CN115871785A - Vehicle steering control method, electronic device, storage medium, and vehicle - Google Patents
Vehicle steering control method, electronic device, storage medium, and vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent driving, in particular provides a vehicle steering control method, electronic equipment, a storage medium and a vehicle, and aims to solve the technical problem that an existing lane centering control system cannot be qualified for high dynamic working conditions. To this end, the vehicle steering control method of the invention includes: respectively determining a first steering wheel angle instruction control value and a second steering wheel angle instruction control value; and controlling the vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value. Therefore, the accurate tracking of the vehicle is realized, and the stability of the vehicle under the high dynamic working condition is improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, and particularly provides a vehicle steering control method, electronic equipment, a storage medium and a vehicle.
Background
At present, the existing lane centering control system is generally only suitable for a relatively stable driving condition, such as a common highway working condition. When the curvature of the road is too large or the road surface is too wet and slippery, the control error of the common lane centering control system is very large, and the vehicle slides out of the lane.
The reason why the existing lane centering control system is insufficient for high dynamic conditions is that it does not consider the dynamic characteristics of the vehicle itself. Under high dynamic conditions (such as sharp turning), the tire is subjected to larger lateral force, the tire slip angle is in a nonlinear region, and the motion characteristics of the vehicle are obviously different from those under steady-state conditions. In order to achieve accurate tracking, the dynamic characteristics of the vehicle must be taken into account.
Accordingly, there is a need in the art for a new vehicle steering control scheme to address the above-mentioned problems.
Disclosure of Invention
The present invention has been made to overcome the above-mentioned drawbacks, and aims to provide a solution or at least a partial solution to the above-mentioned technical problem. The invention provides a vehicle steering control method, an electronic device, a storage medium and a vehicle.
In a first aspect, the present invention provides a vehicle steering control method, the method comprising: respectively determining a first steering wheel angle command control value and a second steering wheel angle command control value, wherein the first steering wheel angle command control value is used for reducing the centroid slip angle, and the second steering wheel angle command control value is used for improving the tracking performance of the vehicle in a curve; and controlling a vehicle steering system based on the first steering wheel angle instruction control value and the second steering wheel angle instruction control value.
In one embodiment, the determining the first steering wheel angle command control value includes: determining a centroid slip angle of the vehicle; determining the first steering wheel angle command control value based on the centroid slip angle.
In one embodiment, the determining a centroid slip angle of the vehicle comprises: judging whether the positioning system and the inertial navigator work normally or not; if so, fitting the motion trail of the vehicle based on the positioning information acquired by the positioning system and the IMU information acquired by the inertial navigator; determining a direction of motion of the vehicle based on the motion trajectory; determining a centroid slip angle of the vehicle based on a direction of motion of the vehicle; if not, determining the mass center slip angle of the vehicle based on the wheel speed and the steering wheel rotation angle of the vehicle.
In one embodiment, the determining the first steering wheel angle command control value based on the centroid slip angle includes: the first steering wheel angle command control value is determined based on a product of the centroid slip angle and a centroid slip angle coefficient.
In one embodiment, the determining the second steering wheel angle command control value includes: the second steering wheel angle command control value is determined based on the product of the yaw rate and the yaw rate coefficient of the vehicle.
In one embodiment, the controlling a vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value includes: determining a dynamic steering angle command control value based on the first steering wheel steering angle command control value and the second steering wheel steering angle command control value; judging whether the vehicle is provided with a rear wheel steering system or not; if yes, controlling the rear wheel steering system based on the dynamic corner instruction control value and the dynamic corner instruction coefficient; and if not, controlling the front wheel steering system based on the dynamic corner instruction control value.
In one embodiment, the determining a dynamic steering angle command control value based on the first steering wheel angle command control value and the second steering wheel angle command control value includes: taking the sum of the first steering wheel angle command control value and the second steering wheel angle command control value as the dynamic steering angle command control value; and/or
The controlling the rear wheel steering system based on the dynamic steering angle command control value and the dynamic steering angle command coefficient includes: determining a rear wheel steering angle command control value based on the product of the dynamic steering angle command control value and a dynamic steering angle command coefficient; and controlling the rear wheel steering system based on the rear wheel steering command control value.
In a second aspect, an electronic device is provided, comprising at least one processor and at least one memory means, said memory means being adapted to store a plurality of program codes, said program codes being adapted to be loaded and run by said processor to perform the vehicle steering control method of any of the preceding claims.
