CN115946768A - Method and device for controlling vehicle running, storage medium and vehicle - Google Patents
Method and device for controlling vehicle running, storage medium and vehicle Download PDFInfo
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Abstract
The invention discloses a method and a device for controlling vehicle running, a storage medium and a vehicle. Wherein, the method comprises the following steps: obtaining model parameters of a panic link in a driver model, wherein the driver model is a model added with the panic link; determining a first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameter, wherein the first steering wheel angle is greater than an angle threshold; and controlling the vehicle to run based on the first steering wheel angle. The invention solves the technical problem of low accuracy of the steering wheel operated by the driving object in the driving process of the vehicle.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a method, a device, a storage medium and a vehicle for controlling the running of the vehicle.
Background
At present, in the steering operation process of a driving object, a common method is a process of truly reflecting the steering operation decision of the driving object according to an optimal aiming acceleration model, but the panic characteristic of the driving object is not considered by the model, so that the application range of the optimal aiming acceleration model is limited.
Aiming at the problem that the accuracy of a steering wheel operated by a driving object is low in the driving process of the vehicle, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a storage medium and a vehicle for controlling the vehicle to run, and at least solves the technical problem that the accuracy of a driving object for operating a steering wheel is low in the running process of the vehicle.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling travel of a vehicle. Wherein, the method can comprise the following steps: obtaining model parameters of a panic link in a driver model, wherein the driver model is a model added with the panic link; determining a first steering wheel corner of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to the planned path, the first steering wheel corner is used for representing the number of turns of the steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration; and controlling the vehicle to run based on the first steering wheel angle.
Optionally, obtaining model parameters of a panic segment in the driver model includes: determining model parameters based on at least one of: the method comprises the steps of first lateral acceleration steady-state gain, a damping ratio of a panic link, a panic coefficient of a driving object, undamped natural efficiency and a damping ratio coefficient.
Optionally, determining a first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameter comprises: the product between the first lateral acceleration and the model parameter function of the driving object is determined as a first steering wheel angle of the vehicle.
Optionally, before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameter, the method further comprises: the method comprises the steps of obtaining lateral displacement of a first position on a target path and lateral displacement of a second position on a planned path, wherein the target path is a preset path of a vehicle, and the planned path is a path when the vehicle runs from a position at the current moment to the first position of the target path; determining a target lateral displacement of the vehicle based on the lateral displacement of the first location and the lateral displacement of the second location; determining a product between the target lateral displacement and a preview time as the first lateral acceleration, wherein the preview time function is determined by the preview time.
Optionally, determining the target lateral displacement based on the lateral displacement of the first location and the lateral displacement of the second location comprises: and determining the difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.
Optionally, controlling the vehicle to run based on the first steering wheel angle includes: determining a product between a first steering wheel angle and a delay time function of the driving object as a second steering wheel angle of the vehicle, wherein the delay time function is determined by an inertial delay time and a neural delay time of the driving object; determining a product between the second steering wheel angle and the steady state gain function as a second lateral acceleration; the vehicle is controlled to travel based on the second steering wheel angle and the second lateral acceleration.
According to another aspect of the embodiments of the present invention, there is provided an apparatus for controlling running of a vehicle, including: the device comprises an acquisition unit, a judgment unit and a display unit, wherein the acquisition unit is used for acquiring model parameters of a panic link in a driver model, and the driver model is a model added with the panic link; the vehicle steering control device comprises a determining unit, a control unit and a control unit, wherein the determining unit is used for determining a first steering wheel corner of a vehicle based on a first lateral acceleration of the vehicle and a model parameter, the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to a planned path, the first steering wheel corner is used for representing the number of turns of a steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration; and a control unit for controlling the vehicle to travel based on the first steering wheel angle.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is controlled when the program is executed performs the method of controlling the running of the vehicle of the embodiment of the present invention.
According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program is run to execute the method for controlling the running of the vehicle of the embodiment of the invention.
According to another aspect of the embodiment of the invention, a vehicle for executing the method for controlling the vehicle to run of the embodiment of the invention is also provided.
