CN108725585B - Trajectory tracking control method and device for autonomous parking of vehicle - Google Patents

Trajectory tracking control method and device for autonomous parking of vehicle Download PDF

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Publication number
CN108725585B
CN108725585B CN201710245101.9A CN201710245101A CN108725585B CN 108725585 B CN108725585 B CN 108725585B CN 201710245101 A CN201710245101 A CN 201710245101A CN 108725585 B CN108725585 B CN 108725585B
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vehicle
current
target
steering
speed
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CN108725585A (en
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王俊
寇改红
杨鹏飞
姚杰
梁伟铭
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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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
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A trajectory tracking control method and a trajectory tracking control device for autonomous parking of a vehicle are provided, wherein the method comprises the following steps: acquiring the current position of the vehicle in real time; planning a current global driving path of the vehicle in real time according to a destination and the current position of the vehicle; calculating a target corner of the steering gear by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle; acquiring a current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner; and controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor. By adopting the scheme, the precision of track tracking in the autonomous parking process of the vehicle can be improved.

Description

Trajectory tracking control method and device for autonomous parking of vehicle
Technical Field
The invention relates to a vehicle trajectory tracking control technology, in particular to a trajectory tracking control method and device for autonomous parking of a vehicle.
Background
Unmanned vehicles have become a research hotspot for enterprises and colleges at home and abroad in recent years. The unmanned vehicle senses the surrounding environment of the vehicle through a radar, a camera, an ultrasonic sensor and the like, and determines the optimal path and the vehicle speed of the vehicle by processing and fusing acquired surrounding information through an on-board computer, so that the vehicle can safely and efficiently drive to a destination on a road.
Unmanned vehicles are mainly divided into five major parts: global path search, real-time positioning, vehicle ambient perception, intelligent decision-making planning path and vehicle trajectory tracking. And the tracking control of the vehicle track is an important factor for solving the problem of smooth and safe running of the vehicle.
The vehicle trajectory tracking control comprises longitudinal control and transverse control, wherein the cruise control, the self-adaptive cruise control and the automatic start-stop cruise control belong to longitudinal control, and the longitudinal speed of the vehicle meets the driving requirement by controlling the opening degrees of an accelerator and a brake pedal. Lane keeping is then a lateral control that ensures that the vehicle is traveling along the lane in which it is located by controlling the vehicle steering wheel. And the unmanned driving on the expressway and the unmanned driving on various roads are the integration of longitudinal and transverse control.
The problem of trajectory tracking of unmanned vehicles at home and abroad is not studied a lot, for example, the vehicle speed following control can meet the control with lower precision by adopting general PID control, but the requirements on accurate and stable control of the vehicle speed are higher when the vehicle autonomously parks at an extremely low vehicle speed, and the existing trajectory tracking control method in the autonomous parking process cannot meet the precision requirement of autonomous parking at the extremely low vehicle speed.
Disclosure of Invention
The invention solves the technical problem of how to improve the track tracking precision of the vehicle in the autonomous parking process.
In order to solve the above technical problem, an embodiment of the present invention provides a trajectory tracking control method for autonomous parking of a vehicle, including: acquiring the current position of the vehicle in real time; planning a current global driving path of the vehicle in real time according to a destination and the current position of the vehicle; calculating a target corner of the steering gear by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle; acquiring a current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner; and controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor.
Optionally, the method further comprises: planning a local driving path of the vehicle to the preview point according to the preview point; and correcting the current global driving path according to the local driving path, and taking the corrected global driving path as the current global driving path.
Optionally, the planning, according to the preview point, a local driving path of the vehicle to the preview point includes: acquiring environmental information in a preset area of the vehicle, and acquiring a preview point from the environmental information; and planning a local driving path of the vehicle reaching the preview point according to the preview time and the current vehicle speed.
Optionally, the planning a local driving path of the vehicle to the preview point according to the preview time and the current vehicle speed includes: and planning a local driving path of the vehicle to the aiming point by adopting the following formula: y (T + T) ═ a (V)xT)3+b(VxT)2+c(VxT) + d; wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; and T is the preview time.
Optionally, the calculating a target rotation angle of the steering device by using a pre-aiming control algorithm in a preset trajectory tracking calculation model according to the current position and the current global driving path of the vehicle includes: performing integral operation on the local driving path within a preset time interval, and taking an operation result as path information within a preset time length, wherein the preset time interval corresponds to the preset time length; and calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length.
Optionally, the calculating a target rotation angle of the steering gear according to the path information in the preset time length by using a pre-aiming control algorithm of a preset trajectory tracking calculation model includes:
Figure BDA0001270399810000021
wherein the content of the first and second substances,
Figure BDA0001270399810000022
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle;
Figure BDA0001270399810000031
the path information is within a preset time length.
Optionally, the calculating the torque of the steering motor of the steering gear by using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle and the target steering angle of the steering gear includes:
Figure BDA0001270399810000032
Figure BDA0001270399810000033
Tq_str＝min(|S|,1)×kq；k0＝f(Δθstr)；mu＝f(Δθstr)；
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000038
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
Optionally, the planning, according to a preview point, a local driving path of the vehicle to the preview point includes: acquiring environmental information in a preset area of the vehicle, and acquiring a preview point from the environmental information; and planning a local running path of the vehicle to the pre-aiming point according to the pre-aiming point position, the current position of the vehicle and the current speed.
Optionally, the planning a local driving path of the vehicle to the preview point according to the preview point, the current position of the vehicle and the current vehicle speed includes: and planning a local driving path of the vehicle to the aiming point by adopting the following formula:
Figure BDA0001270399810000034
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system; t is preview time;
Figure BDA0001270399810000035
is the target lateral acceleration; vy_estIs the lateral speed of the vehicle.
Optionally, the calculating a target rotation angle of the steering device by using a pre-aiming control algorithm of a preset trajectory tracking calculation model according to the current position of the vehicle and the planned driving path includes:
Figure BDA0001270399810000036
wherein the content of the first and second substances,
Figure BDA0001270399810000037
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is the preview time; vy_estIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle; y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system.
Optionally, the calculating the torque of the steering motor of the steering gear by using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle and the target steering angle of the steering gear includes:
Figure BDA0001270399810000041
Tq_str＝min(|S|,1)×kq；k0＝f(Δθstr)；mu＝f(Δθstr)；
wherein S is a control function after corner closed-loop correction; k is a radical ofdIs a control coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000042
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
Optionally, the obtaining the current rotation angle of the steering gear, and calculating the torque of the steering motor of the steering gear by using a rotation angle closed-loop control algorithm in the trajectory tracking calculation model according to the current rotation angle of the steering gear and the target rotation angle includes: detecting a current driving state of the vehicle; selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle; and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
Optionally, the selecting, according to the current driving state of the vehicle, a corresponding corner closed-loop control parameter from the trajectory tracking calculation model includes: when the current running state of the vehicle is a static state, selecting a corner closed-loop control parameter corresponding to the static state; and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the motion state.
Optionally, obtaining a current corner of the steering gear, and calculating a torque of a steering motor of the steering gear by using a corner closed-loop control algorithm in the trajectory tracking calculation model according to the current corner of the steering gear and the target corner, including: detecting whether the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle; when the steering direction of the current steering angle of the vehicle is inconsistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear; and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
Optionally, after the current global driving path of the vehicle is planned in real time according to the destination and the current position of the vehicle, the method further includes: acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; determining the driving direction of the vehicle according to the current global driving path; selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle; and controlling the vehicle to run at the target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal.
