CN115129069A

CN115129069A - Method and device for controlling traveling device, storage medium, and electronic device

Info

Publication number: CN115129069A
Application number: CN202211050811.3A
Authority: CN
Inventors: 郭璧玺; 林乾浩; 林可
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-09-30
Anticipated expiration: 2042-08-31
Also published as: CN115129069B

Abstract

The application discloses a control method and a control device for driving equipment, a storage medium and an electronic device, wherein the method comprises the following steps: in the process of running of a running device, obtaining a running parameter of the running device in a current control period and obtaining a deviation parameter of the running device in a reference control period; determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating a running mode of a running component of the running equipment in the current control period; the driving equipment is controlled to drive according to the target control quantity in the current control period, and by adopting the technical scheme, the problems of low control robustness, poor anti-interference performance, low control efficiency and the like in the related technology for controlling the driving state of the driving equipment are solved.

Description

Method and device for controlling traveling device, storage medium, and electronic device

Technical Field

The present invention relates to the field of vehicle control, and in particular, to a method and an apparatus for controlling a travel device, a storage medium, and an electronic apparatus.

Background

With the continuous development of automobile manufacturing industry and the continuous improvement of vehicle control requirements of people, the automatic driving technology gradually becomes a hot spot in the vehicle research field, and how to realize an important part in the automatic control of the vehicle during the transverse control of the automatic driving vehicle in the automatic driving process of the vehicle.

The transverse control mainly means that an upper layer transverse algorithm outputs a corner or torque instruction to a controller through closed-loop feedback tracking control on an expected track to finish accurate tracking of the track, and the riding comfort is guaranteed on the premise that a common road scene is required to meet high-precision tracking errors. However, in the actual running process of the vehicle, the factors of the road are very complicated, and the running parameters of the vehicle are changed at all times during the running process, which affects the lateral control of the vehicle, in order to eliminate the influence of the road disturbance term and the running parameters changed at all times on the lateral control of the vehicle, so that the lateral control of the vehicle is in a steady state, the method of using the feedforward compensation amount to eliminate the influence of the road disturbance term on the lateral control of the vehicle is often used, but the steady-state error of the control method is still serious and deviates from the expected balance point.

Aiming at the problems of lower control robustness, poorer anti-interference performance, lower control efficiency and the like of controlling the running state of running equipment in the related art, an effective solution is not provided.

Disclosure of Invention

The embodiment of the application provides a control method and device of a running device, a storage medium and an electronic device, and aims to at least solve the problems that in the related art, the control robustness for controlling the running state of the running device is low, the anti-interference performance is poor, the control efficiency is low and the like.

According to an embodiment of the present application, there is provided a control method of a travel apparatus including: acquiring a running parameter of a running device in a current control period and acquiring a deviation parameter of the running device in a reference control period during running of the running device, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period; determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating a running mode of a running component of the running equipment in the current control period; and controlling the running equipment to run according to the target control quantity in the current control period.

Optionally, the determining the target control quantity corresponding to the current control cycle according to the driving parameter and the deviation parameter includes: calculating a target parameter matrix according to the driving parameters and the deviation parameters, wherein the target parameter matrix is used for indicating a conversion relation between the deviation parameters and the target control quantity; and converting the deviation parameter into the target control quantity by using the target parameter matrix.

Optionally, the calculating a target parameter matrix according to the driving parameter and the deviation parameter includes: constructing a target state space equation of the running device using the running parameter and the deviation parameter, wherein the target state space equation is used for indicating the running state of the running device in the current control cycle, and the deviation parameter and the corresponding relationship between the control amount of the running device and the target deviation parameter of the running device in the current control cycle; constructing an optimization equation corresponding to the target state space equation, wherein the optimization target of the optimization equation is to search for an optimal solution which enables the target deviation parameter to fall within a target error range; performing iterative computation on initial equation parameters of the optimizing equation to obtain target equation parameters, wherein the initial equation parameters are determined according to reference equation parameters used in a control period before the current control period; and calculating the target parameter matrix corresponding to the target equation parameters.

Optionally, before the iteratively calculating the initial equation parameters of the optimizing equation, the method further includes: acquiring a track deviation amount of the previous control period, wherein the track deviation amount is a deviation amount between a travel track of the travel device in the previous control period and a desired track; under the condition that the absolute value of the track deviation amount is larger than a first threshold value, calculating the product of the absolute value of the track deviation amount and a preset parameter; determining a sum of the product and the reference equation parameter as the initial equation parameter; determining the reference equation parameter as the initial equation parameter in a case where the absolute value of the track deviation amount is less than or equal to the first threshold.

Optionally, the obtaining of the deviation parameter of the running device in the reference control period includes: acquiring a reference deviation amount between a driving track and a desired track of the reference control period, a reference control amount of the reference control period and an initial deviation accumulation amount between the driving track and the desired track until an initial control period, wherein the initial control period is a control period before the reference control period; determining a target deviation accumulation amount between a running track and a desired track until the reference control period is the reference control period according to the reference deviation amount, the reference control amount and the initial deviation accumulation amount; constructing a parameter matrix including the reference deviation amount and the target deviation accumulation amount as the deviation parameter.

