CN114475781B - Vehicle control method, device, equipment and storage medium - Google Patents
Vehicle control method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a vehicle control method, a device, equipment and a storage medium. The method comprises the following steps: acquiring at least two candidate steering wheel corners of the vehicle; acquiring a front wheel corner, a course angle deviation and a transverse position deviation of a vehicle at a moment on the vehicle; inputting the candidate steering wheel corners, the vehicle front wheel corners at one moment on the vehicle, the course angle deviation and the transverse position deviation into a vehicle kinematic model aiming at each candidate steering wheel corner; outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel corner based on the vehicle kinematic model; and determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle. By the technical scheme, the steering control accuracy of the automatic driving vehicle can be improved.
Description
Technical Field
Embodiments of the present invention relate to computer data processing technologies, and in particular, to a vehicle control method, apparatus, device, and storage medium.
Background
In the field of automatic driving, path tracking is a key execution layer control technology in an automatic driving system, and accurate driving along a planned road is realized by controlling a steering control system of a vehicle, so that the safety and the comfort of an intelligent vehicle are affected.
Therefore, how to make the steering control system of the automatic driving vehicle provide a more accurate steering instruction, so as to effectively control the automatic driving vehicle and ensure the safe driving of the vehicle is a problem to be solved at present.
Disclosure of Invention
The invention provides a vehicle control method, a device, equipment and a storage medium, which can improve the accuracy of steering control of an automatic driving vehicle and ensure safe running of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
acquiring at least two candidate steering wheel corners of the vehicle;
acquiring a front wheel corner of the vehicle at the moment, a course angle deviation at the moment and a transverse position deviation at the moment;
inputting the candidate steering wheel angles, the vehicle front wheel angle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel corner based on a vehicle kinematic model;
and determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the first acquisition module is used for acquiring at least two candidate steering wheel corners of the vehicle;
the second acquisition module is used for acquiring the front wheel corner of the vehicle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle;
the input module is used for inputting the candidate steering wheel angle, the vehicle front wheel angle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
the output module is used for outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle which are related to the candidate steering wheel corner based on a vehicle kinematic model;
and the execution module is used for determining the actual steering wheel angle at the current moment according to the front wheel angle of the candidate vehicle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command and controlling the steering at the next moment of the vehicle.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method as provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon. Wherein the program when executed by the processor implements the vehicle control method as provided by any of the embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, at least two candidate steering wheel corners of a vehicle, a vehicle front wheel corner at the moment on the vehicle, a course angle deviation at the moment on the vehicle and a transverse position deviation at the moment on the vehicle are obtained, the obtained data are input into a vehicle kinematics model aiming at each candidate steering wheel corner, the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation at the current moment of the vehicle associated with the candidate steering wheel corner are output, the actual steering wheel corner at the current moment is determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, a steering wheel steering angle command is generated, steering at the next moment of the vehicle is controlled, and in such a way, more accurate actual steering wheel corners can be determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, so that more accurate steering angle commands can be generated, accurate steering at the next moment of the vehicle is controlled, and accurate steering control of the vehicle is realized.
Drawings
FIG. 1 is a flow chart of a vehicle control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a block diagram of a vehicle control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, where the embodiment is applicable to how a steering control system of a vehicle in an autonomous vehicle generates a steering angle command to control a steering situation of the vehicle. As shown in fig. 1, the vehicle control method provided in this embodiment specifically includes:
s101, acquiring at least two candidate steering wheel angles of the vehicle.
Wherein the candidate steering wheel angle refers to an alternative steering angle for outputting a steering wheel angle command. The number of candidate steering wheel angles is at least two.
Alternatively, the candidate steering wheel angles may be the candidate steering wheel angles selected by the control unit of the vehicle according to the preset database or the preset value interval by using the specific selection algorithm, wherein the preset number is at least two.
S102, acquiring a front wheel rotation angle of the vehicle at the moment, a course angle deviation at the moment and a transverse position deviation at the moment.
The steering angle of the front wheel of the vehicle refers to the average value of steering angles of the left front wheel and the right front wheel of the vehicle, and the course angle deviation refers to the deviation between the running direction of the vehicle and the expected running direction. Lateral position deviation refers to a deviation between the position of the vehicle and the expected position.
