CN114248841B - Steering angle control method and system for automatic driving of vehicle - Google Patents
Steering angle control method and system for automatic driving of vehicle Download PDFInfo
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- CN114248841B CN114248841B CN202111447513.3A CN202111447513A CN114248841B CN 114248841 B CN114248841 B CN 114248841B CN 202111447513 A CN202111447513 A CN 202111447513A CN 114248841 B CN114248841 B CN 114248841B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a steering angle control method and a system for automatic driving of a vehicle, wherein the method comprises the following steps: based on the deviation between the requested steering angle of the controller and the current angle of the vehicle, calculating a target rotating speed by an angle PID control closed loop; calculating a first torque value in a rotating speed PID control closed loop based on the deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system; the feedforward control module compares the target rotating speed with the current state of the motor and calculates a second torque value; the sum of the first torque value and the second torque value is filtered to calculate a third torque value; and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by the motor based on the output torque value. The two-stage PID control of the angle and the angular speed is combined with the feedforward control module to carry out feedforward compensation, and the filter calculation is assisted, so that the angle control response is smooth, burr-free and boss-free, and the device has the advantages of strong stability, accurate response, high control precision and good actual robustness.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a steering angle control method and a steering angle control system for automatic driving of a vehicle.
Background
In the L3 automatic driving development (based on the L2 capability of an L3 conditional autonomous network, the system can sense the environmental change in real time, dynamically optimize and adjust based on the external environment in a specific field, and realize closed-loop management based on intention), the steering system plays a key role in the task of a transverse actuator.
In the steering system which is practical for the vehicle at present, although the angle control scheme can achieve the purpose of angle control, during the reversing, obvious reversing hysteresis always occurs, so that the actual control cannot quickly respond to the angle request requirement of an upper controller.
Meanwhile, the existing steering gear basically adopts the software technology of foreign suppliers, the part belongs to a black box, a detailed control algorithm cannot be known, the adjustment of parameters is very difficult, the software release period is long, the cost is high, and the adaptability requirement of the domestic software cannot be met.
Disclosure of Invention
The invention provides a steering angle control method and system for automatic driving of a vehicle, which are used for solving the problem of obvious steering lag of a commutator in the prior art and realizing the accuracy and stability of transverse control of the vehicle.
The invention provides a steering angle control method for automatic driving of a vehicle, which comprises the following steps:
based on the angle deviation between the requested steering angle sent by the vehicle controller and the current angle of the vehicle, obtaining a target rotating speed through angle PID control closed-loop calculation;
calculating a first torque value through a rotating speed PID control closed loop based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system;
comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value;
calculating a third torque value through filtering based on the sum of the first torque value and the second torque value;
and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by a motor of the vehicle steering system based on the output torque value.
According to the steering angle control method for automatic driving of the vehicle provided by the invention, the step of calculating the target rotating speed through an angle PID control closed loop specifically comprises the following steps:
an angle control proportion link, which corresponds to the angle control proportion gain by looking up a table according to the angle deviation between the requested steering angle and the current angle of the vehicle, multiplies the angle control proportion gain by an angle control proportion gain coefficient, and simultaneously combines the direction of the angle deviation between the requested steering angle and the current angle of the vehicle to output the rotating speed of the angle control proportion link;
an angle control integral link, which multiplies an angle control integral gain coefficient by an angle deviation between the requested steering angle and the current angle of the vehicle, performs integral operation by an angle control integrator, and outputs the rotating speed of the angle control integral link;
an angle control differential link, which is used for obtaining the rotating speed of the angle control differential link after carrying out differential calculation by using an angle control differentiator according to the angle deviation between the requested steering angle and the current angle of the vehicle, and multiplying the result by an angle control differential gain coefficient after mean value filtering;
the sum of the rotating speed of the angle control proportional link, the rotating speed of the angle control integral link and the rotating speed of the angle control differential link is the target rotating speed.
