CN108116497A - The definite method and device of point, steering angle is taken aim in advance for the steering of intelligent driving - Google Patents
The definite method and device of point, steering angle is taken aim in advance for the steering of intelligent driving Download PDFInfo
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- CN108116497A CN108116497A CN201711292330.2A CN201711292330A CN108116497A CN 108116497 A CN108116497 A CN 108116497A CN 201711292330 A CN201711292330 A CN 201711292330A CN 108116497 A CN108116497 A CN 108116497A
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- Prior art keywords
- intelligent driving
- steering
- advance
- driving object
- circle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
Abstract
The present invention provides turn to take aim at that a little definite method, steering angle determine method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit in advance.The steering take aim at a little definite method in advance for determine the steering of the intelligent driving object travelled take aim in advance a little, including：Obtain expected travel path, current location and its subpoint in expected travel path of intelligent driving object；Calculate radius of curvature, first circle of reference and second circle of reference of the subpoint in expected travel path, first circle of reference and expected travel path are tangent in subpoint, and its radius is the radius of curvature, second circle of reference is using the current location of the intelligent driving object as the center of circle, using preview distance as radius；And determine that the intersection point of the first circle of reference and the second circle of reference is taken aim at a little in advance to turn to.In this way, the stability and precision of path trace are taken into account.
Description
Technical field
The present invention generally relates to automatic Pilot field, and more specifically, be related to steering in advance take aim at a little definite method, turn
To angle determines method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit.
Background technology
With the development of science and technology automatic Pilot technology has also obtained very big development, especially using automatic Pilot technology
Automobile.At present, the high end configuration of many product vehicles all has Function for Automatic Pilot.
This vehicle with Function for Automatic Pilot is otherwise known as intelligent driving vehicle, among Vehicular intelligent technology,
Advanced Automotive Automatic Control is a hot spot in vehicle research field again.Wherein, when control Vehicular turn tracking expected path row
When sailing, take aim in advance a little it is definite be a very crucial factor.According to the current pose for the position and this vehicle taken aim in advance a little, then pass through
Cross certain control algolithm, you can obtain the current expectation front wheel slip angle of this vehicle, so as to control Vehicular turn, it is expected its tracking
Route.
Accordingly, there exist turn to the pre- need for taking aim at the method for a little and correspondingly determining steering angle for improved for definite
It will.
The content of the invention
It is an object of the invention to the defects of for the above-mentioned prior art and deficiency, provide novel and improved steering
It is pre- to take aim at that a little definite method, steering angle determine method, steering takes aim at a determining device in advance, steering angle determines equipment and mobile unit.
According to an aspect of the present invention, provide a kind of steering and take aim at a little definite method in advance, for determining the intelligence travelled
The steering that object can be driven is taken aim at a little in advance, and the steering takes aim at a little definite method in advance to be included：Obtain the expectation of the intelligent driving object
Driving path；Determine the current location of the intelligent driving object；Determine the current location of the intelligent driving object described
Subpoint in expected travel path；Calculate radius of curvature of the subpoint in the expected travel path；Calculate first
Circle of reference, first circle of reference is tangent in the subpoint with the expected travel path, and the half of first circle of reference
Footpath is the radius of curvature；Calculate the second circle of reference, second circle of reference using the current location of the intelligent driving object as
The center of circle, using preview distance as radius；And determine that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
In a little definite method is taken aim in above-mentioned steering in advance, determine the current location of the intelligent driving object in the desired row
The subpoint sailed on path specifically includes：Determine the current location of the intelligent driving object whether in the expected travel path
On；With, in response to determine the intelligent driving object current location not in the expected travel path, determine the intelligence
The closest approach for driving current location to the expected travel path of object is the subpoint.
In a little definite method is taken aim in above-mentioned steering in advance, the intelligent driving object is obtained by least one following
Expected travel path：The planning driving path of the intelligent driving object；The path of the intelligent driving object current driving
Extension track；User is to the self-defined driving path of the intelligent driving object；With the map number of the intelligent driving object
According to.
In a little definite method is taken aim in above-mentioned steering in advance, the preview distance is fast for the current driving of the intelligent driving object
Degree is multiplied by a pre-determined factor.
According to another aspect of the present invention, provide a kind of steering angle of intelligent driving object and determine method, including：With such as
Taking aim at a little definite method determines that the steering of the intelligent driving object is taken aim at a little in advance in advance for the upper steering；The steering is obtained to take aim at a little in advance
Coordinate under the local coordinate of the intelligent driving object；And the intelligent driving object is calculated based on the coordinate
Steering angle.
In above-mentioned steering angle determines method, obtain the steering and take aim at a little in the local coordinate system of the intelligent driving object in advance
Coordinate under system specifically includes：Determine course angle of the intelligent driving object under earth coordinates；With based on the intelligence
The course angle and current location information calculating steering of the object under earth coordinates is driven to take aim at a little in the intelligent driving in advance
Coordinate under the local coordinate of object.
In above-mentioned steering angle determines method, the steering angle that the intelligent driving object is calculated based on the coordinate is specifically wrapped
It includes：The front wheel slip angle of the intelligent driving object is calculated based on the coordinate；With, to the front wheel slip angle carry out ratio conversion with
Obtain the expected angle of steering motor.
