CN115140072A - Method, device, equipment and medium for optimizing vehicle motion model and program product - Google Patents
Method, device, equipment and medium for optimizing vehicle motion model and program product Download PDFInfo
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- CN115140072A CN115140072A CN202110333986.4A CN202110333986A CN115140072A CN 115140072 A CN115140072 A CN 115140072A CN 202110333986 A CN202110333986 A CN 202110333986A CN 115140072 A CN115140072 A CN 115140072A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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Abstract
The method comprises the steps of controlling the turning driving of a vehicle, obtaining a plurality of steering wheel corners of the vehicle, corresponding rear wheel displacement and actual motion tracks of the vehicle, establishing a functional relation between the steering wheel corners and front wheel deflection angles of the vehicle, obtaining a predicted motion track of the vehicle by combining the rear wheel displacement of the vehicle, and optimizing the functional relation between the steering wheel corners and the front wheel deflection angles in the predicted motion track according to the actual motion track, so that the vehicle motion model can be optimized quickly and accurately.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method, an apparatus, a device, a computer-readable storage medium, and a computer program product for optimizing a vehicle motion model.
Background
Before the intelligent driving technology is put into production, real vehicle detection needs to be carried out on the intelligent driving technology. In general, before real vehicle testing is performed on intelligent driving, a vehicle motion model needs to be established for simulation, and then the real vehicle is used for testing, so that the cost is reduced. The vehicle motion model is a model capable of describing a vehicle motion rule and reflecting a corresponding relation between vehicle operation and vehicle motion.
In general, a turning radius of a vehicle is obtained by fixing a steering wheel of the vehicle to a circular motion trajectory obtained at an angle, so as to determine a correspondence relationship between the steering wheel angle and the front wheel slip angle of the vehicle, thereby optimizing a motion model of the vehicle. However, in this method, in order to achieve a certain accuracy, it is necessary to acquire a plurality of vehicle movement trajectories at steering wheel angles, and the operation is complicated and complicated, and the cost is high. Moreover, even if corresponding driving parameters under a plurality of angles are collected, all the angles are difficult to exhaust, and collected samples are still limited, so that the optimized vehicle motion model is not accurate enough.
Therefore, a fast and accurate method for optimizing the vehicle motion model is needed in the art.
Disclosure of Invention
The application provides an optimization method of a vehicle motion model. The method can quickly and accurately optimize the vehicle motion model and improve the optimization efficiency of the vehicle motion model. The application also provides a device, equipment, a computer readable storage medium and a computer program product corresponding to the method.
In a first aspect, the present application provides a method for optimizing a vehicle motion model, the method comprising:
controlling the vehicle to turn and run, and acquiring rear wheel displacements corresponding to a plurality of steering wheel corners and a plurality of steering wheel corners of the vehicle respectively, and an actual motion track of the vehicle;
establishing a functional relation between a steering wheel angle and a front wheel deflection angle of the vehicle;
obtaining a predicted motion track of the vehicle according to the steering wheel angle and the functional relation of the vehicle and the rear wheel displacement of the vehicle;
and optimizing the steering wheel angle, the front wheel deflection angle and the functional relation of the vehicle in the predicted motion trail of the vehicle according to the actual motion trail of the vehicle, and optimizing the vehicle motion model.
In some possible implementations, the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle is a non-linear functional relationship.
In some possible implementations, optimizing a functional relationship between a steering wheel angle and a front wheel slip angle of the vehicle in the predicted motion trajectory of the vehicle based on the actual motion trajectory of the vehicle includes:
and establishing an error function of the actual motion track and the predicted motion track by a nonlinear optimization method according to the actual motion track of the vehicle, so as to optimize the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion track of the vehicle.
In some possible implementations, the turning driving includes left front turning driving, left rear turning driving, right front turning driving, and right rear turning driving, and the plurality of steering wheel angles of the vehicle include steering wheel angles corresponding to the left front turning driving, the left rear turning driving, the right front turning driving, and the right rear turning driving, respectively.
In some possible implementations, the method further includes:
and verifying the functional relation between the steering wheel angle and the front wheel deflection angle of the optimized vehicle.
In some possible implementations, the actual motion trajectory of the vehicle is obtained by a real-time dynamic system of the vehicle.
In some possible implementations, the front wheel slip angle and the rear wheel displacement corresponding to the steering wheel angles of the vehicle are obtained by a body sensor of the vehicle.