Optionally, the determining, according to the reference deviation amount, the reference control amount and the initial deviation accumulation amount, a target deviation accumulation amount between the driving trajectory and the desired trajectory until the reference control period is the reference control period includes: determining the initial deviation accumulation amount as the target deviation accumulation amount in a case where the reference control amount is larger than a second threshold; calculating a target sum of the reference deviation amount and the initial deviation accumulation amount in a case where the reference control amount is less than or equal to the second threshold; determining the target sum value as the target deviation accumulation amount in a case where the target sum value is smaller than a third threshold value having a negative correlation with a running speed of the running device; determining the third threshold as the target deviation accumulation amount in a case where the target sum value is greater than or equal to the third threshold.

Optionally, the controlling, by the target control amount, the running device to run in the current control period includes: determining an additional control quantity according to the running parameter, the deviation parameter and the road curvature, wherein the additional control quantity is used for indicating the influence of the environment of the running equipment on the running mode of the running component in the current control period; and controlling the running member to operate in accordance with the sum of the target control amount and the additional control amount.

According to another embodiment of the present application, there is also provided a control device of a running apparatus including: a first obtaining module, configured to obtain a running parameter of a running device in a current control period during running of the running device, and obtain a deviation parameter of the running device in a reference control period, where the reference control period is a control period before the current control period, the running parameter is used to indicate a running state of the running device in the current control period, and the deviation parameter is used to indicate a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period; a first determining module, configured to determine a target control amount corresponding to the current control cycle according to the driving parameter and the deviation parameter, where the target control amount is used to indicate a driving manner of a driving component of the driving device in the current control cycle; and the control module is used for controlling the running equipment to run according to the target control quantity in the current control period.

According to still another aspect of an embodiment of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of the traveling apparatus described above when running.

According to still another aspect of the embodiments of the present application, there is also provided an electronic apparatus including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the control method of the traveling apparatus by the computer program.

In the embodiment of the application, during the running of the running device, the running parameter of the running device in the current control period is obtained, and the deviation parameter of the running device in the reference control period is obtained, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating the running state of the running device in the current control period, and the deviation parameter is used for indicating the deviation amount between the running track and the expected track in the reference control period and the deviation accumulation amount between the running track and the expected track until the reference control period; determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating the running mode of a running component of the running equipment in the current control period; controlling the running device to run according to the target control quantity in the current control period, namely, acquiring running parameters for indicating the running state of the running device in the current control period and acquiring deviation parameters of a reference control period before the current control period of the running device, wherein the deviation parameters are used for indicating the deviation quantity between the running track and the expected track of the running device in the reference control period and indicating the deviation accumulation quantity between the running track and the expected track in the reference control period, and further determining the target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, and since the reference deviation parameters comprise the deviation accumulation quantity for indicating that the reference control period is the deviation accumulation quantity between the running track and the expected track, the actual running state of the running device can be reflected by the deviation accumulation quantity until the reference control period, therefore, the target control quantity determined according to the running track and the deviation parameter used for indicating that the reference control period is the deviation accumulation quantity between the running track and the expected track is more suitable for the running state of the current running equipment, and the target control quantity is used for controlling the running equipment in the current control period, so that the obtained running track is closer to the expected track, and the steady-state error in the process of controlling the running equipment to run the track is eliminated. By adopting the technical scheme, the problems of lower control robustness, poorer anti-interference performance, lower control efficiency and the like of controlling the running state of the running equipment in the related technology are solved, and the technical effects of improving the control robustness, the anti-interference performance and the control efficiency of controlling the running state of the running equipment are realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a hardware environment diagram of a control method of a running device according to an embodiment of the present application;

fig. 2 is a flowchart of a control method of a running apparatus according to an embodiment of the present application;

fig. 3 is a schematic diagram of a control process of an alternative travel device according to an embodiment of the present application;

fig. 4 is a schematic diagram of a control system of an alternative running device according to the present embodiment;

FIG. 5 is a schematic illustration of lateral error comparison according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a comparison of vehicle speed curves according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an alternative initial equation parameter screening process according to an embodiment of the present application;

fig. 8 is a block diagram of a control device of a running apparatus according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The method provided by the embodiment of the application can be executed in a computer terminal, a device terminal or a similar operation device. Taking the example of the control method running on a computer terminal, fig. 1 is a hardware environment diagram of a control method of a running device according to an embodiment of the present application. As shown in fig. 1, the computer terminal may include one or more (only one shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and in an exemplary embodiment, may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration with equivalent functionality to that shown in FIG. 1 or with more functionality than that shown in FIG. 1.

The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the message pushing sending method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a computer terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

In the present embodiment, a control method of a travel apparatus is provided, which is applied to the computer terminal described above, and fig. 2 is a flowchart of a control method of a travel apparatus according to an embodiment of the present application, where the flowchart includes the following steps:

a step S202 of acquiring a running parameter of the running device in a current control period and acquiring a deviation parameter of the running device in a reference control period during running of the running device, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period;

step S204, determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating the running mode of a running component of the running equipment in the current control period;

step S206, controlling the running apparatus to run in accordance with the target control amount in the current control period.