In above-mentioned steering angle determines method, the front wheel slip angle that the intelligent driving object is calculated based on the coordinate is specific
Including calculating the front wheel slip angle with formula below (1)：
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
In accordance with a further aspect of the present invention, provide a kind of steering and take aim at a determining device in advance, for determining what is travelled
The steering of intelligent driving object is taken aim at a little in advance, and the steering takes aim at a determining device in advance to be included：Driving path acquiring unit, for obtaining
The expected travel path of the intelligent driving object；Current location determination unit, for determining working as the intelligent driving object
Front position；Subpoint determination unit, for determining the current location of the intelligent driving object in the expected travel path
Subpoint；Curvature radius calculation unit, for calculating radius of curvature of the subpoint in the expected travel path；The
One circle of reference computing unit, for calculating the first circle of reference, first circle of reference is with the expected travel path in the throwing
Shadow point is tangent, and the radius of first circle of reference is the radius of curvature；Second circle of reference computing unit, for calculating second
Circle of reference, second circle of reference is using the current location of the intelligent driving object as the center of circle, using preview distance as radius；With
And turn to and take aim at a determination unit in advance, for determining that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
In a determining device is taken aim in above-mentioned steering in advance, the subpoint determination unit is specifically used for：Determine that the intelligence is driven
The current location of object is sailed whether in the expected travel path；With, in response to determine the intelligent driving object it is current
Position determines the current location of the intelligent driving object to the expected travel path not in the expected travel path
Closest approach is the subpoint.
In a determining device is taken aim in above-mentioned steering in advance, the driving path acquiring unit passes through at least one following
Obtain the expected travel path of the intelligent driving object：The planning driving path of the intelligent driving object；The intelligence is driven
Sail the extension track in the path of object current driving；User is to the self-defined driving path of the intelligent driving object；With it is described
The map datum of intelligent driving object.
In a determining device is taken aim in above-mentioned steering in advance, the preview distance is fast for the current driving of the intelligent driving object
Degree is multiplied by a pre-determined factor.
According to another aspect of the invention, provide a kind of steering angle of intelligent driving object and determine equipment, including：As above
A determining device is taken aim in the steering in advance, and the steering for determining the intelligent driving object is taken aim at a little in advance；Coordinate acquiring unit is used
The coordinate a little under the local coordinate of the intelligent driving object is taken aim in advance in the acquisition steering；And steering angle calculates list
Member, for calculating the steering angle of the intelligent driving object based on the coordinate.
In above-mentioned steering angle determines equipment, the coordinate acquiring unit is specifically used for：Determine the intelligent driving object
Course angle under earth coordinates；With course angle and present bit based on the intelligent driving object under earth coordinates
Confidence breath calculates the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering.
In above-mentioned steering angle determines equipment, the steering angle computing unit is specifically used for：Institute is calculated based on the coordinate
State the front wheel slip angle of intelligent driving object；With ratio conversion is carried out to the front wheel slip angle to obtain the expectation angle of steering motor
Degree.
In above-mentioned steering angle determines equipment, the steering angle computing unit is specifically used for calculating institute with formula below (1)
State the front wheel slip angle of intelligent driving object：
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
According to another aspect of the invention, a kind of mobile unit is provided, including：Memory, can for storing computer
It executes instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Steering takes aim at a little definite method in advance.
According to another aspect of the invention, a kind of mobile unit is provided, including：Memory, can for storing computer
It executes instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Steering angle determines method.
According to another aspect of the invention, a kind of computer readable storage medium is provided, is stored thereon with computer journey
Sequence instructs, and when the computer program instructions are executed by a computing apparatus, are operable to perform to turn to as described above and take aim at a little in advance
Determine method.
According to another aspect of the invention, a kind of computer readable storage medium is provided, is stored thereon with computer journey
Sequence instructs, and when the computer program instructions are executed by a computing apparatus, are operable to perform steering angle as described above and determine
Method.
Steering provided by the invention takes aim at a little definite method, steering angle and determines method, turns to and take aim at a determining device in advance, turn in advance
Angle determines equipment and mobile unit, by the way that the position taken aim in advance a little is arranged on circle of reference rather than on expected path, Ke Yishe
Putting larger preview distance makes the pre- position taken aim at a little farther out, in straight way, tracks the high stability of expected path, while is entering
Curved, protruding crook can also improve the precision of vehicle tracking expected path, so as to take into account the stability of path trace and precision.
Description of the drawings
Fig. 1 is that diagram turns to a pre- exemplary schematic diagram for taking aim at method a little for definite；
Fig. 2 is the schematic flow chart that a little definite method is taken aim in diagram steering according to embodiments of the present invention in advance；
Fig. 3 is the schematic diagram that a little definite method is taken aim in diagram steering according to embodiments of the present invention in advance；
Fig. 4 is the schematic flow chart that diagram steering angle according to embodiments of the present invention determines method；
Fig. 5 is the schematic block diagram that a determining device is taken aim in diagram steering according to embodiments of the present invention in advance；
Fig. 6 is the schematic block diagram that diagram steering angle according to embodiments of the present invention determines equipment；
Fig. 7 is the schematic block diagram of diagram mobile unit according to embodiments of the present invention.
Specific embodiment
It is described below for the open present invention so that those skilled in the art can realize the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
The present invention basic principle can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
The term and word used in description below and claim is not limited to literal meaning, but only by the present inventor
The present invention can be understood and conformably understand by being used so that.Therefore, to those skilled in the art clearly only for explanation
Purpose rather than provide this hair to limit the purpose of the present invention as defined in appended claims and their equivalent
Bright various embodiments are described below.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and it is same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of inventive concept.Term as used herein " and/
Or " project listed any for including one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or its combination when use in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the meaning consistent with the meaning of term of the prior art.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments：
In general, in the course changing control of vehicle, it is using this vehicle center as origin, justifies by radius work of preview distance, it will be with
The crosspoint of expected path takes aim at position a little on expected path, as shown in Figure 1 in advance as taking aim at a little in advance.Fig. 1 is that diagram is used for
It determines to turn to an exemplary schematic diagram for taking aim at method a little in advance.