Optionally, the selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed includes: selecting a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed; and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
Optionally, the selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed further includes: when the target vehicle speed interval corresponding to the target vehicle speed does not exist, acquiring a second longitudinal control algorithm corresponding to the last target vehicle speed; and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the last target vehicle speed.
The implementation of the invention also provides another trajectory tracking control method for autonomous parking of the vehicle, which comprises the following steps: acquiring the current position of the vehicle in real time; planning a current global driving path of the vehicle in real time according to the destination and the current position of the vehicle; acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; determining the driving direction of the vehicle according to the current global driving path; selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle; and controlling the vehicle to run at a target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal.
Optionally, the selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed includes: selecting a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed; and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
Optionally, the selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed further includes: when the target vehicle speed interval corresponding to the target vehicle speed does not exist, acquiring a control algorithm corresponding to the last target vehicle speed; and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the last target vehicle speed.
The invention provides a trajectory tracking control device for autonomous parking of a vehicle, which comprises: the device comprises a first position acquisition unit, a first global driving path planning unit, a target rotation angle calculation unit, a torque calculation unit and a first control unit, wherein: the first position acquisition unit is suitable for acquiring the current position of the vehicle in real time; the first global driving path planning unit is suitable for planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle; the target corner calculation unit is suitable for calculating a target corner of the steering device by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle; the torque calculation unit is suitable for acquiring the current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner; the first control unit is suitable for controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor.
Optionally, the apparatus further comprises: local driving route planning unit and correction unit, wherein: the local driving path planning unit is suitable for planning a local driving path of the vehicle reaching a pre-aiming point according to the pre-aiming point; and the correction unit is suitable for correcting the current global driving path according to the local driving path and taking the corrected global driving path as the current global driving path.
Optionally, the local driving path planning unit is adapted to acquire environmental information in a preset area of the vehicle, and acquire a preview point from the environmental information; and planning a local driving path of the vehicle reaching the preview point according to the preview time and the current vehicle speed.
Optionally, the local driving path planning unit is adapted to plan a local driving path of the vehicle to the pre-aiming point by using the following formula: y (T + T) ═ a (V)xT)3+b(VxT)2+c(VxT) + d; wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; and T is the preview time.
Optionally, the target corner calculation unit is adapted to perform integral operation on the local driving route within a preset time interval, and use an operation result as route information within a preset time duration, where the preset time interval corresponds to the preset time duration; and calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length.
Optionally, the target rotation angle calculating unit is adapted to calculate the target rotation angle of the steering gear by using a pre-aiming control algorithm of a track tracking calculation model preset as follows:
Figure BDA0001270399810000071
wherein the content of the first and second substances,
Figure BDA0001270399810000072
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs that it isA longitudinal speed of the vehicle;
Figure BDA0001270399810000073
the path information is within a preset time length.
Optionally, the torque calculation unit is adapted to calculate the torque of the steering motor by using a rotation angle closed-loop control algorithm in the trajectory tracking calculation model:
Figure BDA0001270399810000074
Figure BDA0001270399810000075
Tq_str＝min(|S|,1)×kq；k0＝f(Δθstr)；mu＝f(Δθstr)；
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000076
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
Optionally, the torque calculation unit is adapted to detect a current running state of the vehicle; selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle; and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
Optionally, the torque calculation unit is adapted to select a turning angle closed-loop control parameter corresponding to a stationary state when a current driving state of the vehicle is the stationary state; and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the static state.
Alternatively, the torque calculation unit is adapted to detect whether the steering of the current steering angle of the vehicle coincides with the steering direction of the target steering angle; when the steering direction of the current steering angle of the vehicle is inconsistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear; and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
Optionally, the apparatus further comprises: the first target vehicle speed calculation unit is suitable for acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; a first driving direction determination unit adapted to determine a driving direction of the vehicle based on the current global driving path; the first accelerator pedal opening and brake pedal opening calculating unit is suitable for selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the accelerator pedal opening and the brake pedal opening, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle; and the first control unit is also suitable for controlling the vehicle to run at a target speed according to the calculated opening degrees of the accelerator pedal and the brake pedal.
Optionally, the first accelerator pedal opening and brake pedal opening calculating unit is adapted to select a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculate an accelerator pedal opening and a brake pedal opening by using a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
Optionally, the first accelerator pedal opening and brake pedal opening calculating unit is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to the last target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the last target vehicle speed.
The embodiment of the present invention further provides another trajectory tracking control device for autonomous parking of a vehicle, including: the system comprises a second position acquisition unit, a second global driving path planning unit, a second target vehicle speed calculation unit, a second driving direction determination unit, a second accelerator pedal opening and brake pedal opening calculation unit and a second control unit, wherein: the second position acquisition unit acquires the current position of the vehicle in real time; the second global driving path planning unit is suitable for planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle; the second target vehicle speed calculation unit is suitable for acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating the target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; the second driving direction determining unit is suitable for determining the driving direction of the vehicle according to the current global driving path; the second accelerator pedal opening and brake pedal opening calculation unit is suitable for selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the accelerator pedal opening and the brake pedal opening, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle; and the second control unit is suitable for controlling the vehicle to run at a target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal.
Optionally, the second accelerator pedal opening and brake pedal opening calculating unit is adapted to select a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
Optionally, the second accelerator pedal opening and brake pedal opening calculating unit is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to the last target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the last target vehicle speed.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
and calculating a target corner of the steering gear by adopting a pre-aiming control algorithm, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in a track tracking calculation model according to the target corner and the current corner, so that the vehicle can accurately follow the planned global driving path, and the precision of track tracking in the autonomous parking process of the vehicle can be improved.
And selecting a corresponding control algorithm from a preset track tracking calculation model according to the current vehicle speed and the target vehicle speed of the vehicle, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting the selected control algorithm. The method comprises the steps that a plurality of control algorithms are arranged in a preset trajectory tracking calculation model, the control algorithms correspond to the target speed and the current speed of a vehicle, the control algorithms are selected according to the current speed and the target speed of the vehicle, the speed of the vehicle is controlled, and the accuracy of trajectory tracking in the autonomous parking process of the vehicle can be improved.
Furthermore, a local running path from the vehicle to the preview point is planned according to the preview point, and the current global running path is corrected according to the local running path, so that the running path can be adjusted in real time according to the obtained preview point in the track tracking control process of the autonomous parking of the vehicle, and the accuracy of track tracking control in the autonomous parking process of the vehicle can be improved.
Furthermore, according to the path information in the preset time length, the target corner of the steering gear is calculated by adopting a pre-aiming control algorithm, and the accuracy and the reliability of the calculated target corner can be improved.
Furthermore, when the torque of the steering motor is calculated, the current running state of the vehicle is considered, and the corresponding closed-loop control algorithm is selected according to the current running state, so that the problem that the torque provided by the steering motor required by the steering device to rotate the same corner in different running states of the vehicle can be solved, and the accuracy of controlling the steering device to rotate to the target corner by adopting the calculated torque of the steering motor can be improved in any state of the vehicle.
Further, when calculating the torque of the steering motor, whether the steering direction of the current steering angle of a steering device of the vehicle is consistent with the steering direction of the target steering angle is considered, when the steering direction of the current steering angle of the steering device of the vehicle is inconsistent with the steering direction of the target steering angle, the torque required for correcting the steering device from the current steering angle is calculated, and then the torque provided by the steering motor required for converting the corrected steering device to the target steering angle is calculated, so that the stability of the vehicle in the steering angle control process of the steering device by the steering motor can be improved.