Optionally, the control unit of the vehicle may process the data collected by the vehicle related sensor or device to obtain the front wheel rotation angle, the heading angle deviation and the lateral position deviation of the vehicle at a moment on the vehicle. By last time, it is meant the time of a preset period of time before the current time of the vehicle, for example the previous minute of the current time, the previous five minutes of the current time or the previous ten minutes of the current time.
S103, inputting the candidate steering wheel angles, the front wheel angle of the vehicle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model for each candidate steering wheel angle.
S104, outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel corner based on the vehicle kinematics model.
The candidate front wheel rotation angle, the candidate course angle deviation and the candidate lateral position deviation of the vehicle at the current moment of the vehicle associated with the candidate steering wheel rotation angle are the candidate front wheel rotation angle, the candidate course angle deviation and the candidate lateral position deviation of the vehicle associated with the candidate steering wheel rotation angle, which are obtained by executing the operation of S103 once for each candidate steering wheel rotation angle.
Alternatively, the vehicle kinematic model may be an equation, which may include a known coefficient calculated in advance, and may further include four independent variable parameters of a candidate steering wheel angle, a vehicle front wheel angle at a previous time on the vehicle, a heading angle deviation, and a lateral position deviation, and by inputting the known coefficient calculated in advance and the four independent variable parameters into the vehicle kinematic model, the candidate vehicle front wheel angle, the candidate heading angle deviation, and the candidate lateral position deviation at the current time of the vehicle associated with the candidate steering wheel angle may be output.
Optionally, based on the obtained at least two candidate steering wheel angles, for each candidate steering wheel angle, an operation of inputting the candidate steering wheel angle, the front wheel angle of the vehicle at a moment on the vehicle, the heading angle deviation and the lateral position deviation into the vehicle kinematic model is performed once, a set of the front wheel angle of the candidate vehicle, the candidate heading angle deviation and the candidate lateral position deviation at the moment on the vehicle associated with the candidate steering wheel angle are output, and a plurality of sets of the front wheel angle of the candidate vehicle, the candidate heading angle deviation and the candidate lateral position deviation at the moment on the vehicle associated with the candidate steering wheel angle can be obtained by performing the operation for a plurality of times.
S105, determining the actual steering wheel angle at the current moment according to the front wheel angle of the candidate vehicle, the candidate heading angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle.
The actual steering wheel angle at the present time is the steering angle that is ultimately determined to control the steering of the vehicle. The steering angle command is correspondingly generated according to the actual steering angle at the current moment.
Optionally, the obtained multiple sets of candidate vehicle front wheel corners, candidate course angle deviations and candidate transverse position deviations at the current moment of the vehicle associated with the candidate steering wheel corners may be input into a selection model, and according to a certain selection rule, an optimal set of candidate vehicle front wheel corners, candidate course angle deviations and candidate transverse position deviations is selected from the multiple sets, and further according to the optimal set of candidate vehicle front wheel corners, an actual steering wheel corner corresponding to the candidate vehicle front wheel corners is determined, a steering wheel steering angle command is generated, and steering at the next moment of the vehicle is controlled.
According to the technical scheme provided by the embodiment of the invention, at least two candidate steering wheel corners of a vehicle, a vehicle front wheel corner at the moment on the vehicle, a course angle deviation at the moment on the vehicle and a transverse position deviation at the moment on the vehicle are obtained, the obtained data are input into a vehicle kinematics model aiming at each candidate steering wheel corner, the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation at the current moment of the vehicle associated with the candidate steering wheel corner are output, the actual steering wheel corner at the current moment is determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, a steering wheel steering angle command is generated, steering at the next moment of the vehicle is controlled, and in such a way, more accurate actual steering wheel corners can be determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, so that more accurate steering angle commands can be generated, the accurate steering at the next moment of the vehicle is controlled, the accuracy of steering control of the automatic driving vehicle is improved, and the safe running of the vehicle is ensured.