In the method taken aim in advance for definite steering a little shown in Fig. 1, due to taking aim in advance a little on the expectation road of vehicle direction of advance
On footpath, by adjusting the size of preview distance, thus it is possible to vary take aim at a little distance with this vehicle in advance, so as to corresponding adjusts path with
The stability and precision of track.In the case where vehicle pace is certain, when taking aim at a little closer to the distance with this vehicle in advance, path trace
Precision it is higher, but stability is poor；When taking aim at a little distant with this vehicle in advance, the stability of path trace is preferable, but with
Track precision is poor.
But due to taking aim in advance a little on expected path, and in the front of vehicle, this is put in the center for having ignored vehicle to pre- take aim at
The expected path shape information of segment distance.Therefore, based on the control taken aim in advance a little vehicle can not be made to be travelled completely along expected path, such as
Entering crook, vehicle can turn in advance, in protruding crook, it is impossible to the upper expected path of tracking in time.
Further, since the adjustment of a position is taken aim in advance to the stability and precision of path trace there are contradiction, to improve path
The precision of tracking is, it is necessary to make the pre- position taken aim at a little nearer from this vehicle, but so again the stability of path trace can be caused to reduce.
Therefore, one side according to embodiments of the present invention provides a kind of steering and takes aim at a little definite method in advance, for determining just
It is taken aim in advance a little in the steering of the intelligent driving object of traveling, the steering takes aim at a little definite method in advance to be included：Obtain the intelligent driving
The expected travel path of object；Determine the current location of the intelligent driving object；Determine the current of the intelligent driving object
Subpoint of the position in the expected travel path；Calculate curvature of the subpoint in the expected travel path half
Footpath；The first circle of reference is calculated, first circle of reference is tangent in the subpoint with the expected travel path, and described first
The radius of circle of reference is the radius of curvature；The second circle of reference is calculated, second circle of reference is with the intelligent driving object
Current location is the center of circle, using preview distance as radius；And determine the intersection point of first circle of reference and second circle of reference
It is taken aim at a little in advance for the steering.
Fig. 2 is the schematic flow chart that a little definite method is taken aim in diagram steering according to embodiments of the present invention in advance.Such as Fig. 2 institutes
Show, it is pre- that a little steering of the definite method for the definite intelligent driving object travelled is taken aim in steering according to embodiments of the present invention in advance
Take aim at a little, including：S110 obtains the expected travel path of the intelligent driving object；S120 determines the intelligent driving object
Current location；S130 determines subpoint of the current location of the intelligent driving object in the expected travel path；
S140 calculates radius of curvature of the subpoint in the expected travel path；S150, calculates the first circle of reference, and described the
One circle of reference is tangent in the subpoint with the expected travel path, and the radius of first circle of reference is the curvature half
Footpath；S160 calculates the second circle of reference, and second circle of reference is using the current location of the intelligent driving object as the center of circle, with pre-
Distance is taken aim at as radius；And S170, determine that the intersection point of first circle of reference and second circle of reference is taken aim in advance for the steering
Point.
As described above, compared to as shown in Figure 1 for determining to turn to the method taken aim in advance a little, according to embodiments of the present invention
Steering take aim in advance in a little definite method, the position taken aim in advance a little is arranged on circle of reference rather than on expected path, therefore, can set compared with
Big preview distance makes the pre- position taken aim at a little farther out.In this way, in straight way, the high stability of expected path is tracked, while
Enter curved, protruding crook, can also improve the precision of vehicle tracking expected path.Therefore, steering according to embodiments of the present invention is taken aim in advance
The definite method of point takes into account the stability and precision of path trace.
In the following, it is carried out each step in a little definite method is taken aim in advance to steering according to embodiments of the present invention specifically
It is bright.
In step S110, the expected travel path of the intelligent driving object is obtained.Here, the intelligent driving object
Expected travel path is intelligent driving object, such as the current expected path of vehicle, also, expected path refers to vehicle needs
The driving trace of tracking.In a little definite method is taken aim in steering according to embodiments of the present invention in advance, expected travel path can pass through
The path planning of vehicle, the extension situation of present road, the one or more kinds of modes of the self-defined route etc. of user obtain, such as
It can be the road medium line that is obtained by Lane detection module or by positioning means (such as GPS, laser radar
SLAM, Quick Response Code positioning) combine the current expectation driving trace that road network file obtains.Further, it is also possible to used by vehicle
Map datum directly reads out the expected travel path of vehicle, for example, obtaining vehicle by the navigation feature of map goes to some
The expected travel path of locality.Additionally, it is desirable to the representation of driving path can be parametrization equation or by
The point composition of series of discrete.
Therefore, in a little definite method is taken aim in steering according to embodiments of the present invention in advance, at least one following is passed through
Obtain the expected travel path of the intelligent driving object：The planning driving path of the intelligent driving object；The intelligence is driven
Sail the extension track in the path of object current driving；User is to the self-defined driving path of the intelligent driving object；With it is described
The map datum of intelligent driving object.
