CN114852089A

CN114852089A - Vehicle running control method and device, electronic equipment and storage medium

Info

Publication number: CN114852089A
Application number: CN202210677180.1A
Authority: CN
Inventors: 周忠贺; 刘涛; 吴振昕; 赵朋刚; 张正龙; 迟霆; 赵思佳; 赵悦岑; 杨渊泽; 李颖
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-06-14
Filing date: 2022-06-14
Publication date: 2022-08-05

Abstract

The invention discloses a vehicle running control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current road track information of a target vehicle and current yaw angle information of the target vehicle; determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model; and obtaining a target steering wheel angle according to the current yaw angle information, the current preview information and a following module in the target driver model, so as to control the target vehicle to run according to the target steering wheel angle at the next moment. By operating the technical scheme provided by the embodiment of the invention, the problems that the vehicle is simplified into mass points by the traditional preview module, the vehicle attitude control is not considered in the calculation process, the vehicle swings left and right in the track tracking process, and the riding comfort is influenced can be solved, and the beneficial effects of improving the stability of vehicle control and reducing the difficulty of vehicle control are achieved.

Description

Vehicle running control method and device, electronic equipment and storage medium

Technical Field

The present invention relates to vehicle driving control technologies, and in particular, to a vehicle driving control method, apparatus, electronic device, and storage medium.

Background

The core of the human-vehicle closed-loop control system model is a driver model, the driver model is a mathematical expression of real driver control capability, and the driver model plays a vital role in the fields of vehicle control stability, automatic driving track tracking control technology and the like.

The driver model may include a preview module, the path planning module outputs a reference track during the automatic driving of the vehicle, the positioning module obtains the state information of the real-time position, attitude and the like of the vehicle, the driver model calculates the control signals of the acceleration and deceleration request, the steering wheel corner and the like of the vehicle according to the information of the reference track, the real-time position, the vehicle speed and the like, and outputs the control signals to the vehicle executing mechanism to control the vehicle to run according to the expected reference track.

The traditional preview module simplifies the vehicle into mass points, and eliminates the longitudinal and transverse distance deviation between the current point and the preview point by controlling the longitudinal and lateral acceleration, so that the method can obtain good track position tracking precision, but because the vehicle attitude control is not considered in the calculation process, the situation that the vehicle transversely swings left and right in the track tracking process can occur, and the riding comfort is influenced.

Disclosure of Invention

The invention provides a vehicle running control method, a vehicle running control device, electronic equipment and a storage medium, and aims to improve the stability of vehicle control and reduce the difficulty of vehicle control.

According to an aspect of the present invention, there is provided a vehicle travel control method including:

acquiring current road track information of a target vehicle and current yaw angle information of the target vehicle;

determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model;

and obtaining a target steering wheel angle according to the current yaw angle information, the current preview information and a following module in the target driver model, so as to control the target vehicle to run according to the target steering wheel angle at the next moment.

According to another aspect of the present invention, there is provided a vehicle travel control apparatus including:

the information acquisition module is used for acquiring current road track information of a target vehicle and current yaw angle information of the target vehicle;

the information determination module is used for determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model;

and the target steering wheel corner acquisition module is used for acquiring a target steering wheel corner according to the current yaw angle information, the current preview information and the following module in the target driver model so as to control the target vehicle to run according to the target steering wheel corner at the next moment.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle travel control method according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a vehicle travel control method according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the current road track information of a target vehicle and the current yaw angle information of the target vehicle are obtained; determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model; and obtaining a target steering wheel angle according to the current yaw angle information, the current preview information and a following module in the target driver model, so as to control the target vehicle to run according to the target steering wheel angle at the next moment. The problem of traditional preview module simplify the vehicle into the mass point, do not consider vehicle attitude control in the computational process, can appear the condition that the vehicle was controlled to the left and right sides in the trail tracking process, influence the riding comfort is solved, the beneficial effect of the degree of difficulty that has obtained the stability that improves vehicle control and reduced vehicle control has been obtained.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for constructing a target driver model according to a second embodiment of the present invention;

FIG. 3 is a schematic view of a vehicle model according to a second embodiment of the present invention;

FIG. 4 is a basic block diagram of an existing driver model according to a second embodiment of the present invention;

FIG. 5 is a basic block diagram of a target driver model according to a second embodiment of the present invention;