In the embodiment of the invention, model parameters of a panic link in a driver model are obtained, wherein the driver model is a model added with the panic link; determining a first steering wheel corner of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to the planned path, the first steering wheel corner is used for representing the number of turns of the steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration; and controlling the vehicle to run based on the first steering wheel angle. That is to say, the embodiment of the present invention obtains the model parameter of the panic link in the driver model, obtains the first steering wheel angle of the vehicle according to the first lateral acceleration and the model parameter when the vehicle travels according to the planned path, and controls the vehicle to travel according to the first steering wheel angle, so as to achieve the purpose that the steering wheel of the vehicle is controlled more accurately by the driving object, solve the technical problem that the accuracy of the steering wheel operated by the driving object is low in the traveling process of the vehicle, and achieve the technical effect that the accuracy of the steering wheel operated by the driving object is improved in the traveling process of the vehicle.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of controlling travel of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system block of a preview tracking model according to an embodiment of the invention;
FIG. 3 is a schematic view of a coordinate system of vehicle travel according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the basic framework of an optimal projected lateral acceleration model, according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the basic framework of an optimal predictive lateral acceleration model incorporating a panic segment in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a serpentine trajectory curve according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an apparatus for controlling the travel of a vehicle according to an embodiment of the present 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," and the like in the description and claims of the present invention and in the drawings described above 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 1
In accordance with an embodiment of the present invention, there is provided a method of controlling vehicle travel, it being noted that the steps illustrated in the flowchart of the drawings may be carried out in a computer system such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be carried out in an order different than presented herein.
Fig. 1 is a flowchart of a method of controlling a vehicle to travel according to an embodiment of the present invention, which may include the steps of, as shown in fig. 1:
and S101, obtaining model parameters of a panic link in a driver model, wherein the driver model is a model added with the panic link.
In the technical scheme provided by the above step S101 of the present invention, a model parameter of a panic link in a driver model added with the panic link is obtained, where the panic link is a link in which a driver simulates that the driver sees a traffic accident or other things occurring in front of a vehicle, so that the driver generates mental behaviors such as panic or excitement and the driver controls a steering wheel to react slowly or quickly, and the model parameter is a parameter generated in the panic link, where the driver may be a driver of the vehicle.
And step S102, determining a first steering wheel corner of the vehicle based on a first lateral acceleration of the vehicle and the model parameter, wherein the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to the planned path, the first steering wheel corner is used for representing the number of turns of the steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration.
In the technical solution provided in step S102 of the present invention, the first lateral acceleration may be a longitudinal acceleration of the vehicle at a certain position on the planned path, and a product between the first lateral acceleration and the model parameter is determined as a first steering wheel angle of the vehicle, where the first steering wheel angle is greater than a steering angle threshold, and the steering angle threshold may be a steering wheel angle at which the behavior of the driving object model is not added when the vehicle travels according to the planned path, where the first steering wheel angle may be a steering wheel operated by the driving object, so that the steering wheel rotates by one turn, and the steering angle threshold may be a steering wheel operated by the driving object, so that the steering wheel rotates by half a turn.
And step S103, controlling the vehicle to run based on the first steering wheel angle.
In the technical solution provided in step S103 of the present invention, the vehicle is controlled to run according to the planned path according to the turn angle of the first steering wheel planned by the existing planned path.
In the above steps S101 to S103, obtaining a model parameter of a panic link in a driver model, where the driver model is a model added to the panic link; determining a first steering wheel corner of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to the planned path, the first steering wheel corner is used for representing the number of turns of the steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration; and controlling the vehicle to run based on the first steering wheel angle. That is to say, the embodiment of the present invention obtains the model parameter of the panic link in the driver model, obtains the first steering wheel angle of the vehicle according to the first lateral acceleration and the model parameter when the vehicle runs according to the planned path, and controls the vehicle to run according to the first steering wheel angle, thereby achieving the purpose that the steering wheel of the vehicle is controlled more accurately by the driving object, solving the technical problem that the accuracy of the steering wheel operated by the driving object is low in the running process of the vehicle, and achieving the technical effect that the accuracy of the steering wheel operated by the driving object is improved in the running process of the vehicle.