In step S120, the current location of the intelligent driving object is determined.Here, the current location of intelligent driving object
Can be position of the intelligent driving object under various coordinate systems, for example, the intelligent driving object is in earth coordinates
Under position (x, y).The current location of the intelligent driving object can pass through the sensing provisioned in the intelligent driving object
Device obtains, such as camera, laser radar sensor etc., can also be obtained by positioning means, such as GPS, SLAM, Quick Response Code
Positioning etc..In addition, the current location of the intelligent driving object can also directly be read by map datum from navigation system
Out.
In step S130, projection of the current location of the intelligent driving object in the expected travel path is determined
Point.As described above, the expected travel path of the current location of the intelligent driving object and the intelligent driving object can be with
It is obtained by positioning means such as GPS, SLAM, Quick Response Code positioning or is read out from map datum.Therefore, in the intelligence
The current location of object can be driven and in the case that expected travel path is obtained by same mode, the intelligent driving object
Current location is just in the expected travel path, therefore, the current location of the intelligent driving object and its in the expectation
Subpoint on driving path is identical.In such a case, it is possible to directly using the current location of the intelligent driving object as
Its subpoint in the expected travel path.
But the current location of the intelligent driving object and the intelligent driving object are being obtained by different modes
In the case of expected travel path, for example, obtaining the current location of the intelligent driving object and based on map with GPS positioning
Digital independent goes out the expected travel path of the intelligent driving object, and the current location of the intelligent driving object may not be in institute
In the expected travel path for stating intelligent driving object.Therefore, it is necessary to further determine that the current location of the intelligent driving object
Subpoint in the expected travel path.In a little definite method is taken aim in steering according to embodiments of the present invention in advance, by described in
The current location of intelligent driving object to the expected travel path closest approach as the subpoint.
In addition, the expected travel path of the current location of the intelligent driving object and the intelligent driving object is also possible to
It is obtained under different coordinates.For example, when with the positioning means such as map datum or GPS, SLAM, Quick Response Code positioning
When obtaining the expected travel path of the intelligent driving object, the expected travel path is typically to be obtained under earth coordinates
's.And the sensor provisioned in by the intelligent driving object itself, such as the acquisitions such as camera, laser radar sensor
In the case of the current location of the intelligent driving object, the current location of the intelligent driving object is typically in the intelligence
Drive what is obtained under the local coordinate system of object itself.Therefore, it is necessary to by the current location of the intelligent driving object and described
The expected travel path of intelligent driving object is transformed under the same coordinate system, then determines the current location of the intelligent driving object
Whether in the expected travel path.
In addition, in some embodiments, after intelligent driving object determines current location, due to the steering of bottom, speed
Control accuracy of controller etc., it may not be possible to ensure perfect tracking expected path, this can cause the pose of intelligent driving object with
There are certain course deviation or lateral deviations between expected path.Therefore, the current location of intelligent driving object is being determined
Afterwards, it is necessary to obtain subpoint of the current location of intelligent driving object on expected path.
Therefore, in a little definite method is taken aim in steering according to embodiments of the present invention in advance, the intelligent driving object is determined
Subpoint of the current location in the expected travel path specifically includes：Determining the current location of the intelligent driving object is
It is no in the expected travel path；With, in response to determine the intelligent driving object current location not in the desired row
It sails on path, the closest approach for determining current location to the expected travel path of the intelligent driving object is the projection
Point.
Also, in a little definite method is taken aim in steering according to embodiments of the present invention in advance, the intelligent driving object is determined
Subpoint of the current location in the expected travel path specifically includes：In response to determining the current of the intelligent driving object
Position is in the expected travel path, using the current location of the intelligent driving object as the subpoint.
In step S140, radius of curvature of the subpoint in the expected travel path is calculated.Such as, it is assumed that it is described
The expression formula of expected travel path is x=c2y2+c1y+c0, according to curvature formulations： It acquires a certain
Point (x1,y1) curvature be k1, then by formula：R=1/K acquires point (x1,y1) radius of curvature r1。
Step S150 to step S170 will be illustrated with reference to figure 3.Fig. 3 is that diagram steering according to embodiments of the present invention is pre-
Take aim at the schematic diagram of a little definite method.As shown in figure 3, it is expected traveling described in the current location for determining the intelligent driving object
Subpoint on path after points of tangency that is, as shown in Figure 3, calculates the first circle of reference (step S150), first reference
Circle is tangent in the subpoint with the expected travel path, and the radius of first circle of reference is the radius of curvature.So
Afterwards, calculate the second circle of reference (step S160), second circle of reference using the current location of the intelligent driving object as the center of circle,
Using preview distance as radius.Here, a part for the second circle of reference is illustrated only in Fig. 3, specifically, is intersected with the first circle of reference
A part.Then, it is determined that the intersection point of first circle of reference and second circle of reference takes aim at point (step in advance for the steering
S170), i.e., pre- shown in Fig. 3 is taken aim at a little.
In a little definite method is taken aim in steering according to embodiments of the present invention in advance, the preview distance is the intelligent driving pair
The current driving speed of elephant is multiplied by a pre-determined factor.
In some embodiments, the preview distance can be obtained by expected path and vehicle pose.More specifically,
The preview distance is obtained by the curvature and vehicle of expected path and the relative position and angle of expected path.
Also, in a little definite method is taken aim in steering according to embodiments of the present invention in advance, preview distance usually in minimum value and
It is determined in the range of maximum.
In a little definite method is taken aim in steering according to embodiments of the present invention in advance, due to taking aim at position a little in advance not in expected path
On, and on circle of reference, larger preview distance can be set to make the pre- position taken aim at a little farther out.Therefore, in straight way, the phase is tracked
It hopes the high stability in path, while is entering curved, protruding crook, can also improve the precision of vehicle tracking expected path, so as to simultaneous
Care for the stability and precision of path trace.