In a third aspect, a computer readable storage medium is provided having stored therein a plurality of program codes adapted to be loaded and executed by a processor to perform the vehicle steering control method of any of the preceding claims.
In a fourth aspect, a vehicle is provided, which comprises the aforementioned electronic device.
One or more technical schemes of the invention at least have one or more of the following beneficial effects:
the vehicle steering control method comprises the steps of firstly, respectively determining a first steering wheel steering angle instruction control value and a second steering wheel steering angle instruction control value; and then controlling the vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value. Therefore, the dynamic characteristic of the vehicle is considered, the accurate tracking of the vehicle is realized, and the stability of the vehicle under the high dynamic working condition is improved.
Drawings
The disclosure of the present invention will become more readily understood with reference to the accompanying drawings. As is readily understood by those skilled in the art: these drawings are for illustrative purposes only and are not intended to constitute a limitation on the scope of the present invention. Moreover, in the drawings, like numerals are used to indicate like parts, and in which:
FIG. 1 is a schematic flow chart of the main steps of a vehicle steering control method according to one embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the determination of centroid slip angle in one embodiment;
FIG. 3 is a graphical illustration of the relationship between the centroid slip angle coefficient and vehicle speed for one embodiment;
FIG. 4 is a schematic diagram illustrating the relationship between yaw rate coefficient and vehicle speed in one embodiment;
FIG. 5 is a schematic flow chart diagram illustrating a method for controlling steering of a vehicle according to one embodiment;
FIG. 6 is a schematic diagram of the structure of an electronic device in one embodiment.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "module" or "processor" may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, may comprise software components such as program code, or may be a combination of software and hardware. The processor may be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and/or signal processing functionality. The processor may be implemented in software, hardware, or a combination thereof. Non-transitory computer-readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random-access memory, and so forth. The term "a and/or B" denotes all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" means similar to "A and/or B" and may include only A, only B, or both A and B. The singular forms "a", "an" and "the" may include the plural forms as well.
The reason why the conventional lane centering control system is insufficient for high dynamic conditions at present is that it does not consider the dynamic characteristics of the vehicle itself. Under high dynamic working conditions (such as sharp turning), the tire is subjected to larger lateral force, the tire slip angle is in a nonlinear region, and the motion characteristic of the vehicle is obviously different from that under the steady-state working conditions. In order to achieve accurate tracking, the dynamic characteristics of the vehicle must be taken into account.
The method comprises the steps of firstly, respectively determining a first steering wheel angle instruction control value and a second steering wheel angle instruction control value; and then controlling the vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value. Therefore, the dynamic characteristic of the vehicle is considered, the accurate tracking of the vehicle is realized, and the stability of the vehicle under the high dynamic working condition is improved.
Referring to fig. 1, fig. 1 is a flow chart illustrating main steps of a vehicle steering control method according to an embodiment of the present invention.
As shown in fig. 1, the vehicle steering control method in the embodiment of the invention mainly includes the following steps S101 to S102.
Step S101: and respectively determining a first steering wheel angle command control value and a second steering wheel angle command control value, wherein the first steering wheel angle command control value is used for reducing the centroid slip angle, and the second steering wheel angle command control value is used for improving the tracking performance of the vehicle in a curve.
Specifically, the first steering wheel angle command control value is used to reduce the centroid slip angle, which can compensate for the effect of the centroid slip angle on the vehicle tracking performance. The second steering wheel angle command control value is used to improve the tracking performance of the vehicle in a curve, and is capable of compensating for the influence of the understeer characteristic of the vehicle on the tracking performance of the vehicle.
In one embodiment, the determining the first steering wheel angle command control value includes: determining a centroid slip angle of the vehicle; determining the first steering wheel angle command control value based on the centroid slip angle.
In one embodiment, the determining the centroid slip angle of the vehicle comprises: judging whether the positioning system and the inertial navigator work normally or not; if so, fitting the motion track of the vehicle based on the positioning information acquired by the positioning system and the IMU information acquired by the inertial navigator; determining a direction of motion of the vehicle based on the motion trajectory; determining a centroid slip angle of the vehicle based on a direction of motion of the vehicle; if not, determining the mass center slip angle of the vehicle based on the wheel speed and the steering wheel rotation angle of the vehicle.
