WO2024031453A1 - Vehicle control method and apparatus, terminal device, and computer-readable storage medium - Google Patents

Vehicle control method and apparatus, terminal device, and computer-readable storage medium Download PDF

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Publication number
WO2024031453A1
WO2024031453A1 PCT/CN2022/111522 CN2022111522W WO2024031453A1 WO 2024031453 A1 WO2024031453 A1 WO 2024031453A1 CN 2022111522 W CN2022111522 W CN 2022111522W WO 2024031453 A1 WO2024031453 A1 WO 2024031453A1
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WIPO (PCT)
Prior art keywords
vehicle
parking
target area
tracking error
path
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PCT/CN2022/111522
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French (fr)
Chinese (zh)
Inventor
蒋拯民
李慧云
张明宇
桑明
Original Assignee
中国科学院深圳先进技术研究院
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Priority to PCT/CN2022/111522 priority Critical patent/WO2024031453A1/en
Publication of WO2024031453A1 publication Critical patent/WO2024031453A1/en

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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
    • B60W30/06—Automatic manoeuvring for parking

Definitions

  • the present application belongs to the field of control technology, and in particular relates to a vehicle control method, device, terminal equipment and computer-readable storage medium.
  • One purpose of the embodiments of the present application is to provide a vehicle control method, device, terminal equipment and computer-readable storage medium.
  • a vehicle control method including:
  • the vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
  • the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, recording the parking path of the vehicle into the target area includes:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained.
  • the parking path is generated based on the posture transformation data of the vehicle between each two adjacent first position points and the position coordinates of each first position point.
  • obtaining the parking position of the vehicle during the process of parking the vehicle out of the target area includes:
  • determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
  • the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area
  • the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
  • the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • determining the steering wheel angle based on the position deviation between the preview point and the parked position includes:
  • the steering wheel angle is determined based on the first front wheel angle.
  • determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
  • the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point
  • the second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the functional relationship between the tracking error and the vehicle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the steering wheel angle is determined based on the second front wheel angle.
  • the method further includes:
  • the vehicle During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  • a vehicle control device including:
  • a path recording unit used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area
  • a position acquisition unit configured to acquire the parking position of the vehicle in real time during the vehicle parking out of the target area
  • An angle calculation unit configured to determine the steering wheel angle based on the position deviation between the parking position and the parking path
  • a vehicle control unit is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the above first step is implemented.
  • the vehicle control method according to any one of the aspects.
  • embodiments of the present application provide a computer-readable storage medium.
  • Embodiments of the present application provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and the computer program is processed.
  • the controller is executed, the vehicle control method as described in any one of the above first aspects is implemented.
  • embodiments of the present application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the vehicle control method described in any one of the above first aspects.
  • the beneficial effect of the vehicle control method provided by the embodiment of the present application is that since the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, then recording the path is equivalent to saving a reference path. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area. When the vehicle enters an unknown narrow area and cannot exit by turning around, the above method can automatically control the vehicle to return along the original road.
  • Figure 1 is a schematic diagram of the composition of a vehicle control system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.
  • Figure 3 is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application.
  • Figure 4 is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application.
  • Figure 5 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 6 is a structural block diagram of a vehicle control device provided by an embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the term “if” may be interpreted as “when” or “once” or “in response to determining” or “in response to detecting” depending on the context. ". Similarly, the phrase “if determined” or “if [the described condition or event] is detected” may be interpreted, depending on the context, to mean “once determined” or “in response to a determination” or “once the [described condition or event] is detected ]” or “in response to detection of [the described condition or event]”.
  • the application background of the embodiments of this application is introduced.
  • the autonomous driving function often becomes powerless. In this case, it is usually switched to manual driving mode, with the driver controlling the vehicle to reverse. This method relies heavily on the driver's ability to control the vehicle.
  • the driver is inexperienced or has a visual blind spot, a collision accident is likely to occur.
  • Existing autonomous driving functions are less intelligent and cannot meet the driving needs in unknown and narrow areas.
  • embodiments of the present application provide a vehicle control method.
  • the parking path is recorded; when the vehicle needs to park out of the unknown narrow area, the parking path is recorded in real time based on the position deviation between the parking position and the recorded parking path.
  • the vehicle control system may include an information acquisition layer, a control layer and an execution layer. Each layer can be connected through CAN bus communication.
  • the information acquisition layer sends the acquired data about vehicle driving to the control layer.
  • the control layer plans the driving path (such as the parking path and the parking path) and the required control amount based on the received data.
  • the execution layer controls the vehicle.
  • the relevant devices execute planned control quantities.
  • the information acquisition layer can include various sensors, such as wheel speed sensors, transmission control units, steering wheel angle sensors, obstacle detection sensors, and vision sensors.
  • the wheel speed sensor is used to obtain the rotation speed of the non-driven wheels on both sides of the vehicle, and then average the speed to obtain the midpoint speed of the rear axle.
  • the transmission control unit is used to obtain the forward/reverse gear position of the vehicle.
  • the steering wheel angle sensor is used to obtain the steering wheel angle.
  • Obstacle detection sensors (such as cameras, radars, etc.) are used to detect obstacles around the vehicle.
  • Vision sensors are used to obtain environmental information during driving (such as three-dimensional point clouds, two-dimensional images, etc.).
  • the control layer can include positioning calculation module, power-off storage module, data recording module, human-computer interaction module, forward control module, backward control module, actuator handshake module and obstacle alarm module, etc.
  • the positioning calculation module is used to calculate the parking position of the vehicle, including the parking positioning unit and the parking positioning unit.
  • the forward control module is used to calculate a forward control strategy, such as the forward error feedback tracking strategy described in the following embodiments.
  • the retreat control module is used to calculate a retreat control strategy, such as the retreat preview tracking strategy described in the following embodiments.
  • the execution layer can include power steering (EPS, Electric Power Steering), human-machine interaction interface (HMI, Human Machine Interface) and driving operating devices (such as gear shifters, brake devices, throttles, etc.).
  • EPS Electric Power Steering
  • HMI Human Machine Interface
  • driving operating devices such as gear shifters, brake devices, throttles, etc.
  • FIG. 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.
  • the method may include the following steps:
  • the target area in the embodiment of the present application may refer to a narrow area where the vehicle cannot turn around.
  • the driving path can be recorded in real time.
  • the latest records overwrite the original records.
  • the vehicle's return path i.e., the parking out path
  • the latest parking path is the latest parking path. Therefore, through this method, it can not only ensure that the driving data is not lost, but also ensure that the recorded parking path can be called when the vehicle retreats.
  • the recording function can be enabled by the user through the HMI.
  • the user sends an opening instruction to the execution layer through HMI, and the execution layer sends the opening instruction to the control layer.
  • the human-computer interaction module in the control layer instructs the data recording module to record the driving data received from the information acquisition layer.
  • the above two recording methods can be interchanged.
  • the driving path is recorded in real time; when the user turns off the recording function through the HMI, the control layer stops recording the driving path.
  • the driving path is not recorded by default; when the user turns on the recording function through the HMI, the control layer begins to record the driving path.
  • the target area includes a plurality of first location points.
  • Ways of recording parking routes can include:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud calculates the pose transformation data of the vehicle between every two adjacent first position points; based on the pose transformation data of the vehicle between every two adjacent first position points , and the position coordinates of each first position point to generate the parking path.
  • One way of setting the first position point is: every time the vehicle's driving distance reaches a preset distance, it reaches a first position point. For example, when the vehicle travels more than 10cm, it reaches a first position point, records the effective position coordinates and three-dimensional point cloud of the first position point, and stores the current gear information.
  • Another way to set the first position point is to set the recording period in advance, and record a first position point every interval of recording period during the driving time of the vehicle. For example, when the vehicle's driving speed is greater than 10 miles and less than 20 miles, a first position point is recorded every 10 seconds; when the vehicle's driving speed is greater than 20 miles but less than 30 miles, a first position point is recorded every 5 seconds; and so on, for Different vehicle speeds set different recording periods.
  • the three-dimensional point cloud may be obtained through lidar.
  • 3D point clouds can also be acquired through cameras mounted on vehicles. For example, select a camera (or binocular camera, or depth camera) with intersecting fields of view on the car body, and calibrate its parameters in advance; during driving, use the calibrated camera to obtain a three-dimensional point cloud of the environment. Each time a first position point is reached, a frame of three-dimensional point cloud is obtained, that is, two adjacent frames of three-dimensional point cloud correspond to two adjacent first position points.
  • Use matrix decomposition such as SVD decomposition
  • the parking trajectory can be obtained based on the pose transformation data between adjacent position points obtained in sequence.
  • the recorded parking path may refer to the recorded discrete data, including the position coordinates of each of the plurality of first position points, and the posture transformation between each two adjacent position points. data.
  • the recorded parking path may also be a curve, which is fitted based on the respective position coordinates of the plurality of first position points and the posture transformation data between each two adjacent position points.
  • the gear information of the vehicle at each first location point can also be recorded.
  • reverse gear is recorded as -1 and non-reverse gear is recorded as 1.
  • different forward gears can also be recorded as different data, such as first gear as 1, second gear as 2, and so on.
  • the recording form of gear information is not specifically limited here. The purpose of recording the gear information is to adjust different control strategies during the subsequent process of parking the vehicle out of the target area.
  • S102 During the process of parking the vehicle out of the target area, obtain the parking location of the vehicle in real time.
  • the pose information of the vehicle is calculated in real time, and the pose information is recorded as the parking position of the vehicle.
  • the specific method is as follows:
  • v r is the rear axle midpoint speed
  • ⁇ is the yaw angular velocity
  • R is the turning radius
  • ⁇ f is the front wheel turning radius
  • L is the wheelbase.
  • ⁇ is unknown data
  • R and L are known parameters of the vehicle
  • ⁇ f and v r are data that can be obtained through sensors.
  • i is the angular transmission ratio of the steering wheel.
  • T s is the discrete calculation period (the time interval between each two adjacent position points), ⁇ k and ⁇ k are the yaw angular velocity and heading angle at k time respectively, x k and y k are k time respectively.