Another aspect according to embodiments of the present invention provides a kind of steering angle of intelligent driving object and determines method, bag
It includes：Determine that the steering of the intelligent driving object is taken aim at a little in advance to turn to pre- a little definite method of taking aim at as described above；Obtain described turn
To the coordinate taken aim in advance a little under the local coordinate of the intelligent driving object；And the intelligence is calculated based on the coordinate
Drive the steering angle of object.
Fig. 4 is the schematic flow chart that diagram steering angle according to embodiments of the present invention determines method.As shown in figure 4, root
Determine that method includes according to the steering angle of the embodiment of the present invention：S210 determines that the steering of the intelligent driving object is taken aim at a little in advance；
S220 obtains the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And S230, based on institute
State the steering angle that coordinate calculates the intelligent driving object.
Here, determined in step S210 the steering of the intelligent driving object in advance the specific method taken aim at a little have been described above into
Detailed description is gone, it will be understood by those skilled in the art that steering angle according to embodiments of the present invention determines to determine institute in method
Stating the steering of intelligent driving object, the concrete mode taken aim at a little is identical with describing before in advance, here in order to avoid redundancy just not
It repeats again.
In step S220, the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering is obtained.
It is for instance possible to obtain the position (x, y) and course angle θ of the pose of vehicle, i.e. vehicle under earth coordinates, this can pass through vehicle
Sensor obtain, such as camera, laser radar sensor etc. can also be obtained by positioning means, for example, GPS,
SLAM, Quick Response Code positioning etc..Pre- take aim at can be a little changed to according to the posture information of vehicle by earth coordinates under local coordinate system.
Here, the local coordinate of the intelligent driving object can be former using the center of the intelligent driving object as coordinate system
Point, using the horizontal and vertical as x-axis and y-axis of the intelligent driving object.For example, using the rear shaft center of vehicle as vehicle
Center, the origin of the local coordinate as vehicle, using vehicle rear axle direction as x-axis, using vehicle body direction as y-axis.
In addition, it will be understood by those skilled in the art that if it is a little in the local of the intelligent driving object to turn to pre- take aim at
It is determined under coordinate system, i.e. if expected travel path, current location and the subpoint of the intelligent driving object are in institute
It states what is determined under the local coordinate of intelligent driving object, and institute is calculated under the local coordinate of the intelligent driving object
It states steering to take aim at a little in advance, then the coordinate that the steering is taken aim at a little in advance is exactly under the local coordinate of the intelligent driving object.This
Sample, it is possible to which the coordinate for directly taking aim at the steering calculated a little in advance is taken aim at a little in the intelligent driving in advance as the steering
Coordinate under the local coordinate of object, without carrying out coordinate conversion.
Therefore, taken aim in advance during a little definite method and steering angle determine method in steering according to embodiments of the present invention, and it is unlimited
Parameters processed obtain under the same coordinate system, can also be in different coordinates according to the difference of the acquisition pattern of parameters
System is lower to be obtained, and is then switched under the same coordinate system and is calculated.Therefore, steering according to embodiments of the present invention is taken aim at a little in advance
Determine that method and steering angle determine that method does not also limit the specific opportunity of the coordinate conversion of parameters.
That is, in steering angle according to embodiments of the present invention determines method, obtain the steering and take aim at a little in institute in advance
The coordinate stated under the local coordinate of intelligent driving object specifically includes：Determine the intelligent driving object under earth coordinates
Course angle；With, calculated based on course angle of the intelligent driving object under earth coordinates and current location information described in
Turn to the coordinate taken aim in advance a little under the local coordinate of the intelligent driving object.
Coordinate under step S230, the local coordinate based on the intelligent driving object calculates the intelligent driving pair
The steering angle of elephant.For example, formula can be passed throughFront wheel slip angle is calculated, wherein δ represents that front-wheel is inclined
Angle, L represent vehicle wheelbase, α be it is pre- take aim at a little with the line of origin and the angle of vehicle local coordinate system y-axis, ldFor preview distance.
In addition it is also possible to pass through self-adapting steering control algolithm, robust shift control algorithm, sliding formwork shift control algorithm, fuzzy steering
Control algolithm, PID (Proportion Integral Derivative：Proportional integration derivation) it is a kind of or more in scheduling algorithm
Expectation front wheel slip angle is calculated in kind combination.
For the intelligent driving object of such as vehicle, by steering motor vehicle is controlled to be turned to, therefore, it is necessary to
Generate steering motor expected angle.Specifically, according to the installation site of steering motor, the front wheel slip angle calculated is done centainly
Ratio is converted, and obtains the expected angle of steering motor, and generates control signal, and control steering motor rotates.
That is, in steering angle according to embodiments of the present invention determines method, the intelligence is calculated based on the coordinate
The steering angle that object can be driven specifically includes：The front wheel slip angle of the intelligent driving object is calculated based on the coordinate；With, to institute
It states front wheel slip angle and carries out ratio conversion to obtain the expected angle of steering motor.