Through the steps, the running state of the running equipment in the reference control period can be reflected through the deviation accumulation amount, so that the target running state of the running equipment in the reference control period can be determined according to the running parameter and the deviation parameter, and the target running state can be determined according to the running track and the deviation parameter which indicates that the reference control period is the deviation accumulation amount between the running track and the expected track The control quantity is more suitable for the running state of the current running equipment, and the target control quantity is used for controlling the running equipment in the current control period, so that the obtained running track is closer to the expected track, and the steady-state error in the process of controlling the running equipment to run the track is eliminated. By adopting the technical scheme, the problems of lower control robustness, poorer anti-interference performance, lower control efficiency and the like of controlling the running state of the running equipment in the related technology are solved, and the technical effects of improving the control robustness, the anti-interference performance and the control efficiency of controlling the running state of the running equipment are realized.

In the technical solution provided in step S202 above, the reference control period may be a control period adjacent to the current control period, or may also be different from the current control period by a predetermined number of control periods, and the reference control period may be a control period which is selected by default and is located before the current control period and adjacent to the current control period, or may be a control period determined according to a deviation amount between the travel track and the desired track, or may also be determined according to environmental parameters during travel (road curvature, crosswind level), for example, a degree of similarity between the travel parameter in a history control period (any control period before the current control period) and the travel parameter of the current control period is determined, and a history control period having the highest degree of similarity between the travel parameter and the desired track in the history control period is determined as the reference control period, or a degree of deviation between the travel track and the desired track in the history control period and the travel track and the desired track in the current control period is determined And determining the historical control period with the highest similarity of the deviation amount as a reference control period, and also determining the similarity of the environmental parameters of the current control period and the historical control period, and determining the historical control period with the highest similarity of the environmental parameters as the reference control period.

Alternatively, in the present embodiment, the traveling device may be, but is not limited to, various types of devices having a trajectory traveling function, such as: vehicle, unmanned aerial vehicle, intelligent robot, boats and ships etc. this scheme does not restrict this.

Alternatively, in the present embodiment, taking the traveling apparatus as a vehicle as an example, the traveling parameters of the vehicle may include, but are not limited to, vehicle mass, vehicle traveling speed, rotational inertia, vehicle front axle base, vehicle rear axle base, vehicle front axle cornering stiffness, vehicle rear axle cornering stiffness, vehicle traveling pose, and the like.

Optionally, in this embodiment, the deviation amount between the driving track and the desired track in the reference control period may be, but is not limited to, the deviation amount calculated from the desired track by detecting the driving track of the driving device by using the track monitoring device, and may include, but is not limited to, a lateral error derivative, a heading angle error, and a heading angle error derivative.

Alternatively, in this embodiment, the deviation accumulated amount may be obtained by directly accumulating the deviation amount before the reference control period, and when performing accumulation, an accumulated value of the deviation accumulated amount in the control period may be determined according to a value of the deviation amount in the control period, and then the deviation accumulated amount obtained in the previous control period is accumulated by using the accumulated value, so as to obtain a final deviation accumulated amount in the control period, where the deviation accumulated amount may include, but is not limited to, a lateral error accumulated amount and a heading angle error accumulated amount.

In the technical solution provided in step S204, the target Control quantity may be obtained by calculating the driving parameter and the deviation parameter by using a lateral Control algorithm, and the lateral Control algorithm may include, but is not limited to, an LQR (Linear Quadratic Regulator) algorithm, a PID algorithm (PID is a proportionality, Integral, Differential, or abbreviation), and an MPC (Model Predictive Control) algorithm, for example, a target state space equation related to the deviation parameter of the driving device is constructed by using the driving parameter and the deviation parameter (the target state space equation is used to indicate the driving state of the driving device in the current Control period, and the deviation parameter (obtained by referring to the Control period) and the corresponding relationship between the Control quantity of the driving device and the target deviation parameter of the driving device in the current Control period) so as to solve the target state space equation optimally, thereby obtaining the target control amount.

Alternatively, in the present embodiment, the running member is a member for changing a running locus of the running device, for example, when the running device is a vehicle, the running member is a wheel of the vehicle, and thus the target control amount is a turning angle amount of the wheel for the vehicle, or when the running device is a ship, the running member is a propeller of the ship, and the target control amount is a yaw angle of the propeller.

In the technical solution provided in step S206 above, the manner of traveling according to the target traveling apparatus control target control amount may be that the traveling member is adjusted to travel according to the traveling manner indicated by the target control amount by adjusting the traveling manner of the traveling member using an adjustment manner corresponding to the target control amount, for example, the target control amount is a steering angle control amount of the wheel, a product of the steering angle control amount and the steering gear ratio of the steering wheel is calculated to obtain an adjustment parameter of the steering wheel, and the steering wheel is adjusted using the adjustment parameter, so that the wheel travels according to the steering control amount.

As an alternative embodiment, the determining the target control amount corresponding to the current control cycle according to the driving parameter and the deviation parameter includes:

calculating a target parameter matrix according to the driving parameters and the deviation parameters, wherein the target parameter matrix is used for indicating a conversion relation between the deviation parameters and the target control quantity;

and converting the deviation parameter into the target control quantity by using the target parameter matrix.

