in step S201, the correction angle of the steering wheel and the steering force of the driver' S active control steering wheel in the current cycle and the previous two cycles are acquired.
Specifically, the correction angle of the steering wheel may be determined based on the environmental information around the vehicle when the driving assist system is turned on. If the vehicle runs in the lane and the running direction of the vehicle deviates from the lane, the driving assistance system can calculate the correction angle of the steering wheel according to the state information of the vehicle and transmit the correction angle of the steering wheel to the driving computer, and the driving computer controls the vehicle to steer according to the correction angle of the steering wheel so as to realize the running of the vehicle in the lane.
In an optional embodiment, the obtaining the correction angle of the steering wheel includes:
acquiring environmental information around a vehicle and a current steering wheel angle of the vehicle, wherein the environmental information comprises lane line information and obstacle information;
specifically, the driving assistance system collects environmental data inside and outside the vehicle through various vehicle-mounted sensors, and performs technical processing such as identification, detection and tracking of static and dynamic objects, so that a driver can perceive possible dangers in the fastest time, and corresponding measures are taken to improve driving safety. In the field of autonomous driving, SAE L0-L2 level ranges are mainly covered, wherein the driving assistance system may include one or more of the following functions: the system comprises a lane departure warning system (LDW), a forward collision early warning system (FCW), a blind area monitoring system (BSD), a lane change auxiliary system (LCA), an adaptive cruise system (ACC), an Automatic Emergency Brake (AEB), an Automatic Parking System (APS) and the like.
Specifically, the driving assistance system can collect surrounding environment information through the camera equipment and the radar equipment arranged on two sides of the vehicle, the environment information can be images with depth, the collected environment information is spliced into a plane image according to internal parameters of the camera equipment, and the plane image can include data such as surrounding obstacle information and lane lines.
Specifically, the driving computer can extract lane line information and obstacle information according to the plane image, and the obstacle information can represent the time distance between the vehicle and the corresponding obstacle.
Specifically, the current steering wheel angle is used to characterize the current direction of travel of the vehicle, and the environmental information is used to plan the path of travel of the vehicle before the vehicle collides or deviates from the lane to avoid collision or vehicle yaw.
Planning a driving track of a vehicle based on the lane line information and the obstacle information, wherein the driving track comprises a plurality of track points and a driving angle corresponding to each track point;
determining a correction angle of the steering wheel based on the travel angle and the current steering wheel angle.
Specifically, the driving computer can be according to the state data of the vehicle that acquires to carry out the planning of route of traveling to the vehicle according to time distance and lane line information between above-mentioned vehicle and the corresponding barrier, can include a plurality of track points in the route of traveling, and every track point can correspond the angle of traveling that has the vehicle.
And then, determining the correction angle of the steering wheel according to the driving angle corresponding to the first track point and the current steering wheel angle. The corrected angle of the steering wheel can be understood as a difference value between the steering wheel angle corresponding to the driving angle and the current steering wheel angle. If the driving angle corresponding to the first track point is 90 degrees for right steering, the steering wheel angle corresponding to 90 degrees for right steering is 90 degrees for right steering, and the current steering wheel angle is 90 degrees for left steering, it can be determined that the correction angle is 180 degrees on the right side. It can be understood that the driving angle corresponding to each track point corresponds to a steering wheel angle, and the specific corresponding relationship may be determined by a form of a lookup table, where the lookup table may be pre-stored in a driving computer of the vehicle, and the steering wheel angle corresponding to the driving angle is determined according to an actual steering process of the vehicle.
Specifically, the steering force of the steering wheel rotation is characterized by the driver actively correcting the driving direction of the vehicle. The magnitude of the steering force of the steering wheel rotation is indicative of the magnitude of the steering angle desired by the driver. In the embodiment of the present specification, the steering force in the same direction as the current steering wheel angle is set to be a positive value, and the steering force in the opposite direction to the current steering wheel angle is set to be a negative value. Similarly, the correction angle of the steering wheel is directional, and the correction angle is positive in the same direction as the current steering wheel angle, and negative otherwise.
In practical applications, the steering force of the steering wheel rotation can be obtained by a torque sensor arranged in connection with the steering wheel. That is, when the driver turns the steering wheel, the torque sensor can obtain a corresponding steering force and transmit the steering force to the driving computer.