In a second aspect, the present application provides an apparatus for optimizing a vehicle motion model, the apparatus comprising:
the control unit is used for controlling the vehicle to turn and run, and acquiring rear wheel displacements corresponding to a plurality of steering wheel corners and a plurality of steering wheel corners of the vehicle respectively and an actual motion track of the vehicle;
the functional relationship presetting unit is used for establishing a functional relationship between the steering wheel angle and the front wheel deflection angle of the vehicle;
the motion trail prediction unit is used for obtaining a predicted motion trail of the vehicle according to the steering wheel angle and the functional relation of the vehicle and the rear wheel displacement of the vehicle;
and the optimization unit is used for optimizing the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion trail of the vehicle according to the actual motion trail of the vehicle and optimizing the vehicle motion model.
In some possible implementations, the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle is a non-linear functional relationship.
In some possible implementations, the motion trajectory prediction unit is specifically configured to:
and establishing an error function of the actual motion track and the predicted motion track by a nonlinear optimization method according to the actual motion track of the vehicle, so as to optimize the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion track of the vehicle.
In some possible implementations, the turning driving includes left front turning driving, left rear turning driving, right front turning driving, and right rear turning driving, and the plurality of steering wheel angles of the vehicle include steering wheel angles corresponding to the left front turning driving, the left rear turning driving, the right front turning driving, and the right rear turning driving, respectively.
In some possible implementations, the apparatus further includes:
and the verification unit is used for verifying the functional relation between the steering wheel angle and the front wheel deflection angle of the optimized vehicle.
In some possible implementations, the actual motion trajectory of the vehicle is obtained by a real-time dynamic system of the vehicle.
In some possible implementations, the front wheel slip angle and the rear wheel displacement corresponding to the steering wheel angles of the vehicle are obtained by a body sensor of the vehicle.
In a third aspect, the present application provides an apparatus comprising a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the apparatus to perform a method of optimizing a vehicle motion model as in the first aspect or any implementation of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, where the instructions instruct an apparatus to perform the method for optimizing a vehicle motion model according to the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising instructions which, when run on an apparatus, cause the apparatus to perform a method of optimizing a vehicle motion model according to the first aspect or any one of the implementations of the first aspect.
The present application may further combine to provide more implementation manners on the basis of the implementation manners provided by the above aspects.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides an optimization method of a vehicle motion model, the method comprises the steps of controlling vehicle turning to drive, obtaining a plurality of steering wheel corners of a vehicle, corresponding rear wheel displacement and actual motion tracks, establishing a functional relation between the steering wheel corners of the vehicle and front wheel deflection angles, obtaining a predicted motion track of the vehicle by combining the rear wheel displacement of the vehicle, and optimizing the functional relation between the steering wheel corners and the front wheel deflection angles in the predicted motion track according to the actual motion track, so that the vehicle motion model can be optimized. Therefore, the vehicle motion model can be optimized quickly, the precision is high, and the optimization efficiency of the vehicle motion model is improved.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flowchart of a method for optimizing a vehicle motion model according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a vehicle driving track provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a position of a real-time dynamic system in a vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an optimization device for a vehicle motion model according to an embodiment of the present application.
Detailed Description
The scheme in the embodiments provided in the present application will be described below with reference to the drawings in the present application.
The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Some technical terms referred to in the embodiments of the present application will be first described.
The relationship between the steering wheel angle and the front wheel slip angle of the vehicle is an important relationship necessary for establishing a vehicle motion model, and in general, the relationship between the steering wheel angle and the front wheel slip angle in the vehicle motion model is usually obtained by the radius of a circular track of the vehicle. Specifically, a steering wheel of a vehicle is fixed at a certain angle, a steering wheel angle is determined, then the vehicle is controlled to move forwards or backwards, a circular track is formed by the driving track, and then the vehicle is controlled to move forwards or backwards to form the circular track. Wherein the angle of the steering wheel corner can be 0 degree from the maximum corner, and the angle is uniformly selected. In some possible implementations, the minimum angle may be 50 ° in order to avoid too large a radius of the formed circular trajectory.
By means of the circular track of the vehicle, the front wheel deflection angle of the vehicle can be obtained through the radius of the circular track, and therefore the corresponding relation between the steering wheel turning angle and the front wheel deflection angle is obtained according to the corresponding relation between the steering wheel turning angle and the track radius.
The radius of the circular track of the vehicle can be obtained through various methods, for example, the circular track of the vehicle can be indirectly calculated through a Global Positioning System (GPS) method or a method of drawing the track of the vehicle through a spray painting part or a painting brush, or through a method of detecting a reference object through image processing.