  • the vehicle speed is not constant, and there is a certain amount of noise in the vehicle speed and yaw angular velocity data. If the above calculation method is followed, the calculated parking position will be less accurate.
  • the above calculated pose information is subjected to data filtering processing, and the filtered pose information is recorded as the parking position.
  • the extended Kalman filter can be used for data filtering. Specifically, on the basis of the above steps (1) and (2), the filtering process of step (3) is added, as follows:
  • v x, k+1 , v y, k+1 are the horizontal and longitudinal vehicle speeds at k+1 time respectively
  • a x and a y are the horizontal and longitudinal accelerations respectively
  • W and V are the process noise and measurement noise respectively.
  • W is the given data
  • V is equivalent to the matrix composed of ⁇ calculated by the above steps.
  • noisy data can be effectively filtered and positioning accuracy can be effectively improved.
  • S103 Determine the steering wheel angle according to the position deviation between the parking position and the parking path.
  • the recorded parking path can be regarded as a reference path.
  • Existing navigation methods can be used to calculate the position deviation between the parking position and the reference path to determine the steering wheel angle, thereby controlling the vehicle.
  • S104 Control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • the vehicle control method further includes: if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, then based on The gear position of the vehicle is switched according to the gear position information corresponding to the current position of the vehicle.
  • the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path.
  • the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area.
  • the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
  • step S103 when the vehicle is parking out of the target area, whether it is moving forward or backward, the same algorithm can be used to calculate the steering wheel angle.
  • the parking path is divided into forward and backward segmented paths, and different algorithms are set for different segmented paths.
  • S103 may include the following steps:
  • gear position information corresponding to the parking position of the vehicle, wherein the gear position information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area.
  • the recorded parking path may refer to the recorded discrete data, or may also be a fitted curve.
  • the position point in the parking path that matches the parking out position can be a first position point closest to the parking out position.
  • the position point in the parking path that matches the parking out position can be a position point closest to the fitted curve (this position point does not necessarily have to be the first location point).
  • the gear information corresponding to the parking out position is the gear information of the first position point.
  • the parking path can be divided into a forward sub-path and a backward sub-path according to the gear information corresponding to each first position point, and then Determine whether the parking position belongs to the forward sub-path or the backward sub-path, and thereby determine the gear information corresponding to the parking position.
  • the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path. .
  • step II the gear information indicates forward movement.
  • step II may include:
  • the steering wheel angle is determined based on the first front wheel angle.
  • Figure 3 is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application.
  • the preview point starts from the center of the rear axle of the vehicle and the distance to the parking path is l d (Default) point.
  • the lateral distance from the center of the vehicle's rear axle to the preview point (g x , g y ) is defined as the first lateral tracking error e ld .
  • the triangular geometric relationship is:
  • the vehicle front wheel rotation angle can be calculated in real time based on the first lateral tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
  • the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the first lateral tracking error in real time based on the received data, and then According to the first lateral tracking error and the first control law, the first front wheel angle is calculated in real time, converted into a steering wheel angle, and sent to the execution layer; the execution layer controls the steering wheel rotation according to the received steering wheel angle, and obtains the information according to the layer Real-time feedback of steering wheel angle data determines whether the steering wheel is turned in place.
  • the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • step III may include:
  • the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point
  • the second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the functional relationship between the tracking error and the vehicle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the steering wheel angle is determined based on the second front wheel angle.
  • FIG 4 is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application.
  • the distance from the center of the vehicle's front axle to the desired trajectory is defined as the second lateral tracking error e f .
  • ⁇ and ⁇ c are respectively
  • the heading angle during the berthing process and the heading angle recorded in the berthing path are combined with the above two equations to obtain the second control law:
  • ⁇ 2 is the second front wheel rotation angle of the vehicle.
  • the XY coordinate system shown in Figure 4 can be set based on the parking starting position point.
  • the subsequent data calculated in real time are based on the departure starting position.
  • ⁇ c is equivalent to the heading angle change value of the vehicle at the current position relative to the parking starting position.
  • the second front wheel rotation angle can be calculated in real time based on the second lateral tracking error, angular tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
  • the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the second lateral tracking error and angle in real time based on the received data.
  • the tracking error is then calculated in real time based on the second lateral tracking error, angular tracking error and the first control law, and is converted into a steering wheel angle and sent to the execution layer; the execution layer calculates the steering wheel angle according to the received steering wheel angle.
  • the steering wheel angle controls the rotation of the steering wheel, and whether the steering wheel is rotated in place is determined based on the steering wheel angle data fed back in real time by the information acquisition layer.
  • the parking path is divided into a forward sub-path and a backward sub-path according to the change of the gear position.
  • FIG 5 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the vehicle backs up and parks into the target area.
  • the vehicle is parking out of the target area, just control the vehicle to call the forward strategy to park out.
  • the application scenario (b) in Figure 5 in this application scenario, when the vehicle is parking into the target area, it first moves forward from the parking starting point to the shifting position, then switches to the reverse gear, and continues from the parking starting point. The shift position is reversed to reach the parking end point.
  • the forward strategy is first called to control the vehicle to park from the parking end point to the shift position, the gear is switched to the reverse gear at the shift position, and then the backward strategy is called to control the vehicle from the shift position. Park out to the parking start point.
  • control system can prompt the user to complete parking through the HMI to instruct the user to switch to manual driving mode.
  • the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path.
  • the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area.
  • the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
  • the parking path is divided into forward and backward segmented paths, and different control algorithms are set for different segmented paths. It effectively improves the calculation accuracy of the reverse disc rotation angle, thereby improving the vehicle control accuracy.
  • sequence number of each step in the above embodiment does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
  • FIG. 6 is a structural block diagram of the vehicle control device provided by the embodiment of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown.
  • the device includes:
  • the path recording unit 61 is used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
  • the position acquisition unit 62 is used to obtain the parking position of the vehicle in real time during the process of parking the vehicle out of the target area;
  • Angle calculation unit 63 configured to determine the steering wheel angle according to the position deviation between the parking position and the parking path;
  • the vehicle control unit 64 is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • the target area includes multiple first location points
  • the path recording unit 61 is also used to:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud of a plurality of first position points calculates the pose transformation data of the vehicle between each two adjacent first position points; according to the position of the vehicle between each two adjacent first position points, The position transformation data between the position points and the position coordinates of each first position point generate the parking path.
  • the location acquisition unit 62 is also used to:
  • the pose information of the vehicle is calculated in real time; the pose information is subjected to data filtering processing to obtain the parking position.
  • the angle calculation unit 63 is also used to:
  • the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area; if If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path; if the If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • the angle calculation unit 63 is also used to:
  • the error and the first control law calculate the first front wheel angle, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel angle of the vehicle; according to the first front wheel angle Determine steering wheel angle.
  • the angle calculation unit 63 is also used to:
  • Calculate a second lateral tracking error wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path; calculate an angular tracking error, the angle The tracking error represents the angle difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point; according to the second lateral tracking error, the angle tracking The tracking error and the second control law calculate the second front wheel angle, wherein the second control law represents the functional relationship between the second lateral tracking error, the angular tracking error and the front wheel angle of the vehicle; The steering wheel angle is determined based on the second front wheel angle.
  • vehicle control unit 64 is also used for:
  • the vehicle During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  • vehicle control device shown in Figure 6 can be a software unit, a hardware unit, or a unit that combines software and hardware built into the existing terminal equipment. It can also be integrated into the terminal equipment as an independent pendant. It can also be Exists as an independent terminal device.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.
  • the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application.
  • For the specific working processes of the units and modules in the above system please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
  • Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the terminal device 7 of this embodiment includes: at least one processor 70 (only one is shown in Figure 7), a memory 71, and a processor stored in the memory 71 and capable of processing in the at least one processor 70.
  • the computer program 72 runs on the processor 70. When the processor 70 executes the computer program 72, the steps in any of the above vehicle control method embodiments are implemented.
  • the terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc.
  • the terminal device may include, but is not limited to, a processor and a memory.
  • FIG. 7 is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used. , for example, it may also include input and output devices, network access devices, etc.
  • the so-called processor 70 can be a central processing unit (Central Processing Unit, CPU), and the processor 70 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 71 may be an internal storage unit of the terminal device 7 in some embodiments, such as a hard disk or memory of the terminal device 7 . In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital card equipped on the terminal device 7. (Secure Digital, SD) card, flash card (Flash Card), etc. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store operating systems, application programs, boot loaders, data and other programs, such as program codes of the computer programs. The memory 71 can also be used to temporarily store data that has been output or is to be output.
  • an external storage device of the terminal device 7 such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital card equipped on the terminal device 7. (Secure Digital, SD) card, flash card (Flash Card),
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps in each of the above method embodiments can be implemented.
  • Embodiments of the present application provide a computer program product.
  • the steps in each of the above method embodiments can be implemented when the terminal device executes it.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • this application can implement all or part of the processes in the methods of the above embodiments by instructing relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program When executed by a processor, the steps of each of the above method embodiments may be implemented.
  • the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form.
  • the computer-readable medium may at least include: any entity or device capable of carrying computer program code to a device/terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media.
  • ROM read-only memory
  • RAM Random Access Memory
  • electrical carrier signals telecommunications signals
  • software distribution media For example, U disk, mobile hard disk, magnetic disk or CD, etc.
  • computer-readable media may not be electrical carrier signals and telecommunications signals.
  • the disclosed apparatus/terminal equipment and methods can be implemented in other ways.
  • the device/terminal equipment embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components can be combined or can be integrated into another system, or some features can be omitted, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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Abstract

Disclosed in the present application are a vehicle control method and apparatus, a terminal device, and a computer-readable storage medium. The vehicle control method comprises: during the process of a vehicle pulling into a target area, recording a pulling-in path of the vehicle pulling into the target area; during the process of the vehicle pulling out of the target area, acquiring a pulling-out position of the vehicle in real time; determining a steering wheel angle according to the position deviation between the pulling-out position and the pulling-in path; and controlling, according to the steering wheel angel, the vehicle to pull out of the target area along the pulling-in path. By means of the method, a vehicle can be automatically controlled to return along an original path, thereby improving the degree of intelligence of autonomous driving.