In steering angle according to embodiments of the present invention determines method, the intelligent driving object is calculated based on the coordinate
Front wheel slip angle specifically include the front wheel slip angle calculated with formula below (1)：
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
It is according to embodiments of the present invention in another aspect, provide a kind of steering takes aim at a determining device in advance, for it is definite
The steering of the intelligent driving object of traveling is taken aim at a little in advance, and the steering takes aim at a determining device in advance to be included：Driving path acquiring unit is used
In the expected travel path for obtaining the intelligent driving object；Current location determination unit, for determining the intelligent driving pair
The current location of elephant；Traveling it is expected in subpoint determination unit, the current location for determining the intelligent driving object described
Subpoint on path；Curvature radius calculation unit, for calculating curvature of the subpoint in the expected travel path
Radius；First circle of reference computing unit, for calculating the first circle of reference, first circle of reference exists with the expected travel path
The subpoint is tangent, and the radius of first circle of reference is the radius of curvature；Second circle of reference computing unit, based on
The second circle of reference is calculated, second circle of reference is using the current location of the intelligent driving object as the center of circle, using preview distance as half
Footpath；And turn to and take aim at a determination unit in advance, the intersection point for determining first circle of reference and second circle of reference is described
Steering is taken aim at a little in advance.
Fig. 5 is the schematic block diagram that a determining device is taken aim in diagram steering according to embodiments of the present invention in advance.As shown in figure 5,
Steering according to embodiments of the present invention take aim in advance determining device 300 for determine the steering of intelligent driving object that is travelling it is pre-
Take aim at a little, including：Driving path acquiring unit 310, for obtaining the expected travel path of the intelligent driving object；Current location
Determination unit 320, for determining the current location of the intelligent driving object；Subpoint determination unit 330, it is described for determining
The current location of intelligent driving object determined by current location determination unit 320 is in 310 institute of driving path acquiring unit
Subpoint in the expected travel path of acquisition；Curvature radius calculation unit 340, for calculating the subpoint determination unit
Radius of curvature of the subpoint determined by 330 in the expected travel path acquired in the driving path acquiring unit 310；The
One circle of reference computing unit 350, for calculating the first circle of reference, first circle of reference obtains single with the driving path
Expected travel path acquired in member 310 is tangent in subpoint determined by the subpoint determination unit 330, and described first
The radius of curvature that the radius of circle of reference is calculated by the curvature radius calculation unit 340；Second circle of reference computing unit
360, for calculating the second circle of reference, second circle of reference is with the intelligence determined by the current location determination unit 320
The current location of object can be driven as the center of circle, using preview distance as radius；And turn to and take aim at a determination unit 370 in advance, for true
First circle of reference and the second circle of reference computing unit 360 that the fixed first circle of reference computing unit 350 calculates
The intersection point of second circle of reference calculated is taken aim at a little in advance for the steering.
In a determining device 300 is taken aim in above-mentioned steering in advance, the subpoint determination unit 330 is specifically used for：It determines described
Whether the current location of intelligent driving object is in the expected travel path；With, in response to determine the intelligent driving object
Current location not in the expected travel path, determine that traveling it is expected in the current location of the intelligent driving object to described
The closest approach in path is the subpoint.
In a determining device 300 is taken aim in above-mentioned steering in advance, the driving path acquiring unit 310 by it is following at least its
One of obtain the expected travel path of the intelligent driving object：The planning driving path of the intelligent driving object；It is described
The extension track in the path of intelligent driving object current driving；User is to the self-defined driving path of the intelligent driving object；
With the map datum of the intelligent driving object.
In a determining device 300 is taken aim in above-mentioned steering in advance, the preview distance is the current line of the intelligent driving object
It sails speed and is multiplied by a pre-determined factor.
Here, it will be understood by those skilled in the art that steering according to embodiments of the present invention takes aim at its of determining device in advance
It is identical that its details previously with regards to steering according to embodiments of the present invention takes aim at a little described relevant details of definite method in advance,
In order to avoid redundancy will not be described in great detail.
Another aspect according to embodiments of the present invention, provides a kind of steering angle of intelligent driving object and determines equipment, wraps
It includes：As described above turn to takes aim at a determining device in advance, and the steering for determining the intelligent driving object is taken aim at a little in advance；Coordinate obtains
Unit, for obtaining the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And steering angle
Computing unit, for calculating the steering angle of the intelligent driving object based on the coordinate.
Fig. 6 is the schematic block diagram that diagram steering angle according to embodiments of the present invention determines equipment.As shown in fig. 6, according to
The steering angle of the intelligent driving object of the embodiment of the present invention determines that equipment 400 includes：Steering takes aim at a determining device 410 in advance, is used for
Determine that the steering of the intelligent driving object is taken aim at a little in advance；Coordinate acquiring unit 420 takes aim at a little definite dress in advance for obtaining the steering
Put the coordinate for turning to and being taken aim in advance a little under the local coordinate of the intelligent driving object determined by 410；And steering angle calculates
Unit 430, for calculating the steering angle of the intelligent driving object based on the coordinate acquired in the coordinate acquiring unit 420.
In above-mentioned steering angle determines equipment 400, the coordinate acquiring unit 420 is specifically used for：Determine that the intelligence is driven
Sail course angle of the object under earth coordinates；With, course angle based on the intelligent driving object under earth coordinates and
Current location information calculates the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering.
In above-mentioned steering angle determines equipment 400, the steering angle computing unit 430 is specifically used for：Based on the coordinate
Calculate the front wheel slip angle of the intelligent driving object；With ratio conversion is carried out to the front wheel slip angle to obtain steering motor
Expected angle.
In above-mentioned steering angle determines equipment 400, the steering angle computing unit 430 is specifically used for formula below (1)
Calculate the front wheel slip angle of the intelligent driving object：
Wherein, δ is the front wheel slip angle, and L is the front axle of the intelligent driving object away from α is that the steering is taken aim at a little in advance
Folder with the line of the current location of the intelligent driving object and with the y-axis of the local coordinate of the intelligent driving object
Angle, ldIt is the preview distance.