Optionally, in this embodiment, the target parameter matrix includes parameter dimensions corresponding to deviation amounts between the driving trajectory and the desired trajectory and deviation accumulation amounts.

Alternatively, in the present embodiment, the target parameter matrix may be calculated according to the driving parameters and the deviation parameters by constructing a target state space equation regarding the deviation parameters by using the driving parameters and the deviation parameters, the target state space equation being used to indicate the driving state of the driving device in the current control cycle, and performing optimization calculation on the target state space equation by using the deviation parameters and the deviation parameters, the deviation parameters (obtained by referring to the control cycle) and the corresponding relationship between the control amount of the driving device and the target deviation parameters of the driving device in the current control cycle, thereby obtaining the target parameter matrix.

Fig. 3 is a schematic diagram of a control process of an alternative running device according to an embodiment of the present application, and as shown in fig. 3, a target state space equation of the running device is constructed using the running parameters and the deviation parameters, and since the deviation parameters include the deviation amount of the reference control period and the deviation accumulation amount up to the reference control period, the target state space equation takes into account the influence of the deviation amount accumulation amount in the reference control period, so as to find a target parameter matrix in which the deviation accumulation amount in the reference control period is taken into account, and the target control amount obtained by conversion from the target parameter matrix is a control vector in which the deviation accumulation amount in the reference control period is taken into account, thereby compensating the influence of the road disturbance term and the running parameter that changes at the moment by this portion.

Optionally, in this embodiment, the target parameter matrix and the deviation parameter are calculated by a formula u = -K × x, so as to obtain the target controlled variable, where u is the target controlled variable, K is the target parameter matrix, and x is the deviation parameter.

Through the above steps, a target parameter matrix is calculated according to the driving parameters and the deviation parameters, since the deviation parameters include the deviation amount between the driving track and the expected track in the reference control period and the deviation accumulation amount between the driving track and the expected track until the reference control period, therefore, the obtained target parameter matrix comprises the parameter dimension corresponding to the deviation amount of the reference control period and the parameter dimension corresponding to the deviation accumulated amount until the reference control period, and the target control quantity obtained through the target parameter matrix indication comprises a gain value brought by the deviation accumulation quantity, because the deviation accumulation amount is caused by the road interference item, the influence caused by the road interference item can be counteracted through the deviation accumulation amount, the target deviation parameter obtained by controlling the travel of the travel apparatus using the target control amount can thus fall within the target error range.

As an alternative embodiment, the calculating a target parameter matrix according to the driving parameter and the deviation parameter includes:

constructing a target state space equation of the running device using the running parameter and the deviation parameter, wherein the target state space equation is used for indicating the running state of the running device in the current control cycle, and the deviation parameter and the corresponding relationship between the control amount of the running device and the target deviation parameter of the running device in the current control cycle;

constructing an optimization equation corresponding to the target state space equation, wherein the optimization target of the optimization equation is to search for an optimal solution which enables the target deviation parameter to fall within a target error range;

performing iterative computation on initial equation parameters of the optimizing equation to obtain target equation parameters, wherein the initial equation parameters are determined according to reference equation parameters used in a control period before the current control period;

and calculating the target parameter matrix corresponding to the target equation parameters.

Alternatively, in the present embodiment, the optimization equation can be, but is not limited to, using an algorithm equation with parameter optimization function constructed by any form, such as: ricati equation.

Alternatively, in the present embodiment, by K = (R + B) ^T *P*B） ^-1 *B ^T And PA calculates a target parameter matrix, wherein K is the target parameter matrix, R is a penalty value aiming at the controlled variable in the optimization equation, A is the parameter matrix of the deviation parameter in the target state space equation, B is the parameter matrix of the controlled variable in the target state space equation, and P is the initial equation parameter.

Alternatively, in this embodiment, the initial equation parameter may be a sum of a reference equation parameter and a gain value, and the gain value may be determined according to the track deviation amount obtained in the previous control period, for example, the track deviation amount has a corresponding relationship with the gain parameter, different track deviation amounts correspond to different gain parameters, and then the sum of the track deviation amount and the corresponding gain parameter is calculated, so as to obtain the gain value of the reference equation parameter, and then the sum of the reference equation parameter and the gain value is calculated, so as to obtain the initial equation parameter.

The target state space equation in the above may be, but is not limited to, a state space equation based on an LQR lateral control algorithm, and in general, the state space equation of the LQR lateral control is as shown in formula (1):

（1）

in the formula (1), the acid-base catalyst,

the deviation parameters comprise lateral errors, lateral error derivatives, course angle errors, course angle error derivatives and other variables in the process of tracking the track;

in order to control the amount of the liquid,

is a parameter matrix of the deviation parameters,

a parameter matrix of the control quantity is calculated,

is a road disturbance term.

Generally, when we solve the feedback control quantity through the LQR, the road disturbance item is firstly omitted

The state space equation is written as follows:

（2）

is abbreviated as

。

In the formula (2), the first and second groups,

、

、

、

respectively, a lateral error derivative, a course angle error and a course angle error derivative.