FIG. 6 is a basic block diagram of a first process driver model according to a second embodiment of the present invention;

FIG. 7 is a basic block diagram of a second process driver model according to a second embodiment of the present invention;

fig. 8 is a schematic structural diagram of a vehicle travel control device according to a third embodiment of the present invention;

fig. 9 is a schematic structural diagram of an electronic device for implementing an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention, where this embodiment is applicable to a situation where an autonomous vehicle is controlled to drive, and the method may be executed by a vehicle driving control device according to an embodiment of the present invention, where the device may be implemented by software and/or hardware. Referring to fig. 1, the vehicle travel control method provided by the present embodiment includes:

and 110, acquiring current road track information of a target vehicle and current yaw angle information of the target vehicle.

The target vehicle is a vehicle which controls the driving mode at present. The current road trajectory data is trajectory data that can be obtained when the current vehicle travels in the road, for example, path data to be traveled by a planned target vehicle, and the like, and may be obtained by a corresponding path planning module.

The current yaw angle information of the target vehicle is information related to the current yaw angle of the target vehicle, and may include a current yaw rate and a current yaw angle. The current yaw angle information can be obtained through vehicle sensors and can also be calculated through a target driver model.

And step 120, determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model.

The target driver model comprises a preview module and a tracking module. The target driver model corresponds to a driver-vehicle closed loop system, which is a system for follow-up control based on road input information ahead, and if the system is simplified, it can be expressed as a system in which a "predictor" is connected in series with a "follower". The predictor represents a preview link of a driver, and the link corresponds to a preview module in a target driver model according to factors such as a preview mode of the driver and the like. The tracker represents links such as steering of a driver, response of a vehicle and the like and corresponds to a tracking module in a target driver model.

The method comprises the steps of determining current preview information of a current vehicle according to current road track information and a preview module in a pre-constructed target driver model, namely inputting the current road track information into the preview module in the target driver model to obtain the current preview information of the current vehicle, wherein the current preview information can comprise a preview point corresponding to the position of the current vehicle, and an included angle between a track tangent line at the preview point and a transverse axis of a geodetic coordinate system can be determined through the preview point. The pre-aiming point is a hypothetical point which assumes that the driver's gaze is focused at a point ahead during driving, and this hypothesis is usually met by practical experience.

And step 130, obtaining a target steering wheel angle according to the current yaw angle information, the current preview information and a following module in the target driver model, and controlling the target vehicle to run according to the target steering wheel angle at the next moment.

In order to minimize the difference value between the vehicle yaw angle and the included angle between the track tangent line at the aiming point and the transverse axis of the geodetic coordinate system, determining target aiming module parameters, obtaining a target aiming module according to the target aiming module parameters, inputting the current road track information into the target aiming module to obtain target aiming information, and inputting the target aiming information and the current yaw angle information into a following module in a target driver model to obtain the target steering wheel turning angle.

And the target yaw angle meets the condition that the difference between the track tangent at the target pre-aiming point and the transverse axis of a geodetic coordinate system is minimum, so that the vehicle reduces the swing amplitude under the condition of ensuring the driving precision.

According to the technical scheme, the vehicle is not simplified into a single mass point, the variation quantity of the vehicle yaw angle of the target vehicle in the tracking process from the current point to the pre-aiming point is used as the control target, the target steering wheel corner for ensuring the posture of the pre-aiming point of the vehicle is obtained through calculation, namely the vehicle yaw angle when the target vehicle reaches the target pre-aiming point on the spatial distance is in accordance with the tangential direction of the track where the target pre-aiming point is located, the phenomenon that the vehicle frequently yaws left and right in the track tracking process is avoided, the stability of vehicle control is improved, and therefore the comfort of the user in riding the vehicle is improved. And because the ending time of the calculation is the starting time of the next stage, if the difference between the yaw angle of the vehicle and the tangential direction of the track at the position corresponding to the pre-aiming point is large at the starting time of the next stage, the steering control difficulty of the next stage can be increased, the steering angle of the target steering wheel obtained by the scheme is used for controlling the vehicle to run, so that the difference between the yaw angle of the vehicle when running and the tangential direction of the track at the position corresponding to the pre-aiming point is small, and the steering control difficulty of the vehicle at the next stage is reduced.