Specifically, under the condition that the positioning system and the inertial navigator can work normally, the centroid sideslip angle can be determined through the positioning information acquired by the positioning system and the IMU information acquired by the inertial navigator. In one embodiment, as shown in fig. 2 specifically, the motion trajectory of the vehicle is fitted according to the positioning information and the IMU information, then the motion trajectory of the vehicle is derived to obtain the current motion direction of the vehicle, and then the longitudinal axis direction of the vehicle is subtracted from the motion direction of the vehicle to obtain the centroid slip angle.
In one embodiment, a rectangular vehicle is taken as an example, a midpoint connecting line of two short sides of the rectangle is taken as a y-axis (longitudinal axis) direction of the vehicle, a direction perpendicular to the ground is taken as a z-axis direction, and a direction perpendicular to a plane where the y-axis and the z-axis are located and satisfying a right-hand rule is taken as an x-axis direction.
And under the condition that the positioning system and the inertial navigator cannot work normally, determining the mass center slip angle of the vehicle based on the wheel speed and the steering wheel rotation angle of the vehicle. Specifically, in one embodiment, the centroid slip angle is calculated by the following equation:
wherein, beta is the centroid slip angle, V is the wheel speed of the vehicle, alpha is the steering wheel corner, k is the stability factor, is an important parameter for representing the vehicle stable response, and the calculation formula is as follows:
wherein m is the vehicle mass, l is the proportionality coefficient, l f Is the center of mass to front wheelbase, /) r Is the center of mass to rear wheelbase, k r For rear wheel cornering stiffness, k f Is the front wheel cornering stiffness.
In one embodiment, the determining the first steering wheel angle command control value based on the centroid slip angle includes: the first steering wheel angle command control value is determined based on a product of the centroid slip angle and a centroid slip angle coefficient.
In one embodiment, the product of the centroid slip angle and the centroid slip angle coefficient is used as the first steering wheel angle command control value, and the specific calculation formula is as follows:
StrReq_beta＝k1*beta
wherein StrReq _ beta is a first steering wheel angle command control value, k1 is a centroid slip angle coefficient, and beta is a centroid slip angle.
In one embodiment, the centroid slip angle coefficient k1 corresponds to the vehicle speed as shown in fig. 3, but is not limited thereto.
In one embodiment, the determining the second steering wheel angle command control value includes: the second steering wheel angle command control value is determined based on the product of the yaw rate and the yaw rate coefficient of the vehicle.
In one embodiment, the product of the yaw rate and the yaw-rate coefficient of the vehicle is used as the second steering-wheel-angle-command control value, and the specific calculation formula is as follows:
StrReq_yawrate＝k2*yawrate
where streq _ yawrate is the second steering wheel angle command control value, k2 is the yaw rate coefficient, and yawrate is the yaw rate of the vehicle.
In one embodiment, the correspondence relationship between the yaw-rate coefficient k2 and the vehicle speed is specifically shown in fig. 4, but is not limited thereto.
Step S102: and controlling a vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value.
Specifically, in one embodiment, the vehicle steering system includes at least a front wheel steering system. In another embodiment, the vehicle steering system further comprises a rear wheel steering system.
In a specific embodiment, the controlling the vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value may be specifically realized through steps S1021 to S1022 described below.
Step S1021: and determining a dynamic steering angle command control value based on the first steering wheel angle command control value and the second steering wheel angle command control value.
In one embodiment, the determining a dynamic steering angle command control value based on the first steering wheel angle command control value and the second steering wheel angle command control value includes: taking the sum of the first steering wheel angle command control value and the second steering wheel angle command control value as the dynamic steering angle command control value, wherein a specific calculation formula of the dynamic steering angle command control value streq is as follows:
StrReq＝StrReq_beta+StrReq_yawrate
specifically, the dynamic steering angle command control value StrReq is obtained by adding the first steering wheel angle command control value StrReq _ beta and the second steering wheel angle command control value StrReq _ yawrate, and is used for improving the tracking performance of the vehicle under the high dynamic working condition. In one embodiment, a sharp turn may be used as an example of the high dynamic condition, but is not limited thereto.
Step S1022: judging whether the vehicle is provided with a rear wheel steering system or not;
and if so, controlling the rear wheel steering system based on the dynamic corner instruction control value and the dynamic corner instruction coefficient.