Description

车辆控制方法、装置、终端设备及计算机可读存储介质Vehicle control method, device, terminal equipment and computer-readable storage medium 技术领域Technical field
本申请属于控制技术领域，尤其涉及一种车辆控制方法、装置、终端设备及计算机可读存储介质。The present application belongs to the field of control technology, and in particular relates to a vehicle control method, device, terminal equipment and computer-readable storage medium.
背景技术Background technique
随着智能控制技术的发展，车辆的自动驾驶功能越来越完善，用户对其的应用频率也越来越高。现有的自动驾驶功能，通常是控制车辆按照固定路线行驶，或者在宽广区域自动规划行驶路线。但是当车辆驶入未知的狭窄区域，且无法通过掉头退出时，现有的自动驾驶功能变得无能为力。此种情况下，通常转为人工驾驶模式，由驾驶员操控车辆后退。这种方式极大依赖驾驶人对车辆的操控能力，当驾驶人经验不足或处于精神紧张时，易发生碰撞事故。可见，现有的自动驾驶功能智能化程度较低。With the development of intelligent control technology, the automatic driving functions of vehicles are becoming more and more perfect, and users are using them more and more frequently. Existing autonomous driving functions usually control vehicles to drive along fixed routes or automatically plan driving routes in a wide area. But when the vehicle enters an unknown narrow area and cannot exit by turning around, the existing autonomous driving function becomes powerless. In this case, it is usually switched to manual driving mode, with the driver controlling the vehicle to reverse. This method relies heavily on the driver's ability to control the vehicle. Collisions are prone to occur when the driver is inexperienced or mentally stressed. It can be seen that the existing automatic driving functions are relatively low in intelligence.
技术问题technical problem
本申请实施例的目的之一在于：提供一种车辆控制方法、装置、终端设备及计算机可读存储介质。One purpose of the embodiments of the present application is to provide a vehicle control method, device, terminal equipment and computer-readable storage medium.
技术解决方案Technical solutions
本申请实施例采用的技术方案是：The technical solutions adopted in the embodiments of this application are:
第一方面，提供了一种车辆控制方法，包括：In the first aspect, a vehicle control method is provided, including:
在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；During the process of parking the vehicle into the target area, record the parking path of the vehicle into the target area;
在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；During the process of parking the vehicle out of the target area, obtain the parking position of the vehicle in real time;
根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角；Determine the steering wheel angle according to the position deviation between the parking position and the parking path;
根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
在一个实施例中，所述目标区域包括多个第一位置点，所述在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径，包括：In one embodiment, the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, recording the parking path of the vehicle into the target area includes:
在所述车辆泊入所述目标区域的过程中，每达到一个所述第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；During the process of the vehicle parking into the target area, each time it reaches one of the first position points, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained. ;
根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据；Calculate the pose transformation data of the vehicle between each two adjacent first position points based on the three-dimensional point cloud of a plurality of the first position points;
根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个所述第一位置点的位置坐标生成所述泊入路径。The parking path is generated based on the posture transformation data of the vehicle between each two adjacent first position points and the position coordinates of each first position point.
在一个实施例中，所述在车辆泊出所述目标区域的过程中，获取所述车辆的泊出位置，包括：In one embodiment, obtaining the parking position of the vehicle during the process of parking the vehicle out of the target area includes:
在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息；During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
对所述位姿信息进行数据滤波处理，获得所述泊出位置。Perform data filtering processing on the pose information to obtain the parking position.
在一个实施例中，所述根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角，包括：In one embodiment, determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中、经过所述泊出位置时的档位；Obtain the gear information corresponding to the parking position of the vehicle, wherein the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area;
若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述泊入路径中的位置点；If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
在一个实施例中，所述根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转 角，包括：In one embodiment, determining the steering wheel angle based on the position deviation between the preview point and the parked position includes:
计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离；Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point;
根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；Calculate a first front wheel rotation angle according to the first lateral tracking error and a first control law, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel rotation angle of the vehicle;
根据所述第一前轮转角确定所述方向盘转角。The steering wheel angle is determined based on the first front wheel angle.
在一个实施例中，所述根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角，包括：In one embodiment, determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
计算第二横向循迹误差，其中，所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离；Calculate a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle in the parking position to the parking path;
计算角度循迹误差，所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差；Calculating an angular tracking error, the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point;
根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角，其中，所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系；The second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law. The functional relationship between the tracking error and the vehicle’s front wheel angle;
根据所述第二前轮转角确定所述方向盘转角。The steering wheel angle is determined based on the second front wheel angle.
在一个实施例中，所述方法还包括：In one embodiment, the method further includes:
在车辆泊出所述目标区域的过程中，若所述车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同，则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
第二方面，提供了一种车辆控制装置，包括：In a second aspect, a vehicle control device is provided, including:
路径记录单元，用于在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；A path recording unit, used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
位置获取单元，用于在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；A position acquisition unit configured to acquire the parking position of the vehicle in real time during the vehicle parking out of the target area;
角度计算单元，用于根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角；An angle calculation unit, configured to determine the steering wheel angle based on the position deviation between the parking position and the parking path;
车辆控制单元，用于根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。A vehicle control unit is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
第三方面，提供一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面中任一项所述的车辆控制方法。In a third aspect, a terminal device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above first step is implemented. The vehicle control method according to any one of the aspects.
第四方面，本申请实施例提供了一种计算机可读存储介质，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面中任一项所述的车辆控制方法。In the fourth aspect, embodiments of the present application provide a computer-readable storage medium. Embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program is processed. When the controller is executed, the vehicle control method as described in any one of the above first aspects is implemented.
第五方面，本申请实施例提供了一种计算机程序产品，当计算机程序产品在终端设备上运行时，使得终端设备执行上述第一方面中任一项所述的车辆控制方法。In a fifth aspect, embodiments of the present application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the vehicle control method described in any one of the above first aspects.
有益效果beneficial effects
本申请实施例提供的车辆控制方法的有益效果在于：由于车辆泊入目标区域的泊入路径是已完成的路径，说明该路径是能够保证通行的，那么记录该路径，相当于保存了一条参考路径。当车辆需要泊出目标区域时，相当于以已记录的泊入路径为参考路径，控制车辆泊入目标区域。当车辆驶入未知的狭窄区域，且无法通过掉头退出时，通过上述方法，能够自动控制车辆沿原路返回。The beneficial effect of the vehicle control method provided by the embodiment of the present application is that since the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, then recording the path is equivalent to saving a reference path. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area. When the vehicle enters an unknown narrow area and cannot exit by turning around, the above method can automatically control the vehicle to return along the original road.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实 施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.
图1是本申请实施例提供的车辆控制***的组成示意图；Figure 1 is a schematic diagram of the composition of a vehicle control system provided by an embodiment of the present application;
图2是本申请实施例提供的车辆控制方法的流程示意图；Figure 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;
图3是本申请实施例提供的后退预瞄跟踪算法的几何示意图；Figure 3 is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application;
图4是本申请实施例提供的前进误差反馈跟踪算法的几何示意图；Figure 4 is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application;
图5是本申请实施例提供的应用场景示意图；Figure 5 is a schematic diagram of an application scenario provided by an embodiment of the present application;
图6是本申请实施例提供的车辆控制装置的结构框图；Figure 6 is a structural block diagram of a vehicle control device provided by an embodiment of the present application;
图7是本申请实施例提供的终端设备的结构示意图。Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
本发明的实施方式Embodiments of the invention
以下描述中，为了说明而不是为了限定，提出了诸如特定***结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的***、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
应当理解，当在本申请说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It will be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and/or components but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or collections thereof.
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It will also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
如在本申请说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context. ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, to mean "once determined" or "in response to a determination" or "once the [described condition or event] is detected ]" or "in response to detection of [the described condition or event]".
另外，在本申请说明书和所附权利要求书的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In addition, in the description of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。Reference in this specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Therefore, the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in other embodiments", etc. appearing in different places in this specification are not necessarily References are made to the same embodiment, but rather to "one or more but not all embodiments" unless specifically stated otherwise.
首先介绍本申请实施例的应用背景。当车辆进入未知狭窄区域，且无法掉头退出时，如在车库或车位上泊车、驶入胡同、或穿过两车间狭窄间隙等，往往自动驾驶功能变得无能为力。此种情况下，通常转为人工驾驶模式，由驾驶员操控车辆后退。这种方式极大依赖驾驶人对车辆的操控能力，当驾驶人经验不足或存在视觉死角时，易发生碰撞事故。现有的自动驾驶功能智能化程度较低，无法满足未知狭窄区域的行驶需求。First, the application background of the embodiments of this application is introduced. When the vehicle enters an unknown narrow area and cannot turn around to exit, such as parking in a garage or parking space, driving into an alley, or passing through a narrow gap between two workshops, the autonomous driving function often becomes powerless. In this case, it is usually switched to manual driving mode, with the driver controlling the vehicle to reverse. This method relies heavily on the driver's ability to control the vehicle. When the driver is inexperienced or has a visual blind spot, a collision accident is likely to occur. Existing autonomous driving functions are less intelligent and cannot meet the driving needs in unknown and narrow areas.
为了解决上述问题，本申请实施例提供了一种车辆控制方法。该方法中，在车辆泊入未知狭窄区域的过程中，记录泊入路径；在车辆需要泊出该未知狭窄区域的过程中，根据泊出位置和已记录的泊入路径之间的位置偏差实时计算方向盘转角，以根据方式盘转角实时控制车辆沿泊入路径使出该未知狭窄区域。上述方法，能够实现复杂路况下的自动驾驶，控制精度较高，有效降低了驾驶人员的驾驶负荷，提高了车辆的智能化程度，且无需增加额外的硬件设备。In order to solve the above problems, embodiments of the present application provide a vehicle control method. In this method, when the vehicle is parking into an unknown narrow area, the parking path is recorded; when the vehicle needs to park out of the unknown narrow area, the parking path is recorded in real time based on the position deviation between the parking position and the recorded parking path. Calculate the steering wheel angle to control the vehicle in real time along the parking path to exit the unknown narrow area based on the steering wheel angle. The above method can realize automatic driving under complex road conditions, with high control accuracy, effectively reducing the driver's driving load and improving the intelligence of the vehicle without adding additional hardware equipment.