Here we consider introducing a cumulative amount of lateral error, which can be expressed by equation (3):

（3）

in the formula (3), the first and second groups,

for lateral error, it is in equation (2)x(t)A first component in the vector;

is the historical accumulated amount of lateral error. The derivation from equation (3) can be:

（4）

therefore, by combining equations (2), (3), and (4), an augmented state space equation that takes into account the lateral error accumulation amount can be constructed, as shown in equation (5):

（5）

wherein the content of the first and second substances,

=

，

，

，

of the extended state space equation in equation (5)

A steering matrix being a raw state space equation, wherein 4 x 4 denotes A _t The dimension of the matrix is four rows and four columns;

is an input matrix of the original state space equation, wherein 4 x 1 represents B _t The dimension of the matrix is four rows and one column.

Indicating that it is a number 1 that indicates that,

indicating that it is a row vector consisting of four digits 0.

In the formula (5), C _αf 、C _αr Respectively front and rear axle lateral deflection stiffness, m is the vehicle mass, v _x For vehicle speed, I is moment of inertia, a, b are wheelbases respectively (driving parameters include C) _αf 、C _αr 、m、v _x I, a, b). The deviation parameter x comprises a transverse error, a derivative of the transverse error, a course angle error, a derivative of the course angle error and a transverse error cumulant in sequence.

The discretization process is performed on equation (5) as follows: discretizing the linear error model by an Euler method to obtain a discretized linear state space equation (namely the target state space equation):

wherein the content of the first and second substances,

，

a is a parameter matrix of deviation parameters in the target state space equation, and B is a parameter matrix of control quantity in the target state space equation.

And then, performing optimization solution on the target state space equation to obtain an optimal target parameter matrix, and further obtain a target control quantity of the current control period, where fig. 4 is a schematic diagram of a control system of an optional driving device according to this embodiment, and may be, but is not limited to, used for controlling the driving of a vehicle, and as shown in fig. 4, the matrix a and B calculation modules obtain matrices a and B in the target state space equation according to the driving parameters of the vehicle. Then, the LQR module combines Q, R with the ricarthat equation to find a control gain matrix K (i.e., the target parameter matrix in the above), where Q (the penalty value for the deviation parameter in the optimization equation) is a positive definite matrix with 5 rows and 5 columns, and R is the penalty value for the controlled variable in the optimization equation. The deviation parameter calculation module calculates deviation parameters of the running equipment according to the running track and the expected track of the vehicle. The feedback control calculation module multiplies the calculated deviation parameters (the transverse error, the derivative of the transverse error, the course angle error, the derivative of the course angle error and the transverse error accumulation) by the gain matrix K to obtain the LQR front wheel steering angle feedback control quantity. The feedforward control calculation module can calculate the feedforward control quantity of the front wheel steering angle through the control gain matrix K, the road curvature and the driving parameters. And the final control quantity calculation module adds the front wheel steering angle feedforward control quantity and the front wheel steering angle feedback control quantity to obtain a front wheel steering angle control quantity u, and can obtain a steering wheel control quantity delta through u x i for controlling the vehicle to track a desired track, wherein i is a steering transmission ratio.

For the target state space equation of the above embodiment, the controllability is verified first, and it can be known from the related knowledge of the modern control theory that whether the controllable decision matrix of the N-dimensional linear time-invariant system is full rank is used for judging. Thus, as shown in equation (6), the solution can be obtained

,

OfC _o The determination is made whether the rank of the matrix is equal to 5, the controllability of the system is easily verified by:

（6）

in the formula (6), the first and second groups,

the control matrix and the input matrix of the target state space equation,

is composed of

The rank of the matrix is such that,

the rank of the matrix can be easily derived by Matlab's rank function.

C can be solved by the two formulas _o The rank of the matrix is equal to 5. Thus, the controllability of the established augmented state-space equation can be verified.

The stability of the system is verified by the lyapunov stability criterion, and first, a lyapunov function is defined as shown in formula (7):

（7）

pis a positive constant matrix, soV(x)Is positive.

Then, toV(x)Derivation is performed to obtain equation (8):

（8）

will be provided with

,

Substituting into the formula (8) to obtain:

（9）

in an infinite time domain, an algebraic ricati equation of continuous time satisfies the following formula:

（10）

substituting equation (10) into equation (9) yields:

（11）

in the formula (11), the reaction mixture,Q、R、pare all positive definite matrices, and thus, for anyxHas a formula (12)The constant holds true:

（12）

it can be seen that the new system constructed by the target state space equation is asymptotically stable.

Fig. 5 is a schematic diagram of lateral error comparison according to an embodiment of the present application, and as shown in fig. 5, a vehicle lateral error curve under LQR control without considering deviation accumulation amount and a vehicle lateral error curve under LQR control with considering deviation accumulation amount are respectively recorded, it can be found that the lateral control error fluctuation under LQR control without considering deviation accumulation amount is large, about 0.35m at maximum, and the control error is large, about-0.25 m due to the defects of numerous disturbance factors and inaccurate model precision existing in actual vehicle control. Under the LQR control considering the accumulated deviation amount, the control error on the actual vehicle is substantially within 0.15m, and the steady-state error is always near the zero balance point, i.e., the steady-state error can be converged to 0 by the accumulated deviation amount.

