CN116653945A - Vehicle transverse control method and device, electronic equipment and storage medium - Google Patents
Vehicle transverse control method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a vehicle transverse control method, a vehicle transverse control device, electronic equipment and a storage medium. Wherein the method comprises the following steps: and acquiring the running data of the target vehicle, determining a tracking control curve according to the tracking control curve model and the running data when the running data of the target vehicle meets the preset following condition, controlling a preset transverse controller according to the tracking control curve to determine a transverse control result, and controlling the vehicle to move according to the transverse control result. According to the embodiment of the invention, the tracking control curve is determined according to the running data of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the transverse movement of the vehicle is controlled according to the transverse control result, so that the problems of larger curve curvature and over-fitting existing in the prior art when a fitting method is carried out on a large number of historical running track points of the target vehicle are avoided, the transverse control of the vehicle is smoother and more stable, and more memory resources are not required to be occupied.
Description
Technical Field
The present invention relates to the field of automobile control technologies, and in particular, to a vehicle transverse control method, a device, an electronic apparatus, and a storage medium.
Background
With the rapid development of the automobile industry, automobiles are becoming necessary vehicles for people to travel daily. The intelligent driving secondary function (L2) arranged on the vehicle can realize auxiliary driving functions such as lane centering driving, lane line keeping and the like, and can control the vehicle to follow the vehicle according to the position and the driving state of the target vehicle under the condition that the lane line is missing or unclear in the driving process of the vehicle.
In a conventional vehicle lateral control method, a three-dimensional curve is generally formed by combining historical track fitting points through which a target vehicle runs, and the three-dimensional curve is used as a reference line to control the vehicle to run according to the reference line. However, the above method has the following disadvantages: firstly, a history track curve of a target vehicle can have larger curvature change so as to cause unstable transverse control; secondly, the history track is easy to be subjected to over-fitting, so that a fitted control curve is not smooth, and the transverse control is unstable; thirdly, the history track record needs to consume certain memory resources, so that the memory resources are tense.
Disclosure of Invention
The invention provides a vehicle transverse control method, a device, electronic equipment and a storage medium, which are used for determining a tracking control curve according to running data of a target vehicle and a tracking control curve model, determining a transverse control result of a preset transverse controller according to the tracking control curve, and further controlling transverse movement of the vehicle according to the transverse control result, so that the problems of larger curve curvature and over-fitting existing in the prior art in a fitting method based on a large number of historical running track points of the target vehicle are avoided, and the transverse control of the vehicle is smoother and more stable and does not occupy more memory resources.
According to an aspect of the present invention, there is provided a vehicle lateral control method including:
acquiring running data of a target vehicle;
when the running data of the target vehicle meets the preset following condition, determining a tracking control curve according to the tracking control curve model and the running data;
controlling a preset transverse controller according to a tracking control curve to determine a transverse control result;
and controlling the movement of the vehicle according to the transverse control result.
According to another aspect of the present invention, there is provided a vehicle lateral control apparatus including:
The driving data acquisition module is used for acquiring driving data of the target vehicle;
the control curve determining module is used for determining a tracking control curve according to the tracking control curve model and the running data when the running data of the target vehicle meets the preset following condition;
the control result determining module is used for controlling a preset transverse controller to determine a transverse control result according to the tracking control curve;
and the vehicle control module is used for controlling the movement of the vehicle according to the transverse control result.
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 memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle lateral control method according to any one 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 execute a vehicle transverse control method according to any one of the embodiments of the present invention.
According to the technical scheme, the running data of the target vehicle are obtained, when the running data of the target vehicle meet preset following conditions, a tracking control curve is determined according to the tracking control curve model and the running data, a preset transverse controller is controlled according to the tracking control curve to determine a transverse control result, and the movement of the vehicle is controlled according to the transverse control result. According to the embodiment of the invention, the tracking control curve is determined according to the running data of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the transverse movement of the vehicle is controlled according to the transverse control result, so that the problems of larger curve curvature and over-fitting existing in the prior art when a fitting method is carried out on a large number of historical running track points of the target vehicle are avoided, the transverse control of the vehicle is smoother and more stable, and more memory resources are not required to be occupied.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle lateral control method according to a first embodiment of the invention;
fig. 2 is a flowchart of a vehicle lateral control method according to a second embodiment of the invention;
fig. 3 is a flowchart of a vehicle lateral control method according to a third embodiment of the invention;
FIG. 4 is an exemplary diagram of a tracking control curve provided in accordance with a third embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle lateral control device according to a fourth embodiment of the invention;
fig. 6 is a schematic structural view of an electronic device implementing a vehicle lateral control method of an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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
Fig. 1 is a flowchart of a vehicle transverse control method according to an embodiment of the present invention, where the method may be applied to a case of transversely controlling a vehicle, and the method may be performed by a vehicle transverse control device, where the vehicle transverse control device may be implemented in hardware and/or software, and the vehicle transverse control device may be configured in an electronic device, for example, and may include, but not limited to, an in-vehicle device, and the like. As shown in fig. 1, the vehicle transverse control method provided in the first embodiment specifically includes the following steps:
S110, acquiring running data of the target vehicle.