Also, steering takes aim at a determining device 410 in advance to be included：Driving path acquiring unit, for obtaining the intelligent driving
The expected travel path of object；Current location determination unit, for determining the current location of the intelligent driving object；Subpoint
Determination unit, for determining the current location of intelligent driving object determined by the current location determination unit in the traveling
The subpoint in expected travel path acquired in the acquiring unit of path；Curvature radius calculation unit, for calculating the projection
Curvature of the subpoint in the expected travel path acquired in the driving path acquiring unit half determined by point determination unit
Footpath；First circle of reference computing unit, for calculating the first circle of reference, first circle of reference is obtained with the driving path
Expected travel path acquired in unit is tangent in subpoint determined by the subpoint determination unit, and first reference
The radius of curvature that round radius is calculated by the curvature radius calculation unit；Second circle of reference computing unit, for calculating
Second circle of reference, second circle of reference are current with the intelligent driving object determined by the current location determination unit
Position is the center of circle, using preview distance as radius；And turn to and take aim at a determination unit in advance, by determining based on first circle of reference
Second circle of reference that first circle of reference and the second circle of reference computing unit that calculation unit calculates calculate
Intersection point is taken aim at a little in advance for the steering.
Here, the function performed by above-mentioned modules is taken aim at a little really in advance previously with regards to steering according to embodiments of the present invention
Determine method with steering angle determine method described in function it is identical, just repeat no more herein.
In addition, a determining device is taken aim in above-mentioned steering in advance and steering angle determines that the unit in equipment is according to function module
It is divided, in the concrete realization, multiple functional units can also be realized by same hardware element.For example, navigation can be passed through
System realizes driving path acquiring unit, current location determination unit and subpoint determination unit, for obtaining the intelligence
Drive expected travel path, current location and its subpoint in expected travel path of object.And it is possible to by such as
The processor of chip realizes curvature radius calculation unit, the first circle of reference computing unit, the second circle of reference computing unit and steering
A determination unit is taken aim in advance, is taken aim at a little in advance with obtaining to turn to by computing.
In another example in steering angle according to embodiments of the present invention determines equipment, the phase of such as positioning device can be passed through
Path acquisition module is hoped to obtain the expected travel path of intelligent driving object, and the pose acquisition module for passing through such as sensor obtains
Obtain current location and the course angle of intelligent driving object.Also, preview distance is calculated by crosswise joint module, calculates and takes aim at a little in advance
Position and front wheel slip angle, then by steer motor control module steering motor is controlled to realize intelligence based on the front-wheel deviation calculated
The steering of object can be driven.
According to another aspect of the invention, a kind of mobile unit is provided, including：Memory, can for storing computer
It executes instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Steering takes aim at a little definite method in advance.
According to another aspect of the invention, a kind of mobile unit is provided, including：Memory, can for storing computer
It executes instruction；With processor, for performing the computer executable instructions of the memory storage, to perform as described above
Steering angle determines method.
Fig. 7 is the schematic block diagram of diagram mobile unit according to embodiments of the present invention.As shown in fig. 7, according to the present invention
The mobile unit 500 of embodiment includes：Memory 510, for storing computer executable instructions；With processor 520 is used for
The computer executable instructions of the memory storage are performed, a little definite method and steering angle are taken aim in advance to perform as described above turn to
Determine method.
Here, it will be understood by those skilled in the art that other details of mobile unit according to embodiments of the present invention therewith
It is preceding to take aim at a little definite method and steering angle in advance on steering according to embodiments of the present invention and determine that the described relevant details of method are complete
It is exactly the same, in order to avoid redundancy will not be described in great detail.
In an embodiment of the present invention, mobile unit can be installed in various types of transport facilitys, and not
The vehicle for being only limitted to the family-sized car of conventional meaning or any other type is either manned or unpiloted
The vehicles, such as ground, transport facility waterborne and/or aerial.Therefore, although in the description of the present invention, using
Term " mobile unit " it will be appreciated by a person skilled in the art that the equipment is not limited to associated with vehicle, and can be
Any airborne equipment having with the communication function of mobile terminal includes but not limited to various types of guiders, the whole world is determined
Position system (GPS) receiver, event data recorder (EDR), flight data recorder (FDR), automotive infotainment device, ship
Oceangoing ship electronic device (for example, marine navigation device, gyroscope or compass), avionic unit.
Therefore, steering according to embodiments of the present invention take aim in advance a little definite method, turn in advance that take aim at a determining device, steering angle true
Determine method and steering angle determines that equipment can also be applied to the automatic Pilot of various types of transport facilitys, be not limited solely to
The automatic Pilot of vehicle.
The mobile unit includes one or more processors, such as above processor 520 shown in Fig. 7.This or more
Each in a processor can be able to carry out machine readable and executable instruction equipment, for example, computer, Wei Chu
Reason device, microcontroller, integrated circuit, microchip or any other calculating are set.The one or more processors can couple
To the communication path that offer signal interconnects between the modules of vehicle.The communication path can cause any amount of
Processor couples with being in communication with each other, and includes but not limited to the processor in mobile unit, and can allow couple to communication lines
Computing environment operates module in the mobile unit in footpath in a distributed manner.Specifically, each module may be operative to it is transmittable and/
Or receive the node of data.Also, " communicatively coupled " refers to that between the component to intercouple number can be exchanged with each other
According to, such as in the form of electric signal, electromagnetic signal, optical signal.