According to the steering angle control method for the automatic driving of the vehicle, provided by the invention, in the angle control proportion link, the table is looked up after the angle deviation value between the requested steering angle and the current angle of the vehicle is calculated through an absolute value.
According to the steering angle control method for automatic driving of the vehicle provided by the invention, the step of calculating the first torque value through the rotating speed PID control closed loop specifically comprises the following steps:
a rotating speed control proportion link, which multiplies a rotating speed control proportion gain coefficient according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system to output a torque value of the rotating speed control proportion link;
a rotating speed control integral link, which multiplies a rotating speed control integral gain coefficient by a rotating speed according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, and outputs a torque value of the rotating speed control integral link after integral operation is carried out through a rotating speed control integrator;
a rotating speed control differential link, which is used for obtaining a torque value of the rotating speed control differential link after carrying out differential calculation by a rotating speed control differentiator according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system and multiplying the differential calculation by a rotating speed control differential gain coefficient after mean filtering;
the sum of the torque value of the rotating speed control proportional link, the torque value of the rotating speed control integral link and the torque value of the rotating speed control differential link is the first torque value.
According to the steering angle control method for the automatic driving of the vehicle, the step of comparing the target rotating speed with the current state of the motor of the vehicle steering system by using the feedforward control module and calculating the second torque value specifically comprises the following steps:
if the motor does not rotate, calculating the target rotating speed through a first filter and multiplying the target rotating speed by a feedforward coefficient to obtain a second torque;
and if the motor is rotating, obtaining the second torque by using a table look-up mode according to the rotating speed of the motor and the target rotating speed.
According to the steering angle control method for the automatic driving of the vehicle, provided by the invention, the signal of the target rotating speed is subjected to output overlarge limitation and change rate overlarge limitation and then subjected to rotating speed PID control closed loop calculation to obtain a first torque value.
The present invention also provides a steering angle control system for automatic driving of a vehicle, comprising:
the angle ring control module is in signal connection with the vehicle controller and is used for obtaining a target rotating speed through angle PID control closed-loop calculation according to the angle deviation between the steering angle request sent by the vehicle controller and the current angle of the vehicle;
the rotating speed ring control module is in signal connection with the angle ring control module and the vehicle steering system and is used for obtaining a first torque value through rotating speed PID control closed-loop calculation according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of the vehicle steering system;
the feedforward control module is in signal connection with the angle ring control module and the vehicle steering system and is used for comparing the target rotating speed with the current state of the motor and calculating to obtain a second torque value;
the second filter is in signal connection with the rotating speed loop control module and the feedforward control module and is used for calculating a third torque value according to the sum of the first torque value and the second torque value; and
and the summator is in signal connection with the rotating speed loop control module, the feedforward control module and the second filter and is used for summing the first torque value, the second torque value and the third torque value to obtain an output torque value of the motor.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the steps of the method for controlling steering angle for automatic driving of a vehicle as claimed in any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the steering angle control method for vehicle autopilot as in any one of the above.
The invention also provides a computer program product for implementing the steps of the steering angle control method for automatic driving of a vehicle as claimed in any one of the above when the computer program product is run on an electronic device.
