CN118238894A - Vehicle steering control method and device, vehicle, electronic equipment and storage medium - Google Patents
Vehicle steering control method and device, vehicle, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a vehicle steering control method, a vehicle steering control device, a vehicle, electronic equipment and a storage medium. Acquiring the current speed of the vehicle and the curvature of a lane; determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed; and determining the steering direction of the wheels according to the curvature and the target curvature threshold value. When the steering direction of the wheels is determined, the curvature is compared with the curvature threshold value by considering the vehicle speed and the curvature of the road where the vehicle is located, and the steering of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering direction is determined by adjusting the curvature threshold value through the vehicle speed and comparing the curvature with the curvature threshold value, the steering of the vehicle can meet the driving requirements under different curvature magnitudes and different vehicle speeds, and the safety of vehicle control is improved.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a vehicle steering control method and apparatus, a vehicle, an electronic device, and a storage medium.
Background
Compared with the traditional front wheel steering vehicle, the four-wheel steering vehicle has obvious improvement in the aspects of comfort, stability, flexibility and the like.
In the related art, four-wheel steering is used in a lane keeping process, and control of the steering direction of the rear wheel is generally performed according to the vehicle speed, and the steering radius is reduced when the vehicle is steered by adopting the direction opposite to the steering direction of the front wheel at a low speed; the steering direction is the same at high speeds, increasing the stability of the vehicle.
The method is suitable for driving the vehicle in a lane with smaller curvature, and in the actual driving process, the driving speed of the vehicle on the road with larger or smaller curvature is not fixed, and the method for controlling the steering of the wheels cannot meet the requirement on steering control in the actual driving scene.
Disclosure of Invention
The embodiment of the invention provides a vehicle steering control method, a device, a vehicle, electronic equipment and a storage medium, which are used for solving the problem that the steering performance of the vehicle cannot meet the requirement of running on a road with higher curvature in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle steering control method, including:
acquiring the current speed of a vehicle and the curvature of a lane where the vehicle is located;
Determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
and determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
Optionally, the method further comprises:
determining steering angle ratios of front wheels and rear wheels according to the curvature and the vehicle speed;
And controlling the vehicle to run based on the steering direction and the steering angle ratio.
Optionally, the determining the steering direction of the wheel according to the comparison result of the curvature and the target curvature threshold value includes:
Under the condition that the curvature is smaller than the target curvature threshold value, determining that the steering directions of the front wheel and the rear wheel are the same;
and under the condition that the curvature is larger than the target curvature threshold value, determining that the steering directions of the front wheels and the rear wheels are opposite.
Optionally, the determining the steering angle ratio of the front wheels to the rear wheels according to the curvature and the vehicle speed includes:
Under the condition that the curvature is smaller than the target curvature threshold value, the steering angle ratio of the front wheel to the rear wheel is a preset ratio;
and under the condition that the curvature is larger than the target curvature threshold value, determining the steering angle ratio according to the curvature and the vehicle speed.
Optionally, in a case where the curvature is greater than the target curvature threshold value, determining the steering angle ratio according to the curvature and the vehicle speed includes:
Determining a first gain coefficient of the steering angle ratio according to the curvature, and determining a second gain coefficient of the steering angle ratio according to the vehicle speed;
And determining the steering angle ratio according to the first gain coefficient, the second gain coefficient and a preset reference angle range.
Optionally, the first gain factor and the curvature are in a negative correlation.
Optionally, the second gain coefficient and the vehicle speed are in a positive correlation.
Optionally, the curvature threshold value and the vehicle speed are in a negative correlation.
Optionally, the controlling the vehicle to run based on the steering direction and the steering angle ratio includes:
determining a rear wheel steering parameter according to the acquired front wheel steering parameter, the steering direction and the steering angle ratio;
and controlling the vehicle to run according to the front wheel steering parameter and the rear wheel steering parameter.
In a second aspect, an embodiment of the present invention provides a vehicle steering control apparatus including:
the acquisition module is used for acquiring the current speed of the vehicle and the curvature of the lane where the vehicle is located;
the first determining module is used for determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
and the second determining module is used for determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
In a third aspect, an embodiment of the present invention provides a vehicle including: positioning device, sensor and controller;
The sensor is used for acquiring the current vehicle speed, and the positioning device is used for determining the curvature of the lane where the sensor is positioned;
The controller is used for determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
The controller is used for determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;
A memory for storing a computer program;
and a processor for implementing the steps of the vehicle steering control method according to the first aspect when executing the program stored in the memory.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle steering control method described in the first aspect above.