The above-described method of this embodiment is further described below.
As an alternative embodiment, in step S101, obtaining a model parameter of a panic link in a driver model includes: determining model parameters based on at least one of: the first lateral acceleration steady-state gain, the damping ratio of a panic link, the panic coefficient of a driving object, the undamped natural efficiency and the damping ratio coefficient.
In the embodiment, a derivative of a steady-state gain of a first lateral acceleration is determined according to characteristics of a vehicle, a quotient of two times of a damping ratio of a panic link and an undamped natural efficiency is determined as a first parameter, one square of an undamped natural frequency is determined as a second parameter, a product of a difference between a unit one and a panic coefficient of a driving object and a damping ratio coefficient is determined as the damping ratio of the panic link, and the first parameter, the second parameter, the reciprocal of the steady-state gain of the lateral acceleration of the vehicle and a displacement of the vehicle from a current position to a target position are calculated to obtain a model parameter.
As an alternative embodiment, step S102, determining a first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameter, includes: the product between the first lateral acceleration and the model parameter function of the driving object is determined as a first steering wheel angle of the vehicle.
In this embodiment, the first lateral acceleration of the planned path is multiplied by a corresponding function composed of the model parameters to obtain a first steering wheel angle of the vehicle, and a corresponding relationship exists between the lateral acceleration and the steering wheel angle.
As an alternative embodiment, before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameter, the method further comprises: the method comprises the steps of obtaining lateral displacement of a first position on a target path and lateral displacement of a second position on a planned path, wherein the target path is a preset path of a vehicle, and the planned path is a path of the vehicle when the vehicle runs from the position at the current moment to the first position of the target path; determining a target lateral displacement of the vehicle based on the lateral displacement of the first location and the lateral displacement of the second location; determining a product between the target lateral displacement and a preview time function as the first lateral acceleration, wherein the preview time function is determined by the preview time.
In this embodiment, when the vehicle is not traveling, there is a target path, on the target path, the vehicle will reach a first position on the target path after the pre-aiming time, one square of the pre-aiming time is determined as a pre-aiming time function, the vehicle will have a second position at the start of the planned path, the vehicle travels from the first position to the second position, the first position is decomposed according to the abscissa and the ordinate, the lateral displacement of the first position is obtained by taking the relative coordinate system of the vehicle as a reference, the lateral displacement of the second position is obtained by taking the relative coordinate system of the vehicle as a reference, the target lateral displacement is obtained according to the lateral displacement of the first position and the lateral displacement of the second position, and the target lateral displacement is multiplied by the pre-aiming time function to obtain a first lateral acceleration, wherein the pre-aiming time may be a specific time, and the time from the first position to the second position on the target path.
As an alternative embodiment, determining the target lateral displacement based on the lateral displacement of the first position and the lateral displacement of the second position includes: and determining the difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.
In the embodiment, the first lateral displacement and the second lateral displacement are subtracted to obtain a target lateral displacement, the target lateral displacement is returned to the preview time function, and the vehicle runs according to the next planned path.
As an alternative embodiment, step S103, controlling the vehicle to run based on the first steering wheel angle, includes: determining a second steering wheel angle of the vehicle as a product between the first steering wheel angle and a delay time function of the driving object, wherein the delay time function is determined by an inertial delay time and a neural delay time of the driving object; determining a product between the second steering wheel angle and the steady state gain function as a second lateral acceleration; and controlling the vehicle to travel based on the second steering wheel angle and the second lateral acceleration.
In the embodiment, a first steering wheel angle is multiplied by a delay time function of a driving object to obtain a second steering wheel angle, and the second steering wheel angle is multiplied by a steady-state gain function to obtain a second lateral acceleration; the vehicle runs according to a second steering wheel rotation angle and a second lateral acceleration, integration is carried out on the second lateral acceleration to obtain a second lateral speed, integration is carried out on the second lateral speed to obtain lateral displacement of a third position on a planned path, the lateral displacement of a fourth position is determined at a fourth position of a target path through preview time, the lateral displacement of the third position and the lateral displacement of the fourth position are subjected to subtraction, the difference is determined to be a second target lateral displacement, and then processing is carried out according to the subsequent steps of the lateral displacement to realize circulation.