Drawings
Fig. 1 is a flowchart of a trajectory tracking control method for autonomous parking of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another trajectory tracking control method for autonomous parking of a vehicle in an embodiment of the present invention;
fig. 3 is a flowchart of a trajectory tracking control method for autonomous parking of a vehicle according to still another embodiment of the present invention;
fig. 4 is a flowchart of a trajectory tracking control method for autonomous parking of a vehicle according to still another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a trajectory tracking control device for autonomous parking of a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another trajectory tracking control device for autonomous parking of a vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a trajectory tracking control device for autonomous parking of a vehicle according to still another embodiment of the present invention.
Detailed Description
As described above, the existing trajectory tracking control method in the autonomous parking process cannot meet the accuracy requirement of autonomous parking at an extremely low vehicle speed.
In order to solve the problems, in the embodiment of the invention, a pre-aiming control algorithm is adopted to calculate the target rotation angle of the steering gear, and a rotation angle closed-loop control algorithm in a trajectory tracking calculation model is adopted to calculate the torque of a steering motor of the steering gear according to the target rotation angle and the current rotation angle, so that a vehicle can accurately follow a planned global driving path, and the trajectory tracking precision of the autonomous parking process of the vehicle can be improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
And 11, acquiring the current position of the vehicle in real time.
In particular implementations, when the vehicle is an unmanned vehicle, the unmanned vehicle may receive an autonomous parking control instruction input by a user. The user can input the autonomous parking control instruction through the vehicle-mounted device, and can also input the autonomous parking control instruction through the associated mobile terminal. After an autonomous parking control instruction input by a user is received, the current position of the vehicle can be acquired in real time.
In a specific implementation, a Global Positioning System (GPS) inertial navigation System may be installed on the unmanned vehicle, and the current position of the vehicle may be obtained through the installed GPS inertial navigation System.
In particular implementations, the current location of the vehicle may also be obtained in other ways.
And 12, planning the current global running path of the vehicle in real time according to the destination and the current position of the vehicle.
In a specific implementation, after the current position of the vehicle is obtained, the current global driving path of the vehicle can be planned in real time according to the destination and the current position of the vehicle.
In particular embodiments, the manner of obtaining the destination may be varied. The destination input by the user can be received through the vehicle-mounted entertainment device, can be obtained from the associated mobile terminal, and can be obtained in other modes.
In an embodiment of the invention, the user inputs the destination through a user interface corresponding to a vehicle navigation function in the vehicle-mounted entertainment device. After the vehicle acquires the destination input by the user, a global driving path from the current position to the destination can be planned according to a pre-stored electronic map or an online electronic map and by combining the destination and the current position.
In another embodiment of the present invention, application software for controlling the unmanned vehicle is installed in the mobile terminal, and the user can input the destination through a user interface of the application software. The unmanned vehicle can obtain the destination through application software, and a global driving path from the current position to the destination of the vehicle is planned according to the current position and in combination with an electronic map.
And step 13, calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle.
In a specific implementation, a trajectory tracking calculation model may be established in advance, and an algorithm for calculating a target rotation angle of the steering gear may be set in the trajectory tracking calculation model. In one embodiment of the invention, a pre-aiming control algorithm is adopted to calculate the target rotation angle of the steering gear.
In a specific implementation, an ultrasonic sensor can be installed on the unmanned vehicle, and the pre-aiming point can be obtained through the ultrasonic sensor.
And step 14, acquiring the current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner.
In a specific implementation, an algorithm for calculating the torque of the steering motor of the steering gear may be preset in the trajectory tracking calculation model, and the torque of the steering motor may be calculated using the preset algorithm.
In one embodiment of the invention, the torque of the steering motor of the steering gear is calculated by adopting a rotation angle closed-loop control algorithm.
In another embodiment of the invention, a steering angle open loop control algorithm is used to calculate the torque of the steering motor of the steering gear.
In yet another embodiment of the invention, a fuzzy algorithm is used to calculate the torque of the steering motor of the steering gear.
It is understood that in practical applications, a steering angle closed-loop control algorithm may be used in combination with a steering angle open-loop control algorithm to calculate the torque of the steering motor of the steering gear.
In a specific implementation, the vehicle may obtain a current steering angle of a steering gear, and calculate a torque of a steering motor of the steering gear by using a steering angle closed-loop control algorithm according to the current steering angle of the steering gear and the calculated target steering angle.
In an implementation, the current steering angle of the vehicle may be acquired by a steering wheel angle sensor.
And step 15, controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor.
In a specific implementation, after the torque of the steering motor is calculated, the rotation angle of the steering gear can be controlled according to the torque of the steering motor, so that the vehicle can be controlled to run according to the current global running path.
Steps 11 to 15 are transverse control processes of the vehicle in trajectory tracking control of autonomous parking of the vehicle.
Therefore, the target rotation angle of the steering gear is calculated by adopting a pre-aiming control algorithm, and the torque of the steering motor of the steering gear is calculated by adopting a rotation angle closed-loop control algorithm in a track tracking calculation model according to the target rotation angle and the current rotation angle, so that the vehicle can accurately follow the current global driving path, and the control precision of track tracking in the autonomous parking process of the vehicle can be improved.
In an embodiment of the present invention, in order to consider the cost of trajectory tracking control for autonomous parking of a vehicle, an original Power Steering motor of the vehicle may be adopted, a torque control interface of an Electronic Power Steering (EPS) controller is opened, a Steering angle closed-loop control algorithm is added to the EPS controller, and the Power Steering motor is controlled according to the calculated torque of the Steering motor, so as to control the Steering angle of the Steering gear.
The steering angle of the steering gear is controlled by the existing power-assisted steering motor on the vehicle and a control algorithm is added into the EPS without modifying hardware equipment of the vehicle, so that the accuracy of trajectory tracking control of autonomous parking of the vehicle is improved, and the cost is considered at the same time.
In a specific implementation, considering that a vehicle is a dynamic process in an autonomous parking process and may be interfered by other vehicles or other objects, in order to further improve accuracy of a global driving path planned by the vehicle, in a specific implementation, a local driving path from the vehicle to a pre-aiming point may be planned according to the pre-aiming point, a current global driving path may be modified according to the planned local driving path, and the modified global driving path may be used as the current global driving path. And then controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor.
In particular implementations, the manner in which the local travel path of the vehicle to the pre-target point is planned may include a variety of ways.
In an embodiment of the invention, environment information in a preset area of the vehicle is acquired, a preview point is acquired from the environment information, and a local driving path of the vehicle reaching the preview point is planned according to preview time and the current vehicle speed.
In another embodiment of the invention, environment information in a preset area of the vehicle is acquired, a pre-aiming point is acquired from the environment information, and a local driving path of the vehicle reaching the pre-aiming point is planned according to the position of the pre-aiming point, the current position of the vehicle and the current speed of the vehicle.
In the specific implementation, because the torque provided by the steering motor required by the steering device to rotate the same corner is different when the vehicle is in different running states, the torque of the steering motor is calculated by adopting a single algorithm in the prior art, and the accuracy of controlling the steering device to rotate to the target corner by calculating the torque of the steering motor is lower, so that the accuracy requirement of autonomous parking of the vehicle in a low-speed state cannot be met.
The accuracy of steering to a target steering angle is controlled to improve the torque of a steering motor. In an embodiment of the invention, the torque of the steering motor is calculated as follows. Detecting the current running state of the vehicle, and selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle; and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
In a specific implementation, the current driving state of the vehicle may include: and when the current running state of the vehicle is the static state, selecting a corner closed-loop control parameter corresponding to the static state. And when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the motion state.