Aiming at the prior art, the invention has the following advantages:
The method comprises the steps of obtaining the current speed of a vehicle and the curvature of a lane; determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed; and determining the steering direction of the wheels according to the curvature and the target curvature threshold value. When the steering direction of the wheels is determined, the curvature is compared with the curvature threshold value by considering the vehicle speed and the curvature of the road where the vehicle is located, and the steering of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering direction is determined by adjusting the curvature threshold value through the vehicle speed and comparing the curvature with the curvature threshold value, the steering of the vehicle can meet the driving requirements under different curvature magnitudes and different vehicle speeds, and the safety of vehicle control is improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of a vehicle steering control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another vehicle steering control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a vehicle steering control provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle steering control apparatus according to an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device provided by an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic diagram of a vehicle steering control method according to an embodiment of the present invention, including steps 101 to 104:
Step 101, acquiring the current speed of the vehicle and the curvature of the lane where the vehicle is located.
In the embodiment of the present invention, the manner of acquiring the positioning information of the vehicle may include: GPS positioning, namely acquiring longitude and latitude marks of a vehicle by using a Global Positioning System (GPS) receiving device, and positioning the position of the vehicle through satellite signals; positioning a base station, namely determining the position of a vehicle by measuring the signal strength or the arrival time difference between the vehicle and the base station by using a mobile communication base station; WIFl, positioning, namely determining the position of the vehicle by measuring the signal intensity or the arrival time difference between the vehicle and the WIFI hot spot by using WIFI signals around the vehicle; bluetooth positioning, namely determining the position of the vehicle by measuring the signal intensity or the arrival time difference between the vehicle and Bluetooth equipment by using Bluetooth signals; based on the positioning of the geographic information, the vehicle position is determined by utilizing a geographic information database (such as map data) around the vehicle and combining with a vehicle sensor (such as an odometer, a gyroscope and the like through a data processing and reasoning method).
After the current positioning information of the vehicle is obtained, the curvature of the lane in which the vehicle is located may be determined based on the positioning information. For example, the positioning information may be matched with a high-precision map, which may be a map storing road information and road curvature, and the road where the vehicle is currently located and the curvature of the road may be determined from the matching result. The curvature is a numerical value indicating the degree of curvature of the curve at a certain point, and the larger the curvature is, the larger the degree of curvature of the road is.
Further, the high-precision map can be acquired through a high-precision map acquisition vehicle, the high-precision map acquisition vehicle can acquire road environments, the vehicle has a high-precision positioning function, the real-time position of the vehicle can be recorded, and the recorded real-time position is stored in the map; other lane tracks can be calculated through equipment such as a camera and a radar by utilizing an algorithm, the lane curvature is calculated according to the positioning track, and the lane curvature is stored in a high-precision map; the high-precision map thus records the curvature of all lanes on the entire road. Therefore, after the positioning information of the vehicle is determined, the curvature of the road where the vehicle is located can be determined directly through the matching result of the positioning information and the high-precision map. The application can directly determine the curvature of the lane according to high-precision positioning, reduces the calculation steps of vehicle passing through a camera for acquisition, image processing, fitting the center line of the lane, calculating the curvature of the lane and the like, reduces the demand on the calculation force of a chip, and saves the cost.
The current speed of the vehicle may be determined by a speed sensor or by calculation of the wheel speed, which is not limited herein.
And 102, determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed.
In the embodiment of the invention, the curvature threshold value is a demarcation curvature value for judging whether the rotation angle of the front wheel is the same as the rotation angle direction of the rear wheel, the steering direction of the front wheel and the steering direction of the rear wheel are the same when the curvature threshold value is smaller than the curvature threshold value, and the steering direction of the front wheel and the steering direction of the rear wheel are opposite when the curvature threshold value is larger than the curvature threshold value; the relation between the vehicle speed and the curvature threshold value is that the larger the vehicle speed is, the smaller the curvature threshold value is. The corresponding relation between the vehicle speed and the curvature threshold value can be obtained and stored through calibration test in advance, and after the vehicle speed is determined, the target curvature threshold value corresponding to the vehicle speed can be directly determined through a table look-up mode.
Further, when the curvature of the lane is smaller, the lane keeping can be realized by adopting the same front and rear wheel steering directions, and the yaw rate is reduced. When the curvature of the lane is larger, the front and rear wheel steering directions are adopted to be opposite steering, so that the turning radius can be reduced, and the vehicle can quickly finish steering.
Specifically, when the vehicle speed is higher, the curvature threshold value is smaller, and when the vehicle speed is higher, the curvature threshold value is reduced, so that the wheels of the vehicle can be converted into opposite directions as soon as possible, the turning radius is reduced, and the vehicle can quickly finish turning.