However, in order to obtain a relatively accurate correspondence, the method needs to acquire the correspondence between the steering wheel angle and the circular track radius as much as possible, so that a large number of circular tracks for vehicle driving need to be controlled, the workload is large, and even if the correspondence between the steering wheel angle and the circular track radius is acquired as much as possible, it is difficult to fully cover all angles, the number of acquired samples is limited, the accuracy is limited, and the accuracy of optimization of a vehicle motion model is limited.
In view of the above, the present application provides a method for optimizing a vehicle motion model, which is performed by an Electronic Control Unit (ECU). An electronic control unit is a control device composed of an integrated circuit for implementing a series of functions such as analysis processing and transmission of data, and generally includes a plurality of components such as an input circuit, an a/D (analog/digital) converter, a microcomputer, and an output circuit.
Specifically, the electronic control unit controls the vehicle to turn and run, obtains a plurality of steering wheel corners of the vehicle and rear wheel displacement corresponding to each corner and an actual motion track of the vehicle, establishes a functional relation between the steering wheel corners and front wheel deflection angles of the vehicle, obtains a predicted motion track of the vehicle according to the functional relation and the rear wheel displacement, and optimizes the functional relation between the steering wheel corners and the front wheel deflection angles in the predicted motion track according to the actual motion track of the vehicle, so that a motion model of the vehicle is optimized.
In order to facilitate understanding of the technical solution of the present application, the following describes an optimization method of a vehicle motion model provided by the present application with reference to fig. 1.
Referring to a flow chart of a method for optimizing a vehicle motion model shown in fig. 1, the specific steps of the method are as follows.
S102: the electronic control unit controls the vehicle to turn and run, and obtains the rear wheel displacement corresponding to a plurality of steering wheel rotating angles and a plurality of steering wheel rotating angles of the vehicle respectively, and the actual motion track of the vehicle.
The turning driving of the vehicle can comprise left front turning, left back turning, right front turning and right back turning, and the turning driving of the vehicle can be any angle. The turning data in the four directions can effectively reflect the motion relation in the turning of the vehicle. Alternatively, the vehicle running track can be controlled to be a track similar to a two-circle circumscribed, also called an 8-shaped track, as shown in fig. 2. The step of "8" may include a step of "8" going forward or a step of "8" going backward, and the "8" word may go several times, the sizes of the different times may be inconsistent, the more times the "8" word is taken, the more the size types are, the more the data is acquired, and the higher the precision is.
During turning of the vehicle, the steering wheel angle generally corresponds to the displacement of the rear wheels, and the steering wheel angle, the front wheel deflection angle and the displacement of the rear wheels jointly determine the running track of the vehicle.
Typically, a vehicle has a body sensor with a corresponding vehicle state acquisition module that is capable of acquiring and recording state information of the vehicle, such as steering wheel angle, rear wheel displacement, gear, wheel steering, wheel pulse, wheel speed, and a corresponding timestamp. In this embodiment, the vehicle body sensor may be used to collect data of a plurality of steering wheel angles of the vehicle during turning and displacement of the rear wheel corresponding to the steering angles.
The actual motion trajectory of the vehicle can be obtained through a real-time kinematic (RTK) system, which is a commonly used satellite positioning measurement method, and can process the difference of observed quantities of carrier phases of two measurement stations in real time, send the carrier phase acquired by a reference station to a user receiver, and obtain an accurate position by performing a differential solution. In this embodiment, the longitude and latitude information of the vehicle during operation and the corresponding timestamp can be obtained through the real-time dynamic system, so as to obtain the real-time motion trajectory of the vehicle.
Specifically, the RTK may be placed in the vehicle, and as shown in fig. 3, the distance from the RTK to the center of the rear axle of the vehicle is recorded, and the RTK data of the vehicle during turning driving is recorded, thereby obtaining the actual running track of the vehicle.
Alternatively, the vehicle type track can be drawn by a global positioning system or by a painting member or a painting brush, and the circular track of the vehicle can be indirectly calculated by a method for detecting a reference object through image processing.
S104: the electronic control unit establishes a functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle.
In general, the higher the number of times the function is preset, the more accurate the curve generated. Therefore, a non-linear function relationship between the steering wheel angle and the front wheel slip angle is established, and in the present embodiment, a corresponding relationship of a quartic function is taken as an example for description.