In a specific implementation, when calculating the torque of the steering motor, it may be detected whether the steering of the current steering angle of the vehicle coincides with the steering direction of the target steering angle. When the steering direction of the current steering angle of the vehicle is not consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear. And when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
When the torque of the steering motor is calculated, whether the steering direction of the current steering angle of a steering device of the vehicle is consistent with the steering direction of the target steering angle is considered, when the steering direction of the steering device of the vehicle is inconsistent with the steering direction of the target steering angle, the torque required for correcting the steering device from the current steering angle is calculated, and then the torque provided by the steering motor required for converting the corrected steering device to the target steering angle is calculated, so that the stability of the vehicle in the steering angle control process of the steering motor to the steering device can be improved.
In order to make the embodiment of the present invention better understood and realized by those skilled in the art, a trajectory tracking control method for autonomous parking of a vehicle will be described in detail below with reference to specific embodiments.
Referring to fig. 2, a flowchart of another trajectory tracking control method for autonomous parking of a vehicle according to an embodiment of the present invention is shown, and details are described below with reference to specific steps.
And step 21, acquiring the current position of the vehicle in real time.
In a specific implementation, the specific process and manner for acquiring the current position of the vehicle in real time may refer to the description in step 11 in the foregoing embodiment of the present invention, and details are not repeated here.
And step 22, planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle.
And step 23, acquiring environment information in a preset area of the vehicle, and acquiring a preview point from the environment information.
In a specific implementation, the surrounding environment of the vehicle can be identified through a camera or an ultrasonic sensor mounted on the vehicle, and a pre-aiming point can be obtained.
And 24, planning a local running path of the vehicle to the preview point according to the preview time and the current vehicle speed.
In particular implementation, the current speed of the vehicle can be obtained by a vehicle speed sensor,
and planning a local driving path of the vehicle to the preview point according to the preview time and the current speed of the vehicle, namely planning a local path function of the vehicle to the preview point. In one embodiment of the present invention, the local driving path of the vehicle to the pre-aiming point is planned by using the following formula (1):
y(t+T)＝a(VxT)3+b(VxT)2+c(VxT)+d； (1)
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; and T is the preview time.
In implementations, the location of the vehicle when the vehicle initiates autonomous parking may be used as the vehicle coordinate system origin. In one embodiment of the invention, the preview time T is equal to the longitudinal speed V of the vehiclexAnd (4) correlating.
In specific implementation, the local path function corresponding to the local planning path can be updated in real time by updating the fitting coefficient.
The local driving path of the vehicle to the pre-aiming point can be planned through the steps 23 and 24.
And step 25, correcting the current global driving path according to the local driving path, and taking the corrected global driving path as the current global driving path.
In a specific implementation, after the local driving path is obtained, the corresponding partial path in the corresponding global driving path may be corrected according to the local driving path, and the corrected global driving path is used as the current global driving path, so that the driving path may be adjusted in real time according to an actual situation in a trajectory tracking control process of autonomous parking of the vehicle.
And 26, calculating a target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the current position and the current global driving path of the vehicle.
In a specific implementation, according to the current position of the vehicle and a planned global driving path, a pre-aiming control algorithm of a preset track tracking calculation model is adopted, and in the process of calculating the target turning angle of the steering gear, the situation of low partial path tracking precision is generated at a turning position with a large curvature through single-point pre-aiming.
In order to solve the above problems, the accuracy of calculating the target turning angle is improved, and the local driving path in a future period of time can be planned by taking the driving habit of the actual driver in the process of driving the vehicle into consideration and integrating a plurality of preview points as reference objects. In an embodiment of the present invention, integral operation is performed on the local driving route within a preset time interval, and an operation result is used as route information within a preset time length, where the preset time interval corresponds to the preset time length; and calculating the target corner of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length so as to improve the accuracy and reliability of the calculated target corner.
In specific implementation, the target rotation angle of the steering gear can be calculated by adopting a pre-aiming control algorithm of a preset trajectory tracking calculation model according to the path information within a preset time length.
In one embodiment of the present invention, the pre-aiming control algorithm of the trajectory tracking calculation model corresponds to formula (2):
Figure BDA0001270399810000171
wherein the content of the first and second substances,
Figure BDA0001270399810000172
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle;
Figure BDA0001270399810000173
the path information is within a preset time length.
And 27, calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner and the target corner of the steering gear.
In a specific implementation, the rotation angle closed-loop control algorithm in the trajectory tracking calculation model corresponds to formula (3), formula (4), formula (5), formula (6) and formula (7), and the torque of the steering motor can be calculated by using the following formulae (3) to (7):
Figure BDA0001270399810000181
Figure BDA0001270399810000182
Tq_str＝min(|S|,1)×kq； (5)
k0＝f(Δθstr)； (6)
mu＝f(Δθstr)； (7)
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000183
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
In practical application, the steering control of the steering device of the vehicle can realize active steering control by additionally arranging a driving simulator or directly controlling an electric power steering motor. The traditional Electronic Power Steering (EPS) system is controlled, the torque, the motor Power, the damping and the return torque of a Steering motor are obtained through rough calculation of the vehicle speed and the rotation angle, the requirement on the torque control precision of the Steering motor is not high, and the Steering motor torque mainly assists the road feel and the damping when a driver steers due to manual control of the rotation angle of a Steering gear. And aiming at the unmanned automobile, the steering angle precision completely depends on the torque of the steering motor, so that the requirement on the torque control precision of the steering motor is higher and the requirement on the torque capacity of the steering motor is higher.
The steering system has strong nonlinear characteristics, the torque of a single PID closed-loop corner control motor cannot meet the closed-loop control requirement of a corner, and the related problems of oscillation of a steering angle or over-slow steering speed and the like are easy to occur. Therefore, in an embodiment of the present invention, when calculating the torque of the steering motor of the steering gear, the current driving state of the vehicle is detected, the corresponding steering angle closed-loop control parameter is selected from the trajectory tracking calculation model according to the current driving state of the vehicle, and the torque of the steering motor of the steering gear is calculated according to the current steering angle of the steering gear and the target steering angle according to the selected steering angle closed-loop control parameter.
In particular implementations, the operating state of the vehicle may include: a stationary state and an operating state. When the current running state of the vehicle is a static state, according to the current running state of the vehicle, selecting a corner closed-loop control parameter corresponding to the static state from the track tracking calculation model; and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the motion state from the track tracking calculation model according to the current running state of the vehicle.
In practical application, when a vehicle is in different states, the torque provided by the steering motor required by rotating the same corner is different, and the coefficients of the algorithms corresponding to different motion states are set to different values in the trajectory tracking calculation model, so that the torque required by the vehicle in different motion states is met, and the steering control accuracy of the steering device in the autonomous parking process of the vehicle is improved.
In a specific implementation, a steering angle closed-loop control algorithm in the trajectory tracking calculation model is used to calculate a torque of a steering motor of the steering gear, detect whether a steering direction of a current steering angle of the vehicle is consistent with a steering direction of the target steering angle, and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculate a torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle. When the steering of the current steering angle of the vehicle does not coincide with the steering direction of the target steering angle, calculating a torque required for the steering motor to return the steering to the right, and after returning the steering to the right, adjusting the steering angle of the steering to the target steering angle.
And step 28, controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor.
After the torque of the steering motor is calculated, the steering gear may be controlled to turn to the target steering angle according to the calculated torque of the steering motor, so that the vehicle may be controlled to travel according to the current global travel path.