In step S203, a target angle of the current cycle is determined based on the correction angles of the steering wheel of the current cycle and the previous two cycles and the steering force of the driver actively controlling the steering wheel, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle of the current cycle and an expected angle corresponding to the steering force of the current cycle.
In an optional embodiment, the determining the target angle of the current cycle based on the correction angle of the steering wheel and the steering force of the driver actively controlling the steering wheel in the current cycle and the previous two cycles includes:
inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
transforming the differential equation of the admittance control algorithm by adopting Laplace transform to obtain a transfer function of the correction angle of the current period and the steering force of the current shaft;
discretizing the transfer function to obtain a discretized transfer function;
converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
the target angle is determined based on the difference equation.
Specifically, the driving direction correction process is continuous, that is, the driving direction correction process cannot directly complete the correction, that is, the driving direction correction process includes a plurality of cycles, the steering forces of the driver controlling the steering wheel to rotate corresponding to different cycles are all obtained in real time, and the steering forces obtained in different cycles may be the same or different. The cycle can be understood as a calculation cycle of the vehicle computer.
The differential equation of the pre-constructed admittance control algorithm may be:
wherein, X 0 Is the correction angle, X, of the steering wheel d Is the target angle, M is the simulated inertia of the admittance control, D is the simulated damping of the admittance control, K is the simulated stiffness of the admittance control, and F is the steering force of the driver controlling the steering wheel to turn.
It will be appreciated that F, X 0 As is known, M, D, and K are calibration parameters, and e can be set as the difference between the target angle and the correction angle of the steering wheel, i.e. e = X d -X 0 ；
Let e = X d -X 0 The differential equation of the transition can be obtained by substituting into the differential equation of the admittance control algorithm:
transforming the differential equation of the transition by using Laplace transform to obtain a transfer function about the target angle:
discretizing the transfer function of the target angle to obtain a discretized transfer function:
specifically, the discretization method commonly used for the transfer function includes a first-order backward difference method, a bilinear transformation method, a zero pole matching method and the like, and the bilinear transformation method is taken as an example in the embodiment of the description and substituted into the bilinear transformation method
Assuming that the calculation cycle of the traveling computer is T, the discretized transfer function is:
converting the discretized transfer function into a difference equation:
e(n)＝(T^2*(F(n)+2F(n-1)+F(n-2))-(2KT^2-8M)*e(n-1)-(4M+KT^2-2DT)*e(n-2))/(4M+2DT+KT^2)
wherein e is a difference value between the target angle and the correction angle of the steering wheel, e (n) is a difference value between the target angle of the current period and the correction angle of the steering wheel, e (n-1) is a difference value between the target angle of the first period which is the forward number of the current period and the correction angle of the steering wheel, e (n-2) is a difference value between the target angle of the second period which is the forward number of the current period and the correction angle of the steering wheel, F (n) is the steering force of the driver controlling the steering wheel to rotate in the current period, F (n-1) is the steering force of the driver controlling the steering wheel to rotate in the first period which is the forward number of the current period, and F (n-2) is the steering force of the driver controlling the steering wheel to rotate in the second two periods which is the forward number of the current period.
Determining the target angle based on the difference equation:
X d ＝e(n)+X 0
specifically, the target angle may be used to adjust the steering angle of the vehicle.
It is to be understood that, when the driving direction correction method is started, F (n-1) is the steering force of the driver's steering wheel for the first period from the present period, and F (n-2) is the steering force of the driver's steering wheel for the second period from the present period, which may be zero.
Similarly, e (n-1) is the difference between the target angle of the first cycle and the correction angle of the steering wheel, and e (n-2) is the difference between the target angle of the second cycle and the correction angle of the steering wheel.
Specifically, in the process of executing the driving direction correction method, the collected correction angle X of the current correction period can be used in real time 0 The steering force F of the current correction period, the steering force F (n-1) of the driver controlling the steering wheel to rotate in the first period from the forward direction of the current period, the steering force F (n-2) of the driver controlling the steering wheel to rotate in the second period from the forward direction of the current period, the difference value e (n-1) of the target angle of the first period from the forward direction of the current period and the correction angle of the steering wheel and the difference value e (n-2) of the target angle of the second period from the forward direction of the current period and the correction angle of the steering wheel determine the target angle of the current period until the ADAS correction angle is in the non-activated state or the steering force of the driver is zero. When the driver's steering force is zero, the vehicle can be controlled in driving direction entirely by the ADAS until the vehicle's travel angle is the same as the correction angle determined by the ADAS.