According to the steering angle control method and system for automatic vehicle driving provided by the embodiment of the invention, two-stage PID control of angle and angular speed is combined with a feedforward control module to carry out feedforward compensation, and meanwhile, auxiliary cooperation is carried out by means of filtering calculation, so that the problems of response lag in the angle control reversing process and poor response in a high-frequency request process are solved, the angle control response is smooth, burr-free and boss-free, and the method and system have the advantages of strong stability, accurate response, high control precision and good actual robustness.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a steering angle control method for automatic driving of a vehicle according to the present invention;
FIG. 2 is one of the control block diagrams of the steering angle control system for automatic driving of a vehicle according to the present invention;
FIG. 3 is a second control block diagram of the steering angle control system for automatic vehicle driving provided by the present invention;
FIG. 4 is a control block diagram of a feed-forward control module in the steering angle control system for vehicle autopilot provided by the present invention;
FIG. 5 is a time-angle plot of a prior art steering angle control system for autonomous driving of a vehicle;
fig. 6 is a time-angle graph of a steering angle control system for vehicle autonomous driving provided by the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "central", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
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 an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The following describes a steering angle control method for vehicle autonomous driving of the present invention with reference to fig. 1 to 6, including:
step 100, based on an angle deviation between a requested steering angle sent by a vehicle controller and a current angle of a vehicle, obtaining a target rotating speed through a control closed loop calculation of an angle PID (Proportion-Integral-Differential) control;
step 200, based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, obtaining a first torque value through rotating speed PID control closed loop calculation;
step 300, comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value;
step 400, calculating a third torque value through filtering based on the sum of the first torque value and the second torque value;
and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by a motor of the vehicle steering system based on the output torque value.
Wherein the rotating speed is the angular speed of the motor output shaft of the vehicle steering system.
The method comprises the steps of utilizing an angle PID control closed loop and a rotating speed PID control closed loop to form a feedback link of output torque so as to output first torque (feedback torque), utilizing a feedforward control module to form a feedforward link of the output torque so as to output second torque (feedforward torque), utilizing filtering calculation to form a calculation link of the output torque so as to output third torque (target torque), forming output torque of a motor of a vehicle steering system according to the sum of the feedback torque, the feedforward torque and the target torque, converting an output torque value to a motor end through a hardware circuit, and then converting the output torque value into motor current so as to enable the motor to generate corresponding output torque so as to achieve accurate response.
Two-stage PID control through angle and angular velocity combines feedforward control module to carry out feedforward compensation, assist the cooperation with the help of filtering calculation simultaneously, the problem of response difference when making the angle control switching-over in-process response lag and high frequency request can be solved, it can be known to contrast figure 5 and figure 6, compared with prior art, the angle control of this scheme responds smoothly, no burr, no boss, it is strong to possess stability, the response is accurate, the advantage that control accuracy is high and actual robustness is good, the performance requirement of the redundant steering system of vehicle has been satisfied effectively.
The filtering calculation process is realized by adopting a second filter, the second filter can be a high-pass filter, the Gain value (Gain value) of the second filter can be selected to be 0.9, the second filter can calculate a third torque value on one hand, and can also accelerate the response speed on the other hand.
According to the above embodiment, in the present embodiment:
and calculating a target rotating speed through an angle PID control closed loop, specifically comprising the following steps:
an angle control proportion link, which corresponds to the angle control proportion gain by looking up a table according to the angle deviation between the requested steering angle and the current angle of the vehicle, multiplies the angle control proportion gain by an angle control proportion gain coefficient, and simultaneously combines the direction of the angle deviation between the requested steering angle and the current angle of the vehicle to output the rotating speed of the angle control proportion link;
an angle control integral link, which multiplies an angle control integral gain coefficient by an angle deviation between a requested steering angle and a current angle of the vehicle, performs integral operation through an angle control integrator, and outputs the rotating speed of the angle control integral link;
an angle control differential link, which is to obtain the rotating speed of the angle control differential link after carrying out differential calculation by using an angle control differentiator according to the angle deviation between the requested steering angle and the current angle of the vehicle, and then multiplying the result by an angle control differential gain coefficient after mean filtering;
the sum of the rotating speed of the angle control proportional link, the rotating speed of the angle control integral link and the rotating speed of the angle control differential link is the target rotating speed.
Based on the deviation Error generated by the required angle to be steered and the current angle of the vehicle, through an angle PID control closed loop, aiming at the size of different angle differences in a P link (proportion link), different Gain values are corresponding through a table look-up mode, and target rotating speeds in different proportions are output according to an angle control integral Gain coefficient, wherein the table look-up is an experience table in the field, and no repeated description is given here. And an I link (an integral link) calculates the rotating speed according to the angle deviation and the angle control integral gain coefficient, and is used for maintaining the steady-state error of the target rotating speed in the control process. And the D link (differential link) calculates the rotating speed according to the angle deviation and the angle control differential gain coefficient and is used for avoiding oscillation.