Among them, the target vehicle may refer to various types of vehicles located in front of the host vehicle. The travel data may refer to travel state data of the target vehicle with respect to the host vehicle, and the travel data may include: the current position coordinates of the target vehicle, the lateral speed of the target vehicle, the longitudinal speed of the target vehicle, the lateral distance of the target vehicle, the longitudinal distance of the target vehicle, and the like. It may be understood that the driving data may include all the dimensional information, or only some of the dimensional information, or more dimensional information, which is not limited in the embodiment of the present invention.
In the embodiment of the invention, when the vehicle detects that the situation that the lane line of the current driving lane is missing or the lane line quality is poor and the like needs to enter a following mode, the vehicle-mounted sensing equipment such as a vehicle-mounted camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like which can control the configuration of the vehicle acquire driving data of a front target vehicle, wherein the driving data can include but is not limited to: the current position coordinates of the target vehicle, the lateral speed of the target vehicle, the longitudinal speed of the target vehicle, the lateral distance of the target vehicle, the longitudinal distance of the target vehicle, and the like.
And S120, determining a tracking control curve according to the tracking control curve model and the driving data when the driving data of the target vehicle meets the preset following condition.
The preset following conditions may be understood as conditions configured in advance for determining whether the target vehicle can be a vehicle to be followed according to the driving data of the target vehicle, and may include, but are not limited to: the method comprises the steps that a target vehicle does not frequently change lanes within a preset time period, the transverse distance variation of the target vehicle within the preset time period is smaller than a certain threshold value, the transverse speed of the target vehicle within the preset time period is smaller than a certain threshold value and the like. The tracking control curve model may be a pre-configured model for determining a tracking control curve, and the tracking control curve model may be a pre-trained deep learning network model, or may be obtained by intercepting a certain section of a curve such as a standard sine sin function, a standard cosine cos function, and the like as a base curve, and performing operations of translation and equalization on the base curve, and may, for example, select a curve in an interval (pi/2, 3pi/2) of the sine function y=sin (x) as the base curve of the tracking control curve. The tracking control curve may refer to an ideal tracking trajectory of the vehicle as determined from a tracking control curve model.
In the embodiment of the invention, one or more preset following conditions can be pre-configured on the electronic device, whether the preset following conditions are met or not can be judged according to the acquired running data of the target vehicle, and when the preset following conditions are confirmed to be met, a corresponding tracking control curve can be generated according to the tracking control curve model and the running data, wherein the mode of determining the tracking control curve according to the tracking control curve model and the running data can comprise but is not limited to the following modes: the acquired driving data can be input into a trained tracking control curve model represented by a deep learning network model, and the output result of the model is used as a tracking control curve; the acquired travel data may be input to a tracking control curve model represented by a curve within a certain section of the sine function, and the output result of the model may be used as the tracking control curve.
S130, controlling a preset transverse controller according to the tracking control curve to determine a transverse control result.
The preset lateral controller may refer to a preset lateral controller, the preset lateral controller is used for controlling deviation of a vehicle from a tracking control curve, the number of the preset lateral controllers may be one or more, and the preset lateral controller may include a proportional-integral-derivative (Proportion Integration Differentiation, PID) controller, a feedforward controller and the like.
In the embodiment of the present invention, in order to ensure that a vehicle can travel along a determined tracking control curve as far as possible, one or more preset transverse controllers may be preset on an electronic device to control deviation between the vehicle and the tracking control curve, for example, two sets of PID controllers may be configured to control a transverse position error and an orientation error of the vehicle and the tracking control curve, and one set of feedforward controllers may be configured to control a curvature of a current travel road of the vehicle, where a manner of controlling the preset transverse controllers according to the tracking control curve to determine a transverse control result may be: the transverse position error, the orientation error and the curve curvature of the tracking control curve corresponding to a certain preset pre-aiming distance are sequentially input into a preset transverse controller formula of a preset transverse controller, so that a corresponding transverse control result is determined; the method can also be as follows: and inputting the transverse position error and the orientation error of the tracking control curve corresponding to a certain preset pre-aiming distance and the curve curvature of the tracking control curve into a trained deep learning network model, and taking the result output by the model as the transverse control result of a preset transverse controller.