And 103, determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
In the embodiment of the invention, after the target curvature threshold value is determined according to the vehicle speed, the curvature can be compared with the target curvature threshold value to determine the steering directions of the front wheels and the rear wheels. If the curvature is larger than the target curvature threshold value, the steering directions of the front wheels and the rear wheels are opposite, so that the turning radius is reduced, and the vehicle is quickly steered. If the curvature is smaller than the target curvature threshold value, the steering directions of the front wheels and the rear wheels are the same, the yaw rate is reduced, and lane keeping is realized.
Further, under different vehicle control scenes, different steering determination modes can be corresponding, for example, if the current scene is that a user controls the vehicle manually, the steering direction of the front wheels can be determined by acquiring the steering angle of the user to the steering wheel, and the steering direction of the rear wheels can be further determined according to the steering direction of the front wheels; if the current scene is an automatic driving condition, the direction of the front wheel can be automatically determined based on the determined curvature direction, and then the direction of the rear wheel is determined by combining the target curvature threshold value; if the current steering direction of the front wheels is not consistent with the actual turning direction of the lane, an alarm can be sent out to prompt a user that the operation possibly has risks. The method improves the driving control performance and the limit driving capability of the whole vehicle.
The method comprises the steps of obtaining the current speed of a vehicle and the curvature of a lane where the vehicle is located; determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed; and determining the steering direction of the wheels according to the curvature and the target curvature threshold value. When the steering direction of the wheels is determined, the curvature is compared with the curvature threshold value by considering the vehicle speed and the curvature of the road where the vehicle is located, and the steering of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering direction is determined by adjusting the curvature threshold value through the vehicle speed and comparing the curvature with the curvature threshold value, the steering of the vehicle can meet the driving requirements under different curvature magnitudes and different vehicle speeds, and the safety of vehicle control is improved.
Fig. 2 is a schematic diagram of another vehicle steering control method according to an embodiment of the present invention, which includes steps 201 to 206:
step 201, acquiring positioning information and current vehicle speed of a vehicle.
Intelligent driving is a trend of future vehicle development, and a high-precision positioning and high-precision map provides positioning information and environment map information for intelligent driving, so that the intelligent driving system is an essential function of future vehicles. The lane keeping function is used as an advanced auxiliary driving function, so that the energy consumption of a driver during driving can be greatly reduced, the driving safety of a vehicle road is improved, and the lane keeping function is also an indispensable function in intelligent driving of the vehicle. On the basis of front wheel steering, the four-wheel steering is added with a rear wheel steering function, so that the vehicle over-bending capability can be improved, and the vehicle steering steady-state performance is improved. The method of the application can be applied to vehicles equipped with high-precision positioning, high-precision maps, lane keeping and four-wheel steering functions.
And 202, determining the curvature of the lane where the vehicle is located according to the positioning information.
This step can refer to step 101, and will not be described here.
Optionally, step 202 includes:
sub-step 2021, matching the positioning information with map data, determining a target lane in which the vehicle is located;
substep 2022 determines the curvature of the lane in which the vehicle is located from the target lane.
In the embodiment of the present application, for the sub-steps 2021 and 2022, the manner of determining the positioning information of the vehicle may be to match the positioning information with map data, where the map data may be high-precision map data, the vehicle in the present application may be a vehicle equipped with high-precision map data and having a high-precision positioning function, if the positioning information of the vehicle is successfully matched with the map data, the curvature of the lane line where the vehicle is located may be determined directly by the map data, and in combination with the planned driving route of the vehicle, the curvature of the lane in front of the vehicle may also be determined. The steering direction of the front and rear wheels of the vehicle can be determined by determining the curvature of the lane in which the vehicle is located. The curvature of the lane where the vehicle is located is directly determined according to the high-precision positioning, the calculation steps of collecting the vehicle through a camera, processing images, fitting the center line of the lane, calculating the curvature of the lane and the like can be reduced, the demand on the calculation force of a chip is reduced, and the cost is saved.
And 203, determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed.
This step can refer to step 103, and will not be described here.
Optionally, the curvature threshold value and the vehicle speed are in a negative correlation.