Fig. 6 is a schematic diagram of vehicle speed curve comparison according to the embodiment of the application, and as shown in fig. 6, a vehicle transverse error curve under LQR control without considering deviation cumulant and a vehicle speed curve under LQR control considering deviation cumulant are respectively recorded, a vehicle under LQR control considering deviation cumulant can effectively resist external interference within a range of 60-85 km/h, the vehicle is well controlled, and it is verified that LQR control considering deviation cumulant has good robustness, anti-interference performance and self-adaptability to vehicle speed variation, vehicle model inaccuracy and road disturbance.

Through the steps, the driving parameters and the deviation parameters are used for constructing a target state space equation, and then an optimization equation corresponding to the target state space equation is constructed, the optimizing equation is used for searching an optimal solution which enables the target deviation parameter to fall within a target range, the optimal solution is embodied by the target equation parameter searched by the optimizing equation, then the initial equation parameters are iteratively calculated through the optimization equation in each control period, so as to obtain a target parameter equation of the current control period, since the initial equation parameters used in the first iteration of the current control period are determined according to the reference equation parameters obtained in the previous control period iteration, the initial equation parameters used by the current control period are matched with the deviation parameters at the beginning of the current control period, and the iteration times of the equation parameters in the current control period are further reduced.

As an optional embodiment, before the iteratively calculating the initial equation parameters of the optimizing equation, the method further includes:

acquiring a track deviation amount of the previous control cycle, wherein the track deviation amount is a deviation amount between a running track of the running device in the previous control cycle and a desired track;

under the condition that the track deviation amount is larger than a first threshold value, calculating the product of the absolute value of the track deviation amount and a preset parameter; determining a sum of the product and the reference equation parameter as the initial equation parameter;

determining the reference equation parameter as the initial equation parameter in a case where the trajectory deviation amount is less than or equal to the first threshold.

Optionally, in the present embodiment, the trajectory deviation amount may include, but is not limited to, one or more of a lateral error, a lateral error derivative, a heading angle error, and a heading angle error derivative.

The above optimization equation may be the ricati equation, and through theoretical research on algebraic ricati equations and analysis of relevant experimental results, it is found that the feedback gain matrix P (i.e. the equation parameters in the above optimization equation) solved by the ricati equation usually converges around a constant value. Therefore, when the current control period is used, the iterative initial value of the P matrix can be selected to be the P matrix solved by the previous control period. The matrix solved iteratively in the previous control period is denoted as P (k-1) (i.e., the above reference equation parameter), and P (k) (i.e., the above initial equation parameter) is the P matrix solved in the current control period, in the first control period of the vehicle control, the equation parameter P takes the value of Q (Q is a penalty value of the control quantity), and in the case of a non-first control period, the initial equation parameter of the current control period needs to be determined according to the reference equation parameter used in the previous control period of the current control period, fig. 7 is a schematic diagram of an optional initial equation parameter screening process according to the embodiment of the present application, as shown in fig. 7, the method may include, but is not limited to, the following steps:

s701, comparing whether the absolute value of the track deviation amount (namely abs (lat _ err)) is greater than a first threshold, where the first threshold is 0.15;

s702, if the absolute value of the track deviation amount is greater than the first threshold, performing an increasing process on the reference equation parameter P (k-1), specifically, superimposing a value proportional to the absolute value of the track deviation amount on the basis of the reference return parameter (i.e. D × abs (lat _ err), and taking a fixed value as the coefficient D);

s703, determining the reference equation parameter as an initial equation parameter under the condition that the absolute value of the track deviation amount is less than or equal to a first threshold value;

and S704, obtaining reference equation parameters of the current control period.

Optionally, in this embodiment, the first threshold may be a set fixed value, or may also be determined according to a reference equation parameter, for example, a certain correspondence relationship exists between the equation parameter and the first threshold, and then the first threshold corresponding to the reference equation parameter is determined from the correspondence relationship.

As an alternative embodiment, the obtaining of the deviation parameter of the running device in the reference control period includes:

acquiring a reference deviation amount between a driving track and a desired track of the reference control period, a reference control amount of the reference control period and an initial deviation accumulation amount between the driving track and the desired track until an initial control period, wherein the initial control period is a control period before the reference control period;

determining a target deviation accumulation amount between a running track and a desired track until the reference control period is according to the reference deviation amount, the reference control amount and the initial deviation accumulation amount;

constructing a parameter matrix including the reference deviation amount and the target deviation accumulation amount as the deviation parameter.

Optionally, in this embodiment, the determining of the target deviation accumulation amount may include, but is not limited to, determining an accumulation parameter of the reference deviation amount in the reference control period according to a value of the reference control amount, where the accumulation parameter (which may be any natural number) is used to indicate a contribution of the reference deviation amount to the target deviation accumulation amount, further calculating a product value of the accumulation parameter and the reference deviation amount, and determining a sum of the product value and the initial deviation accumulation amount as the target deviation accumulation amount.

As an alternative embodiment, the determining the reference control amount and the initial deviation accumulation amount according to the reference deviation amount until the reference control period is a target deviation accumulation amount between the travel locus and the desired locus includes:

determining the initial deviation accumulation amount as the target deviation accumulation amount in a case where the reference control amount is larger than a second threshold;

calculating a target sum of the reference deviation amount and the initial deviation accumulation amount in a case where the reference control amount is less than or equal to the second threshold; determining the target sum value as the target deviation accumulation amount in a case where the target sum value is smaller than a third threshold value having a negative correlation with a running speed of the running device; determining the third threshold as the target deviation accumulation amount in a case where the target sum value is greater than or equal to the third threshold.