And S140, controlling the movement of the vehicle according to the transverse control result.
In the embodiment of the present invention, the manner of controlling the movement of the vehicle according to the lateral control result may include, but is not limited to, the following: the transverse control result can be directly used as an actuator control parameter of the vehicle, so as to control the actuator of the vehicle to execute corresponding operation; if the number of the lateral control results is greater than one, the weighted sum result of the lateral control results may be used as an actuator control parameter of the vehicle, so as to control the actuator of the vehicle to execute a corresponding operation.
According to the technical scheme, the running data of the target vehicle are obtained, when the running data of the target vehicle meet preset following conditions, a tracking control curve is determined according to the tracking control curve model and the running data, a preset transverse controller is controlled according to the tracking control curve to determine a transverse control result, and the movement of the vehicle is controlled according to the transverse control result. According to the embodiment of the invention, the tracking control curve is determined according to the running data of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the transverse movement of the vehicle is controlled according to the transverse control result, so that the problems of larger curve curvature and over-fitting existing in the prior art when a fitting method is carried out on a large number of historical running track points of the target vehicle are avoided, the transverse control of the vehicle is smoother and more stable, and more memory resources are not required to be occupied.
Example two
Fig. 2 is a flowchart of a vehicle transverse control method according to a second embodiment of the present invention, which is further optimized and expanded based on the foregoing embodiments, and may be combined with each of the optional technical solutions in the foregoing embodiments. As shown in fig. 2, the lateral control method for a vehicle provided in the second embodiment specifically includes the following steps:
s210, controlling vehicle-mounted sensing equipment of a vehicle to acquire driving data of a target vehicle, wherein the driving data at least comprise: the target vehicle number, the target vehicle current position coordinates, the target vehicle lateral speed, the lateral position deviation, the longitudinal position deviation.
The vehicle-mounted sensing device may be various environment sensing devices configured on a vehicle, the vehicle-mounted sensing device may be used for collecting driving data of a front target vehicle, the vehicle may be an automatic driving vehicle, and the vehicle-mounted sensing device may include a vehicle-mounted camera, a laser radar, a millimeter wave radar, an ultrasonic radar, and the like.
In the embodiment of the invention, when the vehicle detects that the situation that the lane line of the current driving lane is missing or the lane line quality is poor and the like needs to enter a following mode, the vehicle-mounted sensing equipment such as a vehicle-mounted camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like which can control the configuration of the vehicle acquire driving data of a front target vehicle, wherein the driving data can include but is not limited to: the target vehicle number, the target vehicle current position coordinates, the target vehicle lateral speed, the lateral position deviation, the longitudinal position deviation, and the like.
And S220, when the fact that the preset following condition is met is determined, the current position coordinates of the target vehicle of the driving data are input into the tracking control curve model to generate a tracking control curve.
In the embodiment of the invention, whether the preset following condition is met or not can be judged according to the acquired running data of the target vehicle, and when the preset following condition is confirmed to be met, the current position coordinates of the target vehicle in the running data can be input into a pre-configured tracking control curve model, so that a corresponding tracking control curve is obtained. When the tracking control curve is determined, the embodiment of the invention can determine the tracking control curve only by the current position coordinates of the target vehicle, and does not need to acquire the tracking control curve in a fitting way according to a large number of historical driving track points of the target vehicle in the prior art; meanwhile, the tracking control curve generated by the embodiment of the invention does not have the problems of larger curve curvature and over-fitting existing in the curve fitting method, and does not need to occupy a large amount of memory.
Further, on the basis of the above embodiment of the present invention, the preset following conditions may at least include:
within a preset time period, no jump occurs in the number of the target vehicle of the driving data;
In a preset time period, the target vehicle transverse speed of the driving data is smaller than or equal to a preset transverse speed threshold value;
in a preset time period, the transverse position deviation of the driving data is smaller than or equal to a preset transverse position deviation threshold value;
and within a preset time period, the longitudinal position deviation of the driving data is smaller than or equal to a preset longitudinal position deviation threshold value.