In one embodiment, the controlling the rear wheel steering system based on the dynamic steering angle command control value and the dynamic steering angle command coefficient includes: determining a rear wheel steering angle command control value based on the product of the dynamic steering angle command control value and a dynamic steering angle command coefficient; and controlling the rear wheel steering system based on the rear wheel steering command control value.
Specifically, in one embodiment, in the case where the vehicle is equipped with a rear wheel steering system, the rear wheel steering angle command control value is first determined by multiplying the dynamic steering angle command control value by the dynamic steering angle command coefficient, and the calculation formula is as follows:
StrReq_RWS＝K*(-StrReq_beta-StrReq_yawrate)
wherein StrReq _ RWS is a rear wheel steering angle instruction control value, and K is the steering proportion relation between the front wheels and the rear wheels.
In one embodiment, the steering ratio relationship between the front wheels and the rear wheels can be specifically calculated by the following calculation formula:
K＝(l f *k f )/(l r *k r )/C
wherein K is the steering proportion relation of the front wheels and the rear wheels, l f Is the center of mass to front wheelbase, /) r Is the center of mass to rear wheelbase, k r For rear wheel cornering stiffness, k f C is the steering transmission ratio of the front wheels to the rear wheels.
And if not, controlling a front wheel steering system based on the dynamic corner instruction control value. Specifically, in the case where the vehicle is not equipped with a rear wheel steering system, the front wheel steering system is controlled directly by the dynamic steering angle command control value streq.
Based on the steps S101 to S102, the vehicle steering control method, the electronic device, the storage medium, and the vehicle first determine a first steering wheel angle command control value and a second steering wheel angle command control value, respectively; and then controlling the vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value. Therefore, the dynamic characteristic of the vehicle is considered, the accurate tracking of the vehicle is realized, and the stability of the vehicle under the high dynamic working condition is improved.
In one embodiment, and as shown particularly in FIG. 5, the first and second steering wheel angle command control values StrReq _ beta and StrReq _ yawrate are determined by the high dynamics compensation module, respectively, and then the actuator, which may be a front wheel steering system or a rear wheel steering system, is controlled by the sum StrReq of the first and second steering wheel angle command control values StrReq _ beta and StrReq _ yawrate.
It should be noted that, although the foregoing embodiments describe each step in a specific sequence, those skilled in the art will understand that, in order to achieve the effect of the present invention, different steps do not necessarily need to be executed in such a sequence, and they may be executed simultaneously (in parallel) or in other sequences, and these changes are all within the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the flow of the method according to the above-described embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used to implement the steps of the above-described embodiments of the method when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying said computer program code, media, usb disk, removable hard disk, magnetic diskette, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunication signals, software distribution media, etc. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
Furthermore, the invention also provides electronic equipment. In an embodiment of the electronic device according to the present invention, as shown in particular in fig. 6, the electronic device comprises at least one processor 61 and at least one storage device 62, the storage device may be configured to store a program for executing the vehicle steering control method of the above-mentioned method embodiment, and the processor may be configured to execute the program in the storage device, the program including but not limited to the program for executing the vehicle steering control method of the above-mentioned method embodiment. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and specific technical details are not disclosed.
The electronic device in the embodiment of the present invention may be a control apparatus device including various devices. In some possible implementations, an electronic device may include multiple storage devices and multiple processors. The program for executing the vehicle steering control method of the above method embodiment may be divided into a plurality of sub-programs, each of which may be loaded and run by a processor to execute different steps of the vehicle steering control method of the above method embodiment. Specifically, each piece of the sub program may be stored in a different storage device, and each processor may be configured to execute the program in one or more storage devices to implement the vehicle steering control method of the above-described method embodiment together, that is, each processor executes different steps of the vehicle steering control method of the above-described method embodiment to implement the vehicle steering control method of the above-described method embodiment together.
The multiple processors may be processors disposed on the same device, for example, the electronic device may be a high-performance device composed of multiple processors, and the multiple processors may be processors configured on the high-performance device. In addition, the multiple processors may also be processors disposed on different devices, for example, the electronic device may be a server cluster, and the multiple processors may be processors on different servers in the server cluster.