It can be understood that the steering force may be an addition to the correction angle, or may be an adaptive correction angle, for example, the desired angle corresponding to the steering force is 30 degrees to the left, and the correction angle is 25 degrees to the left; or the expected angle corresponding to the steering force is 30 degrees in the right direction, and the correction angle is 25 degrees in the left direction.
Specifically, as shown in fig. 2, the sine curve in fig. 2 is a curve graph of the steering force of the driver, the straight line in fig. 2 is a linear straight line of the correction angle determined by ADAS in different periods, and a curve intersecting the straight line is a target curve.
The embodiment of the specification can determine a plurality of continuous target angles in the correction process through an admittance control algorithm in real time when the correction angle of the steering wheel determined by the ADAS is different from the steering force determined by the driver, and compared with the condition that a curve formed by a plurality of continuous correction angles determined by the ADAS is a straight line, the curve formed by a plurality of continuous target angles in the embodiment is relatively smooth, the smooth steering of the vehicle can be ensured through the control of the target angles on the vehicle, and the obvious trace of angle adjustment in the correction process is avoided, so that the driving experience of the driver is influenced.
In step 205, a corresponding control motor torque is generated based on the target angle, and the driving direction of the vehicle is adjusted based on the motor torque.
In an alternative embodiment, the generating a corresponding control motor torque based on the target angle comprises:
determining an expected angle of a driver according to the steering force of the current period;
in particular, different steering forces may correspond to different desired angles, which may be indicative of the angle of travel of the driver-controlled vehicle. The desired angle of the driver may be obtained by looking up a table of the steering force corresponding to the desired angle from the steering force, and it is understood that the table of the steering force corresponding to the desired angle may be stored in the vehicle in advance.
And generating corresponding control motor torque by utilizing an angle control algorithm of the electric power steering system according to the expected angle and the target angle.
Specifically, the expected angle and the target angle may be the same direction or opposite directions, in practical application, the driving computer may calculate a correction angle of the vehicle in the current period according to the expected angle and the target angle, the correction angle may be used to control the steering motor, the steering motor may determine a motor torque corresponding to the magnitude and direction according to the correction angle, the motor torque may be understood as a steering torque, and the steering torque may generate an auxiliary power to implement steering control of the vehicle.
In step 207, the following is repeatedly performed: acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver; determining a target angle of the current period based on the correction angles of the steering wheel of the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver; and generating corresponding control motor torque based on the target angle, and adjusting the driving direction of the vehicle based on the motor torque until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
Specifically, the preset angle threshold is not specifically limited in the embodiments of the present specification, and may be set according to actual needs, where the preset angle threshold may be understood as an error value, that is, when a difference between the driving direction and the expected angle is smaller than the preset angle threshold, it may still be determined that the vehicle is driven according to the expected angle of the driver.
It can be understood that, when the driving direction of the vehicle is corrected, the process is a continuous process, the target angle of each correction is calculated according to the expected angle and the correction angle, if the expected angle is 30 degrees in the left direction, and the correction angle is 30 degrees in the right direction, 5 degrees can be corrected each time in the correction process, and the above 5 degrees can be understood as an angle which meets the steering requirement of a driver and can be controlled by the driver, so that the vehicle is prevented from turning over due to an excessively large steering angle.
On the basis of the above embodiments, in one embodiment of the present specification, the adjusting the driving direction of the vehicle based on the motor torque includes:
acquiring the current speed of the vehicle;
determining the magnitude and direction of the steering assistance according to the motor torque and the current speed;
and adjusting the steering angle and the running speed of the vehicle based on the magnitude and the direction of the steering assistance.
Specifically, the EPS system may include: the vehicle steering system comprises a torque sensor, a motor, a torque sensor, a steering angle sensor, a speed sensor, a rotor rotating speed sensor and the like, wherein when a vehicle steers, the torque sensor and the steering angle sensor can detect the correction angle of a steering wheel and the torque corresponding to the steering force of a driver, and transmit the correction angle and a voltage signal corresponding to the corresponding torque to a driving computer, and the driving computer sends an instruction to a motor controller according to the torque voltage signal, the rotating direction and the vehicle speed signal detected by the torque sensor, so that the motor outputs the steering torque with corresponding size and direction, and the auxiliary power is generated.