On the basis of the above embodiment, it is preferable that determining the actual steering wheel angle at the present time from the candidate vehicle front wheel angle, the candidate heading angle deviation, and the candidate lateral position deviation includes:
comparing the front wheel rotation angle of the candidate vehicle with the front wheel rotation angle of the vehicle at one moment on the vehicle to obtain a first comparison result;
comparing the candidate course angle deviation with the course angle deviation of the vehicle at the moment to obtain a second comparison result;
comparing the candidate lateral position deviation with the lateral position deviation of the vehicle at one moment to obtain a third comparison result;
and determining the actual steering wheel angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
The first comparison result may be that the front wheel angle of the candidate vehicle is subtracted from the front wheel angle of the vehicle at a moment on the vehicle, and the difference value of the two is used as the first comparison result; the second comparison result may be that the candidate heading angle deviation is subtracted from the heading angle deviation at a moment on the vehicle, and the difference value of the candidate heading angle deviation and the heading angle deviation is used as the second comparison result; the third comparison result may be obtained by subtracting the candidate lateral position deviation from the lateral position deviation at a time on the vehicle, and taking the difference between the candidate lateral position deviation and the lateral position deviation as the third comparison result.
Optionally, according to the first comparison result, the second comparison result and the third comparison result, the corresponding candidate front wheel corner, the candidate heading angle deviation and the candidate lateral position deviation when the average value of the three comparison results is the smallest can be determined, and further according to the steering transmission ratio between the front wheel corner and the steering wheel corner, the actual steering wheel corner corresponding to the candidate front wheel corner is calculated, so that the actual steering wheel corner at the current moment is determined. By the method, the optimal group of candidate vehicle front wheel rotation angles, candidate course angle deviation and candidate transverse position deviation can be selected, so that the determined actual steering wheel rotation angle at the current moment is more accurate, and the safe running of the vehicle can be ensured.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention, and the steps before the step of outputting the candidate front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation of the vehicle at the current time associated with the candidate steering wheel steering angle based on the vehicle kinematic model are further explained in detail based on the above embodiment. As shown in fig. 2, the vehicle control method provided in this embodiment specifically includes:
s201, acquiring at least two candidate steering wheel angles of the vehicle.
S202, acquiring a front wheel rotation angle of the vehicle at the moment, a course angle deviation at the moment and a transverse position deviation at the moment.
S203, acquiring a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheelbase and a vehicle front wheel corner, an actual sampling time and a reference path of the vehicle.
The time constant of the vehicle steering control system can be obtained after parameter identification is performed on the actual steering system angle data by using a system identification tool box of MATLAB (matrix laboratory, matrix factory). The wheelbase of a vehicle refers to the distance between two perpendicular lines passing through the midpoints of two adjacent wheels on the same side of the vehicle and perpendicular to the longitudinal symmetry plane of the vehicle. In short, the wheelbase of a vehicle is the distance from the center of the front axle to the center of the rear axle of the vehicle. The steering gear ratio of the vehicle front wheel steering angle is a ratio representing the relationship between the vehicle front wheel steering angle and the vehicle steering wheel steering angle, and is fixed for each vehicle. The actual sampling time refers to the period of use in discretization. The reference path of the vehicle refers to a path along which the vehicle is expected to travel, and the reference path of the vehicle may be directly acquired by a control unit of the vehicle.
S204, selecting a reference point closest to the rear wheels of the vehicle according to the reference path of the vehicle; and a reference vehicle speed at the reference point and a reference front wheel rotation angle at the reference point are obtained.
The reference path of the vehicle may include at least two reference points, and position coordinates corresponding to each reference point, a reference vehicle speed, and a reference front wheel corner. The reference vehicle speed refers to the vehicle longitudinal speed at the reference point. The reference front wheel turning angle refers to the average of the left and right front wheel turning angles of the vehicle at the reference point.
Alternatively, the reference point closest to the center of the rear wheel of the vehicle, which is the center of the line connecting the left rear wheel of the vehicle and the right rear wheel of the vehicle, may be selected based on a plurality of reference points on the reference path of the vehicle. From the reference point closest to the rear wheels of the vehicle, the reference vehicle speed and the reference front wheel rotation angle at the reference point can be obtained.
Optionally, obtaining the reference front wheel corner at the reference point includes:
obtaining a curvature at a reference point;
a reference front wheel corner at the reference point is determined based on the curvature at the reference point and the vehicle wheelbase.
The curvature at the reference point may be calculated by the control unit of the vehicle from the reference path of the vehicle and the position of the reference point.
Illustratively, a reference front wheel angle delta at a reference point is determined based on the curvature and the vehicle wheelbase at the reference point p The following formula can be used:
δ p ＝arctan(L·κ p )
wherein L represents the wheelbase of the vehicle, kappa p Representing the curvature at the reference point P.