In the embodiment of the application, the target curvature threshold value corresponding to the vehicle speed can be determined according to the first corresponding relation; the first corresponding relation is the corresponding relation between the vehicle speed and the curvature threshold value; wherein the vehicle speed and the curvature threshold value are in a negative correlation. Specifically, the curvature threshold value is calibrated based on the vehicle speed, the vehicle speeds are different, when the vehicles pass through roads with the same curvature, the corresponding yaw rates of the vehicles are different, and when the vehicle speeds are higher, the vehicles with higher vehicle speeds need to finish steering operation in a shorter time relative to the roads with the same curvature. Therefore, the faster the vehicle speed, the lower the corresponding curvature threshold value, and the purpose is to make the front and rear wheels of the vehicle change to the opposite way of front and rear wheel steering as early as possible, so as to reduce the turning radius and make the vehicle finish steering quickly. Correspondingly, the slower the vehicle speed is, the higher the corresponding curvature threshold value is, and the slower the vehicle speed is, the longer the steering availability time is, at the moment, the front wheel and the rear wheel do not need to be steered in advance, and the front wheel and the rear wheel rotate in the same direction, so that the stability of the vehicle is maintained.
The first corresponding relation can be obtained through simulation test or according to steering performance of the vehicle under different speeds and different curvatures according to real vehicle test.
Specifically, the yaw rate refers to the speed at which the vehicle body rotates about the vertical axis during turning of the vehicle. It is an important parameter describing the lateral movement state of a vehicle during turning, and can be used to evaluate the stability and handling properties of the vehicle, and yaw angle is the angle at which the vehicle body rotates about a vertical axis during turning. Yaw rate can be calculated by measuring the lateral acceleration and speed of the vehicle during a turn. The vehicle speed is one of the main factors affecting the yaw rate. As the vehicle speed increases, the yaw rate increases as the vehicle is required to generate greater centrifugal force during cornering to overcome the inertial force during cornering. In addition, an increase in vehicle mass or a decrease in turning radius may result in an increase in yaw rate. Because at the same lateral acceleration the inertial force will increase and the yaw rate will be proportional to the lateral acceleration. The yaw rate of the vehicle can be an important indicator for evaluating the handling performance of the vehicle. The smaller the yaw rate, the more stable the automobile is in turning, and the better the control performance is. Therefore, when the vehicle speed is high, the curvature threshold value is set to be lower, so that the vehicle enters a turning state as soon as possible, and the problem that the vehicle is unstable in running and causes safety due to the fact that a larger yaw rate is needed to ensure the turning of the vehicle when the vehicle speed is high is avoided.
And 204, determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
This step can refer to step 103, and will not be described here.
Optionally, the steps include:
sub-step 2041, in the event that said curvature is less than said target curvature threshold value, of determining that the steering direction of said front and rear wheels is the same;
sub-step 2042, determining that the steering direction of the front and rear wheels is opposite if the curvature is greater than the target curvature threshold value.
In the embodiment of the present invention, for the sub-step 2041 and the sub-step 2042, when the lane curvature is smaller than the target curvature threshold value, the lane keeping can be achieved by adopting the same front-rear wheel steering direction, the yaw rate is reduced, and the lane keeping running is achieved. When the curvature of the lane is larger than the target curvature threshold value, the front and rear wheel steering directions are adopted to be opposite steering, so that the turning radius can be reduced, and the vehicle can rapidly finish steering.
Step 205, determining the steering angle ratio of the front wheels to the rear wheels according to the curvature and the vehicle speed.
In the embodiment of the invention, for a four-wheel steering vehicle, when the vehicle is designed, the reference angle range of the front wheels and the reference angle range of the rear wheels are designed, and the ratio of the maximum rotation angles of the front wheels and the rear wheels is the ratio of the rotation angle ranges, for example, the vehicle can be designed to be 6 to 1 or 3 to 1, and the ratio of the reference angle ranges is different according to the design of the vehicle. The maximum rotation angle here is the maximum angle at which the front or rear wheel turns left or right.
According to the application, table lookup is carried out according to the curvature of the road and the speed of the vehicle to obtain the ratio of the steering direction and the rotation angle of the front wheel and the rear wheel, the curvature of the lane can determine whether the directions of the front wheel and the rear wheel of the vehicle are the same, and when the curvature of the lane is smaller than the curvature threshold value, the steering directions of the front wheel and the rear wheel are the same, and the ratio of the steering angle of the front wheel and the rear wheel is kept unchanged; when the curvature of the lane is larger than the curvature threshold value, the steering directions of the front wheel and the rear wheel are opposite, and the larger the curvature is, the smaller the ratio of the front wheel to the rear wheel is; the curvature threshold value is dynamically adjusted according to the vehicle speed, and the higher the vehicle speed is, the smaller the curvature threshold value is; the ratio of the front wheel steering angle to the rear wheel steering angle can be adjusted, and the larger the vehicle speed is, the larger the steering angle ratio is.
Further, the steering angle ratio of the present application is a ratio of the steering angle of the front wheels to the steering angle of the rear wheels. Since the vehicle speed and the curvature are both influencing factors that influence the steering operation. Therefore, the steering angle ratio is determined by comprehensively considering the vehicle speed and the curvature so as to control the vehicle to finish steering, so that the steering operation of the vehicle can be suitable for road scenes with different vehicle speeds and different curvatures.