Optionally, in this embodiment, a value of the third threshold is determined according to a running speed of the running device, and the larger the running speed is, the smaller the value of the third threshold is, and the smaller the running speed is, the larger the value of the third threshold is.

Alternatively, in the present embodiment, if the traveling apparatus deviates too much from the desired trajectory to the right due to an external disturbance factor (such as a road disturbance term), the tracking error accumulation of the traveling apparatus to the right may be too large, and if the vehicle deviates to the left, the response delay phenomenon may be caused to occur due to the accumulated error to the right. Therefore, an accumulation amount anti-saturation strategy is designed, when the accumulation amount exceeds a third threshold value, the accumulation amount does not increase, and only the third threshold value is output.

As an alternative embodiment, the controlling the running device to run in accordance with the target control amount in the current control period includes:

determining an additional control amount according to the driving parameter, the deviation parameter and the road curvature, wherein the additional control amount is used for indicating the influence of the environment of the driving device on the driving mode of the driving component in the current control period;

and controlling the running member to operate in accordance with the sum of the target control amount and the additional control amount.

Alternatively, in the present embodiment, the additional control amount may be, but is not limited to, a control amount calculated from the running parameter, the deviation parameter, and the curvature of the road by a feed-forward algorithm.

Through the above, the additional control quantity is determined by using the running parameters, the deviation parameters and the road curvature, the additional control quantity can compensate the influence of the current environment of the running equipment on the running mode of the running component, and the running equipment is controlled by using the sum of the target control quantity and the additional control quantity, so that the steady-state error in the running equipment control process is better eliminated.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software and necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (such as a ROM/RAM, a magnetic disk, and an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the method of the embodiments of the present application.

A control device of a running apparatus is also provided in the present embodiment, and fig. 8 is a block diagram of the structure of a control device of a running apparatus according to an embodiment of the present application; as shown in fig. 8, includes: a first obtaining module 82, configured to obtain a running parameter of a running device in a current control period during running of the running device, and obtain a deviation parameter of the running device in a reference control period, where the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period; a first determining module 84, configured to determine a target control amount corresponding to the current control cycle according to the driving parameter and the deviation parameter, where the target control amount is used to indicate a driving manner of a driving component of the driving device in the current control cycle; and the control module 86 is used for controlling the running equipment to run according to the target control quantity in the current control period.

Optionally, the first determining module includes: a calculating unit, configured to calculate a target parameter matrix according to the driving parameter and the deviation parameter, where the target parameter matrix is used to indicate a conversion relationship between the deviation parameter and the target control amount; and the conversion unit is used for converting the deviation parameter into the target control quantity by using the target parameter matrix.

Optionally, the computing unit is configured to: constructing a target state space equation of the running device using the running parameter and the deviation parameter, wherein the target state space equation is used for indicating the running state of the running device in the current control cycle, and the deviation parameter and the corresponding relationship between the control amount of the running device and the target deviation parameter of the running device in the current control cycle; constructing an optimization equation corresponding to the target state space equation, wherein the optimization target of the optimization equation is to search for an optimal solution which enables the target deviation parameter to fall within a target error range; performing iterative computation on initial equation parameters of the optimizing equation to obtain target equation parameters, wherein the initial equation parameters are determined according to reference equation parameters used in a control period previous to the current control period; and calculating the target parameter matrix corresponding to the target equation parameters.

Optionally, the apparatus further comprises: a second obtaining module, configured to obtain a track deviation amount of the previous control period before the iterative computation is performed on the initial equation parameters of the optimization equation, where the track deviation amount is a deviation amount between a travel track of the travel device in the previous control period and an expected track; the calculation module is used for calculating the product of the absolute value of the track deviation amount and a preset parameter under the condition that the absolute value of the track deviation amount is larger than a first threshold; determining a sum of the product and the reference equation parameter as the initial equation parameter; a second determination module, configured to determine the reference equation parameter as the initial equation parameter when the absolute value of the track deviation amount is less than or equal to the first threshold.

Optionally, the first obtaining module includes: an acquisition unit, configured to acquire a reference deviation amount between a travel trajectory and a desired trajectory of the reference control period, a reference control amount of the reference control period, and an initial deviation accumulation amount between the travel trajectory and the desired trajectory up to an initial control period, where the initial control period is a control period before the reference control period; a determination unit configured to determine a target deviation accumulation amount until the reference control period is between a travel locus and a desired locus, based on the reference deviation amount, the reference control amount, and the initial deviation accumulation amount; a construction unit configured to construct a parameter matrix including the reference deviation amount and the target deviation accumulation amount as the deviation parameter.

Optionally, the determining unit is configured to: determining the initial deviation accumulation amount as the target deviation accumulation amount in a case where the reference control amount is larger than a second threshold; calculating a target sum of the reference deviation amount and the initial deviation accumulation amount in a case where the reference control amount is less than or equal to the second threshold; determining the target sum value as the target deviation accumulation amount in a case where the target sum value is smaller than a third threshold value having a negative correlation with a running speed of the running device; determining the third threshold as the target deviation accumulation amount in a case where the target sum value is greater than or equal to the third threshold.