The average filtering may be performed by using a first average filter, and a coefficient of the first average filter may be 5, that is, the average value is obtained by using 5 times, and then the data signal is downlink.
The angle control proportional gain coefficient is 0.85, the angle control integral gain coefficient is 0.8, and the angle control differential gain coefficient is 0.3, and of course, different coefficients can be debugged according to different vehicle platforms, so that the proportional gain coefficient is more suitable for vehicles, and the steering accuracy of the vehicles is ensured.
The target rotating speed output by the angle PID control closed loop becomes a given quantity in the rotating speed PID control closed loop.
According to any of the embodiments described above, in this embodiment:
and calculating a target rotating speed through an angle PID control closed loop, specifically comprising the following steps:
a rotating speed control proportion link, which multiplies a rotating speed control proportion gain coefficient according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system to output a torque value of the rotating speed control proportion link;
a rotating speed control integration link, namely multiplying a rotating speed control integration gain coefficient by a rotating speed according to a rotating speed deviation between a target rotating speed and the current rotating speed of a motor of a vehicle steering system, performing integration operation through a rotating speed control integrator, and outputting a torque value of the rotating speed control integration link;
a rotating speed control differential link, wherein according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, a rotating speed control differentiator is used for carrying out differential calculation, and then the torque value of the rotating speed control differential link is obtained after mean value filtering and multiplication by a rotating speed control differential gain coefficient;
the sum of the torque value of the rotating speed control proportional link, the torque value of the rotating speed control integral link and the torque value of the rotating speed control differential link is a first torque value.
The deviation Error generated based on the target rotating speed and the current rotating speed of the motor of the vehicle steering system can quickly catch up with the target rotating speed in a P link through a rotating speed PID control closed loop, the convergence of the steady-state target rotating speed can be carried out in an I link, and the oscillation generated when the system catches up with the target rotating speed can be reduced in a D link.
The average filtering may adopt a second average filter, and a coefficient of the second average filter may be 5, that is, 5 times of values are adopted to obtain an average value, and then the data signal is subjected to downlink.
The proportional gain coefficient of the rotating speed control is 0.04, the integral gain coefficient of the rotating speed control is 0.04, and the differential gain coefficient of the rotating speed control is 0, of course, different coefficients can be debugged according to different vehicle platforms, so that the proportional gain coefficient is more suitable for vehicles, and the accurate steering of the vehicles is ensured.
According to any of the embodiments described above, in this embodiment:
the method comprises the following steps of comparing a target rotating speed with the current state of a motor of a vehicle steering system by using a feedforward control module, and calculating a second torque value, wherein the steps specifically comprise:
if the motor does not rotate, calculating the target rotating speed through a first filter and multiplying the target rotating speed by a feedforward coefficient to obtain a second torque;
and if the motor is rotating, obtaining a second torque by using a table look-up mode according to the rotating speed of the motor and the target rotating speed.
The feedforward control module can play a very strong supplementary role, and when the motor rotates, the friction torque characteristic of the motor is that static friction is large (starting torque is large), and dynamic friction torque becomes large along with the increase of the rotating speed, so that feedforward compensation is performed on the torque of the motor based on the current state of the motor of the vehicle steering system, namely whether the motor is rotating at present. If the target rotating speed exists at present and the motor does not rotate at the moment, wherein the first filter is a first-order low-pass filter, a second torque value is obtained by multiplying a feedforward coefficient after the target rotating speed is calculated by the first-order low-pass filter, and the feedforward coefficient can be 0.1; if the target rotating speed exists at present and the motor rotates at the moment, obtaining a second torque by utilizing a table look-up mode according to the rotating speed of the motor and the target rotating speed, wherein the table look-up is an empirical table in the field and is not repeated herein; if the target rotating speed does not exist, no matter whether the motor rotates or not, the friction torque is not compensated, so that the system output is prevented from being too large to cause oscillation.