In the embodiment of the invention, when the running data of the target vehicle in the preset time period meets all the preset following conditions, the target vehicle can be considered as a vehicle to be followed, and the tracking control curve can be determined according to the current position coordinates of the target vehicle and the tracking control curve model.
Further, on the basis of the above embodiment of the present invention, the tracking control curve model may include at least:
wherein (x, y) representsCoordinates of the current position of the vehicle, (x) mark ,y mark ) Representing the current position coordinates of the target vehicle.
It should be understood that the tracking control curve model is only used as an example, and other types of curves can be selected as the base curves of the tracking control curve model in practical application, and the selected base curves only need to be smooth in curvature change at each stage and tangential to the advancing direction of the vehicle at the starting position point and tangential to the advancing direction of the target vehicle at the reaching position point, which is not limited by the embodiment of the present invention.
S230, determining an orientation curve and a curve curvature corresponding to the tracking control curve.
The orientation curve may be a curve representing the orientation of the vehicle, which is determined by the tracking control curve, and the orientation curve may be determined by a first derivative of the tracking control curve. The curve curvature may be determined from the first and second derivatives of the tracking control curve.
In the embodiment of the invention, after the tracking control curve is generated, the first derivative and the second derivative of the tracking control curve for the independent variable x can be calculated according to the tracking control curve, the first derivative is taken as an orientation curve, and a preset curvature determination formula is called to determine the curvature of the curve according to the first derivative and the second derivative, wherein the preset curvature determination formula can be expressed as follows: cur=ddy× [1+ (dy) 2 ] -32 Where Cur represents the curve curvature, dy represents the first derivative, and ddy represents the second derivative.
S240, when the independent variables of the tracking control curve and the orientation curve meet the preset aiming distance, taking the dependent variable results corresponding to the tracking control curve and the orientation curve as the transverse position error and the orientation error.
The preset aiming distance may be a distance between a preset aiming point and a certain preset aiming point, the preset aiming point may be a certain target point on a desired path of the vehicle after transverse control, the preset aiming distance may be determined according to a preset aiming calibration time and a vehicle speed, and the preset aiming distance may be set to 0.5 meter or 0.6 meter, etc. The lateral position error may refer to a lateral deviation of the current position of the vehicle from the current tracking control curve. The heading error may refer to a deviation of a current heading of the vehicle from a current tracking control curve heading.
In the embodiment of the invention, the preset aiming distance x can be used as the independent variable of the tracking control curve and the orientation curve, the corresponding dependent variable result output by the tracking control curve is used as the transverse position error, and the corresponding dependent variable result output by the orientation curve is used as the orientation error 0 Can be expressed as: x is x 0 ＝t M ×V M Wherein t is M Representing preset aiming calibration time, V M Indicating the vehicle speed.
S250, calling a first preset transverse controller formula, a second preset transverse controller formula and a third preset transverse controller formula in sequence according to the transverse position error, the orientation error and the curve curvature to obtain a corresponding first transverse control result, a corresponding second transverse control result and a corresponding third transverse control result.
The first preset lateral controller formula, the second preset lateral controller formula and the third preset lateral controller formula may refer to pre-configured controller formulas for determining a first lateral control result, a second lateral control result and a third lateral control result, respectively, where the first lateral control result is an output result of the first preset lateral controller formula corresponding to a lateral position error, the second lateral control result is an output result of the second preset lateral controller formula corresponding to an orientation error, and the third lateral control result is an output result of the third preset lateral controller formula corresponding to a curve curvature.
In the embodiment of the invention, the previously determined lateral position error, orientation error and curve curvature can be respectively input into a first preset lateral controller formula, a second preset lateral controller formula and a third preset lateral controller formula, and the output results of the three are respectively used as a first lateral control result, a second lateral control result and a third lateral control result, wherein the first lateral control result, the second lateral control result and the third lateral control result can be expressed as steering wheel rotation angle or steering machine torque and the like. Further, the first preset lateral controller and the second preset lateral controller may be PID controllers, and the third preset lateral controller may be a feedforward controller.
Further, on the basis of the above embodiment of the present invention, the first preset lateral controller formula may be expressed as:
wherein C is 1 Representing the first transversal control result, E 1 Represents the transverse position error, K P 、K D 、K I And K ERROR Which represents the adjustment parameters of the device,representing a derivative operation, dt represents an integral operation;
the second preset lateral controller formula may be expressed as:
wherein C is 2 Representing the second transversal control result, E 2 Indicating an orientation error;
the third preset lateral controller formula may be expressed as: c (C) 3 ＝K C ×Cur，
Wherein C is 3 The third transverse control result is represented, cur represents curve curvature, K C Representing the adjustment parameters of the third preset lateral control.