In the embodiment of the invention, the target lateral displacement is obtained according to the difference between the lateral displacement of the first position and the lateral displacement of the second position, the target lateral displacement is multiplied by the pre-aiming time function to obtain the first lateral acceleration, the first steering wheel corner is obtained, the first steering wheel corner is multiplied by the delay time function of the driving object to obtain the second steering wheel corner, the second steering wheel corner is multiplied by the steady-state gain function to obtain the second lateral acceleration, and the second steering wheel corner and the second lateral acceleration control the vehicle to run.
Example 2
The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.
The steering stability of the vehicle includes two aspects of steering performance and stability, the former refers to the capability of the vehicle to exactly respond to a steering command of a driving object, and the latter refers to the capability of the vehicle to recover the original motion state after being disturbed by the outside. The behavior characteristic of the driving object refers to the ability of the driving object in perception, judgment, operation and the like. With the continuous and intensive research on the vehicle operation stability, people gradually find that it is difficult to perform comprehensive evaluation and reasonable design on the vehicle operation stability by simply researching the relation between the vehicle input and output, which is generally called as an open-loop method, because the vehicle driving condition not only depends on the structural parameters of the vehicle itself, but also depends on the driving behavior of a driving object and the main and objective factors such as the driving environment of the vehicle, and the analysis of the characteristics of the whole system by taking the vehicle as the controlled link of the driving object, namely the vehicle-road closed-loop system, by adopting the knowledge of the system theory has been proved to be feasible and effective by theory and practice, which is the closed-loop method for researching the vehicle operation stability. The research on the driving object model in the aspect of safety also has very important significance and application. A study initiated by the national highway traffic safety administration of the united states showed that in over 600 tens of thousands of traffic accidents occurring in the united states in 2000, accidents due to delinquent driving subjects account for over 90% of the total number of accidents, and that different driving subjects respond differently to the same driving mission. Therefore, it is necessary to deeply and carefully study a driving object model of a vehicle and interaction input and output relations between the driving object and the vehicle, find characteristic parameters of the driving object model, and establish an accurate driving object model capable of reflecting objective reality, which plays a crucial role in study and evaluation of vehicle operation stability and safety.
Many driving object models based on vehicle direction control are proposed by researchers in various countries at present. The driving object model is a mathematical expression of the real driving object manipulation capability, and is a new technology gradually developed along with the continuous enhancement of the importance of behaviors of monitoring, managing, coordinating, compensating and the like of the driving object and the continuous development of a control theory. Whether the model includes the preview link of the driving object or not can be divided into a compensation tracking model and a preview tracking model. An Optimal Preview lateral Acceleration model (OPA) proposed by the institute of china Guo Konghui, and the like. The current driving object model has clear physical significance, reflects the steering operation decision process of the driving object, can well complete the track following task, but does not consider the psychological behavior of the driving object, so the application range of the model is limited to a certain extent.
Therefore, in a related technology, a method for establishing a driving object model considering the rollover characteristic of a vehicle is provided, and a driving object preview model is established; establishing a driving object neuromuscular model, and describing the characteristics of the driving object neuromuscular; and a time lag link is added by combining the driving object preview model and the driving object neuromuscular model, so that the establishment of the driving object model is completed, and the rollover prevention characteristic of the driving object model is improved.
In another related art, a test method and device based on a driving object model are provided, and the method includes: determining current scene information corresponding to an automatic driving test scene according to current operation parameters of all test participating objects in the automatic driving test scene, wherein the test participating objects comprise: the detected vehicle and other corresponding vehicles; judging whether a driving object model corresponding to the other vehicle matched with the current scene information exists in the driving object models corresponding to the other vehicles according to the current scene information and the preset corresponding relation; and judging that the driving object model matched with the current scene information and corresponding to the other vehicle exists in the driving object models corresponding to the other vehicles, triggering the driving object model matched with the other vehicles, and driving the matched other vehicles based on the corresponding driving object model so as to assist the test of the automatic driving algorithm of the tested vehicle and realize the accurate test of the performance of the tested vehicle.