下面介绍本申请实施例涉及到的车辆控制***。参见图1，是本申请实施例提供的车辆控制***的组成示意图。如图1所示，车辆控制***可以包括信息获取层、控制层和执行层。各层之间可以通过CAN总线通信连接。应用过程中，信息获取层将获取到的关于车辆行驶的数据发送给控制层，控制层根据接收到的数据规划行驶路径(如泊入路径和泊出 路径)及所需控制量，执行层控制车辆相关装置执行规划好的控制量。The vehicle control system involved in the embodiment of this application is introduced below. Refer to Figure 1, which is a schematic diagram of the composition of a vehicle control system provided by an embodiment of the present application. As shown in Figure 1, the vehicle control system may include an information acquisition layer, a control layer and an execution layer. Each layer can be connected through CAN bus communication. During the application process, the information acquisition layer sends the acquired data about vehicle driving to the control layer. The control layer plans the driving path (such as the parking path and the parking path) and the required control amount based on the received data. The execution layer controls the vehicle. The relevant devices execute planned control quantities.
其中，信息获取层可以包括各种传感器，如轮速传感器、变速器控制单元、方向盘转角传感器、障碍物检测传感器和视觉传感器等。轮速传感器用于获取车辆两侧非驱动轮转速、取平均值后得到后轴中点速度。变速器控制单元用于获取车辆前进/后退的档位。方向盘转角传感器用于获取方向盘转角。障碍物检测传感器(如摄像头、雷达等)用于检测车辆周围的障碍物。视觉传感器用于获取行车过程中的环境信息(如三维点云、二维图像等)。Among them, the information acquisition layer can include various sensors, such as wheel speed sensors, transmission control units, steering wheel angle sensors, obstacle detection sensors, and vision sensors. The wheel speed sensor is used to obtain the rotation speed of the non-driven wheels on both sides of the vehicle, and then average the speed to obtain the midpoint speed of the rear axle. The transmission control unit is used to obtain the forward/reverse gear position of the vehicle. The steering wheel angle sensor is used to obtain the steering wheel angle. Obstacle detection sensors (such as cameras, radars, etc.) are used to detect obstacles around the vehicle. Vision sensors are used to obtain environmental information during driving (such as three-dimensional point clouds, two-dimensional images, etc.).
控制层可以包括定位计算模块、下电存储模块、数据记录模块、人机交互模块、前进控制模块、后退控制模块、执行器握手模块和障碍物报警模块等。定位计算模块用于计算车辆的泊出位置，包括泊入定位单元和泊出定位单位，详细内容见下述实施例。前进控制模块用于计算前进控制策略，如下述实施例中所述的前进误差反馈跟踪策略。后退控制模块用于计算后退控制策略，如下述实施例中所述的后退预瞄跟踪策略。The control layer can include positioning calculation module, power-off storage module, data recording module, human-computer interaction module, forward control module, backward control module, actuator handshake module and obstacle alarm module, etc. The positioning calculation module is used to calculate the parking position of the vehicle, including the parking positioning unit and the parking positioning unit. For details, see the following embodiments. The forward control module is used to calculate a forward control strategy, such as the forward error feedback tracking strategy described in the following embodiments. The retreat control module is used to calculate a retreat control strategy, such as the retreat preview tracking strategy described in the following embodiments.
执行层可以包括转向助力器(EPS，Electric Power Steering)、人机交互界面(HMI，Human Machine Interface)和驾驶操作装置(如档位器、制动装置、节气门等)。The execution layer can include power steering (EPS, Electric Power Steering), human-machine interaction interface (HMI, Human Machine Interface) and driving operating devices (such as gear shifters, brake devices, throttles, etc.).
参见图2，是本申请实施例提供的车辆控制方法的流程示意图，作为示例而非限定，所述方法可以包括以下步骤：Referring to Figure 2, which is a schematic flowchart of a vehicle control method provided by an embodiment of the present application. As an example and not a limitation, the method may include the following steps:
S101，在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径。S101. During the process of parking the vehicle into the target area, record the parking path of the vehicle into the target area.
本申请实施例中的目标区域可以指代狭窄、且车辆无法掉头的区域。The target area in the embodiment of the present application may refer to a narrow area where the vehicle cannot turn around.
本申请实施例中，可由上述实施例所述的控制层中定位计算模块的泊入定位单元执行。In the embodiment of the present application, it can be executed by the parking positioning unit of the positioning calculation module in the control layer described in the above embodiment.
在一些实施例中，车辆启动后，即可实时记录行驶路径。当存储空间已满，最新的记录覆盖原有的记录。通常车辆的回退路径(即泊出路径)为最新的泊入路径，因此，通过这种方法，既能够保证不丢失行驶数据，又能保证车辆回退时能够调用已记录的泊入路径。In some embodiments, after the vehicle is started, the driving path can be recorded in real time. When the storage space is full, the latest records overwrite the original records. Usually, the vehicle's return path (i.e., the parking out path) is the latest parking path. Therefore, through this method, it can not only ensure that the driving data is not lost, but also ensure that the recorded parking path can be called when the vehicle retreats.
在另一些实施例中，可以由用户通过HMI开启记录功能。例如，用户通过HMI向执行层发送开启指令，执行层将开启指令发送给控制层，控制层中的人机交互模块接收到开启指令后，指示数据记录模块记录从信息获取层接收到的行驶数据。In other embodiments, the recording function can be enabled by the user through the HMI. For example, the user sends an opening instruction to the execution layer through HMI, and the execution layer sends the opening instruction to the control layer. After receiving the opening instruction, the human-computer interaction module in the control layer instructs the data recording module to record the driving data received from the information acquisition layer. .
当然，上述两种记录方式可以交替。例如，车辆启动后，即实时记录行驶路径；当用户通过HMI关闭记录功能，控制层停止记录行驶路径。再例如，车辆启动后，默认不记录行驶路径；当用户通过HMI开启记录功能，控制层开始记录行驶路径。Of course, the above two recording methods can be interchanged. For example, after the vehicle is started, the driving path is recorded in real time; when the user turns off the recording function through the HMI, the control layer stops recording the driving path. For another example, after the vehicle is started, the driving path is not recorded by default; when the user turns on the recording function through the HMI, the control layer begins to record the driving path.
在一些实施例中，目标区域包括多个第一位置点。记录泊入路径的方式可以包括：In some embodiments, the target area includes a plurality of first location points. Ways of recording parking routes can include:
在所述车辆泊入所述目标区域的过程中，每达到一个第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；根据所述三维点云计算所述车辆在相邻的每两个第一位置点之间的位姿变换数据；根据所述车辆在相邻的每两个第一位置点之间的位姿变换数据、以及每个第一位置点的位置坐标生成所述泊入路径。During the process of the vehicle parking into the target area, each time it reaches a first position point, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud calculates the pose transformation data of the vehicle between every two adjacent first position points; based on the pose transformation data of the vehicle between every two adjacent first position points , and the position coordinates of each first position point to generate the parking path.
设置第一位置点的一种方式为：当车辆的行驶距离每达到预设距离，即达到一个第一位置点。例如，当车辆行驶路程超过10cm时，即达到一个第一位置点，记录该第一位置点的有效位置坐标、和三维点云，同时存储当前的档位信息。One way of setting the first position point is: every time the vehicle's driving distance reaches a preset distance, it reaches a first position point. For example, when the vehicle travels more than 10cm, it reaches a first position point, records the effective position coordinates and three-dimensional point cloud of the first position point, and stores the current gear information.
设置第一位置点的另一种方式为：预先设置记录周期，车辆行驶的时间每间隔记录周期，记录一个第一位置点。例如，当车辆行驶速度大于10迈、小于20迈，每间隔10s记录一个第一位置点；当车辆行驶速度大于20迈、小于30迈，每间隔5s记录一个第一位置点；依次类推，对不同车速设置不同的记录周期。Another way to set the first position point is to set the recording period in advance, and record a first position point every interval of recording period during the driving time of the vehicle. For example, when the vehicle's driving speed is greater than 10 miles and less than 20 miles, a first position point is recorded every 10 seconds; when the vehicle's driving speed is greater than 20 miles but less than 30 miles, a first position point is recorded every 5 seconds; and so on, for Different vehicle speeds set different recording periods.
本申请实施例中，三维点云可以是通过激光雷达获取的。三维点云还可以通过安装在车辆上的摄像头获取。例如，选取车身上有相交视野的摄像头(或双目摄像头、或深度摄像头)，预先对其进行参数标定；行驶过程中，利用标定后的摄像头获取环境的三维点云。每到达一个第一位置点，获取一帧三维点云，即相邻的两帧三维点云对应相邻的两个第一位置点。In this embodiment of the present application, the three-dimensional point cloud may be obtained through lidar. 3D point clouds can also be acquired through cameras mounted on vehicles. For example, select a camera (or binocular camera, or depth camera) with intersecting fields of view on the car body, and calibrate its parameters in advance; during driving, use the calibrated camera to obtain a three-dimensional point cloud of the environment. Each time a first position point is reached, a frame of three-dimensional point cloud is obtained, that is, two adjacent frames of three-dimensional point cloud correspond to two adjacent first position points.
本申请实施例中，计算相邻的每两个第一位置点之间的位姿变换数据的方式可以为： 将相邻的两帧三维点云的ORB特征进行匹配，假设针对这两帧匹配出一组特征点为：
Figure PCTCN2022111522-appb-000001
利用矩阵分解(如SVD分解)计算P和P′的位姿变换数据P′＝R·P+t，R为旋转矩阵，t为位移矩阵。 In the embodiment of the present application, the method of calculating the pose transformation data between each two adjacent first position points may be: Match the ORB features of the three-dimensional point clouds of two adjacent frames, assuming that the two frames are matched A set of feature points is obtained:
Figure PCTCN2022111522-appb-000001
Use matrix decomposition (such as SVD decomposition) to calculate the pose transformation data of P and P'P'=R·P+t, R is the rotation matrix, and t is the displacement matrix.