In addition, mobile unit includes being coupled to one or more memory modules of communication path, such as shown in figure 7 above
Memory 510.The memory module is configurable to include volatile memory, such as static RAM (S-
(ROM) and erasable programmable read-only memory (EPROM) and Electrically Erasable Programmable Read-Only Memory (EEPROM).In the memory
In module, any form of machine readable and executable instruction is stored to be accessed by processor.The machine readable and executable finger
Order can be the logic or algorithm write with any programming language, for example, the machine language that can directly be performed by processor or
Person can be compiled or be collected as machine readable instructions and be stored in the assembler language in memory module, Object-Oriented Programming
(OOP) language, Javascript language, microcode etc..Alternatively, which can also be retouched with hardware
Predicate speech is write as, such as the logic with the realizations such as programmable logic array (FPGA) or application-specific integrated circuit (ASIC).
Steering provided by the invention takes aim at a little definite method, steering angle and determines method, turns to and take aim at a determining device in advance, turn in advance
Angle determines equipment and mobile unit, by the way that the position taken aim in advance a little is arranged on circle of reference rather than on expected path, Ke Yishe
Putting larger preview distance makes the pre- position taken aim at a little farther out, in straight way, tracks the high stability of expected path, while is entering
Curved, protruding crook can also improve the precision of vehicle tracking expected path, so as to take into account the stability of path trace and precision.
Claims (10)
1. a kind of steering takes aim at a little definite method in advance, the steering for determining the intelligent driving object travelled is taken aim at a little in advance, described
Steering takes aim at a little definite method in advance to be included：
Obtain the expected travel path of the intelligent driving object；
Determine the current location of the intelligent driving object；
Determine subpoint of the current location of the intelligent driving object in the expected travel path；
Calculate radius of curvature of the subpoint in the expected travel path；
The first circle of reference is calculated, first circle of reference is tangent in the subpoint with the expected travel path, and described
The radius of one circle of reference is the radius of curvature；
Calculate the second circle of reference, second circle of reference using the current location of the intelligent driving object as the center of circle, with take aim in advance away from
From for radius；And
Determine that the intersection point of first circle of reference and second circle of reference is taken aim at a little in advance for the steering.
2. as described in claim 1 turn to takes aim at a little definite method in advance, wherein it is determined that the current location of the intelligent driving object
Subpoint in the expected travel path specifically includes：
Determine the current location of the intelligent driving object whether in the expected travel path；With
Current location in response to determining the intelligent driving object determines that the intelligence is driven not in the expected travel path
The closest approach for sailing current location to the expected travel path of object is the subpoint.
3. a kind of steering angle of intelligent driving object determines method, including：
With the method as described in any one in claim 1 to 2 determine as described in the steering of intelligent driving object take aim in advance a little；
Obtain the pre- coordinate taken aim at a little under the local coordinate of the intelligent driving object of the steering；And
The steering angle of the intelligent driving object is calculated based on the coordinate.
4. steering angle as claimed in claim 3 determines method, wherein, it obtains the steering and takes aim at a little in the intelligent driving pair in advance
Coordinate under the local coordinate of elephant specifically includes：
Determine course angle of the intelligent driving object under earth coordinates；With
The steering is calculated based on course angle of the intelligent driving object under earth coordinates and current location information to take aim in advance
Coordinate of the point under the local coordinate of the intelligent driving object.
5. a kind of steering takes aim at a determining device in advance, the steering for determining the intelligent driving object travelled is taken aim at a little in advance, described
Steering takes aim at a determining device in advance to be included：
Driving path acquiring unit, for obtaining the expected travel path of the intelligent driving object；
Current location determination unit, for determining the current location of the intelligent driving object；
Subpoint determination unit, for determining throwing of the current location of the intelligent driving object in the expected travel path
Shadow point；
Curvature radius calculation unit, for calculating radius of curvature of the subpoint in the expected travel path；
First circle of reference computing unit, for calculating the first circle of reference, first circle of reference exists with the expected travel path
The subpoint is tangent, and the radius of first circle of reference is the radius of curvature；
Second circle of reference computing unit, for calculating the second circle of reference, second circle of reference is with the intelligent driving object
Current location is the center of circle, using preview distance as radius；And
Steering takes aim at a determination unit in advance, for determining that the intersection point of first circle of reference and second circle of reference is the steering
It takes aim at a little in advance.
6. a kind of steering angle of intelligent driving object determines equipment, including：
As claimed in claim 5 turn to takes aim at a determining device in advance, and the steering for determining the intelligent driving object is taken aim at a little in advance；
Coordinate acquiring unit, for obtaining the pre- seat taken aim at a little under the local coordinate of the intelligent driving object of the steering
Mark；
Steering angle computing unit, for calculating the steering angle of the intelligent driving object based on the coordinate.
7. a kind of mobile unit, including：
Memory, for storing computer executable instructions；With
Processor, for performing the computer executable instructions of the memory storage, to perform as appointed in claim 1 to 2
A little definite method is taken aim in steering described in meaning one in advance.
8. a kind of mobile unit, including：
Memory, for storing computer executable instructions；With
Processor, for performing the computer executable instructions of the memory storage, to perform as appointed in claim 3 to 4
Steering angle described in meaning one determines method.
9. a kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions quilt
When computing device performs, it is operable to perform the steering as described in any one in claim 1 to 2 and takes aim at a little definite method in advance.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, when the computer program instructions quilt
When computing device performs, it is operable to perform the steering angle as described in any one in claim 3 to 4 and determines method.
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