Optionally, step 205 includes:
Sub-step 2051, wherein the steering angle ratio of the front wheel to the rear wheel is a preset ratio in case the curvature is smaller than the target curvature threshold value.
In the embodiment of the invention, when the curvature of the lane is smaller, the lane is kept by adopting the same front and rear steering directions so as to reduce the yaw rate, the ratio of the front wheel rotation angle to the rear wheel rotation angle is equal to the ratio of the reference angle, and when the curvature of the lane is smaller than the target curvature threshold value, the road is gentle, the steering angle ratio can be directly preset without considering the influence of the speed of the vehicle.
Sub-step 2052, determining the steering angle ratio from the curvature and the vehicle speed, in case the curvature is greater than the target curvature threshold value.
Optionally, sub-step 2052 includes:
Sub-step 20521, determining a first gain factor of the steering angle ratio from the curvature, and determining a second gain factor of the steering angle ratio from the vehicle speed;
Sub-step 20522, determining the steering angle ratio according to the first gain factor, the second gain factor, and a preset reference angle range.
In the embodiment of the present invention, for sub-step 20521 and sub-step 20522, if the curvature is greater than the target curvature threshold, the front-rear wheel steering direction is opposite, the front-rear wheel steering angle ratio may be checked according to the magnitude of the curvature to obtain the first gain coefficient k1, the second gain coefficient k2 is obtained by checking the table according to the vehicle speed, and the final ratio coefficient k=k1×k2, and the k1 and k2 coefficient curves are all obtained by calibration.
Further, the first gain factor and the second gain factor may be calibrated by testing. And storing the corresponding relation between the calibrated curvature and the first gain coefficient in a table, storing the corresponding relation between the calibrated vehicle speed and the second gain coefficient in the table, and carrying out table lookup through the real-time vehicle speed and the real-time curvature when in actual use, so that the corresponding gain coefficient can be obtained, superposing the gain coefficient and the current steering angle, determining the steering angle ratio after gain as the final steering angle ratio, and determining the specific front steering angle and rear steering angle based on the determined steering angle ratio, thereby realizing steering control of the vehicle.
In addition, the preset reference angle range in the application can be the preset steering angle of the rear wheel, and can also be the preset steering angle ratio of the front wheel to the rear wheel; for different vehicle types, such as a car, a heavy-duty car, a sport car and the like, different reference angle ranges can be correspondingly set due to different driving environments to which the sport car is suitable for different driving scenes. Or different driving modes (e.g. sport mode, comfort mode) for the same vehicle model, may also correspond to different reference angle ranges, wherein this preset reference angle range may be correspondingly adjusted. Therefore, after the first gain coefficient and the second gain coefficient are determined, the steering angle ratio is comprehensively determined according to the reference angle range of the vehicle for different vehicle types, so that the determined steering angle ratio is the ratio meeting the actual steering requirements of different vehicle types, and the accuracy and safety of steering control are improved.
Optionally, the first gain factor and the curvature are in a negative correlation.
In the embodiment of the invention, the first gain coefficient of the steering angle ratio can be determined according to the second corresponding relation; the second corresponding relation is the corresponding relation between the curvature and the first gain coefficient. When the curvature is large, the transverse swing angle is larger to meet the turning requirement of the vehicle, and at the moment, the vehicle can reduce the turning radius by reducing the ratio of the front wheel turning angle to the rear wheel turning angle, so that the turning is completed quickly. The second correspondence may be obtained by a simulation test or according to the steering behavior of the vehicle under different curvatures according to a real vehicle test.
Optionally, the second gain coefficient and the vehicle speed are in a positive correlation.
In the embodiment of the invention, the second gain coefficient of the steering angle ratio can be determined according to the third corresponding relation; the third corresponding relation is the corresponding relation between the vehicle speed and the second gain coefficient. When the vehicle speed is high, if the yaw angle is high, potential safety hazards exist, so that when the vehicle speed is high, the steering angle ratio is high, the influence of the yaw angle on the stability of the vehicle is balanced by increasing the steering angle ratio, and the running safety of the vehicle is improved. The third correspondence may be obtained by a simulation test or according to the steering behavior of the vehicle at different speeds of the vehicle when tested in real vehicles.
And 206, controlling the vehicle to run based on the steering direction and the steering angle ratio.
In the embodiment of the invention, after the steering direction and the steering angle ratio are determined, the tire steering is controlled based on the steering direction, the steering angles of the specific front wheels and the specific rear wheels are determined based on the steering angle ratio and the running track of the vehicle, and the vehicle is further controlled to steer at the determined steering angles.