Example two

Fig. 2 is a flowchart of a method for constructing a target driver model according to a second embodiment of the present invention, and this technical solution is supplementary explained with respect to a process for constructing a target driver model. Compared with the scheme, the scheme is specifically optimized in that the construction process of the target driver model comprises the following steps:

constructing a target vehicle model in the following module according to the vehicle yaw angle information; wherein the vehicle yaw angle information comprises a vehicle yaw rate;

and constructing the target driver model according to the target vehicle model, determining a process driver model according to the target driver model, and determining parameter information of the target driver model according to the process driver model. Specifically, the flow chart is shown in fig. 2:

step 210, constructing a target vehicle model in the following module according to the vehicle yaw angle information; wherein the vehicle yaw angle information includes a vehicle yaw rate.

Constructing a target vehicle model in a following module according to the vehicle yaw angle information; the vehicle yaw angle information may be a vehicle yaw rate, etc., among others. The target vehicle model is used for determining the relation between the steering wheel angle and the vehicle yaw rate, and the target vehicle model is constructed according to the vehicle yaw rate and a preset formula.

In this embodiment, optionally, constructing the target vehicle model in the following module according to the vehicle yaw angle information includes:

determining a first transfer function of the vehicle yaw rate and vehicle steering wheel angle;

acquiring the corner relation between the corner of the vehicle steering wheel and the corner of a vehicle steering wheel;

and determining a second transfer function of the vehicle yaw rate and the vehicle steering wheel angle according to the first transfer function and the angle relation, and determining the second transfer function as the target vehicle model.

Considering the vehicle suspension together with the steered roll angle, lateral force angle, and tire angle as the combined yaw angle of the front and rear wheels, the vehicle approximation can be considered as a two degree of freedom system to analyze the response of the vehicle as it enters the vehicle's steered wheel angle or vehicle steering wheel angle.

Fig. 3 is a schematic view of a vehicle model according to a second embodiment of the present invention. As shown in fig. 3, the vehicle model is a two-degree-of-freedom vehicle model.

The physical meaning of each parameter in the figure is as follows:

psi vehicle yaw angle, wherein the vehicle yaw angle is the angle between the vehicle axis and the X-axis of the geodetic coordinate system;

a yaw rate for the vehicle;

the vehicle heading angle is an included angle between the absolute vehicle speed direction of the vehicle and an X axis of a geodetic coordinate system;

beta vehicle mass center slip angle, wherein the vehicle mass center slip angle is an included angle between the vehicle absolute speed direction and the X axis of the vehicle coordinate system;

v is the absolute speed of the vehicle, which is determined by the transverse speed and the longitudinal speed of the vehicle;

v is the projection of the absolute speed of the vehicle in a vehicle coordinate system;

P _y1 、P _y2 : lateral forces to which the front and rear wheels of the vehicle are subjected;

δ ₁ 、δ ₂ : the comprehensive slip angles of the front wheel and the rear wheel;

δ: turning a steering wheel; a: the distance of the center of mass to the front axis; b: the distance of the center of mass to the rear axis;

and l, the wheel base.

Wherein:

the geometrical relationship is as follows:

when the dynamic influence of the vehicle is neglected, the balance of the force in the y direction and the moment around the mass center are balanced:

wherein m is the mass of the whole vehicle, and I is the moment of inertia of the vehicle around the Z axis.

From the mechanical properties of the tire:

wherein K ₁ 、K ₂ Effective cornering stiffness of the front and rear wheels of the vehicle, respectively;

then, the equations (6) and (7) are substituted into the equations (4) and (5), the pull-type transformation is carried out, and the initial condition is zero, r → r (S), and β → β (S), and the first transfer function of the yaw rate r to the steering wheel angle δ input of the vehicle is solved:

wherein S is a laplace variable.

Writing equation (8) to the form of a standard transfer function:

wherein G is _r ' is the steady state gain.

And is

Rho is the inertia radius of the whole body around the Z axis;

and define K as the stability factor:

wherein C is ₁ 、C ₂ The front and rear wheel cornering coefficients (the ratio of cornering stiffness to axle load mass).

Steering wheel angle delta of a vehicle, neglecting the dynamics of the vehicle steering system _SW The turning angle relation with the turning angle delta of the steering wheel of the vehicle is as follows:

where i is the steering gear ratio.

The yaw rate r of the vehicle to the steering wheel angle delta _SW The second transfer function of (a) is:

wherein

Is the steady state gain of yaw rate versus steering wheel angle. The second transfer function is determined as the target vehicle model.