In another related art, a driving object model based vehicle handling stability detection system and a vehicle handling stability detection method are provided, wherein the driving object model includes: the pre-aiming module is used for obtaining an expected track according to the output of a tracking sensor installed on the vehicle; the prediction module is used for calculating a predicted track of vehicle running according to vehicle state information output by a vehicle internal sensor; the comparison module compares the expected track with the predicted track and outputs deviation; and the control module calculates the change amount of the steering wheel angle according to the deviation control. The expected trajectory is a serpentine path on a vehicle travel path along which the vehicle travels around the peg at a set speed, and the detection system and the detection method calculate a final steering wheel angle based on a steering wheel angle obtained from vehicle state information and a change amount of the steering wheel angle calculated by the driving object model and output to the vehicle to control the vehicle to travel following the expected trajectory, thereby detecting vehicle handling stability.
However, in some dangerous driving scenes, a driving object may generate psychological panic, which causes reaction delay, excessive operation and the like, but at present, people have not deeply studied on the panic characteristic of the driving object, and the driving object model cannot accurately reflect the driving behavior characteristic of the driving object under the panic condition.
The preview tracking link is a basic link in the embodiment of the invention, fig. 2 is a schematic diagram of a system framework of a preview tracking model, as shown in fig. 2, wherein f represents a predicted following path, P(s) represents a preview link of a driving object, f e An estimated value representing the vehicle position characteristic quantity at the future moment estimated by the preview link according to the current vehicle motion state is the preview time T of the driving object P The position of the path to which the vehicle is expected to arrive, H (S) represents a forward correction link, G (S) represents the dynamic characteristic of the vehicleY represents the position of the current vehicle motion track, B (S) represents a feedback estimation link, and y p An estimated value representing a vehicle position characteristic quantity at a future time estimated by an estimation link based on state information of a current vehicle motion is represented, δ represents a steering wheel angle, and ε = f e -y p Representing the deviation of the predicted values of the two characteristic quantities, the information of the road ahead passes through, the road which becomes effective after the preview link of the driving object model is input into the driving object, and a steering wheel angle is determined to be input into the vehicle according to the effective road input and the estimation of the future time state of the vehicle, so as to realize the control of the vehicle, and fig. 3 is a schematic diagram of a coordinate system for the vehicle to run, as shown in fig. 3, xoy is a relative coordinate system x of the vehicle, and as can be seen from fig. 3, xoy is a relative coordinate system x of the vehicle v o v y v Is a vehicle coordinate system; XOY is the geodetic coordinate system. The absolute coordinate of the centroid position of the vehicle at the current moment is (X) O ，Y O ) The pre-aiming point is set as P point, and the current longitudinal speed is x v Lateral velocity of y v The steering operation of the driving object is aimed at causing the vehicle to pass through the preview time T p Then reaches the pre-aiming point P, v x *T P For the lateral displacement of the vehicle when it reaches P, x (T + T) P ) For the vehicle to pass through the preview time T from the current moment p Point in time of arrival, f e Is the lateral displacement of the vehicle when the vehicle reaches the point P, y is the lateral displacement of the vehicle when the vehicle runs at a specific position along the planned path, delta f p Is f e The simplest way that the driver can easily think of the difference between y, i.e. the lateral displacement of the vehicle's intended point and the actual lateral displacement of the vehicle, is to achieve this by a laterally uniform acceleration straight-line motion, namely:
the optimal lateral acceleration can be calculated according to the formula as follows:
for a particular vehicle, at a certain vehicle speed V x At the moment, a steady gain G exists between the steady-state lateral acceleration of the vehicle and the steering wheel angle ay This characteristic is easily grasped by a general driving object, and then the driving object can decide an optimal steering wheel angle according to the optimal lateral acceleration and the steady-state gain of the lateral acceleration of the vehicle grasped by the optimal lateral acceleration:
expressing the optimal steering wheel angle in the form of a transfer function according to the optimal pre-aiming lateral acceleration model proposed by Guo Konghui, academician, fig. 4 is a schematic diagram of the basic framework of the optimal pre-aiming lateral acceleration model, as shown in fig. 4, where f (t) represents the following path,