In a specific implementation, after the turning angle of the steering gear of the vehicle is adjusted according to the torque of the steering motor, the deviation between the current turning angle of the vehicle after adjustment and the target turning angle can be detected, when the deviation between the current turning angle of the vehicle after adjustment and the target turning angle does not meet the requirement, the torque of the steering motor is recalculated according to the deviation between the current turning angle and the target turning angle and the turning angle of the steering gear is adjusted according to the recalculated torque of the steering motor until the deviation between the current turning angle of the vehicle and the target turning angle meets the requirement.
In specific implementation, the adjusted actual transverse position of the vehicle can be detected, whether the requirement is met or not is judged, and when the requirement is not met, the target rotation angle of the vehicle steering device is recalculated by adopting a preview algorithm according to the current actual transverse position.
Referring to fig. 3, a flowchart of a trajectory tracking control method for autonomous parking of a vehicle according to another embodiment of the present invention is shown, and details are described below with reference to specific steps.
And step 31, acquiring the current position of the vehicle in real time.
In a specific implementation, the specific process and manner for acquiring the current position of the vehicle in real time may refer to the description in step 11 in the foregoing embodiment of the present invention, and details are not repeated here.
And step 32, planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle.
And step 33, acquiring environment information in a preset area of the vehicle, and acquiring a preview point from the environment information.
And step 34, planning a local running path of the vehicle reaching the preview point according to the preview point position, the current position of the vehicle and the current speed.
In specific implementation, a pre-aiming point position may be obtained from the obtained environmental information, and a local driving path of the vehicle to the pre-aiming point is planned according to the pre-aiming point position, the current position of the vehicle, and the current speed. In one embodiment of the invention, the local travel path of the vehicle to the pre-aiming point is calculated by adopting the formula (8):
Figure BDA0001270399810000201
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system; t is preview time;
Figure BDA0001270399810000202
is the target lateral acceleration; vy_estIs the lateral speed of the vehicle.
In an implementation, in order to improve the accuracy of trajectory tracking control of the vehicle at different vehicle speeds, the preview time may be related to the vehicle speed, i.e., T ═ f (V)x)。
The local driving path of the vehicle to the pre-aiming point can be planned through the steps 33 and 34.
And step 35, correcting the current global driving path according to the local driving path, and taking the corrected global driving path as the current global driving path.
In a specific implementation, after the planned local driving path is obtained, the current global driving path may be corrected according to the obtained local driving path, and the corrected global driving path is used as the current global driving path, so that the driving path may be adjusted in real time according to an actual situation in a trajectory tracking control process of autonomous parking of the vehicle.
And step 36, calculating a target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the current position and the current global driving path of the vehicle.
In specific implementation, a pre-aiming control algorithm of a preset trajectory tracking calculation model is adopted to calculate the target rotation angle of the steering gear.
In an embodiment of the present invention, the pre-aiming control algorithm of the preset trajectory tracking calculation model corresponds to formula (9):
Figure BDA0001270399810000211
wherein the content of the first and second substances,
Figure BDA0001270399810000212
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is the preview time; vy_estIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle; y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system.
And step 37, calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner and the target corner of the steering gear.
In a specific implementation, after the target rotation angle of the steering gear is obtained through calculation, the rotation angle closed-loop control algorithm in the trajectory tracking calculation model may be adopted to calculate the torque of the steering motor of the steering gear according to the obtained current rotation angle of the steering gear and the obtained target rotation angle.
In a specific implementation, the rotation angle closed-loop control algorithm in the trajectory tracking calculation model corresponds to formula (10), formula (11), formula (12), and formula (13), and the torque of the steering motor can be calculated by using formula (10) to formula (13):
Figure BDA0001270399810000221
Tq_str＝min(|S|,1)×kq； (11)
k0＝f(Δθstr)； (12)
mu＝f(Δθstr)； (13)
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a control coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000222
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
In a specific implementation, in order to further improve the accuracy of trajectory tracking control for autonomous parking of the vehicle, when calculating the torque of the steering motor, a corresponding steering angle closed-loop control parameter may be selected according to a current driving state of the vehicle, where the driving state of the vehicle may include a stationary state and a running state. For a specific process and principle, reference may be made to the description of the relevant parts in step 27 of the above embodiment of the present invention, and details are not described here again.
And step 38, according to the calculated torque control of the steering motor, the vehicle runs according to the current global running path.
After the torque of the steering motor is calculated, the steering gear may be controlled to turn to the target steering angle according to the calculated torque of the steering motor, so that the vehicle may be controlled to travel according to the current global travel path.
In a specific implementation, after the turning angle of the vehicle is adjusted according to the torque of the steering motor, the deviation between the current turning angle of the vehicle after adjustment and the target turning angle can be detected, when the deviation between the current turning angle of the vehicle after adjustment and the target turning angle does not meet the requirement, the torque of the steering motor is recalculated according to the deviation between the current turning angle and the target turning angle and the turning angle of the steering device is adjusted according to the recalculated torque of the steering motor until the deviation between the current turning angle of the vehicle and the target turning angle meets the requirement.
In specific implementation, the adjusted actual transverse position of the vehicle can be detected, whether the requirement is met or not is judged, and when the requirement is not met, the target rotation angle of the vehicle steering device is calculated by adopting the preview algorithm again according to the current actual transverse position.
Referring to fig. 4, a flowchart of a trajectory tracking control method for autonomous parking of a vehicle according to another embodiment of the present invention is shown, and the following detailed description is made through specific steps.
And step 41, acquiring the current position of the vehicle in real time.
In a specific embodiment, the specific method for acquiring the current position of the vehicle in real time may refer to the description in step 11 in the above embodiment of the present invention, and details are not repeated here.
And 42, planning the current global running path of the vehicle in real time according to the destination and the current position of the vehicle.
In a specific embodiment, a specific method for planning a current global driving path of the vehicle in real time according to the destination and the current position of the vehicle may refer to the description in step 12 in the above embodiment of the present invention, and details are not described here again.
And 43, calculating the target vehicle speed of the vehicle.
In specific implementation, according to the current position of the vehicle and the current global driving path, the maximum driving speed, the distance from a front obstacle to the vehicle, the driving direction of the obstacle, the speed relative to the vehicle, and the current speed of the vehicle corresponding to the current driving path are obtained, and the target vehicle speed of the vehicle is calculated by adopting a first longitudinal control algorithm in a preset trajectory tracking calculation model.
In an implementation, after determining the current position of the vehicle, the maximum vehicle speed may be set by a current global travel path provided in an electronic map. The distance from the vehicle to the front obstacle, the driving direction of the front obstacle and the speed relative to the vehicle can be obtained through a radar or a sensor mounted on the vehicle, and the speed of the vehicle can be obtained through a speed sensor mounted on the vehicle.
And inputting the acquired distance from the front obstacle to the vehicle, the driving direction of the obstacle, the speed relative to the vehicle and the current speed of the vehicle into a first longitudinal control algorithm, and calculating to obtain the target speed of the vehicle. Wherein the first longitudinal control algorithm is also referred to as a vehicle speed planning algorithm.
Specifically, according to the distance from the front obstacle to the vehicle, the driving direction of the obstacle, the speed of the obstacle relative to the vehicle and the current speed of the vehicle, the corresponding vehicle speed at which the vehicle can safely stop according to the distance from the front obstacle to the vehicle is calculated. And comparing the corresponding maximum speed on the global driving path with the corresponding vehicle speed capable of stopping, wherein the minimum one of the maximum speed and the vehicle speed is taken as the target speed.
And step 44, determining the driving direction of the vehicle according to the current global driving path.
In particular implementations, the direction of travel of the vehicle may be forward or reverse.