And S260, taking the weighted sum result of the first transverse control result, the second transverse control result and the third transverse control result as an execution control parameter, and controlling the work of an actuator of the vehicle according to the execution control parameter.
The execution control parameter may be understood as a parameter for controlling the operation of an actuator of the vehicle, and may include a steering wheel angle, a steering machine torque, and the like. The actuator may refer to a device for controlling lateral movement of a vehicle, and may include a steering wheel, a steering gear, and the like.
In the embodiment of the invention, the weighted sum result of the determined first transverse control result, the determined second transverse control result and the determined third transverse control result and the preset weighting coefficient can be used as the execution control parameter, wherein the execution control parameter can comprise steering wheel rotation angle, steering machine torque and the like, and the corresponding actuator of the vehicle is controlled to work according to the execution control parameter, so that the vehicle runs along the tracking control curve as much as possible.
According to the technical scheme, the vehicle-mounted sensing equipment of the vehicle is controlled to collect the running data of the target vehicle, wherein the running data at least comprises the following components: when the preset following conditions are met, the current position coordinates of the target vehicle are input to a tracking control curve model to generate a tracking control curve, the corresponding orientation curve and curve curvature of the tracking control curve are determined, when the independent variables of the tracking control curve and the orientation curve meet preset aiming distances, the dependent variable results corresponding to the tracking control curve and the orientation curve are used as transverse position errors and orientation errors, a first preset transverse controller formula, a second preset transverse controller formula and a third preset transverse controller formula are sequentially called according to the transverse position errors, the orientation errors and the curve curvature, so that corresponding first transverse control results, second transverse control results and third transverse control results are obtained, the weighted summation results of the first transverse control results, the second transverse control results and the third transverse control results are used as execution control parameters, and the executors of the vehicle are controlled to work according to the execution control parameters. According to the embodiment of the invention, when the preset following condition is met, the tracking control curve is determined according to the current position coordinates of the target vehicle and the tracking control curve model, then the transverse position error, the orientation error and the curve curvature are determined according to the tracking control curve, the corresponding transverse control results are determined by calling the first preset transverse controller formula, the second preset transverse controller formula and the third preset transverse controller formula, and finally the weighted summation result of the transverse control results is used as the execution control parameter to control the executor of the vehicle to work.
Example III
Fig. 3 is a flowchart of a vehicle transverse control method according to a third embodiment of the present invention, where on the basis of the foregoing embodiments, an implementation manner of the vehicle transverse control method is provided, and a tracking control curve can be generated according to a vehicle position and a target vehicle position in front, and errors of the tracking control curve are controlled by two PID controllers and a road curvature feedforward controller, so as to implement transverse control of the vehicle. As shown in fig. 3, a vehicle transverse control method provided in a third embodiment of the present invention specifically includes the following steps:
s310, acquiring running data of the target vehicle, and judging whether the target vehicle meets a preset following condition.
In the embodiment of the invention, when the vehicle, such as an automatic driving automobile, detects the conditions of lane line missing or poor lane line quality and the like of a current driving lane, the vehicle-mounted sensing equipment such as a vehicle-mounted camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like configured by the vehicle can be controlled to collect driving data of a front target vehicle, and whether the driving state of the target vehicle meets preset following conditions or not is judged according to the driving data, wherein the preset following conditions at least comprise:
1. Within a preset time period, the ID of the target vehicle is stable and does not jump;
2. the target vehicle does not exhibit a large lateral movement, i.e. V, for a preset period of time y ≤a；
3. Within a preset time period, the lateral position deviation of the target vehicle and the vehicle is within a certain threshold range, namely delta y is less than or equal to b;
4. within a preset time period, the longitudinal position deviation of the target vehicle and the vehicle is within a certain threshold range, namely deltax is less than or equal to c.
Wherein V is y A represents a lateral speed of the target vehicle, a represents a lateral speed threshold value, Δy represents a lateral position deviation between the target vehicle and the host vehicle, and b represents a threshold value of the lateral position deviation; Δx represents a longitudinal position deviation of the target vehicle from the host vehicle, and c represents a threshold value of the longitudinal position deviation.
When the running states of the target vehicle in the preset time period meet the preset following conditions, the target vehicle is considered to be a vehicle to be followed, namely, the state of the current target vehicle can be utilized to design and generate a tracking control curve.