S205, constructing a vehicle kinematics model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
Optionally, constructing the vehicle kinematic model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner comprises:
determining a vehicle motion coefficient A by the following first formula d ：
Wherein I represents an identity matrix, v p Represents the reference vehicle speed, T represents the actual sampling time, delta p Indicating a reference front wheel rotation angle, L indicating a vehicle wheelbase, and τ indicating a time constant of a vehicle steering control system;
determining the steering wheel angle coefficient B by the following second formula d ：
Wherein i is steer The steering gear ratio indicating the steering angle of the front wheels of the vehicle, T indicating the actual sampling time, and τ indicating the time constant of the steering control system of the vehicle.
The vehicle motion constant W is determined by the following third formula d ：
Wherein v is p Representing the reference vehicle speed delta p Indicating the reference front wheel rotation angle, L indicating the vehicle wheelbase, and T indicating the actual sampling time.
According to the vehicle motion coefficient A d Steering wheel angle coefficient B d And the transportation of vehiclesDynamic constant W d Building a vehicle kinematics model:
wherein delta k+1 Front wheel steering angle e of candidate vehicle for representing current time of vehicle head_k+1 Indicating the candidate course angle deviation of the current moment of the vehicle, e lat_k+1 Representing a candidate lateral position deviation, delta, of the current moment of the vehicle sw_cmd Indicating candidate steering wheel angle, delta k Indicating the front wheel rotation angle of the vehicle at the moment of the vehicle, e head_k Indicating the deviation of course angle at the moment of the vehicle, e lat_k Indicating the lateral position deviation at a moment in time on the vehicle.
The derivation process of the vehicle kinematic model is as follows:
(1) Consider first the following nonlinear vehicle kinematic model:
wherein,,
and e head Estimated value and actual value representing the deviation of the heading angle of the vehicle, respectively,/->
And e lat Estimated values respectively representing the deviation of the lateral position of the vehicle, < >>
And δ represents an estimated value and an actual value of the front wheel rotation angle of the vehicle, respectively, v represents the longitudinal speed of the vehicle, δ sw_cmd Indicating candidate steering wheel angle, i steer A steering gear ratio representing the rotation angle of the front wheels of the vehicle.
(2) The nonlinear vehicle kinematic model is linearized at a reference point P, that is, the nonlinear vehicle kinematic model is developed by using a taylor formula, which is a formula describing values around a certain point by using information of a function. If the function meets a certain condition, the Taylor formula can construct a polynomial by taking the values of the derivatives of the function at a certain point as coefficients to approximate the function. After the Taylor expansion of the nonlinear vehicle kinematic model, the following linearized vehicle kinematic model can be obtained:
where τ represents a time constant of the vehicle steering control system, v p Representing the reference vehicle speed delta p Indicating the reference front wheel rotation angle.
(3) Discretizing the linearized vehicle kinematic model according to the actual sampling time T, wherein the discretizing refers to a means for mapping limited individuals in an infinite space into a limited space, and the final vehicle kinematic model is obtained as follows:
s206, inputting the candidate steering wheel angles, the front wheel angle of the vehicle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model for each candidate steering wheel angle.
S207, outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel corner based on the vehicle kinematic model.
S208, determining the actual steering wheel angle at the current moment according to the front wheel angle of the candidate vehicle, the candidate heading angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle.
According to the technical scheme provided by the embodiment of the invention, at least two candidate steering wheel corners of a vehicle, a vehicle front wheel corner, a course angle deviation and a transverse position deviation of the vehicle at the moment, a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheelbase and the vehicle front wheel corner, an actual sampling time and a reference path of the vehicle are obtained, and a vehicle kinematic model is constructed according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the vehicle front wheel corner, the actual sampling time, the reference vehicle speed and the reference front wheel corner, so that the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the moment related to the candidate steering wheel corner can be output based on the vehicle kinematic model, the actual steering wheel corner at the moment can be further determined, a steering angle command of the steering wheel is generated, the steering at the moment of the vehicle is controlled, and the accuracy of relevant parameters output by the constructed vehicle kinematic model is higher in such a way, and the control accuracy of the automatic steering vehicle and the running safety of the vehicle can be ensured.