And constructing a target vehicle model for determining the relation between the steering wheel angle and the vehicle yaw rate, so as to facilitate the subsequent further construction of a driver model.

Step 220, constructing the target driver model according to the target vehicle model, and determining a process driver model according to the target driver model so as to determine parameter information of the target driver model according to the process driver model.

And constructing a target driver model as a part of the target driver model according to the target vehicle model, determining a process driver model according to the target driver model, and determining parameter information of the target driver model according to the process driver model, so that a target steering wheel turning angle is determined according to the target driver model, current road track information and current yaw angle information obtained through the target driver model.

Fig. 4 is a basic block diagram of an existing driver model according to a second embodiment of the present invention. As shown in FIG. 4, wherein w ₁ 、w ₂ 、w ₃ 、w ₄ As a weight value of the driver model,

and y is the lateral acceleration, the lateral speed and the lateral displacement output by the vehicle respectively. Because of the limitation of self physiological factors, the rotational inertia of a steering wheel of a vehicle and other factors, a driver does not immediately turn to the vehicle after receiving front road information and state feedback information of the vehicle in the actual driving process, and the vehicle starts to respond after an operation signal of the driver is input for a certain time, so that a delay module is added into a pre-aiming optimization artificial neural network driver model:

wherein the content of the first and second substances,

delay of reflection for the driver's nervous system, t _d Reflecting the delay time for the nerves;

representing a delay in reflection, T, of the moment of inertia of the driver's arm and the vehicle's steering wheel, etc _h Is the time constant of the inertia delay element. According to the work of a plurality of researchers, the neural reflection delay time of a driver is generally about 0.2-0.3 second, and the time constant of an inertia delay link is generally0.1 second.

The driver-car closed loop system corresponding to the existing driver model is expressed by a transfer function as follows:

wherein P (S) is a transfer function of a predictor, represents a driver aiming link in a driver-automobile closed loop system, and depends on factors such as a driver aiming mode and the like; f (S) is a transfer function of the follower and represents links of steering of the driver, response of the vehicle and the like in a driver-automobile closed loop system.

f: inputting road track information;

f _e : inputting effective road track information obtained after the pre-aiming link processing;

y: driver-car closed loop system output.

Defining the error between the road track input and the closed loop system output as:

e(S)＝f(S)-y(S) (21)

the transfer function of the error to the road trajectory input is:

the assumption that the driver's gaze is focused at a point forward during driving is called a single point preview assumption, and is generally quite consistent with practical experience. Corresponding to the assumption of single point prediction, in a driver-car closed loop system, the transfer function of the predictor is:

in the formula T _p The preview time of the driver.

It is developed by Taylor series to obtain:

meanwhile, the reciprocal of the transfer function of the follower is F (S) ^-1 Also expanded with Taylor series:

F(S) ^-1 ＝F ₀ +F ₁ ·S+F ₂ ·S ² +F ₃ ·S ³ +··· (25)

the substitution of formulae (24) and (25) into formula (22) can give:

as can be seen from the above formula, when the driver-car closed loop system is satisfied:

p(S)·F(S)≈1 (27)

that is, the reciprocal of the transfer function of the follower is as close as possible to the transfer function of the predictor, so that the error of the whole system is as small as possible, and the following effect is achieved as much as possible.

When the follower f(s) satisfies the formula (28), f(s) is referred to as an n-order follower. If the high-order frequency part of n +1 and above is neglected, the error is 0, and the following effect of the system is better.

F _i -P _i ＝0(i＝0,1,···n) (28)

The target driver model is obtained by simplifying the existing driver model, and fig. 5 is a basic block diagram of a target driver model provided in the second embodiment of the present invention. As shown in fig. 5, w ₁ 、w ₂ 、w ₃ As driver model weights, f (t) as current road track information of the target vehicle, f _e And (t) is the current preview information obtained after being processed by the preview module.

To the target steering wheel angle, delta _SW An actual vehicle steering wheel angle determined from the target steering wheel angle, r an actual vehicle yaw rate determined from the target steering wheel angle, and Ψ a rootAn actual vehicle yaw angle determined from the target steering wheel angle.