The signal of the target rotating speed is subjected to output overlarge limitation and change rate overlarge limitation and then is subjected to rotating speed PID control closed loop calculation to obtain a first torque value, so that the overlarge output and the excessively fast change rate (slope) are prevented from being requested.
The following describes a steering angle control system for vehicle autonomous driving according to the present invention, and the following description and the above-described steering angle control method for vehicle autonomous driving may be referred to in correspondence with each other.
Referring to fig. 2-4, according to any of the above embodiments, in this embodiment:
the steering angle control system for vehicle autonomous driving includes:
the angle ring control module is in signal connection with the vehicle controller and is used for obtaining a target rotating speed through angle PID control closed-loop calculation according to the angle deviation between the steering angle request sent by the vehicle controller and the current angle of the vehicle;
the rotating speed ring control module is in signal connection with the angle ring control module and the vehicle steering system and is used for obtaining a first torque value through rotating speed PID control closed-loop calculation according to rotating speed deviation between a target rotating speed and the current rotating speed of a motor of the vehicle steering system;
the feedforward control module is in signal connection with the angle ring control module and the vehicle steering system and is used for comparing the target rotating speed with the current state of the motor and calculating to obtain a second torque value;
the second filter is in signal connection with the rotating speed loop control module and the feedforward control module and is used for calculating a third torque value according to the sum of the first torque value and the second torque value; and
and the summator is in signal connection with the rotating speed loop control module, the feedforward control module and the second filter and is used for summing the first torque value, the second torque value and the third torque value to obtain an output torque value of the motor.
The angle PID control closed loop is formed by the angle ring control module, the rotating speed PID control closed loop is formed by the rotating speed ring control module, a feedback link of output torque is formed by the angle PID control closed loop and the rotating speed PID control closed loop to output first torque, a feedforward link of the output torque is formed by the feedforward control module to output second torque, a calculation link of the output torque is formed by the second filter to output third torque, the first torque value, the second torque value and the third torque value are added by the summator to obtain an output torque value of a motor of the vehicle steering system, the output torque value is converted into motor current by a hardware circuit after being sent to the motor end, and therefore the motor generates corresponding output torque to achieve accurate response.
The two-stage PID control of the angle and the angular speed is combined with the feedforward control module to carry out feedforward compensation, and meanwhile, the auxiliary matching is carried out by means of the second filter, so that the problems of response lag in the angle control reversing process and poor response in the high-frequency request process are solved, the angle control response is smooth, burr and boss are avoided, the advantages of strong stability, accurate response, high control precision and good actual robustness are achieved, and the performance requirement of the redundant steering system of the vehicle is effectively met.
The second filter can be a high-pass filter, the Gain value of the second filter can be selected to be 0.9, on one hand, the second filter can calculate a third torque value, on the other hand, the response speed can be increased, certainly, if the response is needed to be quicker, the system is more sensitive to high-frequency input, and the Gain value of the second filter can be properly increased to realize the purpose.
The angle control integrator in the angle ring control module and the rotating speed control integrator in the rotating speed control module are both connected to an integrator starting unit through signals, and the integrator starting unit is used for sending out integrator starting signals to enable the angle control integrator and the rotating speed control integrator to start working.
The vehicle controller sends a signal requesting a steering angle, the signal is subjected to mean value calculation through a third mean value filter, the coefficient of the third mean value filter can be 5, and the data signal is made to descend after 5 times of mean value calculation.
After the target rotating speed signal is calculated, the target rotating speed signal can be protected through the overlarge output limiting module, so that overlarge output is prevented, then the target rotating speed signal is sent to the feedforward control module, the target rotating speed signal can be sent to the rotating speed loop control module through the overlarge output limiting module and the overlarge change rate limiting module, and accordingly the requirement for preventing the overlarge output and the excessively fast change rate (slope) is prevented.