Example III
Fig. 3 is a block diagram of a vehicle control device according to a third embodiment of the present invention, where the vehicle control device according to the third embodiment of the present invention may execute a vehicle control method according to any one of the embodiments of the present invention, and the vehicle control device has functional modules and beneficial effects corresponding to the execution method.
The vehicle control apparatus may include a first acquisition module 301, a second acquisition module 302, an input module 303, an output module 304, and an execution module 305.
A first obtaining module 301, configured to obtain at least two candidate steering wheel angles of the vehicle;
a second obtaining module 302, configured to obtain a front wheel corner of the vehicle at a moment in time, a heading angle deviation of the vehicle at a moment in time, and a lateral position deviation of the vehicle at a moment in time;
an input module 303, configured to input, for each candidate steering wheel angle, the candidate steering wheel angle, a front wheel angle of the vehicle at a previous time on the vehicle, a heading angle deviation at the previous time on the vehicle, and a lateral position deviation at the previous time on the vehicle into a vehicle kinematic model;
an output module 304, configured to output a candidate vehicle front wheel corner, a candidate heading angle deviation, and a candidate lateral position deviation at a current time of the vehicle associated with the candidate steering wheel corner based on a vehicle kinematic model;
and the execution module 305 is used for determining the actual steering wheel angle at the current moment according to the front wheel angle, the candidate course angle deviation and the candidate transverse position deviation of the candidate vehicle, generating a steering wheel steering angle command and controlling the steering of the vehicle at the next moment.
According to the technical scheme provided by the embodiment of the invention, at least two candidate steering wheel corners of a vehicle, a vehicle front wheel corner at the moment on the vehicle, a course angle deviation at the moment on the vehicle and a transverse position deviation at the moment on the vehicle are obtained, the obtained data are input into a vehicle kinematics model aiming at each candidate steering wheel corner, the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation at the current moment of the vehicle associated with the candidate steering wheel corner are output, the actual steering wheel corner at the current moment is determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, a steering wheel steering angle command is generated, steering at the next moment of the vehicle is controlled, and in such a way, more accurate actual steering wheel corners can be determined according to the candidate vehicle front wheel corner, the candidate course angle deviation and the candidate transverse position deviation, so that more accurate steering angle commands can be generated, accurate steering at the next moment of the vehicle is controlled, and accurate steering control of the vehicle is realized.
Further, the device further comprises a third acquisition module, a reference point selection module and a model construction module.
The third acquisition module is used for acquiring the time constant of the vehicle steering control system, the steering transmission ratio of the vehicle wheelbase and the front wheel corner of the vehicle, the actual sampling time and the reference path of the vehicle;
the reference point selection module is used for selecting a reference point closest to the rear wheels of the vehicle according to the reference path of the vehicle; obtaining a reference vehicle speed at the reference point and a reference front wheel corner at the reference point;
the model building module is used for building a vehicle kinematic model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
Further, the model building module may include a motion coefficient determining unit, a rotation angle coefficient determining unit, a motion constant determining unit, and a motion model building unit.
A motion coefficient determination unit for determining a vehicle motion coefficient A by a first formula as follows d ：
Wherein I represents an identity matrix, v p Represents the reference vehicle speed, T represents the actual sampling time, delta p Indicating a reference front wheel rotation angle, L indicating a vehicle wheelbase, and τ indicating a time constant of a vehicle steering control system;
a steering wheel angle coefficient determining unit for determining a steering wheel angle coefficient B by the following second formula d ：
Wherein i is steer A steering gear ratio representing a steering angle of a front wheel of the vehicle;
a motion constant determining unit for determining a vehicle motion constant W by the following third formula d ：
A motion model construction unit for constructing a motion model according to the vehicle motion coefficient A d The steering wheel angle coefficient B d And the vehicle motion constant W d Construction of vehicle transportationDynamic model:
wherein delta k+1 Front wheel steering angle e of candidate vehicle for representing current time of vehicle head_k+1 Indicating the candidate course angle deviation of the current moment of the vehicle, e lat_k+1 Representing a candidate lateral position deviation, delta, of the current moment of the vehicle sw_cmd Indicating candidate steering wheel angle, delta k Indicating the front wheel rotation angle of the vehicle at the moment of the vehicle, e head_k Indicating the deviation of course angle at the moment of the vehicle, e lat_k Indicating the lateral position deviation at a moment in time on the vehicle.