And S320, when the preset following condition is determined to be met, generating a tracking control curve according to the current position coordinates of the target vehicle and the tracking control curve model.
As shown in fig. 4, in the embodiment of the present invention, a curve in the (pi/2, 3 pi/2) interval of the sine function y=sin (x) is selected as a base curve of the tracking control curve, and the translation and phase change operations are performed to obtain the tracking control curve as follows:
Wherein (x, y) represents the current position coordinates of the host vehicle, (x) mark ,y mark ) Representing the current position coordinates of the target vehicle. When the tracking control curve is determined, the embodiment of the invention can be determined only by the current position coordinates of the target vehicle, and simultaneously, the condition that the tracking control curve is smooth in curvature change at each stage and tangent with the advancing direction of the vehicle at the starting position point and tangent with the advancing direction of the target vehicle at the reaching position point is met, so that the initial state and the reaching state of the orientation angle of the vehicle in transverse control are consistent, and the transverse control is smoother is ensured.
Further, the first derivative dy corresponding to the tracking control curve is expressed as:
the second derivative ddy corresponding to the tracking control curve is expressed as:
the curve curvature Cur corresponding to the tracking control curve is expressed as: cur=ddy× [1+ (dy) 2 ] -32 。
S330, determining a first transverse control result, a second transverse control result and a third transverse control result of a preset transverse controller according to the tracking control curve.
In the embodiment of the invention, two PID controllers and a road curvature feedforward controller are designed to control and track the error of the control curve. One set of PID controllers is used for controlling the transverse deviation between the current position of the vehicle and the current tracking control curve, the other set of PID controllers is used for controlling the deviation between the current direction of the vehicle and the direction of the current tracking control curve, and the road curvature feedforward controller is used for controlling the curvature of the current running road of the vehicle.
Wherein the lateral position error E 1 Expressed as: e (E) 1 ＝y(x＝x 0 ) Orientation error E 2 Expressed as: e (E) 2 ＝dy(x＝x 0 ) Wherein x is 0 Indicating a preset aiming distance.
Will be a lateral position error E 1 Error of orientation E 2 And the curve curvature Cur is sequentially substituted into a first preset transverse controller formula, a second preset transverse controller formula and a third preset transverse controller formula, and output results of the first, the second and the third preset transverse controller formulas are respectively used as a first transverse control result, a second transverse control result and a third transverse control result.
Wherein, the first preset lateral controller formula may be expressed as:
wherein C is 1 Representing the first transversal control result, E 1 Represents the transverse position error, K P 、K D 、K I And K ERROR Which represents the adjustment parameters of the device,representing a derivative operation, dt represents an integral operation;
the second preset lateral controller formula may be expressed as:
wherein C is 2 Representing the second transversal control result, E 2 Indicating an orientation error;
the third preset lateral controller formula may be expressed as: c (C) 3 ＝K C ×Cur，
Wherein C is 3 The third transverse control result is represented, cur represents curve curvature, K C Representing the adjustment parameters of the third preset lateral control.
And S340, taking the weighted summation result of the first transverse control result, the second transverse control result and the third transverse control result as a steering wheel angle, and controlling the steering wheel of the vehicle to work according to the steering wheel angle.
In an embodiment of the present invention, the steering wheel angle may be determined by:
Angle＝k 1 ×C 1 +k 2 ×C 2 +k 3 ×C 3 ，
wherein Angle represents steering wheel Angle, k 1 、k 2 And k 3 Representing the weighting coefficients.
In conclusion, the steering wheel of the vehicle can be controlled to rotate by a corresponding angle according to the determined steering wheel angle, and further the transverse control of the vehicle is realized.
According to the technical scheme, through acquiring the driving data of the target vehicle and judging whether the target vehicle meets the preset following condition, when the preset following condition is met, generating a tracking control curve according to the current position coordinate of the target vehicle and a tracking control curve model, determining a first transverse control result, a second transverse control result and a third transverse control result of a preset transverse controller according to the tracking control curve, taking a weighted summation result of the first transverse control result, the second transverse control result and the third transverse control result as a steering wheel corner, and controlling the steering wheel of the vehicle to work according to the steering wheel corner. According to the embodiment of the invention, when the preset following condition is met, the tracking control curve is determined according to the current position coordinate of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the weighted summation result of the transverse control results is used as the steering wheel angle to control the steering wheel of the vehicle to execute corresponding operation, so that the problems of larger curve curvature and over-fitting existing in the fitting method based on a large number of historical driving track points of the target vehicle in the prior art are avoided, the transverse control of the vehicle is smoother and more stable, and more memory resources are not required to be occupied.