The vehicle Controller is mainly used by a CEPS (pipe column steering), when the CEPS receives an angle value which needs to be reached by a Controller (ADU, auto Drive Unit), the CEPS converts the angle into corresponding motor torque after passing through the method (algorithm) according to the received CAN (Controller Area Network) bus angle requirement, so as to carry out assistance, a target turning angle is a given amount, an actual turning angle is a controlled amount, and the CEPS is a controlled object, so that the method realizes that the controlled amount of the controlled object is equal to the given amount, and accurate steering is ensured.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the steering angle control method for automatic driving of the vehicle when executing the program. The processor may invoke logic instructions in the memory to perform a steering angle control method for autonomous driving of a vehicle, the method comprising: based on the angle deviation between the requested steering angle sent by the vehicle controller and the current angle of the vehicle, the target rotating speed is calculated through an angle PID control closed loop; based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, a first torque value is obtained through rotating speed PID control closed-loop calculation; comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value; calculating a third torque value via a second filter based on a sum of the first torque value and the second torque value; and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by a motor of the vehicle steering system based on the output torque value.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a steering angle control method for vehicle autopilot, the method comprising: based on the angle deviation between the requested steering angle sent by the vehicle controller and the current angle of the vehicle, the target rotating speed is calculated through an angle PID control closed loop; based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, a first torque value is obtained through rotating speed PID control closed-loop calculation; comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value; calculating a third torque value via a second filter based on a sum of the first torque value and the second torque value; and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by a motor of the vehicle steering system based on the output torque value.
In yet another aspect, the present invention also provides a computer program product for implementing the steps of the steering angle control method for automatic driving of a vehicle when the computer program product is run on an electronic device. It will be appreciated that a computer program product may include a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of steering angle control for vehicle autopilot provided by the above methods, the method comprising: based on the angle deviation between the requested steering angle sent by the vehicle controller and the current angle of the vehicle, obtaining a target rotating speed through angle PID control closed-loop calculation; based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, a first torque value is obtained through rotating speed PID control closed-loop calculation; comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value; calculating a third torque value via a second filter based on a sum of the first torque value and the second torque value; and summing the first torque value, the second torque value and the third torque value to obtain an output torque value, and controlling the vehicle to steer by a motor of the vehicle steering system based on the output torque value.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A steering angle control method for vehicle autonomous driving, characterized by comprising:
based on the angle deviation between the requested steering angle sent by the vehicle controller and the current angle of the vehicle, the target rotating speed is calculated through an angle PID control closed loop;
calculating a first torque value through a rotating speed PID control closed loop based on the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system;
comparing the target rotating speed with the current state of the motor by using a feedforward control module, and calculating to obtain a second torque value;
a third torque value is calculated through filtering based on the sum of the first torque value and the second torque value;
the first torque value, the second torque value and the third torque value are summed to obtain an output torque value, and a motor of the vehicle steering system controls the vehicle to steer based on the output torque value;
wherein the step of calculating a second torque value by comparing the target rotational speed with a current state of a motor of a vehicle steering system using a feedforward control module specifically comprises:
if the motor does not rotate, calculating the target rotating speed through a first filter and multiplying the target rotating speed by a feedforward coefficient to obtain a second torque;
and if the motor is rotating, obtaining the second torque by using a table look-up mode according to the rotating speed of the motor and the target rotating speed.