通过上述方法，只要获得一个初始位置的坐标，即可根据依次得到的相邻位置点之间的位姿变换数据，得到泊入轨迹。Through the above method, as long as the coordinates of an initial position are obtained, the parking trajectory can be obtained based on the pose transformation data between adjacent position points obtained in sequence.
需要说明的是，本申请实施例中，记录的泊入路径可以指记录的离散数据，包括多个第一位置点各自的位置坐标、以及相邻的每两个位置点之间的位姿变换数据。记录的泊入路径还可以是一条曲线，该曲线根据多个第一位置点各自的位置坐标、以及相邻的每两个位置点之间的位姿变换数据拟合而成。It should be noted that in the embodiment of the present application, the recorded parking path may refer to the recorded discrete data, including the position coordinates of each of the plurality of first position points, and the posture transformation between each two adjacent position points. data. The recorded parking path may also be a curve, which is fitted based on the respective position coordinates of the plurality of first position points and the posture transformation data between each two adjacent position points.
可选的，在获取每个第一位置点的位姿数据的同时，还可以记录车辆在每个第一位置点的档位信息。如将倒挡记录为-1，将非倒挡记录为1。当然，还可以将不同的前进挡记录为不同的数据，如一档记录为1，二挡记录为2，等等。在此不对档位信息的记录形式做具体限定。记录档位信息是为了后续车辆泊出目标区域的过程中，调整不同的控制策略。Optionally, while obtaining the pose data of each first location point, the gear information of the vehicle at each first location point can also be recorded. For example, reverse gear is recorded as -1 and non-reverse gear is recorded as 1. Of course, different forward gears can also be recorded as different data, such as first gear as 1, second gear as 2, and so on. The recording form of gear information is not specifically limited here. The purpose of recording the gear information is to adjust different control strategies during the subsequent process of parking the vehicle out of the target area.
S102，在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置。S102: During the process of parking the vehicle out of the target area, obtain the parking location of the vehicle in real time.
本申请实施例中，可由上述实施例所述的控制层中定位计算模块的泊出定位单元执行。In the embodiment of the present application, it can be executed by the parking positioning unit of the positioning calculation module in the control layer described in the above embodiment.
在一些实施例中，在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息，该位姿信息记为车辆的泊出位置。具体方法如下：In some embodiments, during the process of parking the vehicle out of the target area, the pose information of the vehicle is calculated in real time, and the pose information is recorded as the parking position of the vehicle. The specific method is as follows:
(1)首先，车辆运动满足阿克曼转向和刚体圆周运动公式：(1) First, the vehicle motion satisfies the Ackermann steering and rigid body circular motion formulas:
Figure PCTCN2022111522-appb-000002
Figure PCTCN2022111522-appb-000002
式中：v r为后轴中点速度，ω为横摆角速度，R为转弯半径，δ f为前轮转弯半径，L为轴距。其中，ω为未知数据，R和L为车辆已知参数，δ f和v r是通过传感器可以获取到的数据。化简上式可计算横摆角速度为： In the formula: v r is the rear axle midpoint speed, ω is the yaw angular velocity, R is the turning radius, δ f is the front wheel turning radius, and L is the wheelbase. Among them, ω is unknown data, R and L are known parameters of the vehicle, and δ f and v r are data that can be obtained through sensors. Simplifying the above formula, the yaw angular velocity can be calculated as:
Figure PCTCN2022111522-appb-000003
Figure PCTCN2022111522-appb-000003
式中：i为方向盘的角传动比。In the formula: i is the angular transmission ratio of the steering wheel.
(2)其次，根据车辆运动几何关系进一步得到后轴中点纵、横坐标如下式(2) Secondly, according to the geometric relationship of vehicle motion, the vertical and horizontal coordinates of the rear axle midpoint are further obtained as follows:
Figure PCTCN2022111522-appb-000004
Figure PCTCN2022111522-appb-000004
式中：T s为离散计算周期(相邻每两个位置点之间的时间间隔)，ω k、θ k分别为k时刻的横摆角速度和航向角，x k、y k分别为k时刻相对于起始点的纵、横坐标；v l、v r分别为左右非驱动轮轮速。 In the formula: T s is the discrete calculation period (the time interval between each two adjacent position points), ω k and θ k are the yaw angular velocity and heading angle at k time respectively, x k and y k are k time respectively. The vertical and horizontal coordinates relative to the starting point; v l and v r are the wheel speeds of the left and right non-driven wheels respectively.
实际应用中，考虑到车辆泊出目标区域的过程中，车速并非恒定，且车速和横摆角速度的数据存在一定噪声。如果按照上述计算方式，计算出的泊出位置精度较低。为了提高实时定位的精度，本申请实施例中，对上述计算出的位姿信息进行数据滤波处理，将滤波后的位姿信息记为泊出位置。可选的，可以采用扩展卡尔曼滤波器进行数据滤波处理。具体的，在上述步骤(1)、(2)的基础上，增加步骤(3)的滤波过程，如下：In practical applications, considering that during the process of parking the vehicle out of the target area, the vehicle speed is not constant, and there is a certain amount of noise in the vehicle speed and yaw angular velocity data. If the above calculation method is followed, the calculated parking position will be less accurate. In order to improve the accuracy of real-time positioning, in the embodiment of the present application, the above calculated pose information is subjected to data filtering processing, and the filtered pose information is recorded as the parking position. Optionally, the extended Kalman filter can be used for data filtering. Specifically, on the basis of the above steps (1) and (2), the filtering process of step (3) is added, as follows:
(3)扩展卡尔曼滤波器(3) Extended Kalman filter
Figure PCTCN2022111522-appb-000005
Figure PCTCN2022111522-appb-000005
式中：v x,k+1、v y,k+1分别为k+1时刻横、纵向车速，a x、a y分别为横、纵向加速度，W、V分别为过程噪声和测量噪声。其中，W为给定数据，V相当于由上述步骤计算出的ω组成的矩阵。 In the formula: v x, k+1 , v y, k+1 are the horizontal and longitudinal vehicle speeds at k+1 time respectively, a x and a y are the horizontal and longitudinal accelerations respectively, W and V are the process noise and measurement noise respectively. Among them, W is the given data, and V is equivalent to the matrix composed of ω calculated by the above steps.
通过上述数据滤波处理，能够有效滤除噪声数据，有效提高了定位精度。Through the above data filtering process, noisy data can be effectively filtered and positioning accuracy can be effectively improved.
S103，根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角。S103: Determine the steering wheel angle according to the position deviation between the parking position and the parking path.
该步骤中，已记录的泊入路径，可以看作是一条参考路径。可以利用现有的导航方法，计算泊出位置和参考路径之间的位置偏差，以确定方向盘转角，进而实现对车辆的控制。In this step, the recorded parking path can be regarded as a reference path. Existing navigation methods can be used to calculate the position deviation between the parking position and the reference path to determine the steering wheel angle, thereby controlling the vehicle.
S104，根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。S104. Control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
在一些实施例中，在车辆泊出所述目标区域的过程中，所述车辆控制方法还包括：若车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同，则根据车辆在当前位置对应的档位信息切换所述车辆的档位。In some embodiments, during the process of parking the vehicle out of the target area, the vehicle control method further includes: if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, then based on The gear position of the vehicle is switched according to the gear position information corresponding to the current position of the vehicle.
示例性的，如图5所示，车辆泊入目标区域过程中，由泊入起始点到后退位置之间，车辆前进；由换挡位置到泊入终止点之间，车辆后退。相应的，在车辆泊出目标区域过程中，车辆先前进、再后退。当车辆到达换挡位置时，将车辆档位由前进档位换成后退档位。For example, as shown in Figure 5, when the vehicle is parked in the target area, the vehicle moves forward from the parking starting point to the reverse position; the vehicle moves backward from the shift position to the parking end point. Correspondingly, during the process of parking the vehicle out of the target area, the vehicle first moves forward and then retreats. When the vehicle reaches the shift position, change the vehicle gear from forward gear to reverse gear.
上述图2所述实施例中，由于车辆泊入目标区域的泊入路径是已完成的路径，说明该路径是能够保证通行的，那么记录该路径，相当于保存了一条参考路径。当车辆需要泊出目标区域时，相当于以已记录的泊入路径为参考路径，控制车辆泊入目标区域。当车辆驶入未知的狭窄区域，且无法通过掉头退出时，通过上述方法，能够自动控制车辆沿原路返 回，提高了自动驾驶的智能化程度。In the above embodiment shown in Figure 2, since the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area. When the vehicle enters an unknown narrow area and cannot exit by turning around, the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
针对上述步骤S103，在一些实施例中，在车辆泊出目标区域的过程中，无论是前进还是后退，均可以采用相同的算法来计算方向盘转角。Regarding the above step S103, in some embodiments, when the vehicle is parking out of the target area, whether it is moving forward or backward, the same algorithm can be used to calculate the steering wheel angle.
但由于车辆前进和后退过程中，车辆与泊入路径之间的几何关系实际是有所不同的，如果按照相同的算法计算方向盘转角，可能导致计算结果的精度较低，进而无法保证车辆精准地沿原路返回。However, since the geometric relationship between the vehicle and the parking path is actually different during the forward and reverse processes of the vehicle, if the steering wheel angle is calculated according to the same algorithm, the accuracy of the calculation results may be lower, and the accuracy of the vehicle cannot be guaranteed. Return along the same path.
为了提高控制精度，在一个实施例中，将泊入路径划分为前进与后退的分段路径，为不同的分段路径设置不同的算法。具体的，S103可以包括以下步骤：In order to improve the control accuracy, in one embodiment, the parking path is divided into forward and backward segmented paths, and different algorithms are set for different segmented paths. Specifically, S103 may include the following steps:
I、获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中、经过泊出位置时的档位。1. Obtain the gear position information corresponding to the parking position of the vehicle, wherein the gear position information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area.