And step 45, selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal.
In a specific implementation, the selected second longitudinal control algorithm corresponds to a target vehicle speed of the vehicle, a current vehicle speed. A plurality of second longitudinal control algorithms are included in the trajectory tracking calculation model.
In a specific implementation, the second longitudinal control algorithm included in the trajectory tracking calculation model may be a multi-path PID control algorithm, a fuzzy control algorithm, or an open-loop control algorithm. In practical application, the type of the second vertical algorithm can be set according to practical application scenarios, precision requirements and the like.
In particular implementations, the second longitudinal control algorithms included in the trajectory tracking calculation model may respectively correspond to different target vehicle speed intervals. The second longitudinal control algorithm may also correspond to a difference interval between the current vehicle speed and the target vehicle speed.
And step 46, controlling the vehicle to run at the target speed according to the running direction according to the calculated opening degree of the accelerator pedal and the calculated opening degree of the brake pedal.
As can be seen from the above, according to the current position of the vehicle and the current global travel path, the target vehicle speed of the vehicle is calculated by using the maximum travel speed, the distance from the front obstacle to the vehicle, the travel direction of the obstacle, the speed of the vehicle relative to the obstacle, and the current speed of the vehicle corresponding to the current global travel path and using the first longitudinal control algorithm. And selecting a corresponding second longitudinal control algorithm from a preset track tracking calculation model according to the current vehicle speed and the target vehicle speed of the vehicle, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting the selected second longitudinal control algorithm. The second longitudinal control algorithm corresponds to the target speed and the current speed of the vehicle, and the corresponding second longitudinal control algorithm is selected according to the current speed and the target speed of the vehicle, so that the speed of the vehicle is controlled, and the accuracy of track tracking in the autonomous parking process of the vehicle can be improved.
In a specific implementation, when a corresponding target vehicle speed interval is selected according to the current vehicle speed and the target vehicle speed, when the target vehicle speed interval corresponding to the target vehicle speed exists, a second longitudinal control algorithm corresponding to the target vehicle speed interval is selected, and the opening degree of an accelerator pedal and the opening degree of a brake pedal are calculated by adopting the selected second longitudinal control algorithm. And when the target vehicle speed interval corresponding to the target vehicle speed does not exist, acquiring a second longitudinal control algorithm corresponding to the last target vehicle speed, and calculating the opening degree of the accelerator pedal and the opening degree of the brake pedal at the current time according to the second longitudinal control algorithm corresponding to the last target vehicle speed.
In order to avoid the jitter caused by the continuous replacement of the second longitudinal control algorithm when the target vehicle speed is at the critical point of the section, in an embodiment of the invention, the vehicle speed of each section endpoint is discontinuous when the target vehicle speed section is set.
For example, the second longitudinal control algorithm in the trajectory tracking calculation model is three-way PID control, i.e., first PID control, second PID control, and third PID control. The target vehicle speed section corresponding to the first PID control is (V1, V2), the target vehicle speed section corresponding to the second PID control is (V3, V4), and the target vehicle speed section corresponding to the third PID control is (V5, V6). Wherein V2 is less than V3, and V4 is less than V5. And the calculated target vehicle speed is V0, and when the V1 is not less than V0 is not less than V2, the first PID control is selected to calculate the opening degree of an accelerator pedal and the opening degree of a brake pedal. And when the V2 is not less than V0 is not less than V3, and the obtained last target vehicle speed corresponds to third PID control, calculating the opening degree of the accelerator pedal and the opening degree of the brake pedal by adopting the third PID control.
In a specific implementation, in the process of autonomous parking of the vehicle, the vehicle may be controlled longitudinally and also controlled transversely, where the specific process of transverse control may refer to the description in the above embodiments of the present invention, and details are not described here again. Accordingly, the vehicle may be controlled longitudinally while being controlled laterally.
In order to facilitate those skilled in the art to better understand and implement the present invention, an embodiment of the present invention further provides a trajectory tracking control device for autonomous parking of a vehicle, and a detailed description is given below to the trajectory tracking control device for autonomous parking of a vehicle with reference to a schematic structural diagram of the trajectory tracking control device for autonomous parking of a vehicle in the embodiment of the present invention given in fig. 5.
In a specific implementation, the trajectory tracking control device 50 for autonomous parking of the vehicle may include: a first position acquisition unit 51, a first global travel path planning unit 52, a target rotation angle calculation unit 53, a torque calculation unit 54, and a first control unit 55, wherein:
the first position obtaining unit 51 is adapted to obtain the current position of the vehicle in real time;
the first global driving path planning unit 52 is adapted to implement planning of a current global driving path of the vehicle according to a destination and a current position of the vehicle;
the target corner calculation unit 53 is adapted to calculate a target corner of the steering device by using a pre-aiming control algorithm in a preset trajectory tracking calculation model according to the current position and the current global driving path of the vehicle;
the torque calculation unit 54 is adapted to obtain a current corner of the steering gear, and calculate a torque of a steering motor of the steering gear by using a corner closed-loop control algorithm in the trajectory tracking calculation model according to the current corner of the steering gear and the target corner;
the first control unit 55 is adapted to controlling the vehicle to travel according to a current global travel path based on the calculated torque of the steering motor.
Referring to fig. 6, a schematic structural diagram of another trajectory tracking control device for autonomous parking of a vehicle according to an embodiment of the present invention is shown. In an implementation, on the basis of the trajectory tracking control device for autonomous parking of a vehicle provided in fig. 5, the trajectory tracking control device 50 for autonomous parking of a vehicle may further include: a local driving path planning unit 61 and a correction unit 62, wherein:
the local driving path planning unit 61 is adapted to plan a local driving path of the vehicle to a pre-aiming point according to the pre-aiming point;
the correcting unit 62 is adapted to correct the current global driving route according to the local driving route, and use the corrected global driving route as the current global driving route.
In a specific implementation, the local driving path planning unit 61 is adapted to obtain environment information in a preset area of the vehicle, and obtain a pre-aiming point from the environment information; and planning a local driving path of the vehicle reaching the preview point according to the preview time and the current vehicle speed.
In a specific implementation, the local driving path planning unit 61 is adapted to plan the local driving path of the vehicle to the preview point by using the following formula:
y(t+T)＝a(VxT)3+b(VxT)2+c(VxT)+d；
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; and T is the preview time.
In a specific implementation, the target rotation angle calculating unit 53 is adapted to perform integral operation on the local travel path within a preset time interval, and use an operation result as path information within a preset time length, where the preset time interval corresponds to the preset time length; and calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length.
In a specific implementation, the target rotation angle calculating unit 53 is adapted to calculate the target rotation angle of the steering gear by using a pre-aiming control algorithm of a trajectory tracking calculation model that is preset as follows:
Figure BDA0001270399810000271
wherein the content of the first and second substances,
Figure BDA0001270399810000272
is the target of the steering gearTurning; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle;
Figure BDA0001270399810000273
the path information is within a preset time length.
In a specific implementation, the torque calculation unit 54 is adapted to calculate the torque of the steering motor by using a rotation angle closed-loop control algorithm in the trajectory tracking calculation model:
Figure BDA0001270399810000274
Figure BDA0001270399810000275
Tq_str＝min(|S|,1)×kq；
k0＝f(Δθstr)；
mu＝f(Δθstr)；
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure BDA0001270399810000276
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
In a specific implementation, the torque calculation unit 54 is adapted to detecting a current driving state of the vehicle; selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle; and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
In a specific implementation, the torque calculating unit 54 is adapted to select a turning angle closed-loop control parameter corresponding to a stationary state when a current driving state of the vehicle is the stationary state; and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the static state.