2. The steering angle control method for automatic driving of a vehicle according to claim 1, wherein the step of calculating the target rotation speed through an angle PID control closed loop specifically comprises:
an angle control proportion link, which corresponds to the angle control proportion gain by looking up a table according to the angle deviation between the requested steering angle and the current angle of the vehicle, multiplies the angle control proportion gain by an angle control proportion gain coefficient, and simultaneously combines the direction of the angle deviation between the requested steering angle and the current angle of the vehicle to output the rotating speed of the angle control proportion link;
an angle control integral link, which multiplies an angle control integral gain coefficient by an angle deviation between the requested steering angle and the current angle of the vehicle, performs integral operation by an angle control integrator, and outputs the rotating speed of the angle control integral link;
an angle control differential link, which is used for carrying out differential calculation by using an angle control differentiator according to the angle deviation between the requested steering angle and the current angle of the vehicle, and then obtaining the rotating speed of the angle control differential link after carrying out average filtering and multiplying the result by an angle control differential gain coefficient;
the sum of the rotating speed of the angle control proportional link, the rotating speed of the angle control integral link and the rotating speed of the angle control differential link is the target rotating speed.
3. The steering angle control method for automatic vehicle driving according to claim 2, wherein in the angle control ratio segment, the angle deviation value between the requested steering angle and the current angle of the vehicle is calculated by an absolute value and then is looked up.
4. The steering angle control method for automatic driving of a vehicle according to any one of claims 1-3, wherein the step of calculating the first torque value via a rotational speed PID control closed loop specifically comprises:
a rotating speed control proportion link, which multiplies a rotating speed control proportion gain coefficient according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system to output a torque value of the rotating speed control proportion link;
a rotating speed control integral link, which multiplies a rotating speed control integral gain coefficient by a rotating speed according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system, and outputs a torque value of the rotating speed control integral link after integral operation is carried out through a rotating speed control integrator;
a rotating speed control differential link, which is used for obtaining a torque value of the rotating speed control differential link after carrying out differential calculation by a rotating speed control differentiator according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of a vehicle steering system and multiplying the differential calculation by a rotating speed control differential gain coefficient after mean filtering;
the sum of the torque value of the rotating speed control proportional link, the torque value of the rotating speed control integral link and the torque value of the rotating speed control differential link is the first torque value.
5. The steering angle control method for automatic vehicle driving according to any one of claims 1-3, wherein the signal of the target rotational speed is subjected to output excessive limitation and change rate excessive limitation, and then subjected to rotational speed PID control closed loop calculation to obtain a first torque value.
6. A control system of a steering angle control method for automatic driving of a vehicle according to any one of claims 1 to 5, comprising:
the angle ring control module is in signal connection with the vehicle controller and is used for obtaining a target rotating speed through angle PID control closed-loop calculation according to the angle deviation between the steering angle request sent by the vehicle controller and the current angle of the vehicle;
the rotating speed ring control module is in signal connection with the angle ring control module and the vehicle steering system and is used for obtaining a first torque value through rotating speed PID control closed-loop calculation according to the rotating speed deviation between the target rotating speed and the current rotating speed of a motor of the vehicle steering system;
the feedforward control module is in signal connection with the angle ring control module and the vehicle steering system and is used for comparing the target rotating speed with the current state of the motor and calculating to obtain a second torque value;
the second filter is in signal connection with the rotating speed loop control module and the feedforward control module and is used for calculating a third torque value according to the sum of the first torque value and the second torque value; and
and the summator is in signal connection with the rotating speed loop control module, the feedforward control module and the second filter and is used for summing the first torque value, the second torque value and the third torque value to obtain an output torque value of the motor.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the steps of the steering angle control method for automatic driving of a vehicle according to any one of claims 1 to 5.
8. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the steering angle control method for automatic driving of a vehicle according to any one of claims 1 to 5.
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| CN114852171B (en) * | 2022-04-25 | 2023-08-15 | 上海仙途智能科技有限公司 | Vehicle, steering control method and device thereof, storage medium and terminal |
| CN115195857A (en) * | 2022-07-15 | 2022-10-18 | 上海汽车集团股份有限公司 | Control method and device for auxiliary drive motor |
| CN115556726B (en) * | 2022-12-01 | 2023-03-03 | 小米汽车科技有限公司 | Braking efficiency degradation compensation method, device, vehicle and storage medium |
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