如上实施例所述，记录的泊入路径可以指记录的离散数据，还可以是拟合出的一条曲线。当泊入路径指离散数据时，相应的，步骤I中，泊入路径中与泊出位置相匹配的位置点可以是，距离泊出位置最近的某个第一位置点。当泊入路径指拟合出的曲线时，泊入路径中与泊出位置相匹配的位置点可以是，与拟合出的曲线距离最近的某个位置点(该位置点不一定是第一位置点)。As mentioned in the above embodiment, the recorded parking path may refer to the recorded discrete data, or may also be a fitted curve. When the parking path refers to discrete data, correspondingly, in step I, the position point in the parking path that matches the parking out position can be a first position point closest to the parking out position. When the parking path refers to the fitted curve, the position point in the parking path that matches the parking out position can be a position point closest to the fitted curve (this position point does not necessarily have to be the first location point).
当泊入路径中与泊出位置相匹配的位置点为第一位置点时，泊出位置对应的档位信息即为第一位置点的档位信息。当泊入路径中与泊出位置相匹配的位置点不为第一位置点时，可以根据各个第一位置点对应的档位信息，将泊入路径划分为前进子路径和后退子路径，然后判断泊出位置属于前进子路径还是后退子路径，以此判断出泊出位置对应的档位信息。When the position point in the parking path that matches the parking out position is the first position point, the gear information corresponding to the parking out position is the gear information of the first position point. When the position point in the parking path that matches the parking out position is not the first position point, the parking path can be divided into a forward sub-path and a backward sub-path according to the gear information corresponding to each first position point, and then Determine whether the parking position belongs to the forward sub-path or the backward sub-path, and thereby determine the gear information corresponding to the parking position.
II、若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述泊入路径中的位置点。II. If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path. .
该步骤中，档位信息表示前进，换言之，车辆泊入目标区域的过程中，到达当前位置时为前进状态。相应的，车辆泊出目标区域的过程中，车辆到达当前位置时应为后退状态。此种情况下，车辆与泊入路径之间满足转向几何学，利用后退预瞄跟踪算法确定方向盘转角。具体的，步骤II可以包括：In this step, the gear information indicates forward movement. In other words, during the process of parking the vehicle into the target area, it is in a forward state when it reaches the current position. Correspondingly, during the process of parking the vehicle out of the target area, the vehicle should be in a backward state when it reaches the current position. In this case, the steering geometry between the vehicle and the parking path is satisfied, and the backward preview tracking algorithm is used to determine the steering wheel angle. Specifically, step II may include:
计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离；Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point;
根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；Calculate a first front wheel rotation angle according to the first lateral tracking error and a first control law, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel rotation angle of the vehicle;
根据所述第一前轮转角确定方向盘转角。The steering wheel angle is determined based on the first front wheel angle.
参见图3，是本申请实施例提供的后退预瞄跟踪算法的几何示意图。如图3所示，从车轮转角与泊入路径中的预瞄点(g x、g y)之间的关系考虑，预瞄点为从车辆后轴中心出发，到泊入路径距离为l d(预设值)的一点。同时定义车辆后轴中心到预瞄点(g x、g y)的横向距离为第一横向循迹误差e ld，由三角几何关系有：
Figure PCTCN2022111522-appb-000006
Refer to Figure 3, which is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application. As shown in Figure 3, considering the relationship between the wheel angle and the preview point (g x , g y ) in the parking path, the preview point starts from the center of the rear axle of the vehicle and the distance to the parking path is l d (Default) point. At the same time, the lateral distance from the center of the vehicle's rear axle to the preview point (g x , g y ) is defined as the first lateral tracking error e ld . The triangular geometric relationship is:
Figure PCTCN2022111522-appb-000006
预瞄距离l d与后轴中点v速度呈正相关：l d＝k·v，式中：k为标定参数。车辆的前轮转角为：δ＝tan -1(L/R)，联立以上几式，得到第一控制律为
Figure PCTCN2022111522-appb-000007
式中：δ 1表示车辆 的第一前轮转角。 The preview distance l d is positively related to the speed of the rear axle midpoint v: l d =k·v, where k is the calibration parameter. The front wheel rotation angle of the vehicle is: δ=tan -1 (L/R). Combining the above equations, the first control law is obtained:
Figure PCTCN2022111522-appb-000007
In the formula: δ 1 represents the first front wheel rotation angle of the vehicle.
基于上述第一控制律，可以根据第一横向循迹误差和相关数据，实时计算出车辆前轮转角。由于车辆前轮转角与方向盘转角之间存在确定的转换关系，因此，根据计算出的车辆前轮转角即可确定出方向盘转角。Based on the above-mentioned first control law, the vehicle front wheel rotation angle can be calculated in real time based on the first lateral tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
示例性的，信息获取层将实时获取到的后轴中点速度、当前位置的位置坐标和车辆姿态数据发送给控制层；控制层根据接收到的数据实时计算出第一横向循迹误差，再根据第一横向循迹误差和第一控制律、实时计算出第一前轮转角，并转换为方向盘转角，发送给执行层；执行层根据接收到的方向盘转角控制方向盘转动，并根据信息获取层实时反馈的方向盘转角数据判断方向盘是否转动到位。For example, the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the first lateral tracking error in real time based on the received data, and then According to the first lateral tracking error and the first control law, the first front wheel angle is calculated in real time, converted into a steering wheel angle, and sent to the execution layer; the execution layer controls the steering wheel rotation according to the received steering wheel angle, and obtains the information according to the layer Real-time feedback of steering wheel angle data determines whether the steering wheel is turned in place.
III、若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。III. If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
该步骤中，档位信息表示后退，换言之，车辆泊入目标区域的过程中，到达当前位置时为后退状态。相应的，车辆泊出目标区域的过程中，车辆到达当前位置时应为前进状态。此种情况下，车辆与泊入路径之间满足理想阿克曼转向关系，利用前进误差反馈跟踪算法确定方向盘转角。具体的，步骤III可以包括：In this step, the gear information indicates backing up. In other words, during the process of parking the vehicle into the target area, it will be in a backing up state when it reaches the current position. Correspondingly, during the process of parking the vehicle out of the target area, the vehicle should be in a forward state when it reaches the current position. In this case, the ideal Ackerman steering relationship is satisfied between the vehicle and the parking path, and the forward error feedback tracking algorithm is used to determine the steering wheel angle. Specifically, step III may include:
计算第二横向循迹误差，其中，所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离；Calculate a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle in the parking position to the parking path;
计算角度循迹误差，所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差；Calculating an angular tracking error, the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point;
根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角，其中，所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系；The second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law. The functional relationship between the tracking error and the vehicle’s front wheel angle;
根据所述第二前轮转角确定方向盘转角。The steering wheel angle is determined based on the second front wheel angle.
参见图4，是本申请实施例提供的前进误差反馈跟踪算法的几何示意图。如图4所示，车辆与泊入路径之间满足理想阿克曼转向关系tan(δ)＝L/R。将车辆前轴中心至期望轨迹的距离定义为第二横向循迹误差e f，汽车前轮处的角度循迹误差可以表示为θ e＝θ-θ c，式中：θ、θ c分别为出泊过程中的航向角和入泊路径中记录的航向角，联立上述两式，得到第二控制律：
Figure PCTCN2022111522-appb-000008
式中，δ 2为车辆的第二前轮转角。 Refer to Figure 4, which is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application. As shown in Figure 4, the ideal Ackerman steering relationship tan(δ)=L/R is satisfied between the vehicle and the parking path. The distance from the center of the vehicle's front axle to the desired trajectory is defined as the second lateral tracking error e f . The angular tracking error at the front wheel of the vehicle can be expressed as θ e =θ-θ c , where: θ and θ c are respectively The heading angle during the berthing process and the heading angle recorded in the berthing path are combined with the above two equations to obtain the second control law:
Figure PCTCN2022111522-appb-000008
In the formula, δ 2 is the second front wheel rotation angle of the vehicle.
需要说明的是，图4中所示的XY坐标系，可以是基于出泊起始位置点设定的。换言之，后续实时计算出的数据，都是基于出泊起始位置的。例如，θ c相当于车辆在当前位置相对于出泊起始位置的航向角变化值。 It should be noted that the XY coordinate system shown in Figure 4 can be set based on the parking starting position point. In other words, the subsequent data calculated in real time are based on the departure starting position. For example, θ c is equivalent to the heading angle change value of the vehicle at the current position relative to the parking starting position.
基于上述第二控制律，可以根据第二横向循迹误差、角度循迹误差和相关数据，实时计算出第二前轮转角。由于车辆的前轮转角与方向盘转角之间存在确定的转换关系，因此，根据计算出的车辆前轮转角即可确定出方向盘转角。Based on the above second control law, the second front wheel rotation angle can be calculated in real time based on the second lateral tracking error, angular tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
示例性的，信息获取层将实时获取到的后轴中点速度、当前位置的位置坐标和车辆姿态数据发送给控制层；控制层根据接收到的数据实时计算出第二横向循迹误差和角度循迹误差，再根据第二横向循迹误差、角度循迹误差和第一控制律、实时计算出第二前轮转角，并转换为方向盘转角，发送给执行层；执行层根据接收到的方向盘转角控制方向盘转动， 并根据信息获取层实时反馈的方向盘转角数据判断方向盘是否转动到位。Exemplarily, the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the second lateral tracking error and angle in real time based on the received data. The tracking error is then calculated in real time based on the second lateral tracking error, angular tracking error and the first control law, and is converted into a steering wheel angle and sent to the execution layer; the execution layer calculates the steering wheel angle according to the received steering wheel angle. The steering wheel angle controls the rotation of the steering wheel, and whether the steering wheel is rotated in place is determined based on the steering wheel angle data fed back in real time by the information acquisition layer.
上述实施例中，根据档位的变化，将入泊路径划划分为前进子路径和后退子路径。通过对不同子路径分段控制，能够更加精确地计算出方向盘转角，实现车辆的精准控制。In the above embodiment, the parking path is divided into a forward sub-path and a backward sub-path according to the change of the gear position. Through segmented control of different sub-paths, the steering wheel angle can be calculated more accurately and precise control of the vehicle can be achieved.