In this embodiment, optionally, determining a process driver model according to a target driver model to determine parameter information of the target driver model according to the process driver model includes:

obtaining a first process driver model according to the division operation of the target driver model and a first weight in the target driver model;

decomposing the first weight in the first process driver model into a first steady state gain of the vehicle yaw rate versus the steering wheel angle and a pending parameter;

equating the delay module in the first process driver model and the target vehicle model as a third transfer function between the target steering wheel angle to the vehicle yaw rate;

and constructing a second process driver model according to the first process driver model, the first steady-state gain, the undetermined parameter and the third transfer function, so as to determine parameter information of the target driver model according to the second process driver model.

A first weight w of the target driver model ₁ And removing each weight value as a divisor to obtain a first process driver model. Fig. 6 is a basic block diagram of a first process driver model according to a second embodiment of the present invention. The factor representing the commonality of each weight is w ₁ In (1), each weight and w ₁ The ratio of (a) represents the interrelationship between the various parameters of the driver model.

Fig. 7 is a basic block diagram of a second process driver model according to a second embodiment of the present invention. As shown in fig. 7, the first weight in the first process driver model is decomposed into a first steady state gain of vehicle yaw rate versus steering wheel angle and pending parameters; i.e. w ₁ Decomposition to 1/K ₀ And 1/G _r Two moieties, wherein K ₀ For the parameter to be determined, G _r Is a first steady state gain of vehicle yaw rate versus steering wheel angle. Will w ₁ /w ₁ Is marked as w ₁₁ W is to be ₂ /w ₁ Is marked as w ₂₂ W is to be ₃ /w ₁ Is marked as w ₃₃ 。

Equating the delay module in the first process driver model and the target vehicle model as a third transfer function between the target steering wheel angle to the actual vehicle yaw rate;

wherein the third transfer function is

And constructing a second process driver model according to the first process driver model, the first steady-state gain, the undetermined parameter and the third transfer function. The method comprises the steps of establishing a first process driver model and a second process driver model, determining each parameter in a target driver model, obtaining a target steering wheel angle according to the target driver model, current road track information and current yaw angle information obtained through the target driver model, and improving the accuracy of obtaining the target steering wheel angle.

In this embodiment, optionally, determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model includes:

determining target preview time according to the second process driver model, and determining module parameters of the preview module according to the target preview time;

and determining the current preview information according to the current road track information and the preview module.

The target preview time is the optimal preview time, so that the optimal preview point is determined according to the optimal preview time, the reduction of precision caused by too long distance from the preview point when the vehicle runs to the optimal preview point is avoided, and the frequent swing frequency of the vehicle caused by too short distance from the preview point is avoided.

In the second process driver model, the equation between each parameter in the driver model and the vehicle state quantity (vehicle yaw rate, vehicle yaw angle) is:

the method comprises the following steps:

w ₁₁ ＝-w ₂₂ ＝1 (30)

substituting the formula (29) into the formula (28), and performing Laplace transform on two sides of the formula (28) to obtain:

the system of equations represented by equations (24), (28), and (31):

thereby obtaining parameter information of the target driver model:

in the formula T _p The preview time of the driver. Meanwhile, the target preview time can be determined from the second and third order error equations of equation (32):

determination of T _q1 And T _q2 ：

From the foregoing, transfer function

The equivalent expression of the delay module of the driver model and the target vehicle model is as follows:

by calculating and omitting the Laplace variable Shigh order term:

in the formula, T _h ,t _d Is the time constant of the driver model lag link;

T ₁ ,T ₂ ,τ ₁ the parameters of the two-degree-of-freedom vehicle model are shown in the formulas (11), (12) and (13).

In conclusion, the parameters of the target driver model are analyzed and derived.

Based on the principle of minimum error, the target preview time is determined according to the second process driver model, and the module parameters of the preview module are determined according to the target preview time, so that the current preview information obtained by the current road track information through the preview module is the optimal preview information, the optimal steering wheel corner can be conveniently obtained according to the optimal preview information in the follow-up process, and the accuracy of determining the target steering wheel corner is improved.