Optionally, the control module includes: a determination unit configured to determine an additional control amount indicating an influence of an environment in which the running device is located on a running style of the running component in the current control cycle, based on the running parameter, the deviation parameter, and a road curvature; a control unit for controlling the running member to run in accordance with a sum of the target control amount and the additional control amount

Embodiments of the present application also provide a storage medium including a stored program, wherein the program executes the control method of any one of the traveling apparatuses when running.

Alternatively, in the present embodiment, the storage medium may be configured to store program codes for performing the following steps: acquiring a running parameter of a running device in a current control period and acquiring a deviation parameter of the running device in a reference control period during running of the running device, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period; determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating the running mode of a running component of the running equipment in the current control period; and controlling the running equipment to run according to the target control quantity in the current control period.

Embodiments of the present application also provide an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above-described control method embodiments of the travel apparatus.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program: acquiring a running parameter of a running device in a current control period and acquiring a deviation parameter of the running device in a reference control period during running of the running device, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period; determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating a running mode of a running component of the running equipment in the current control period; and controlling the running equipment to run according to the target control quantity in the current control period.

Optionally, in this embodiment, the storage medium may include but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a memory device and executed by a computing device, and in some cases, the steps shown or described may be executed out of order, or separately as integrated circuit modules, or multiple modules or steps thereof may be implemented as a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

The foregoing is only a preferred embodiment of the present application and it should be noted that, as will be apparent to those skilled in the art, numerous modifications and adaptations can be made without departing from the principles of the present application and such modifications and adaptations are intended to be considered within the scope of the present application.

Claims

1. A control method of a running device, characterized by comprising:

acquiring a running parameter of a running device in a current control period and acquiring a deviation parameter of the running device in a reference control period during running of the running device, wherein the reference control period is a control period before the current control period, the running parameter is used for indicating a running state of the running device in the current control period, and the deviation parameter is used for indicating a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period;

determining a target control quantity corresponding to the current control period according to the running parameters and the deviation parameters, wherein the target control quantity is used for indicating a running mode of a running component of the running equipment in the current control period;

and controlling the running equipment to run according to the target control quantity in the current control period.

2. The method according to claim 1, wherein the determining the target control amount corresponding to the current control cycle based on the driving parameter and the deviation parameter includes:

3. The method of claim 2, wherein said calculating a target parameter matrix from said driving parameters and said deviation parameters comprises:

performing iterative computation on initial equation parameters of the optimizing equation to obtain target equation parameters, wherein the initial equation parameters are determined according to reference equation parameters used in a control period previous to the current control period;

4. The method of claim 3, wherein prior to the iteratively calculating the initial equation parameters of the optimization equation, the method further comprises:

acquiring a track deviation amount of the previous control period, wherein the track deviation amount is a deviation amount between a travel track of the travel device in the previous control period and a desired track;

under the condition that the absolute value of the track deviation amount is larger than a first threshold value, calculating the product of the absolute value of the track deviation amount and a preset parameter; determining a sum of the product and the reference equation parameter as the initial equation parameter;

determining the reference equation parameter as the initial equation parameter in a case where the absolute value of the track deviation amount is less than or equal to the first threshold.

5. The method according to claim 1, wherein the obtaining of the deviation parameter of the running device in a reference control period comprises:

6. The method according to claim 5, wherein the determining the reference control amount and the initial deviation accumulation amount according to the reference deviation amount until the reference control period is a target deviation accumulation amount between a travel trajectory and a desired trajectory includes:

calculating a target sum value of the reference deviation amount and the initial deviation accumulation amount in a case where the reference control amount is less than or equal to the second threshold value; determining the target sum value as the target deviation accumulation amount in a case where the target sum value is smaller than a third threshold value having a negative correlation with a running speed of the running device; determining the third threshold as the target deviation accumulation amount in case the target sum value is greater than or equal to the third threshold.

7. The method according to claim 1, wherein the controlling the running device to run in accordance with the target control amount in the current control period includes:

determining an additional control quantity according to the running parameter, the deviation parameter and the road curvature, wherein the additional control quantity is used for indicating the influence of the environment of the running equipment on the running mode of the running component in the current control period;

8. A control device for a running apparatus, characterized by comprising:

a first obtaining module, configured to obtain a running parameter of a running device in a current control period during running of the running device, and obtain a deviation parameter of the running device in a reference control period, where the reference control period is a control period before the current control period, the running parameter is used to indicate a running state of the running device in the current control period, and the deviation parameter is used to indicate a deviation amount between a running track and a desired track of the running device in the reference control period and a deviation accumulation amount between the running track and the desired track until the reference control period;

a first determining module, configured to determine a target control amount corresponding to the current control cycle according to the driving parameter and the deviation parameter, where the target control amount is used to indicate a driving manner of a driving component of the driving device in the current control cycle;

and the control module is used for controlling the running equipment to run according to the target control quantity in the current control period.

9. A computer-readable storage medium, comprising a stored program, wherein the program when executed performs the method of any of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 7 by means of the computer program.