Further, the reference point selection module includes:
a curvature obtaining unit for obtaining a curvature at the reference point;
and a reference rotation angle determining unit for determining a reference front wheel rotation angle at the reference point according to the curvature at the reference point and the vehicle wheelbase.
Further, the execution module 305 includes:
the first result obtaining unit is used for comparing the front wheel corner of the candidate vehicle with the front wheel corner of the vehicle at the moment on the vehicle to obtain a first comparison result;
the second result obtaining unit is used for comparing the candidate course angle deviation with the course angle deviation of the vehicle at the last moment to obtain a second comparison result;
a third result obtaining unit, configured to compare the candidate lateral position deviation with a lateral position deviation of the vehicle at a previous time, to obtain a third comparison result;
and the actual steering angle determining unit is used for determining the actual steering wheel angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device provided in a fourth embodiment of the present invention, and fig. 4 is a block diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the invention.
As shown in fig. 4, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory (cache 32). The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the vehicle control method provided by the embodiment of the present invention.
Example five
The fifth embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program (or referred to as computer-executable instructions) for executing the vehicle control method provided by the embodiment of the present invention when executed by a processor.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the embodiments of the present invention have been described in connection with the above embodiments, the embodiments of the present invention are not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A vehicle control method, characterized in that the method comprises:
acquiring at least two candidate steering wheel corners of the vehicle;
acquiring a front wheel corner of a vehicle at a moment, a course angle deviation at the moment and a transverse position deviation at the moment;
inputting the candidate steering wheel angles, the vehicle front wheel angle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
outputting a candidate vehicle front wheel corner, a candidate heading angle deviation and a candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel corner based on the vehicle kinematic model;
determining an actual steering wheel angle at the current moment according to the front wheel angle, the candidate course angle deviation and the candidate transverse position deviation of the candidate vehicle, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle;
wherein the candidate steering wheel angle refers to an alternative steering angle for outputting a steering wheel angle instruction; the candidate steering wheel corners are obtained by determining a value interval of the candidate steering wheel corners by a control unit of the vehicle, and selecting a preset number of candidate steering wheel corners from a preset database or the value interval; wherein the preset number is at least two;
the method for determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering at the next moment of the vehicle comprises the following steps:
selecting an optimal set of the candidate vehicle front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation from the obtained at least two sets of the candidate vehicle front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel steering angle;
determining an actual steering wheel angle corresponding to the front wheel turning angle of the candidate vehicle according to the optimal set of the front wheel turning angles of the candidate vehicle, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment;
before outputting the candidate front wheel corner, the candidate course angle deviation and the candidate lateral position deviation of the vehicle at the current moment of the vehicle associated with the candidate steering wheel corner based on the vehicle kinematic model, the method further comprises the following steps:
acquiring a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheelbase and a vehicle front wheel corner, an actual sampling time and a reference path of a vehicle;
selecting a reference point closest to the rear wheels of the vehicle according to the reference path of the vehicle; obtaining a reference vehicle speed at the reference point and a reference front wheel corner at the reference point;
and constructing a vehicle kinematics model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
2. The method of claim 1, wherein the constructing a vehicle kinematic model from the time constant of the vehicle steering control system, the vehicle wheelbase, the steering gear ratio of the vehicle front wheel turn angle, the actual sampling time, the reference vehicle speed, and the reference front wheel turn angle comprises:
determining a vehicle motion coefficient A by the following first formula d ：
Wherein I represents an identity matrix, v p Represents the reference vehicle speed, T represents the actual sampling time, delta p Indicating a reference front wheel rotation angle, L indicating a vehicle wheelbase, and τ indicating a time constant of a vehicle steering control system;
determining the steering wheel angle coefficient B by the following second formula d ：
Wherein i is steer A steering gear ratio representing a steering angle of a front wheel of the vehicle;
the vehicle motion constant W is determined by the following third formula d ：
According to the vehicle motion coefficient A d The steering wheel angle coefficient B d And the vehicle motion constant W d Building a vehicle kinematics model:
wherein delta k+1 Indicating the front wheel rotation angle of the candidate vehicle at the current moment of the vehicle, e head_k+1 Indicating the candidate course angle deviation of the current moment of the vehicle, e lat_k+1 Representing a candidate lateral position deviation, delta, of the current moment of the vehicle sw_cmd Indicating candidate steering wheel angle, delta k Indicating the front wheel rotation angle of the vehicle at the moment of the vehicle, e head_k Indicating the deviation of course angle at the moment of the vehicle, e lat_k Indicating the lateral position deviation at a moment in time on the vehicle.