The driving direction correction method provided by the embodiment of the specification can determine the target angle of the current period according to the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver when the vehicle driving auxiliary system is started and the determined steering force of the steering wheel is different from the steering force determined by the steering wheel controlled by the driver, namely, the correction angle of the steering wheel is corrected in real time through the historical correction angle and the historical steering force to obtain a plurality of continuous target angles, the target angles can be used for offsetting the difference value of the correction angle of the current period and the expected angle corresponding to the steering force of the current period, so that the curve formed by the plurality of continuous target angles is smoother, the curvature is larger compared with the correction angle of the steering wheel determined by ADAS before correction, meanwhile, when the vehicle steering is controlled, the vehicle steering force and the target angle are simultaneously controlled, the correction angle of the steering wheel determined by the driving auxiliary system is effectively offset, the technical problem that the steering force for controlling the steering wheel by the driver and the steering wheel are conflicted with the correction angle of the steering wheel is solved, the steering force, the steering conflict between the steering force and the steering of the steering wheel is more effectively offset, and the steering process of the vehicle can be more smoothly controlled, and the steering process of the vehicle can be more smoothly, and the control of the driver can be more smoothly.
In still another aspect, the present disclosure provides a driving direction correction apparatus, and fig. 3 is a block diagram illustrating a driving direction correction apparatus according to an exemplary embodiment, referring to fig. 3, the apparatus including:
the data acquisition module 301 is configured to acquire the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver;
a target angle determining module 302, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and the steering force of the driver for actively controlling the steering wheel, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
a control module 303, configured to generate a corresponding control motor torque based on the target angle, and adjust a driving direction of the vehicle based on the motor torque;
and the repeated execution module 304 is configured to return to the data acquisition module, the target angle determination module and the control module until a difference between the driving direction and the desired angle is smaller than a preset angle threshold.
On the basis of the foregoing embodiments, in an embodiment of the present specification, the target angle determining module includes:
the data input unit is used for inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
a first transfer function determining unit, configured to transform a differential equation of the admittance control algorithm by using laplace transform to obtain a transfer function of the correction angle of the current period and the steering force of the current shaft;
the second transfer function determining unit is used for discretizing the transfer function to obtain a discretized transfer function;
the difference equation determining unit is used for converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
and the target angle determining unit is used for determining the target angle based on the difference equation.
Since the traveling direction correction device has the same technical features as those of the traveling direction correction method disclosed above, the same technical effects are also obtained, and the description thereof will not be repeated here.
Fig. 4 is a block diagram of an electronic device for driving direction correction, which may be a terminal or a monitoring system, according to an exemplary embodiment, and its internal structure diagram may be as shown in fig. 4. The electronic device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a driving direction correction method. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the architectures associated with the present disclosure, and does not constitute a limitation on the electronic devices to which the present disclosure may be applied, and that a particular electronic device may include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.
In an exemplary embodiment, there is also provided an electronic device including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement a driving direction correction method as in the embodiments of the present disclosure.
In an exemplary embodiment, there is also provided a computer-readable storage medium in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform a driving direction correction method in an embodiment of the present disclosure. The computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product containing instructions is also provided, which when run on a computer, causes the computer to perform the driving direction correction method in the embodiments of the present disclosure.
In an exemplary embodiment, there is also provided a vehicle provided with an automatic driving system provided with a traveling direction correction device, the device including:
the data acquisition module is used for acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver;
a target angle determining module, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and a steering force of the steering wheel actively controlled by the driver, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
the control module is used for generating corresponding control motor torque based on the target angle and adjusting the driving direction of the vehicle based on the motor torque;
and the repeated execution module is used for returning to the data acquisition module, the target angle determination module and the control module until the difference value between the vehicle driving direction and the expected angle is smaller than a preset angle threshold value.
Since the vehicle has the same technical features as those of the travel direction correction device disclosed above, the vehicle also has the same technical effects, and the description thereof will not be repeated here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure 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 present disclosure is limited only by the appended claims.