Example IV
Fig. 5 is a schematic structural diagram of a vehicle transverse control device according to a fourth embodiment of the present invention. As shown in fig. 5, the apparatus includes:
the driving data acquisition module 41 is configured to acquire driving data of the target vehicle.
The control curve determining module 42 is configured to determine a tracking control curve according to the tracking control curve model and the driving data when the driving data of the target vehicle satisfies the preset following condition.
The control result determining module 43 is configured to control the preset lateral controller to determine a lateral control result according to the tracking control curve.
The vehicle control module 44 is configured to control vehicle movement based on the lateral control result.
According to the technical scheme, the driving data of the target vehicle is acquired through the driving data acquisition module, the control curve determining module determines a tracking control curve according to the tracking control curve model and the driving data when the driving data of the target vehicle meets the preset following condition, the control result determining module controls the preset transverse controller to determine a transverse control result according to the tracking control curve, and the vehicle control module controls the vehicle to move according to the transverse control result. According to the embodiment of the invention, the tracking control curve is determined according to the running data of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the transverse movement of the vehicle is controlled according to the transverse control result, so that the problems of larger curve curvature and over-fitting existing in the prior art when a fitting method is carried out on a large number of historical running track points of the target vehicle are avoided, the transverse control of the vehicle is smoother and more stable, and more memory resources are not required to be occupied.
Further, on the basis of the above embodiment of the invention, the running data acquisition module 41 includes:
the vehicle-mounted sensing device of the vehicle is used for acquiring the driving data of the target vehicle, wherein the driving data at least comprises: the target vehicle number, the target vehicle current position coordinates, the target vehicle lateral speed, the lateral position deviation, the longitudinal position deviation.
Further, on the basis of the above embodiment of the invention, the control curve determining module 42 includes:
and the tracking control curve generating unit is used for inputting the current position coordinates of the target vehicle of the driving data into the tracking control curve model to generate a tracking control curve when the preset following condition is determined to be met.
Further, on the basis of the above embodiment of the present invention, the preset following conditions at least include:
within a preset time period, no jump occurs in the number of the target vehicle of the driving data;
in a preset time period, the target vehicle transverse speed of the driving data is smaller than or equal to a preset transverse speed threshold value;
in a preset time period, the transverse position deviation of the driving data is smaller than or equal to a preset transverse position deviation threshold value;
and within a preset time period, the longitudinal position deviation of the driving data is smaller than or equal to a preset longitudinal position deviation threshold value.
Further, on the basis of the above embodiment of the present invention, the tracking control curve model includes at least:
wherein (x, y) represents the current position coordinates of the vehicle, (x) mark ,y mark ) Representing the current position coordinates of the target vehicle.
Further, on the basis of the above embodiment of the invention, the control result determining module 43 includes:
and the orientation and curvature determining unit is used for determining an orientation curve and a curve curvature corresponding to the tracking control curve.
And the error determining unit is used for taking the dependent variable results corresponding to the tracking control curve and the orientation curve as the transverse position error and the orientation error when the independent variables of the tracking control curve and the orientation curve meet the preset aiming distance.
The transverse control result determining unit is used for sequentially calling a first preset transverse controller formula, a second preset transverse controller formula and a third preset transverse controller formula according to the transverse position error, the orientation error and the curve curvature so as to obtain a corresponding first transverse control result, a corresponding second transverse control result and a corresponding third transverse control result.
Further, on the basis of the above embodiment of the present invention, the first preset lateral controller formula is expressed as:
wherein C is 1 Representing the first transversal control result, E 1 Represents the transverse position error, K P 、K D 、K I And K ERROR Which represents the adjustment parameters of the device,representing a derivative operation, dt represents an integral operation;
the second preset lateral controller formula is expressed as:
wherein C is 2 Representing the second transversal control result, E 2 Indicating an orientation error;
the third preset lateral controller formula is expressed as:
C 3 ＝K C ×Cur，
wherein C is 3 The third transverse control result is represented, cur represents curve curvature, K C Representing the adjustment parameters of the third preset lateral control.
Further, on the basis of the above-described embodiment of the invention, the vehicle control module 44 includes:
and the vehicle transverse control unit is used for taking the weighted summation result of the first transverse control result, the second transverse control result and the third transverse control result as an execution control parameter and controlling the work of an actuator of the vehicle according to the execution control parameter.