In a concrete implementation, the torque calculation unit 54 is adapted to detecting whether the steering of the current steering angle of the vehicle coincides with the steering direction of the target steering angle; when the steering direction of the current steering angle of the vehicle is inconsistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear; and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
In a specific implementation, the trajectory tracking control device 50 for autonomous parking of the vehicle may further include: a first target vehicle speed calculation unit 63, a first direction of travel determination unit 64, and a first accelerator pedal opening and brake pedal opening calculation unit 65, wherein:
the first target vehicle speed calculation unit 63 is adapted to obtain a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle, and a current speed of the vehicle corresponding to a current global driving path according to the current position of the vehicle and the current global driving path, and calculate a target vehicle speed of the vehicle by using a first longitudinal control algorithm in a preset trajectory tracking calculation model;
the first traveling direction determination unit 64 adapted to determine a traveling direction of the vehicle based on the current global traveling path;
the first accelerator pedal opening and brake pedal opening calculating unit 65 is adapted to select a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculate an accelerator pedal opening and a brake pedal opening, where the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
the first control unit 55 is further adapted to control the vehicle to run at a target vehicle speed according to the calculated accelerator pedal opening and brake pedal opening.
In a specific implementation, the first accelerator pedal opening and brake pedal opening calculating unit 65 is adapted to select a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
In a specific implementation, the first accelerator pedal opening and brake pedal opening calculating unit 65 is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to the last target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the last target vehicle speed.
Referring to fig. 7, a trajectory tracking control apparatus for autonomous parking of a vehicle according to still another embodiment of the present invention is shown. The trajectory tracking control device 70 for autonomous parking of the vehicle may include: a second position obtaining unit 71, a second global travel path planning unit 72, a second target vehicle speed calculating unit 73, a second travel direction determining unit 74, a second accelerator pedal opening and brake pedal opening calculating unit 75, and a second control unit 76, wherein:
the second position obtaining unit 71 obtains the current position of the vehicle in real time;
the second global driving path planning unit 72 is adapted to plan a current global driving path of the vehicle in real time according to a destination and a current position of the vehicle;
the second target vehicle speed calculating unit 73 is adapted to obtain a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle, and a current speed of the vehicle corresponding to a current global driving path according to the current position of the vehicle and the current global driving path, and calculate a target vehicle speed of the vehicle by using a first longitudinal control algorithm in a preset trajectory tracking calculation model;
the second direction of travel determination unit 74. Is adapted to determine a driving direction of the vehicle based on the current global driving path;
the second accelerator pedal opening and brake pedal opening calculating unit 75 is adapted to obtain a current vehicle speed of the vehicle, select a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculate an accelerator pedal opening and a brake pedal opening, where the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
and the second control unit 76 is adapted to control the vehicle to run at the target vehicle speed according to the running direction according to the calculated opening degree of the accelerator pedal and the calculated opening degree of the brake pedal.
In a specific implementation, the second accelerator pedal opening and brake pedal opening calculating unit 75 is adapted to select a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
In a specific implementation, the second accelerator pedal opening and brake pedal opening calculating unit 75 is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to the last target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the last target vehicle speed.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (28)

1. A trajectory tracking control method for autonomous parking of a vehicle, comprising:
acquiring the current position of the vehicle in real time;
planning a current global driving path of the vehicle in real time according to a destination and the current position of the vehicle;
calculating a target corner of the steering gear by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle;
acquiring a current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner;
controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor;
the track tracking calculation model comprises one of the corner closed-loop control algorithm, the pre-aiming control algorithm, an algorithm for calculating the torque of a steering motor of the steering gear, a first longitudinal control algorithm and a second longitudinal control algorithm; the second longitudinal control algorithm comprises one of a multi-path PID control algorithm, a fuzzy control algorithm and an open-loop control algorithm;
acquiring environmental information in a preset area of the vehicle, and acquiring a preview point from the environmental information;
planning a vehicle to reach the pre-aiming point according to the pre-aiming time and the current vehicle speedA partial travel path; the planning of the local driving path of the vehicle to the preview point according to the preview time and the current vehicle speed comprises the following steps: and planning a local driving path of the vehicle to the aiming point by adopting the following formula: y (T + T) ═ a (V)xT)3+b(VxT)2+c(VxT) + d; wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; t is preview time;
and correcting the current global driving path according to the local driving path, and taking the corrected global driving path as the current global driving path.
2. The trajectory tracking control method for autonomous parking of a vehicle according to claim 1, wherein calculating a target rotation angle of a steering device by using a pre-aiming control algorithm in a preset trajectory tracking calculation model according to the current position and the current global travel path of the vehicle comprises:
performing integral operation on the local driving path within a preset time interval, and taking an operation result as path information within a preset time length, wherein the preset time interval corresponds to the preset time length;
and calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length.
3. The trajectory tracking control method for autonomous parking of a vehicle according to claim 2, wherein calculating the target rotation angle of the steering gear by using a pre-aiming control algorithm of a preset trajectory tracking calculation model according to the path information within a preset time period comprises:
Figure FDA0002990267920000021
wherein the content of the first and second substances,
Figure FDA0002990267920000022
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle;
Figure FDA0002990267920000023
the path information is within a preset time length.
4. The trajectory tracking control method for autonomous parking of a vehicle according to claim 3, wherein calculating the torque of a steering motor of the steering gear using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle and the target steering angle of the steering gear includes:
Figure FDA0002990267920000024
Figure FDA0002990267920000025
Tq_str＝min(|S|,1)×kq；
k0＝f(Δθstr)；
mu＝f(Δθstr)；
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure FDA0002990267920000026
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
5. The trajectory tracking control method for autonomous parking of a vehicle according to claim 1, wherein the planning of the local travel path of the vehicle to the pre-aiming point according to the pre-aiming point comprises:
acquiring environmental information in a preset area of the vehicle, and acquiring a preview point from the environmental information;
and planning a local running path of the vehicle to the pre-aiming point according to the pre-aiming point position, the current position of the vehicle and the current speed.
6. The trajectory tracking control method for autonomous parking of a vehicle according to claim 5, wherein the planning of the local driving path of the vehicle to the pre-aiming point according to the pre-aiming point, the current position of the vehicle and the current vehicle speed comprises:
and planning a local driving path of the vehicle to the aiming point by adopting the following formula:
Figure FDA0002990267920000031
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system; t is preview time;
Figure FDA0002990267920000032
is the target lateral acceleration; vy_estIs the lateral speed of the vehicle.
7. The trajectory tracking control method for autonomous parking of a vehicle according to claim 6, wherein calculating the target rotation angle of the steering gear by using a pre-aiming control algorithm of a preset trajectory tracking calculation model according to the current position of the vehicle and the planned driving path comprises:
Figure FDA0002990267920000033
wherein the content of the first and second substances,
Figure FDA0002990267920000034
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is the preview time; vy_estIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle; y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; y (t) is the current lateral offset of the vehicle from the origin of the vehicle coordinate system.