Claims (10)
1. A driving direction correction method, characterized by comprising:
acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver;
determining a target angle of the current period based on the correction angles of the steering wheel in the current period and the two previous periods and the steering force of the steering wheel actively controlled by the driver, wherein the target angle is the corrected correction angle and is used for offsetting the difference value of the correction angle of the current period and the expected angle corresponding to the steering force of the current period;
generating a corresponding control motor torque based on the target angle, and adjusting the driving direction of the vehicle based on the motor torque;
repeatedly executing the following steps: acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver; determining a target angle of the current period based on the correction angles of the steering wheel of the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver; and generating corresponding control motor torque based on the target angle, and adjusting the driving direction of the vehicle based on the motor torque until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
2. The traveling direction correction method according to claim 1, characterized in that the correction angle of the steering wheel is determined by including:
acquiring environmental information around a vehicle and a current steering wheel angle of the vehicle, wherein the environmental information comprises lane line information and obstacle information;
planning a driving track of a vehicle based on the lane line information and the obstacle information, wherein the driving track comprises a plurality of track points and a driving angle corresponding to each track point;
determining a correction angle of the steering wheel based on the travel angle and the current steering wheel angle.
3. The driving direction correction method according to claim 2, characterized in that the generating of the corresponding control motor torque based on the target angle includes:
determining an expected angle of a driver according to the steering force of the current period;
and generating corresponding control motor torque by utilizing an angle control algorithm of the electric power steering system according to the expected angle and the target angle.
4. The traveling direction correction method according to claim 3, characterized in that the adjusting the traveling direction of the vehicle based on the motor torque includes:
acquiring the current speed of the vehicle;
determining the magnitude and the direction of the steering assistance according to the motor torque and the current speed;
and adjusting the steering angle and the running speed of the vehicle based on the magnitude and the direction of the steering assistance.
5. The traveling direction correction method according to claim 1, wherein the determining of the target angle for the current cycle based on the correction angle of the steering wheel for the current cycle and the previous two cycles and the steering force of the driver's active control of the steering wheel includes:
inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
transforming the differential equation of the admittance control algorithm by adopting Laplace transform to obtain a transfer function of the correction angle of the current period and the steering force of the current period;
discretizing the transfer function to obtain a discretized transfer function;
converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
the target angle is determined based on the difference equation.
6. A travel direction correction apparatus characterized by comprising:
the data acquisition module is used for acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by the driver;
a target angle determining module, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and a steering force of the steering wheel actively controlled by the driver, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
the control module is used for generating corresponding control motor torque based on the target angle and adjusting the driving direction of the vehicle based on the motor torque;
and the repeated execution module is used for returning to the data acquisition module, the target angle determination module and the control module until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
7. The traveling direction correction apparatus according to claim 6, characterized in that the target angle determination module includes:
the data input unit is used for inputting the correction angle of the current period and the steering force of the current period into a differential equation of a pre-constructed admittance control algorithm;
a first transfer function determining unit, configured to transform a differential equation of the admittance control algorithm by using laplace transform to obtain a transfer function of the correction angle of the current period and the steering force of the current period;
the second transfer function determining unit is used for discretizing the transfer function to obtain a discretized transfer function;
the difference equation determining unit is used for converting the discretized transfer function into a difference equation according to the correction angle of the first two periods and the steering force of the first two periods;
and the target angle determining unit is used for determining the target angle based on the difference equation.
8. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the driving direction correction method according to any one of claims 1 to 5.
9. An electronic device comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to implement the method of direction of travel correction of any of claims 1-5 by executing the instructions stored by the memory.
10. A vehicle characterized in that the vehicle is provided with an automatic driving system provided with a traveling direction correction device, the device comprising:
the data acquisition module is used for acquiring the correction angle of the steering wheel in the current period and the previous two periods and the steering force of the steering wheel actively controlled by a driver;
a target angle determining module, configured to determine a target angle in the current period based on the correction angles of the steering wheel in the current period and the previous two periods and a steering force of the steering wheel actively controlled by the driver, where the target angle is a corrected correction angle, and the target angle is used to offset a difference between the correction angle in the current period and an expected angle corresponding to the steering force in the current period;
the control module is used for generating corresponding control motor torque based on the target angle and adjusting the driving direction of the vehicle based on the motor torque;
and the repeated execution module is used for returning to the data acquisition module, the target angle determination module and the control module until the difference value between the driving direction and the expected angle is smaller than a preset angle threshold value.
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