The vehicle transverse control device provided by the embodiment of the invention can execute the vehicle transverse control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 6 shows a schematic diagram of an electronic device 50 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. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, 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. 6, the electronic device 50 includes at least one processor 51, and a memory, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, etc., communicatively connected to the at least one processor 51, in which the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from the storage unit 58 into the Random Access Memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52 and the RAM 53 are connected to each other via a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.
Various components in the electronic device 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, etc.; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.
The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 51 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, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 51 executes the respective methods and processes described above, such as the vehicle transverse direction control method.
In some embodiments, the vehicle lateral control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 50 via the ROM 52 and/or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the vehicle lateral control method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the vehicle lateral control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out 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 implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the 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. The 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) through 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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. The client and server are typically 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 hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A vehicle lateral control method, characterized by comprising:
acquiring running data of a target vehicle;
when the running data of the target vehicle meets the preset following condition, determining a tracking control curve according to a tracking control curve model and the running data;
controlling a preset transverse controller according to the tracking control curve to determine a transverse control result;
and controlling the movement of the vehicle according to the transverse control result.
2. The method of claim 1, wherein the acquiring travel data of the target vehicle comprises:
controlling an on-board sensing device of the vehicle to acquire the driving data of the target vehicle, wherein the driving data at least comprises: the target vehicle number, the target vehicle current position coordinates, the target vehicle lateral speed, the lateral position deviation, the longitudinal position deviation.
3. The method of claim 1, wherein determining a tracking control curve from a tracking control curve model and the travel data when the travel data of the target vehicle satisfies a preset following condition comprises:
when the preset following condition is determined to be met, the current position coordinates of the target vehicle of the driving data are input into the tracking control curve model to generate the tracking control curve;
the preset following condition at least comprises:
within a preset time period, no jump occurs in the number of the target vehicle of the driving data;
within the preset time period, the target vehicle transverse speed of the driving data is smaller than or equal to a preset transverse speed threshold value;
within the preset time period, the transverse position deviation of the driving data is smaller than or equal to a preset transverse position deviation threshold value;
And within the preset time period, the longitudinal position deviation of the driving data is smaller than or equal to a preset longitudinal position deviation threshold value.
4. A method according to claim 3, the tracking control curve model comprising at least:
wherein (x, y) represents the current position coordinates of the vehicle, (x) mark ,y mark ) Representing the current position coordinates of the target vehicle.
5. The method of claim 1, wherein controlling a preset lateral controller according to the tracking control curve determines a lateral control result, comprising:
determining an orientation curve and a curve curvature corresponding to the tracking control curve;
when the independent variables of the tracking control curve and the orientation curve meet the preset aiming distance, taking the dependent variable results corresponding to the tracking control curve and the orientation curve as transverse position errors and orientation errors;
and calling a first preset transverse controller formula, a second preset transverse controller formula and a third preset transverse controller formula in sequence according to the transverse position error, the orientation error and the curve curvature to obtain a corresponding first transverse control result, a corresponding second transverse control result and a corresponding third transverse control result.
6. The method of claim 5, wherein the first preset lateral controller formula is expressed as:
wherein C is 1 Representing the first transverse control result, E 1 Representing the lateral position error, K P 、K D 、K I And K ERROR Which represents the adjustment parameters of the device,representing a derivative operation, dt represents an integral operation;
the second preset lateral controller formula is expressed as:
wherein C is 2 Representing the second transverse control result, E 2 Representing the orientation error;
the third preset lateral controller formula is expressed as:
C 3 ＝K C ×Cur，
wherein C is 3 Indicating the third transverse control result, cur indicates the curve curvature, K C Representing the adjustment parameters of the third preset lateral controller.
7. The method of claim 5, wherein said controlling vehicle movement in accordance with said lateral control result comprises:
and taking the weighted summation result of the first transverse control result, the second transverse control result and the third transverse control result as an execution control parameter, and controlling the work of an actuator of the vehicle according to the execution control parameter.
8. A vehicle lateral control device, characterized by comprising:
the driving data acquisition module is used for acquiring driving data of the target vehicle;
The control curve determining module is used for determining a tracking control curve according to a tracking control curve model and the driving data when the driving data of the target vehicle meet preset following conditions;
the control result determining module is used for controlling a preset transverse controller to determine a transverse control result according to the tracking control curve;
and the vehicle control module is used for controlling the movement of the vehicle according to the transverse control result.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle lateral control method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the vehicle lateral control method according to any one of claims 1 to 7 when executed.
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