The application controls the steering direction of the front wheel and the rear wheel of the four-wheel steering and the ratio according to the curvature of the lane and the speed of the vehicle, thereby being beneficial to the rapid turning of the vehicle and improving the running stability of the vehicle.
Optionally, step 206 includes:
Substep 2061, determining a front wheel steering angle and a rear wheel steering angle based on the travel track, the steering direction, and the steering angle ratio of the vehicle.
In the embodiment of the invention, the running track, the steering direction and the steering angle ratio of the vehicle can be used as constraint conditions for determining the steering angle of the front wheel and the steering angle of the rear wheel.
Specifically, when the curvature is smaller than the target area threshold value, the steering angles of the front wheels and the rear wheels are the same, and the steering angle ratio can directly adopt a preset steering ratio, namely the ratio of the reference angle range. When the curvature of the lane where the vehicle is located is larger than a target curvature threshold value, respective corresponding gain coefficients are determined through the speed and the curvature, a final steering angle ratio is determined through superposition of the gain coefficients and the steering angle ratio, and further the respective steering angles of the front wheels and the rear wheels are comprehensively determined based on the steering angle ratio, the running track of the vehicle and the steering direction, so that steering control is realized.
Substep 2062 of determining a current signal based on the front wheel steering angle and the rear wheel steering angle;
substep 2063, controlling the vehicle to travel based on the current signal.
In the embodiment of the present invention, for the substep 2062 and the substep 2063, track planning is performed according to the actual state of the vehicle and the target track, and the front-rear wheel steering direction and the steering angle ratio are added as constraint conditions, so as to calculate the magnitude and the direction of the front-rear wheel steering angle. And sending the calculated front and rear wheel steering angles and direction control instructions to a vehicle steering power-assisted system, and controlling the vehicle to steer by the steering system to realize the lane keeping function.
Specifically, after the magnitude and direction of the front and rear wheel steering angle are determined, a steering assistance system of the vehicle is used for providing an assistance function when a driver steers, a steering angle command is input to control an assistance motor, PID (proportional-integral-DERIVATIVE CONTROL) control is performed on the steering angle to control motor current and drive the motor, and steering force is provided for the steering system to steer the vehicle.
Optionally, step 206 includes:
Sub-step 2064 of determining a rear wheel steering parameter based on the acquired front wheel steering parameter, the steering direction and the steering angle ratio;
Substep 2065, controlling vehicle travel based on the front wheel steering parameter and the rear wheel steering parameter.
In an embodiment of the present invention, for sub-steps 2064 and 2065, the front wheel steering parameters may be obtained directly by the steering system or may be determined based on curvature on the basis of determining the curvature of the lane. The front wheel steering parameter may be a parameter for characterizing the magnitude of the front wheel steering angle. The rear wheel steering parameter may be determined based on the determined front wheel steering parameter, and likewise, the steering parameter of the rear wheel may be a parameter for characterizing the magnitude of the steering angle of the rear wheel.
Specifically, in a user self-driving scenario, the steering system may determine the front-wheel steering parameters based on the user's manipulation of the steering wheel, and in an automatic driving scenario, the steering system may determine the front-wheel steering parameters based on the road curvature. Based on the determined front-wheel steering parameter, steering direction, and steering angle ratio, the rear-wheel steering parameter may be determined. And controlling the vehicle to run according to the determined front wheel steering parameters and rear wheel steering parameters. When the steering direction of the wheels is determined, the vehicle speed and the curvature of the road where the vehicle is located are considered, the curvature is compared with the curvature threshold value, the steering direction of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering parameters of the rear wheels are determined through the steering parameters of the front wheels and the determined steering angle ratio, the steering of the vehicle can meet the driving requirements under different curvature sizes and different vehicle speeds, and the safety of vehicle control is improved.
Referring to fig. 3, fig. 3 shows a flowchart of a vehicle steering control procedure according to an embodiment of the present application, including:
and S1, carrying out real-time high-precision positioning on the vehicle in the running process of the vehicle, and acquiring the curvature of the road where the vehicle is and the road section to be driven into from a high-precision map according to the positioning result.
And S2, checking a table according to the curvature of the road and the speed of the vehicle. The magnitude of the front-rear wheel steering direction and the ratio is obtained.
And S3, taking the steering direction and the ratio of the front wheel and the rear wheel as constraint conditions, and carrying out track planning calculation on the steering angle and the steering direction of the front wheel and the rear wheel.
And S4, sending the calculated front and rear wheel steering angle and direction control instruction to a vehicle steering power assisting system to control the vehicle to steer, so as to realize the lane keeping function.