示例性的，参见图5，是本申请实施例提供的应用场景示意图。如图5中的(a)所示的应用场景，该应用场景中，车辆后退泊入目标区域。在车辆泊出目标区域过程中，控制车辆调用前进策略泊出即可。如图5中的(b)所示的应用场景，该应用场景中，车辆泊入目标区域的过程中，先从泊入起始点前进泊入换挡位置，再切换为后退档位、继续从换挡位置后退到达泊入终止点。相应的，车辆泊出过程中，先调用前进策略控制车辆从泊入终止点泊出到换挡位置，在换挡位置将档位切换为后退档位，再调用后退策略控制车辆从换挡位置泊出到泊入起始点。For example, see Figure 5, which is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in the application scenario (a) in Figure 5, in this application scenario, the vehicle backs up and parks into the target area. When the vehicle is parking out of the target area, just control the vehicle to call the forward strategy to park out. As shown in the application scenario (b) in Figure 5, in this application scenario, when the vehicle is parking into the target area, it first moves forward from the parking starting point to the shifting position, then switches to the reverse gear, and continues from the parking starting point. The shift position is reversed to reach the parking end point. Correspondingly, during the vehicle parking process, the forward strategy is first called to control the vehicle to park from the parking end point to the shift position, the gear is switched to the reverse gear at the shift position, and then the backward strategy is called to control the vehicle from the shift position. Park out to the parking start point.
一些应用情况中，当车辆成功回到泊入起始点，控制***可以通过HMI提示用户完成泊出，以指示用户切换为人工驾驶模式。In some application cases, when the vehicle successfully returns to the starting point of parking, the control system can prompt the user to complete parking through the HMI to instruct the user to switch to manual driving mode.
本申请实施例中，由于车辆泊入目标区域的泊入路径是已完成的路径，说明该路径是能够保证通行的，那么记录该路径，相当于保存了一条参考路径。当车辆需要泊出目标区域时，相当于以已记录的泊入路径为参考路径，控制车辆泊入目标区域。当车辆驶入未知的狭窄区域，且无法通过掉头退出时，通过上述方法，能够自动控制车辆沿原路返回，提高了自动驾驶的智能化程度。In the embodiment of this application, since the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area. When the vehicle enters an unknown narrow area and cannot exit by turning around, the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
进一步的，本申请实施例中，将泊入路径划分为前进与后退的分段路径，为不同的分段路径设置不同的控制算法。有效提高了反向盘转角的计算精度，进而提高了车辆的控制精度。Furthermore, in the embodiment of the present application, the parking path is divided into forward and backward segmented paths, and different control algorithms are set for different segmented paths. It effectively improves the calculation accuracy of the reverse disc rotation angle, thereby improving the vehicle control accuracy.
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
对应于上文实施例所述的车辆控制方法，图6是本申请实施例提供的车辆控制装置的结构框图，为了便于说明，仅示出了与本申请实施例相关的部分。Corresponding to the vehicle control method described in the above embodiment, FIG. 6 is a structural block diagram of the vehicle control device provided by the embodiment of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown.
参照图6，该装置包括：Referring to Figure 6, the device includes:
路径记录单元61，用于在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；The path recording unit 61 is used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
位置获取单元62，用于在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；The position acquisition unit 62 is used to obtain the parking position of the vehicle in real time during the process of parking the vehicle out of the target area;
角度计算单元63，用于根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角； Angle calculation unit 63, configured to determine the steering wheel angle according to the position deviation between the parking position and the parking path;
车辆控制单元64，用于根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The vehicle control unit 64 is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
可选的，所述目标区域包括多个第一位置点，路径记录单元61还用于：Optionally, the target area includes multiple first location points, and the path recording unit 61 is also used to:
在所述车辆泊入所述目标区域的过程中，每达到一个第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据；根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个第一位置点的位置坐标生成所述泊入路径。During the process of the vehicle parking into the target area, each time it reaches a first position point, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud of a plurality of first position points calculates the pose transformation data of the vehicle between each two adjacent first position points; according to the position of the vehicle between each two adjacent first position points, The position transformation data between the position points and the position coordinates of each first position point generate the parking path.
可选的，位置获取单元62还用于：Optionally, the location acquisition unit 62 is also used to:
在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息；对所述位姿信息进行数据滤波处理，获得所述泊出位置。During the process of the vehicle parking out of the target area, the pose information of the vehicle is calculated in real time; the pose information is subjected to data filtering processing to obtain the parking position.
可选的，角度计算单元63还用于：Optionally, the angle calculation unit 63 is also used to:
获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中、经过所述泊出位置时的档位；若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述 泊入路径中的位置点；若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。Obtain the gear information corresponding to the parking position of the vehicle, wherein the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area; if If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path; if the If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
可选的，角度计算单元63还用于：Optionally, the angle calculation unit 63 is also used to:
计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离；根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；根据所述第一前轮转角确定方向盘转角。Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point; according to the first lateral tracking error The error and the first control law calculate the first front wheel angle, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel angle of the vehicle; according to the first front wheel angle Determine steering wheel angle.
可选的，角度计算单元63还用于：Optionally, the angle calculation unit 63 is also used to:
计算第二横向循迹误差，其中，所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离；计算角度循迹误差，所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差；根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角，其中，所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系；根据所述第二前轮转角确定方向盘转角。Calculate a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path; calculate an angular tracking error, the angle The tracking error represents the angle difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point; according to the second lateral tracking error, the angle tracking The tracking error and the second control law calculate the second front wheel angle, wherein the second control law represents the functional relationship between the second lateral tracking error, the angular tracking error and the front wheel angle of the vehicle; The steering wheel angle is determined based on the second front wheel angle.
可选的，车辆控制单元64还用于：Optionally, the vehicle control unit 64 is also used for:
在车辆泊出所述目标区域的过程中，若所述车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同，则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
需要说明的是，上述装置/单元之间的信息交互、执行过程等内容，由于与本申请方法实施例基于同一构思，其具体功能及带来的技术效果，具体可参见方法实施例部分，此处不再赘述。It should be noted that the information interaction, execution process, etc. between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For details of their specific functions and technical effects, please refer to the method embodiments section. No further details will be given.
另外，图6所示的车辆控制装置可以是内置于现有的终端设备内的软件单元、硬件单元、或软硬结合的单元，也可以作为独立的挂件集成到所述终端设备中，还可以作为独立的终端设备存在。In addition, the vehicle control device shown in Figure 6 can be a software unit, a hardware unit, or a unit that combines software and hardware built into the existing terminal equipment. It can also be integrated into the terminal equipment as an independent pendant. It can also be Exists as an independent terminal device.
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述***中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application. For the specific working processes of the units and modules in the above system, please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
图7是本申请实施例提供的终端设备的结构示意图。如图7所示，该实施例的终端设备7包括：至少一个处理器70(图7中仅示出一个)处理器、存储器71以及存储在所述存储器71中并可在所述至少一个处理器70上运行的计算机程序72，所述处理器70执行所述计算机程序72时实现上述任意各个车辆控制方法实施例中的步骤。Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. As shown in Figure 7, the terminal device 7 of this embodiment includes: at least one processor 70 (only one is shown in Figure 7), a memory 71, and a processor stored in the memory 71 and capable of processing in the at least one processor 70. The computer program 72 runs on the processor 70. When the processor 70 executes the computer program 72, the steps in any of the above vehicle control method embodiments are implemented.
所述终端设备可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。该终端设备可包括，但不仅限于，处理器、存储器。本领域技术人员可以理解，图7仅仅是终端设备7的举例，并不构成对终端设备7的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如还可以包括输入输出设备、网络接入设备等。The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that FIG. 7 is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used. , for example, it may also include input and output devices, network access devices, etc.
所称处理器70可以是中央处理单元(Central Processing Unit，CPU)，该处理器70还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规 的处理器等。The so-called processor 70 can be a central processing unit (Central Processing Unit, CPU), and the processor 70 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
所述存储器71在一些实施例中可以是所述终端设备7的内部存储单元，例如终端设备7的硬盘或内存。所述存储器71在另一些实施例中也可以是所述终端设备7的外部存储设备，例如所述终端设备7上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器71还可以既包括所述终端设备7的内部存储单元也包括外部存储设备。所述存储器71用于存储操作***、应用程序、引导装载程序(Boot Loader)、数据以及其他程序等，例如所述计算机程序的程序代码等。所述存储器71还可以用于暂时地存储已经输出或者将要输出的数据。The memory 71 may be an internal storage unit of the terminal device 7 in some embodiments, such as a hard disk or memory of the terminal device 7 . In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital card equipped on the terminal device 7. (Secure Digital, SD) card, flash card (Flash Card), etc. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store operating systems, application programs, boot loaders, data and other programs, such as program codes of the computer programs. The memory 71 can also be used to temporarily store data that has been output or is to be output.
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现可实现上述各个方法实施例中的步骤。Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps in each of the above method embodiments can be implemented.
本申请实施例提供了一种计算机程序产品，当计算机程序产品在终端设备上运行时，使得终端设备执行时实现可实现上述各个方法实施例中的步骤。Embodiments of the present application provide a computer program product. When the computer program product is run on a terminal device, the steps in each of the above method embodiments can be implemented when the terminal device executes it.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括：能够将计算机程序代码携带到装置/终端设备的任何实体或装置、记录介质、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。在某些司法管辖区，根据立法和专利实践，计算机可读介质不可以是电载波信号和电信信号。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps of each of the above method embodiments may be implemented. Wherein, the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code to a device/terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory ( RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. For example, U disk, mobile hard disk, magnetic disk or CD, etc. In some jurisdictions, subject to legislation and patent practice, computer-readable media may not be electrical carrier signals and telecommunications signals.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the above embodiments, each embodiment is described with its own emphasis. For parts that are not detailed or documented in a certain embodiment, please refer to the relevant descriptions of other embodiments.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.
在本申请所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal equipment and methods can be implemented in other ways. For example, the device/terminal equipment embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components can be combined or can be integrated into another system, or some features can be omitted, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still implement the above-mentioned implementations. The technical solutions described in the examples are modified, or some of the technical features are equivalently replaced; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of this application, and should be included in within the protection scope of this application.