3. The method of claim 1, wherein said obtaining a reference front wheel corner at said reference point comprises:
obtaining a curvature at the reference point;
a reference front wheel corner at the reference point is determined from the curvature at the reference point and the vehicle wheelbase.
4. The method of claim 1, wherein determining an actual steering wheel angle at a current time based on the candidate vehicle front wheel angle, the candidate heading angle bias, and the candidate lateral position bias comprises:
comparing the front wheel corner of the candidate vehicle with the front wheel corner of the vehicle at one moment on the vehicle to obtain a first comparison result;
comparing the candidate course angle deviation with the course angle deviation of the vehicle at the last moment to obtain a second comparison result;
comparing the candidate transverse position deviation with the transverse position deviation of the vehicle at one moment to obtain a third comparison result;
and determining the actual steering wheel angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
5. A vehicle control apparatus characterized by comprising:
the first acquisition module is used for acquiring at least two candidate steering wheel corners of the vehicle;
the second acquisition module is used for acquiring the front wheel rotation angle of the vehicle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle;
the input module is used for inputting the candidate steering wheel angle, the vehicle front wheel angle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
the output module is used for outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate lateral position deviation at the current moment of the vehicle which are related to the candidate steering wheel corner based on the vehicle kinematics model;
the execution module is used for determining the actual steering wheel angle at the current moment according to the front wheel angle of the candidate vehicle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command and controlling the steering of the vehicle at the next moment;
wherein the candidate steering wheel angle refers to an alternative steering angle for outputting a steering wheel angle instruction; the candidate steering wheel corners are obtained by determining a value interval of the candidate steering wheel corners by a control unit of the vehicle, and selecting a preset number of candidate steering wheel corners from a preset database or the value interval; wherein the preset number is at least two;
the execution module is specifically configured to:
selecting an optimal set of the candidate vehicle front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation from the obtained at least two sets of the candidate vehicle front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation at the current moment of the vehicle associated with the candidate steering wheel steering angle;
determining an actual steering wheel angle corresponding to the front wheel turning angle of the candidate vehicle according to the optimal set of the front wheel turning angles of the candidate vehicle, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment;
wherein the apparatus further comprises: the system comprises a third acquisition module, a reference point selection module and a model construction module;
the third acquisition module is used for acquiring the time constant of the vehicle steering control system, the steering transmission ratio of the vehicle wheelbase and the front wheel corner of the vehicle, the actual sampling time and the reference path of the vehicle;
the reference point selection module is used for selecting a reference point closest to the rear wheels of the vehicle according to the reference path of the vehicle; obtaining a reference vehicle speed at the reference point and a reference front wheel corner at the reference point;
the model building module is used for building a vehicle kinematic model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
6. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any of claims 1-4.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 4.
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| CN114834529B (en) * | 2022-06-07 | 2023-06-16 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium |
| CN114954654B (en) * | 2022-06-22 | 2023-11-28 | 阿波罗智能技术(北京)有限公司 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
| CN115056847B (en) * | 2022-06-22 | 2023-09-29 | 阿波罗智能技术(北京)有限公司 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
| CN115180017B (en) * | 2022-08-18 | 2023-10-17 | 苏州轻棹科技有限公司 | Processing method for compensating steering wheel rotation angle |
| CN116001908A (en) * | 2022-12-05 | 2023-04-25 | 宁波均胜智能汽车技术研究院有限公司 | Vehicle transverse control method and system, vehicle and readable storage medium |
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| JP7226360B2 (en) * | 2020-02-05 | 2023-02-21 | トヨタ自動車株式会社 | Vehicle controller, controller, manager, method, program, and vehicle |
| CN112009489B (en) * | 2020-11-02 | 2021-02-02 | 蘑菇车联信息科技有限公司 | Method and device for processing vehicle steering parameters, electronic equipment and storage medium |
| CN112572436A (en) * | 2020-12-15 | 2021-03-30 | 北京理工大学 | Vehicle following control method and system |
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