Further, the invention also provides a computer readable storage medium. In one computer-readable storage medium embodiment according to the present invention, a computer-readable storage medium may be configured to store a program that executes the vehicle steering control method of the above-described method embodiment, and the program may be loaded and executed by a processor to implement the above-described vehicle steering control method. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and specific technical details are not disclosed. The computer readable storage medium may be a storage device formed by including various electronic devices, and optionally, the computer readable storage medium is a non-transitory computer readable storage medium in the embodiment of the present invention.
Further, the invention also provides a vehicle, which comprises the electronic device in the embodiment.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A vehicle steering control method, characterized by comprising:
respectively determining a first steering wheel angle command control value and a second steering wheel angle command control value, wherein the first steering wheel angle command control value is used for reducing the centroid slip angle, and the second steering wheel angle command control value is used for improving the tracking performance of the vehicle in a curve;
and controlling a vehicle steering system based on the first steering wheel angle instruction control value and the second steering wheel angle instruction control value.
2. The vehicle steering control method according to claim 1, wherein the determining of the first steering wheel angle command control value includes:
determining a centroid slip angle of the vehicle;
determining the first steering wheel angle command control value based on the centroid slip angle.
3. The vehicle steering control method according to claim 2, wherein the determining a centroid slip angle of the vehicle comprises:
judging whether the positioning system and the inertial navigator work normally or not;
if so, fitting the motion trail of the vehicle based on the positioning information acquired by the positioning system and the IMU information acquired by the inertial navigator;
determining a direction of motion of the vehicle based on the motion profile;
determining a centroid slip angle of the vehicle based on a direction of motion of the vehicle;
if not, determining the mass center slip angle of the vehicle based on the wheel speed and the steering wheel rotation angle of the vehicle.
4. The vehicle steering control method according to claim 2 or 3, characterized in that the determining the first steering wheel angle command control value based on the centroid slip angle includes: the first steering wheel angle command control value is determined based on a product of the centroid slip angle and a centroid slip angle coefficient.
5. The vehicle steering control method according to claim 1, characterized in that the determining a second steering wheel angle command control value includes: the second steering wheel angle command control value is determined based on the product of the yaw rate and the yaw rate coefficient of the vehicle.
6. The vehicle steering control method according to claim 1, wherein the controlling a vehicle steering system based on the first steering wheel angle command control value and the second steering wheel angle command control value includes:
determining a dynamic steering angle command control value based on the first steering wheel steering angle command control value and the second steering wheel steering angle command control value;
judging whether the vehicle is provided with a rear wheel steering system or not;
if yes, controlling the rear wheel steering system based on the dynamic corner instruction control value and the dynamic corner instruction coefficient;
and if not, controlling a front wheel steering system based on the dynamic corner instruction control value.
7. The vehicle steering control method according to claim 6,
the determining a dynamic steering angle command control value based on the first steering wheel angle command control value and the second steering wheel angle command control value includes: taking the sum of the first steering wheel angle command control value and the second steering wheel angle command control value as the dynamic steering angle command control value; and/or
The controlling the rear wheel steering system based on the dynamic steering angle command control value and the dynamic steering angle command coefficient includes: determining a rear wheel steering angle command control value based on the product of the dynamic steering angle command control value and a dynamic steering angle command coefficient; and controlling the rear wheel steering system based on the rear wheel steering command control value.
8. An electronic device comprising at least one processor and at least one memory means adapted to store a plurality of program codes, characterized in that said program codes are adapted to be loaded and run by said processor to perform the vehicle steering control method according to any of claims 1 to 7.
9. A computer readable storage medium having a plurality of program codes stored therein, wherein the program codes are adapted to be loaded and executed by a processor to perform the vehicle steering control method according to any one of claims 1 to 7.
10. A vehicle characterized in that the vehicle comprises the electronic device of claim 8.
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| CN202310101222.1A CN115871785A (en) | 2023-01-19 | 2023-01-19 | Vehicle steering control method, electronic device, storage medium, and vehicle |
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| CN202310101222.1A CN115871785A (en) | 2023-01-19 | 2023-01-19 | Vehicle steering control method, electronic device, storage medium, and vehicle |
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| KR20120097024A (en) * | 2011-02-24 | 2012-09-03 | 남양공업주식회사 | Control method of electric power steering by reflecting the dynamic characteristics of a vehicle |
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| CN109094640A (en) * | 2018-05-24 | 2018-12-28 | 西安理工大学 | A kind of wheel drive electric automobile wire-controlled steering system and control method |
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