as a function of gain, f e (T) represents the passing of the preview time T by the driving object P The position of the route which the vehicle is expected to reach then, is determined>
Represents the optimum lateral acceleration, C 0 (1+T c S) represents a differential correction link, the optimal lateral acceleration passes through the differential correction link to obtain the optimal steering wheel corner, and the optimal steering wheel corner is judged according to the optimal lateral acceleration>
The delay link of the driving object is represented, and the optimal steering wheel corner passes through the delay link to obtain the actual steering wheel corner delta sw For the actual steering wheel angle>
Obtaining the actual lateral acceleration of the actual steering wheel corner through the vehicle model transfer function for the vehicle model transfer function, integrating the actual lateral acceleration to obtain the actual lateral speed->
The actual lateral velocity is integrated to obtain the actual lateral displacement y * 。
The model has the characteristics of clear model structure, complete theoretical basis, high track following precision and the like, and is widely applied to vehicle operation stability simulation and human-vehicle closed loop system evaluation, wherein T P Can be expressed as the predicted aiming time, T, of the driving object model c Can be expressed as a differential correction time, T, of the driving object model d Can be expressed as the inertial delay time, T, of the driving object model h The nerve delay time of the driving object model may be represented.
The optimal preview acceleration model truly reflects the steering operation decision process of the driving object, can well complete the track following task, but does not consider the psychological behaviors of the driving object, so the application range of the model is limited to a certain extent. In order to characterize the panic feature of the driver, a link describing the panic feature of the driver is added between the optimal lateral acceleration and the optimal steering wheel angle, the driver can generate panic when encountering an emergency, and the panic behavior of the driver is mainly represented in two aspects of overshoot on the steering operation and delay on time, fig. 5 is a schematic diagram of a basic framework of an optimal predictive lateral acceleration model added with the panic link, as shown in fig. 5, wherein,
is the reciprocal of the steady-state gain of the lateral acceleration of the vehicle, related to the characteristics of the vehicle itself, T n1 ＝2·ξ/ω 0 ，T n2 ＝1/ω 0 2 ，ξ＝(1-ζ)·ξ 0 ξ represents the damping ratio of the panic segment, ζ represents the panic coefficient of the driving object, ω 0 For undamped natural frequencies, where f (t) denotes the following path, f e (T) represents the passing of the preview time T by the driving object P The position of the route which the vehicle is expected to reach then, is determined>
Express optimumLateral acceleration, is greater or less>
The optimal lateral acceleration passes through the panic link of the driving object to obtain the optimal steering wheel corner, and the optimal lateral acceleration is subjected to the panic link of the driving object and is then subjected to the judgment of the steering wheel corner>
The delay link of the driving object is represented, the optimal steering wheel corner is delayed to obtain the actual steering wheel corner, and the actual steering wheel corner is changed according to the delay link>
Obtaining the actual lateral acceleration of the actual steering wheel corner through the vehicle model transfer function for the vehicle model transfer function, integrating the actual lateral acceleration to obtain the actual lateral speed->
The actual lateral velocity is integrated to obtain the actual lateral displacement y * 。
After a driving object model of a panic link is added, parameters are identified, a driving simulator can be used for carrying out parameter identification on the preview time of the driving object model, the inertia delay time of the driving object model, the nerve delay time, the inherent frequency, the damping ratio, the panic coefficient and the like of the driving object model, after the parameter identification, the driving object model is verified, in order to analyze the influence of the panic link on the operation behavior of the driving object and verify the correctness of the model, a snake-shaped working condition is selected for carrying out simulation verification, wherein the snake-shaped working condition is a typical vehicle driving process, the accident occurs in road traffic, the sprung mass can be 800 kg, the rotating inertia of the whole vehicle around a Z axis is 1152 kg per square meter, the effective yaw stiffness of a front wheel is 52480 Newton per square meter, the effective yaw stiffness of a rear wheel is 8978 zft 8978 Newton per square meter, the distance from the center of gravity to the front axis is 0.948 meter, and the distance from the center of the rear axis is 1.422 meter.