In summary, the invention provides a four-wheel steering control method based on high-precision positioning and lane keeping, which is characterized in that the curvature of a vehicle driving lane is obtained according to the vehicle positioning and high-precision map information, the four-wheel steering angle of the vehicle is controlled according to the vehicle speed and the lane curvature, when the lane curvature is smaller, the lane keeping is realized by adopting the same front and rear steering directions, the yaw rate is reduced, and the ratio of the front wheel steering angle to the rear wheel steering angle is equal to the ratio of the steering angle range; when the curvature of the lane is larger, the front and rear opposite steering is adopted, the turning radius is reduced, the vehicle can rapidly complete steering, the lane keeping is maintained, and at the moment, the larger the curvature of the road is, the smaller the ratio of the front wheel turning angle to the rear wheel turning angle is; the larger the vehicle speed is, the larger the ratio of the front wheel rotation angle to the rear wheel rotation angle is; the road curvature is used for judging whether the steering directions of the front wheels and the rear wheels are the same as the steering angle ratio, the vehicle speed is used for judging the steering angle ratio of the front wheels and the rear wheels, finally, the track planning is carried out by taking the steering direction of the front wheels and the rear wheels and the steering angle ratio as constraint conditions, the size and the steering direction of the front wheels and the rear wheels of the vehicle are calculated, and the steering control of the vehicle is realized.
The method comprises the steps of obtaining positioning information and current speed of a vehicle; determining the curvature of a lane where the vehicle is located according to the positioning information; determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed; and determining the steering directions of the front wheels and the rear wheels according to the curvature and the target curvature threshold value. When the steering direction of the wheels is determined, the curvature is compared with the curvature threshold value by considering the vehicle speed and the curvature of the road where the vehicle is located, and the steering of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering direction is determined by adjusting the curvature threshold value through the vehicle speed and comparing the curvature with the curvature threshold value, the steering of the vehicle can meet the driving requirements under different curvature magnitudes and different vehicle speeds, and the safety of vehicle control is improved.
Fig. 4 is a schematic diagram of a vehicle steering control apparatus according to an embodiment of the present invention, including:
the acquisition module is used for acquiring the current speed of the vehicle and the curvature of the lane where the vehicle is located;
the first determining module is used for determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
and the second determining module is used for determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
Optionally, the apparatus further comprises:
A third determining module for determining steering angle ratio of the front wheels and the rear wheels according to the curvature and the vehicle speed;
and the control module is used for controlling the vehicle to run based on the steering direction and the steering angle ratio.
Optionally, the second determining module includes:
a first determining submodule, configured to determine that a steering direction of the front wheel and the rear wheel is the same in a case where the curvature is smaller than the target curvature threshold value;
and the second determining submodule is used for determining that the steering directions of the front wheel and the rear wheel are opposite under the condition that the curvature is larger than the target curvature threshold value.
Optionally, the fourth determining module includes:
a third determining submodule, configured to, when the curvature is smaller than the target curvature threshold value, set a steering angle ratio of the front wheel to the rear wheel to a preset ratio;
and the fourth determining submodule is used for determining the steering angle ratio according to the curvature and the vehicle speed under the condition that the curvature is larger than the target curvature threshold value.
Optionally, the fourth determining submodule includes:
A first determining unit configured to determine a first gain coefficient of the steering angle ratio according to the curvature, and determine a second gain coefficient of the steering angle ratio according to the vehicle speed;
and the second determining unit is used for determining the steering angle ratio according to the first gain coefficient, the second gain coefficient and a preset reference angle range.
Optionally, the first gain factor and the curvature are in a negative correlation.
Optionally, the second gain coefficient and the vehicle speed are in a positive correlation.
Optionally, the curvature threshold value and the vehicle speed are in a negative correlation.
Optionally, the control module includes:
a fifth determining submodule, configured to determine a rear wheel steering parameter according to the obtained front wheel steering parameter, the steering direction, and the steering angle ratio;
And the sixth determining submodule is used for controlling the vehicle to run according to the front wheel steering parameter and the rear wheel steering parameter.
The method comprises the steps of obtaining positioning information and current speed of a vehicle; determining the curvature of a lane where the vehicle is located according to the positioning information; determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed; and determining the steering directions of the front wheels and the rear wheels according to the comparison result of the curvature and the target curvature threshold value. When the steering direction of the wheels is determined, the curvature is compared with the curvature threshold value by considering the vehicle speed and the curvature of the road where the vehicle is located, and the steering of the wheels is determined, and the curvature threshold value is determined by the vehicle speed, namely, the curvature threshold value can correspond to different curvature threshold values under different vehicle speeds, so that the steering direction is determined by adjusting the curvature threshold value through the vehicle speed and comparing the curvature with the curvature threshold value, the steering of the vehicle can meet the driving requirements under different curvature magnitudes and different vehicle speeds, and the safety of vehicle control is improved.