The embodiment of the invention constructs a target vehicle model in a following module according to the vehicle yaw angle information; constructing a target driver model according to the target vehicle model, and determining a process driver model according to the target driver model to determine parameter information of the target driver model according to the process driver model, therefore, the optimal steering wheel corner is obtained according to the target driver model with the determined parameter information, the vehicle yaw angle generated when the target vehicle is controlled to run according to the optimal steering wheel corner at the next moment is the optimal yaw angle, the difference value between the optimal yaw angle and the included angle between the track tangent line at the pre-aiming point and the transverse axis of the geodetic coordinate system is the minimum, the vehicle yaw angle when the target vehicle reaches the target pre-aiming point on the space distance is in accordance with the tangential direction of the track of the target pre-aiming point, the phenomenon that the vehicle frequently yaws left and right in the track tracking process is avoided, the vehicle control stability is improved, and the riding comfort of the user vehicle is improved.

EXAMPLE III

Fig. 8 is a schematic structural diagram of a vehicle travel control device according to a third embodiment of the present invention. The device can be realized in a hardware and/or software mode, can execute the vehicle running control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 8, the apparatus includes:

an information obtaining module 810, configured to obtain current road track information of a target vehicle and current yaw angle information of the target vehicle;

an information determining module 820, configured to determine current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model;

and a target steering wheel angle obtaining module 830, configured to obtain a target steering wheel angle according to the current yaw angle information, the current preview information, and a following module in the target driver model, so as to control the target vehicle to run according to the target steering wheel angle at the next moment.

On the basis of the above technical solutions, optionally, the apparatus further includes: a target driver model construction module, the target driver model construction module comprising:

the target vehicle model building unit is used for building a target vehicle model in the following module according to the vehicle yaw angle information; wherein the vehicle yaw angle information comprises a vehicle yaw rate;

and the target driver model building unit is used for building the target driver model according to the target vehicle model, determining a process driver model according to the target driver model and determining the parameter information of the target driver model according to the process driver model.

On the basis of the above technical solutions, optionally, the target vehicle model building unit includes:

a first transfer function determination subunit operable to determine a first transfer function of the vehicle yaw rate and the vehicle steered wheel angle;

the corner relation obtaining subunit is used for obtaining the corner relation between the corner of the vehicle steering wheel and the corner of the vehicle steering wheel;

a second transfer function determining subunit operable to determine a second transfer function of the vehicle yaw rate and the vehicle steering wheel angle, based on the first transfer function and the angle relationship, and determine the second transfer function as the target vehicle model.

On the basis of the above technical solutions, optionally, the target driver model building unit includes:

determining a process driver model from a target driver model to determine parametric information for the target driver model from the process driver model, comprising:

a first process driver model obtaining subunit, configured to obtain a first process driver model according to a division operation of the target driver model and a first weight in the target driver model;

a weight decomposition unit for decomposing the first weight in the first process driver model into a first steady-state gain of the vehicle yaw rate to the steering wheel angle and a pending parameter;

a third transfer function determining subunit for equating the delay module in the first process driver model and the target vehicle model as a third transfer function between the target steering wheel angle and the vehicle yaw rate;

a second process driver model construction subunit, configured to construct a second process driver model according to the first process driver model, the first steady-state gain, the undetermined parameter, and the third transfer function, so as to determine parameter information of the target driver model according to the second process driver model.

On the basis of the above technical solutions, optionally, the information determining module includes:

the module parameter determining unit is used for determining target preview time according to the second process driver model and determining module parameters of the preview module according to the target preview time;

and the current preview information determining unit is used for determining the current preview information according to the current road track information and the preview module.

Example four

FIG. 9 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 executes the respective methods and processes described above, such as the vehicle travel control method.

In some embodiments, the vehicle travel control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle travel control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle travel control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle travel control method characterized by comprising:

2. The method of claim 1, wherein the construction process of the target driver model comprises:

and constructing the target driver model according to the target vehicle model, determining a process driver model according to the target driver model, and determining parameter information of the target driver model according to the process driver model.

3. The method of claim 2, wherein constructing a target vehicle model in the following module from the vehicle yaw angle information comprises:

4. The method of claim 2, wherein determining a process driver model from a target driver model to determine parametric information for the target driver model from the process driver model comprises:

5. The method of claim 4, wherein determining the current preview information of the current vehicle according to the current road track information and a preview module in a pre-constructed target driver model comprises:

6. A vehicle travel control device characterized by comprising:

7. The apparatus of claim 6, further comprising: a target driver model construction module, the target driver model construction module comprising:

8. The apparatus of claim 6, wherein the target vehicle model building unit comprises:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle travel control method of any one of claims 1-5.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle travel control method according to any one of claims 1 to 5 when executed.