After the parameters of the driving object model are calculated and identified, a snake-shaped working condition simulation result is obtained, fig. 6 is a schematic diagram of a snake-shaped track curve, as shown in fig. 6, it can be seen from fig. 6 that compared with the driving object model without a panic link, the delay time of the steering operation of the driving object with the panic link is increased, and meanwhile, the amplitude of the steering operation is increased, which shows that the addition of the panic link affects the steering operation of the driving object, so that the link can express the panic characteristic of the driving object.
In the embodiment, the driving object obtains the optimal steering wheel corner through a panic link of the driving object according to the position of a path to be reached by the vehicle after the following path passes through preview time, the optimal lateral acceleration obtains the optimal steering wheel corner through a delay link, the actual steering wheel corner obtains the actual lateral acceleration through a vehicle model transfer function, the actual lateral acceleration is integrated to obtain the actual lateral speed, the actual lateral speed is integrated to obtain the actual lateral displacement, the technical problem that the accuracy of the steering wheel operated by the driving object is low in the driving process of the vehicle is solved, and the technical effect that the accuracy of the steering wheel operated by the driving object is improved in the driving process of the vehicle is achieved.
Example 3
According to the embodiment of the invention, the device for controlling the vehicle to run is also provided. It should be noted that the apparatus for controlling the running of a vehicle may be used to execute the method for controlling the running of a vehicle in embodiment 1.
Fig. 7 is a schematic diagram of an apparatus for controlling the travel of a vehicle according to an embodiment of the present invention. As shown in fig. 7, the apparatus 700 for controlling the travel of a vehicle may include: an acquisition unit 701, a first determination unit 702, and a control unit 703.
The first obtaining unit 701 is configured to obtain a model parameter of a panic link in a driver model, where the driver model is a model added in the panic link.
A first determining unit 702, configured to determine a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameter, where the first steering wheel angle is greater than a steering angle threshold value, the first lateral acceleration is a lateral acceleration of the vehicle when the vehicle travels according to the planned path, the first steering wheel angle is used to indicate a number of turns of the steering wheel when the vehicle travels according to the planned path, and the steering angle threshold value is used to indicate a number of turns of the steering wheel after differential correction of the first lateral acceleration.
And a control unit 703 for controlling the vehicle to travel based on the first steering wheel angle.
Alternatively, the first obtaining unit 701 may include: a determination module for determining model parameters based on at least one of: the method comprises the steps of first lateral acceleration steady-state gain, a damping ratio of a panic link, a panic coefficient of a driving object, undamped natural efficiency and a damping ratio coefficient.
Alternatively, the first determining unit 702 may include: a first processing module for determining a product between the first lateral acceleration and a model parameter function of the driving object as a first steering wheel angle of the vehicle.
Optionally, the apparatus further comprises: the second acquisition unit is used for acquiring the lateral displacement of a first position on a target path and the lateral displacement of a second position on a planned path before determining a first steering wheel corner of the vehicle based on the first lateral acceleration and the model parameters of the vehicle, wherein the target path is a path preset by the vehicle, and the planned path is a path when the vehicle runs from the position at the current moment to the first position of the target path; a second determination unit for determining a target lateral displacement of the vehicle based on the lateral displacement of the first position and the lateral displacement of the second position; a processing unit for determining a product between the target lateral displacement and a preview time function as the first lateral acceleration, wherein the preview time function is determined by the preview time.
Alternatively, the second determination unit may include: and the second processing module is used for determining the difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.
Alternatively, the control unit 703 may include: a third processing module for determining a product between the first steering wheel angle and a delay time function of the driving object as a second steering wheel angle of the vehicle, wherein the delay time function is determined by an inertial delay time and a neural delay time of the driving object; a fourth processing module, configured to determine a product of the second steering wheel angle and the steady-state gain function as a second lateral acceleration; and the control module is used for controlling the vehicle to run based on the second steering wheel rotating angle and the second lateral acceleration.