For the above-described device embodiments, since they are substantially similar to the vehicle steering control method embodiments, reference will be made to the description of the method embodiments for the relevant points.
The embodiment of the invention also provides an electronic device, as shown in fig. 5, which comprises a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802 and the memory 803 complete communication with each other through the communication bus 804.
A memory 803 for storing a computer program.
The processor 801 is configured to execute a program stored in the memory 803, and implements the following steps: acquiring the current speed of a vehicle and the curvature of a lane where the vehicle is located;
Determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
And determining the steering direction of the wheels according to the curvature and the target curvature threshold value. The processor 801 may further implement other steps in the above-mentioned vehicle steering control method, which will not be described herein.
The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include random access memory (Random Access Memory, RAM) or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
In yet another embodiment of the present invention, there is also provided a computer-readable storage medium having instructions stored therein, which when run on a computer, cause the computer to perform the vehicle steering control method described in the above embodiment.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the vehicle steering control method described in the above embodiment.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (13)
1.A vehicle steering control method, characterized by comprising:
acquiring the current speed of a vehicle and the curvature of a lane where the vehicle is located;
Determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
and determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
2. The method according to claim 1, wherein the method further comprises:
determining steering angle ratios of front wheels and rear wheels according to the curvature and the vehicle speed;
And controlling the vehicle to run based on the steering direction and the steering angle ratio.
3. The method of claim 1, wherein determining the steering direction of the wheel based on the curvature and the target curvature threshold value comprises:
Under the condition that the curvature is smaller than the target curvature threshold value, determining that the steering directions of the front wheel and the rear wheel are the same;
and under the condition that the curvature is larger than the target curvature threshold value, determining that the steering directions of the front wheels and the rear wheels are opposite.
4. The method of claim 2, wherein said determining the steering angle ratio of the front wheels to the rear wheels based on the curvature and the vehicle speed comprises:
Under the condition that the curvature is smaller than the target curvature threshold value, the steering angle ratio of the front wheel to the rear wheel is a preset ratio;
and under the condition that the curvature is larger than the target curvature threshold value, determining the steering angle ratio according to the curvature and the vehicle speed.
5. The method of claim 4, wherein the determining the steering angle ratio from the curvature and the vehicle speed if the curvature is greater than the target curvature threshold value comprises:
Determining a first gain coefficient of the steering angle ratio according to the curvature, and determining a second gain coefficient of the steering angle ratio according to the vehicle speed;
And determining the steering angle ratio according to the first gain coefficient, the second gain coefficient and a preset reference angle range.
6. The method of claim 5, wherein the first gain factor and the curvature are inversely related.
7. The method of claim 5, wherein the second gain factor and the vehicle speed are in a positive correlation.
8. The method of claim 1, wherein the curvature threshold value and the vehicle speed are inversely related.
9. The method of claim 2, wherein the controlling vehicle travel based on the steering direction and the steering angle ratio comprises:
determining a rear wheel steering parameter according to the acquired front wheel steering parameter, the steering direction and the steering angle ratio;
and controlling the vehicle to run according to the front wheel steering parameter and the rear wheel steering parameter.
10. A vehicle steering control apparatus, characterized by comprising:
the acquisition module is used for acquiring the curvature of the lane where the current speed of the vehicle is;
the first determining module is used for determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
and the second determining module is used for determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
11. A vehicle, characterized by comprising: positioning device, sensor and controller;
The sensor is used for acquiring the current vehicle speed, and the positioning device is used for determining the curvature of the lane where the sensor is positioned;
The controller is used for determining a target curvature threshold value corresponding to the vehicle speed according to the vehicle speed;
The controller is used for determining the steering direction of the wheels according to the curvature and the target curvature threshold value.
12. An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;
A memory for storing a computer program;
A processor for implementing the steps in the vehicle steering control method according to any one of claims 1 to 9 when executing the program stored in the memory.
13. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the steps in the vehicle steering control method according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311631677.0A CN118238894A (en) | 2023-11-29 | 2023-11-29 | Vehicle steering control method and device, vehicle, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311631677.0A CN118238894A (en) | 2023-11-29 | 2023-11-29 | Vehicle steering control method and device, vehicle, electronic equipment and storage medium |
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| CN202311631677.0A Pending CN118238894A (en) | 2023-11-29 | 2023-11-29 | Vehicle steering control method and device, vehicle, electronic equipment and storage medium |
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| CN (1) | CN118238894A (en) |
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