Establishing a functional relation between a steering wheel angle and a front wheel deflection angle:
θ＝a0*x 4 +a1*x 3 +a2*x 2 +a3*x+a4，
wherein θ represents a front wheel deflection angle, x represents a steering wheel turning angle, a0, a1, a2, a3, and a4 all represent fitting coefficients, and front wheel deflection angles corresponding to different steering wheel turning angles can be obtained according to the functional relation. The initial value of the fitting coefficient is the design value of the vehicle motion model.
S106: and the electronic control unit obtains the predicted motion trail of the vehicle according to the steering wheel rotation angle of the vehicle, the functional relation and the rear wheel displacement.
In this embodiment, the predicted movement track of the vehicle may be obtained by dead reckoning, based on the steering wheel angle of the vehicle, and the front wheel slip angle and the rear wheel displacement obtained from the correspondence between the steering wheel angle and the front wheel slip angle. Dead reckoning is a method of calculating the position at the next time by measuring the distance and direction of movement under the condition that the position at the current time is known.
S108: and the electronic control unit optimizes the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion trail of the vehicle according to the actual motion trail of the vehicle, and optimizes the vehicle motion model.
Specifically, the point in the predicted motion trajectory and the point in the actual motion trajectory may be converted into the same coordinate system, and an error function may be established according to a coordinate difference between the point in the predicted motion trajectory and the point in the actual motion trajectory at the same timestamp. For example, a point in the preset motion trajectory is denoted as (Pi), a point in the actual motion trajectory is denoted as (Qi), the error function ei = E (Pi, qi), and the coordinates of Pi/Qi are two-dimensional (x, y), where i represents the point at the i-th time, and E (Pi, qi) represents the euclidean distance between the two points Pi and Qi.
In some possible implementations, the values of the fitting coefficients a0, a1, a2, a3, a4 may be obtained by a non-linear optimization algorithm. The nonlinear optimization method may be a gradient descent method, a newton method, a conjugate gradient method, or the like, and the application is not limited thereto.
Thus, the fitting coefficient in the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle can be optimized, so that the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle can be optimized, and the motion model of the vehicle can be optimized.
In some possible implementations, the method further includes verifying a relationship between a steering wheel angle and a front wheel slip angle of the optimized vehicle. Specifically, the fitting coefficient obtained after optimization is brought into a functional relation between a steering wheel angle and a front wheel deflection angle of the vehicle, the motion track of the vehicle is obtained through prediction, the predicted motion track is compared with the actual motion track, the error average value is calculated, whether the error average value is within an error allowable range is judged, and therefore whether the optimization is successful is judged. Wherein, the allowable range of the error can be specifically set according to the precision requirement of the vehicle motion model. And if the error average value is not in the error allowable range, carrying out calibration again.
In summary, the present application provides an optimization method for a vehicle motion model, which includes controlling a vehicle to turn to drive, obtaining rear wheel displacements corresponding to a plurality of steering wheel angles and a plurality of steering wheel angles of the vehicle, respectively, and an actual motion trajectory of the vehicle, then establishing a functional relationship between the steering wheel angle and a front wheel deflection angle of the vehicle, obtaining a predicted motion trajectory according to the steering wheel angle of the vehicle, the front wheel deflection angle obtained according to the corresponding relationship, and the rear wheel displacement, and optimizing the functional relationship in the predicted motion trajectory according to the actual motion trajectory, thereby obtaining an optimized functional relationship, and obtaining an optimized vehicle motion model. The method can effectively reduce the workload of data acquisition, improve the working efficiency and improve the precision, thereby providing a rapid and accurate optimization method of the vehicle motion model.
In accordance with the above method embodiment, the present application also provides a vehicle motion model optimization apparatus, referring to fig. 4, the apparatus 400 includes: a control unit 402, a functional relationship presetting unit 404, a motion trajectory prediction unit 406 and an optimization unit 408.
A control unit 402, configured to control a vehicle to turn, and obtain rear wheel displacements corresponding to a plurality of steering wheel angles and a plurality of steering wheel angles of the vehicle, respectively, and an actual motion trajectory of the vehicle;
a functional relationship presetting unit 404, configured to establish a functional relationship between a steering wheel angle and a front wheel slip angle of a vehicle;
a motion trajectory prediction unit 406, configured to obtain a predicted motion trajectory of the vehicle according to a steering wheel angle and a functional relationship of the vehicle and a rear wheel displacement of the vehicle;
and the optimizing unit 408 is configured to optimize a functional relationship between a steering wheel angle and a front wheel slip angle of the vehicle in the predicted motion trajectory of the vehicle according to the actual motion trajectory of the vehicle, and optimize a vehicle motion model.
In some possible implementations, the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle is a non-linear functional relationship.