In this embodiment, a first obtaining unit, configured to obtain a model parameter of a panic link in a driver model, where the driver model is a model added to the panic link; the first determining unit is used for determining a first steering wheel corner of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel corner is larger than a corner threshold value, the first lateral acceleration is the lateral acceleration of the vehicle when the vehicle runs according to the planned path, the first steering wheel corner is used for representing the number of turns of the steering wheel when the vehicle runs according to the planned path, and the corner threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration; the control unit is used for controlling the vehicle to run based on the first steering wheel turning angle, the technical problem that the accuracy of the steering wheel operated by the driving object is low in the running process of the vehicle is solved, and the technical effect that the accuracy of the steering wheel operated by the driving object is improved in the running process of the vehicle is achieved.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the method of controlling running of a vehicle in embodiment 1.
Example 5
According to an embodiment of the present invention, there is also provided a processor for executing a program, wherein the program executes the method of controlling the running of a vehicle in embodiment 1 when running.
Example 6
According to an embodiment of the present invention, there is also provided a vehicle for executing the method of controlling running of the vehicle in embodiment 1.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A method of controlling travel of a vehicle, comprising:
obtaining model parameters of a panic link in a driver model, wherein the driver model is a model added with the panic link;
determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameter, wherein the first steering wheel angle is greater than a steering angle threshold value, the first lateral acceleration is a lateral acceleration of the vehicle when the vehicle runs according to a planned path, the first steering wheel angle is used for representing the number of turns of a steering wheel when the vehicle runs according to the planned path, and the steering angle threshold value is used for representing the number of turns of the steering wheel after differential correction of the first lateral acceleration;
and controlling the vehicle to run based on the first steering wheel angle.
2. The method of claim 1, wherein obtaining model parameters for a panic segment in a driver model comprises:
determining the model parameters based on at least one of: the first lateral acceleration steady-state gain, the damping ratio of a panic link, the panic coefficient of a driving object, the undamped natural efficiency and the damping ratio coefficient.
3. The method of claim 1, wherein determining a first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters comprises:
determining a product between the first lateral acceleration and a model parameter function of the driving object as a first steering wheel angle of the vehicle.
4. The method of claim 1, wherein prior to determining a first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters, the method further comprises:
acquiring lateral displacement of a first position on a target path and lateral displacement of a second position on a planned path, wherein the target path is a preset path of the vehicle, and the planned path is a path of the vehicle when the vehicle runs from a position at the current moment to the first position of the target path;
determining a target lateral displacement of the vehicle based on the lateral displacement of the first location and the lateral displacement of the second location;
determining a product between the target lateral displacement and a preview time function as the first lateral acceleration, wherein the preview time function is determined by a preview time.
5. The method of claim 4, wherein determining a target lateral displacement based on the lateral displacement of the first location and the lateral displacement of the second location comprises:
determining a difference between the lateral displacement of the first location and the lateral displacement of the second location as the target lateral displacement.
6. The method according to claim 1, wherein controlling the vehicle to travel based on the first steering wheel angle comprises:
determining a product between the first steering wheel angle and a delay time function of the driving object as a second steering wheel angle of the vehicle, wherein the delay time function is determined from an inertial delay time and a neural delay time of the driving object;
determining a product between the second steering wheel angle and a steady state gain function as a second lateral acceleration;
controlling the vehicle to travel based on the second steering wheel angle and the second lateral acceleration.
7. An apparatus for controlling running of a vehicle, characterized by comprising:
the device comprises an acquisition unit, a judgment unit and a display unit, wherein the acquisition unit is used for acquiring model parameters of a panic link in a driver model, and the driver model is a model added with the panic link;
a first determination unit, configured to determine a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameter, where the first steering wheel angle is greater than a steering angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when the vehicle travels according to a planned path, the first steering wheel angle is used to represent a number of turns of a steering wheel when the vehicle travels according to the planned path, and the steering angle threshold is used to represent a number of turns of the steering wheel after differential correction of the first lateral acceleration;
a control unit configured to control the vehicle to travel based on the first steering wheel angle.
8. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 6.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1-6.
10. A vehicle, characterized in that it is adapted to carrying out the method of any one of claims 1 to 6.
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