Claims (20)

  1. 一种车辆控制方法，其特征在于，包括：A vehicle control method, characterized by including:
    在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；During the process of parking the vehicle into the target area, record the parking path of the vehicle into the target area;
    在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；During the process of parking the vehicle out of the target area, obtain the parking position of the vehicle in real time;
    根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角；Determine the steering wheel angle according to the position deviation between the parking position and the parking path;
    根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
  2. 如权利要求1所述的车辆控制方法，其特征在于，所述目标区域包括多个第一位置点，所述在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径，包括：The vehicle control method according to claim 1, wherein the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, the time when the vehicle parks into the target area is recorded. Parking paths include:
    在所述车辆泊入所述目标区域的过程中，每达到一个所述第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；During the process of the vehicle parking into the target area, each time it reaches one of the first position points, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained. ;
    根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据；Calculate the pose transformation data of the vehicle between each two adjacent first position points based on the three-dimensional point cloud of a plurality of the first position points;
    根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个所述第一位置点的位置坐标生成所述泊入路径。The parking path is generated based on the posture transformation data of the vehicle between each two adjacent first position points and the position coordinates of each first position point.
  3. 如权利要求1所述的车辆控制方法，其特征在于，所述在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置，包括：The vehicle control method according to claim 1, wherein during the process of parking the vehicle out of the target area, obtaining the parking position of the vehicle in real time includes:
    在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息；During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
    对所述位姿信息进行数据滤波处理，获得所述泊出位置。Perform data filtering processing on the pose information to obtain the parking position.
  4. 如权利要求1所述的车辆控制方法，其特征在于，所述根据所述位泊出置和所述泊入路径之间的位置偏差确定方向盘转角，包括：The vehicle control method according to claim 1, wherein determining the steering wheel angle based on the position deviation between the parking exit position and the parking entry path includes:
    获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中经过所述泊出位置时的档位；Obtain the gear position information corresponding to the parking position of the vehicle, wherein the gear position information represents the gear position of the vehicle when it passes the parking position during parking into the target area;
    若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述泊入路径中的位置点；If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
    若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  5. 如权利要求4所述的车辆控制方法，其特征在于，所述根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，包括：The vehicle control method according to claim 4, wherein determining the steering wheel angle based on the position deviation between the preview point and the parking position includes:
    计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置 的后轴中心到所述预瞄点的横向距离；Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point;
    根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；Calculate a first front wheel rotation angle according to the first lateral tracking error and a first control law, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel rotation angle of the vehicle;
    根据所述第一前轮转角确定所述方向盘转角。The steering wheel angle is determined based on the first front wheel angle.
  6. 如权利要求4所述的车辆控制方法，其特征在于，所述根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角，包括：The vehicle control method according to claim 4, wherein determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
    计算第二横向循迹误差，其中，所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离；Calculate a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle in the parking position to the parking path;
    计算角度循迹误差，所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差；Calculating an angular tracking error, the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point;
    根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角，其中，所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系；The second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law. The functional relationship between the tracking error and the vehicle’s front wheel angle;
    根据所述第二前轮转角确定所述方向盘转角。The steering wheel angle is determined based on the second front wheel angle.
  7. 如权利按要求4所述的车辆控制方法，其特征在于，所述方法还包括：The vehicle control method according to claim 4, characterized in that the method further includes:
    在车辆泊出所述目标区域的过程中，若所述车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同，则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  8. 一种车辆控制装置，其特征在于，包括：A vehicle control device, characterized by including:
    路径记录单元，用于在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；A path recording unit, used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
    位置获取单元，用于在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；A position acquisition unit configured to acquire the parking position of the vehicle in real time during the vehicle parking out of the target area;
    角度计算单元，用于根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角；An angle calculation unit, configured to determine the steering wheel angle based on the position deviation between the parking position and the parking path;
    车辆控制单元，用于根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。A vehicle control unit is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  9. 如权利要求8所述的车辆控制装置，其特征在于，所述目标区域包括多个第一位置点；所述路径记录单元还用于：The vehicle control device according to claim 8, wherein the target area includes a plurality of first position points; the path recording unit is also used to:
    在所述车辆泊入所述目标区域的过程中，每达到一个第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；During the process of the vehicle parking into the target area, each time it reaches a first position point, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained;
    根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据；Calculate the pose transformation data of the vehicle between each two adjacent first position points based on the three-dimensional point cloud of a plurality of the first position points;
    根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个第一位置点的位置坐标生成所述泊入路径。The parking path is generated based on the posture transformation data of the vehicle between every two adjacent first position points and the position coordinates of each first position point.
  10. 如权利要求8所述的车辆控制装置，其特征在于，所述位置获取单元还用于：The vehicle control device according to claim 8, characterized in that the position acquisition unit is also used for:
    在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息；During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
    对所述位姿信息进行数据滤波处理，获得所述泊出位置。Perform data filtering processing on the pose information to obtain the parking position.
  11. 如权利要求8所述的车辆控制装置，其特征在于，所述角度计算单元还用于：The vehicle control device according to claim 8, characterized in that the angle calculation unit is also used for:
    获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中、经过所述泊出位置时的档位；Obtain the gear information corresponding to the parking position of the vehicle, wherein the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area;
    若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述泊入路径中的位置点；If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
    若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  12. 如权利要求11所述的车辆控制装置，其特征在于，所述角度计算单元还用于：The vehicle control device according to claim 11, characterized in that the angle calculation unit is also used for:
    计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离；Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point;
    根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；Calculate a first front wheel rotation angle according to the first lateral tracking error and a first control law, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel rotation angle of the vehicle;
    根据所述第一前轮转角确定方向盘转角。The steering wheel angle is determined based on the first front wheel angle.
  13. 如权利要求11所述的车辆控制装置，其特征在于，所述角度计算单元还用于：The vehicle control device according to claim 11, characterized in that the angle calculation unit is also used for:
    计算第二横向循迹误差，其中，所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离；Calculate a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle in the parking position to the parking path;
    计算角度循迹误差，所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差；Calculating an angular tracking error, the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point;
    根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角，其中，所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系；The second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law. The functional relationship between the tracking error and the vehicle’s front wheel angle;
    根据所述第二前轮转角确定方向盘转角。The steering wheel angle is determined based on the second front wheel angle.
  14. 如权利要求11所述的车辆控制装置，其特征在于，所述车辆控制单元还用于：The vehicle control device according to claim 11, characterized in that the vehicle control unit is also used for:
    在车辆泊出所述目标区域的过程中，若所述车辆在当前位置对应的档位信息和在上一 位置对应的档位信息不同，则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  15. 一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如下步骤：A terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the following steps are implemented:
    在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径；During the process of parking the vehicle into the target area, record the parking path of the vehicle into the target area;
    在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置；During the process of parking the vehicle out of the target area, obtain the parking position of the vehicle in real time;
    根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角；Determine the steering wheel angle according to the position deviation between the parking position and the parking path;
    根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
  16. 如权利要求15所述的终端设备，其特征在于，所述目标区域包括多个第一位置点，所述在车辆泊入目标区域的过程中，记录所述车辆泊入所述目标区域的泊入路径，包括：The terminal device according to claim 15, wherein the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, the parking time of the vehicle into the target area is recorded. Enter the path, including:
    在所述车辆泊入所述目标区域的过程中，每达到一个所述第一位置点，获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标；During the process of the vehicle parking into the target area, each time it reaches one of the first position points, a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained. ;
    根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据；Calculate the pose transformation data of the vehicle between each two adjacent first position points based on the three-dimensional point cloud of a plurality of the first position points;
    根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个所述第一位置点的位置坐标生成所述泊入路径。The parking path is generated based on the posture transformation data of the vehicle between each two adjacent first position points and the position coordinates of each first position point.
  17. 如权利要求15所述的终端设备，其特征在于，所述在车辆泊出所述目标区域的过程中，实时获取所述车辆的泊出位置，包括：The terminal device of claim 15, wherein during the process of parking the vehicle out of the target area, obtaining the parking position of the vehicle in real time includes:
    在所述车辆泊出所述目标区域的过程中，实时计算所述车辆的位姿信息；During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
    对所述位姿信息进行数据滤波处理，获得所述泊出位置。Perform data filtering processing on the pose information to obtain the parking position.
  18. 如权利要求15所述的终端设备，其特征在于，所述根据所述位泊出置和所述泊入路径之间的位置偏差确定方向盘转角，包括：The terminal device according to claim 15, wherein determining the steering wheel angle according to the position deviation between the parking exit position and the parking entry path includes:
    获取所述车辆在所述泊出位置对应的档位信息，其中，所述档位信息表示所述车辆泊入所述目标区域的过程中经过所述泊出位置时的档位；Obtain the gear position information corresponding to the parking position of the vehicle, wherein the gear position information represents the gear position of the vehicle when it passes the parking position during parking into the target area;
    若所述档位信息表示前进，则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，其中，所述预瞄点为所述泊入路径中的位置点；If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
    若所述档位信息表示后退，则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  19. 如权利要求18所述的终端设备，其特征在于，所述根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角，包括：The terminal device according to claim 18, wherein the determining the steering wheel angle based on the position deviation between the preview point and the parked position includes:
    计算第一横向循迹误差，其中，所述第一横向循迹误差表示所述车辆在所述泊出位置 的后轴中心到所述预瞄点的横向距离；Calculate a first lateral tracking error, wherein the first lateral tracking error represents the lateral distance from the center of the rear axle of the vehicle in the parked position to the preview point;
    根据所述第一横向循迹误差和第一控制律计算第一前轮转角，其中，所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系；Calculate a first front wheel rotation angle according to the first lateral tracking error and a first control law, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel rotation angle of the vehicle;
    根据所述第一前轮转角确定所述方向盘转角。The steering wheel angle is determined based on the first front wheel angle.
  20. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述的方法。A computer-readable storage medium stores a computer program, characterized in that when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.
PCT/CN2022/111522 2022-08-10 2022-08-10 Vehicle control method and apparatus, terminal device, and computer-readable storage medium WO2024031453A1 (en)

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EP3418160A1 (en) * 2017-05-31 2018-12-26 Valeo Schalter und Sensoren GmbH Moving out of a parking space at kerb level
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