In some possible implementations, the motion trajectory prediction unit 406 is specifically configured to:
and establishing an error function of the actual motion track and the predicted motion track by a nonlinear optimization method according to the actual motion track of the vehicle, so as to optimize the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion track of the vehicle.
In some possible implementations, the turning driving includes a left front turning driving, a left rear turning driving, a right front turning driving, and a right rear turning driving, and the plurality of steering wheel angles of the vehicle includes steering wheel angles respectively corresponding to the left front turning driving, the left rear turning driving, the right front turning driving, and the right rear turning driving.
In some possible implementations, the apparatus further includes:
and the verification unit is used for verifying the functional relationship between the steering wheel angle and the front wheel deflection angle of the optimized vehicle.
In some possible implementations, the actual motion trajectory of the vehicle is obtained by a real-time dynamic system of the vehicle.
In some possible implementations, the front and rear wheel displacements of the vehicle corresponding to the plurality of steering wheel angles and the plurality of steering wheel angles, respectively, are acquired by a body sensor of the vehicle.
The application provides a device for implementing an optimization method for a vehicle motion model. The apparatus includes a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the apparatus to perform a method of optimizing a vehicle motion model.
The present application provides a computer-readable storage medium having stored therein instructions that, when run on an apparatus, cause the apparatus to perform the above-described method of optimizing a vehicle motion model.
The present application provides a computer program product comprising instructions which, when run on an apparatus, cause the apparatus to perform the above-described method of optimizing a vehicle motion model.
It should be noted that the above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. 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, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, an exercise device, or a network device) to execute the method according to the embodiments of the present application.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, training device, or data center to another website site, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a training device, a data center, etc., that incorporates one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
Claims (10)
1. A method of optimizing a vehicle motion model, the method comprising:
controlling the vehicle to turn and run, and acquiring a plurality of steering wheel angles of the vehicle, rear wheel displacements respectively corresponding to the steering wheel angles, and an actual motion track of the vehicle;
establishing a functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle;
obtaining a predicted motion track of the vehicle according to the steering wheel angle of the vehicle, the functional relation and the rear wheel displacement of the vehicle;
and optimizing the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion trail of the vehicle according to the actual motion trail of the vehicle, and optimizing the vehicle motion model.
2. The method of claim 1, wherein the functional relationship between the steering wheel angle and the front wheel slip angle of the vehicle is a non-linear functional relationship.
3. The method of claim 2, wherein optimizing a functional relationship between a steering wheel angle and a front wheel slip angle of the vehicle in a predicted motion profile of the vehicle based on an actual motion profile of the vehicle comprises:
and establishing an error function of the actual motion track and the predicted motion track by a nonlinear optimization method according to the actual motion track of the vehicle, so as to optimize the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion track of the vehicle.
4. The method according to claim 1, wherein the turning driving includes a left front turning driving, a left rear turning driving, a right front turning driving, and a right rear turning driving, and the plurality of steering wheel angles of the vehicle include the steering wheel angles corresponding to the left front turning driving, the left rear turning driving, the right front turning driving, and the right rear turning driving, respectively.
5. The method of claim 1, further comprising:
and verifying the function relation between the steering wheel angle and the front wheel deflection angle of the optimized vehicle.
6. The method of claim 1, wherein the actual motion trajectory of the vehicle is obtained by a real-time dynamic system of the vehicle.
7. The method of claim 1, wherein the plurality of steering wheel angles of the vehicle and the respective rear wheel displacements of the plurality of steering wheel angles are obtained by a body sensor of the vehicle.
8. An apparatus for optimizing a vehicle motion model, the apparatus comprising:
the control unit is used for controlling the vehicle to turn and drive, and acquiring a plurality of steering wheel corners of the vehicle, rear wheel displacements corresponding to the steering wheel corners respectively, and an actual motion track of the vehicle;
the functional relationship presetting unit is used for establishing a functional relationship between the steering wheel angle and the front wheel deflection angle of the vehicle;
the motion trail prediction unit is used for obtaining a predicted motion trail of the vehicle according to the steering wheel angle of the vehicle, the functional relation and the rear wheel displacement of the vehicle;
and the optimization unit is used for optimizing the functional relation between the steering wheel angle and the front wheel deflection angle of the vehicle in the predicted motion trail of the vehicle according to the actual motion trail of the vehicle, and optimizing the vehicle motion model.
9. An apparatus, comprising a processor and a memory;
the processor is to execute instructions stored in the memory to cause the device to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium comprising instructions that direct a device to perform the method of any of claims 1-7.
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