8. The trajectory tracking control method for autonomous parking of a vehicle according to claim 7, wherein calculating the torque of a steering motor of the steering gear using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle and the target steering angle of the steering gear includes:
Figure FDA0002990267920000041
Tq_str＝min(|S|,1)×kq；
k0＝f(Δθstr)；
mu＝f(Δθstr)；
wherein S is a control function after corner closed-loop correction; k is a radical ofdIs a control coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure FDA0002990267920000042
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
9. The trajectory tracking control method for autonomous parking of a vehicle according to claim 1, wherein the obtaining of the current steering angle of the steering gear, and calculating the torque of the steering motor of the steering gear by using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle of the steering gear and the target steering angle comprises:
detecting a current driving state of the vehicle;
selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle;
and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
10. The trajectory tracking control method for autonomous parking of a vehicle according to claim 9, wherein selecting the corresponding corner closed-loop control parameter from the trajectory tracking calculation model according to the current driving state of the vehicle includes:
when the current running state of the vehicle is a static state, selecting a corner closed-loop control parameter corresponding to the static state;
and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the motion state.
11. The trajectory tracking control method for autonomous parking of a vehicle according to claim 1, wherein obtaining a current steering angle of the steering gear, and calculating a torque of a steering motor of the steering gear using a steering angle closed-loop control algorithm in the trajectory tracking calculation model according to the current steering angle of the steering gear and the target steering angle comprises:
detecting whether the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle;
when the steering direction of the current steering angle of the vehicle is inconsistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear;
and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
12. The trajectory tracking control method for autonomous parking of a vehicle according to claim 1, further comprising, after planning a current global travel path of the vehicle in real time according to a destination and a current position of the vehicle:
acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model;
determining the driving direction of the vehicle according to the current global driving path;
selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
and controlling the vehicle to run at the target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal.
13. The trajectory tracking control method for autonomous parking of a vehicle according to claim 12, wherein selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed includes:
selecting a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed;
and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
14. The trajectory tracking control method for autonomous parking of a vehicle according to claim 13, wherein selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed further includes:
when the target vehicle speed interval corresponding to the target vehicle speed does not exist, acquiring a second longitudinal control algorithm corresponding to the last target vehicle speed;
and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the last target vehicle speed.
15. A trajectory tracking control method for autonomous parking of a vehicle, comprising:
acquiring the current position of the vehicle in real time;
planning a current global driving path of the vehicle in real time according to the destination and the current position of the vehicle;
acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; the method for calculating the target speed of the vehicle by adopting a first longitudinal control algorithm in a preset trajectory tracking calculation model comprises the following steps: according to the distance between a front obstacle and the vehicle, the driving direction of the obstacle, the speed relative to the vehicle and the current speed of the vehicle, calculating to obtain the vehicle speed corresponding to the safe stop of the vehicle under the distance between the front obstacle and the vehicle, comparing the maximum speed corresponding to the global driving path with the vehicle speed corresponding to the stop, and taking the minimum one of the maximum speed and the vehicle speed as the target vehicle speed;
determining the driving direction of the vehicle according to the current global driving path;
selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
controlling the vehicle to run at a target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal;
selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, wherein the selecting comprises the following steps:
selecting a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed;
and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
16. The trajectory tracking control method for autonomous parking of a vehicle according to claim 15, wherein selecting a corresponding second longitudinal control algorithm from the trajectory tracking calculation model according to the current vehicle speed and the target vehicle speed further comprises:
when the target vehicle speed interval corresponding to the target vehicle speed does not exist, acquiring a control algorithm corresponding to the last target vehicle speed;
and calculating the opening degree of an accelerator pedal and the opening degree of a brake pedal by adopting a second longitudinal control algorithm corresponding to the last target vehicle speed.
17. A trajectory tracking control device for autonomous parking of a vehicle, characterized by comprising: the device comprises a first position acquisition unit, a first global driving path planning unit, a target rotation angle calculation unit, a torque calculation unit and a first control unit, wherein:
the first position acquisition unit is suitable for acquiring the current position of the vehicle in real time;
the first global driving path planning unit is suitable for planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle;
the target corner calculation unit is suitable for calculating a target corner of the steering device by adopting a pre-aiming control algorithm in a preset track tracking calculation model according to the current position and the current global driving path of the vehicle;
the torque calculation unit is suitable for acquiring the current corner of the steering gear, and calculating the torque of a steering motor of the steering gear by adopting a corner closed-loop control algorithm in the track tracking calculation model according to the current corner of the steering gear and the target corner;
the first control unit is suitable for controlling the vehicle to run according to the current global running path according to the calculated torque of the steering motor;
the track tracking calculation model comprises one of the corner closed-loop control algorithm, the pre-aiming control algorithm, an algorithm for calculating the torque of a steering motor of the steering gear, a first longitudinal control algorithm and a second longitudinal control algorithm; the second longitudinal control algorithm comprises one of a multi-path PID control algorithm, a fuzzy control algorithm and an open-loop control algorithm;
the trajectory tracking control device for autonomous parking of the vehicle further includes: local driving route planning unit and correction unit, wherein:
the local driving path planning unit is suitable for planning a local driving path of the vehicle reaching a pre-aiming point according to the pre-aiming point;
the correction unit is suitable for correcting the current global driving path according to the local driving path and taking the corrected global driving path as the current global driving path;
the local driving path planning unit is also suitable for acquiring environmental information in a preset area of the vehicle and acquiring a pre-aiming point from the environmental information; planning a local running path of the vehicle to the preview point according to preview time and the current speed;
the local driving path planning unit is further adapted to plan a local driving path of the vehicle to the preview point by using the following formula:
y(t+T)＝a(VxT)3+b(VxT)2+c(VxT)+d；
wherein y (T + T) is the transverse offset distance of the preview point relative to the origin of the vehicle coordinate system; vxIs the longitudinal speed of the vehicle; a. b, c and d are fitting coefficients; and T is the preview time.
18. The trajectory tracking control device for autonomous parking of a vehicle according to claim 17, wherein the target rotation angle calculation unit is adapted to perform integral operation on the local travel path within a preset time interval, and to use an operation result as path information within a preset time duration, the preset time interval corresponding to the preset time duration; and calculating the target rotation angle of the steering gear by adopting a pre-aiming control algorithm of a preset track tracking calculation model according to the path information in the preset time length.
19. The trajectory tracking control device for autonomous parking of a vehicle according to claim 18, wherein the target rotation angle calculation unit is adapted to calculate the target rotation angle of the steering gear using a pre-aiming control algorithm of a trajectory tracking calculation model preset as follows:
Figure FDA0002990267920000091
wherein the content of the first and second substances,
Figure FDA0002990267920000092
is a target steering angle of the steering gear; i issThe angular transmission ratio of the steering gear angle to the wheel angle; l is the vehicle wheelbase; k is a radical of0Is a stability factor of the vehicle; t is0Is the starting point of the preview time; t is1The preview time end point is taken; vyIs the lateral vehicle speed of the vehicle; the V isxIs the longitudinal speed of the vehicle;
Figure FDA0002990267920000093
the path information is within a preset time length.
20. The trajectory tracking control device for autonomous parking of a vehicle according to claim 19, wherein the torque calculation unit is adapted to calculate the torque of the steering motor using a rotation angle closed-loop control algorithm in the trajectory tracking calculation model:
Figure FDA0002990267920000094
Figure FDA0002990267920000095
Tq_str＝min(|S|,1)×kq；
k0＝f(Δθstr)；
mu＝f(Δθstr)；
wherein d is a corner closed-loop control function; s is a control function after corner closed-loop correction; k is a radical ofdIs a calibration coefficient; m isuIs a correction factor; delta thetastrIs the difference between the target steering angle and the current steering angle of the steering gear;
Figure FDA0002990267920000096
steering speed for the steering gear; t isq_strIs the torque of the steering motor; k is a radical ofqIs a control coefficient.
21. The trajectory tracking control device for autonomous parking of a vehicle according to claim 17, characterized in that the torque calculation unit is adapted to detect a current running state of the vehicle; selecting corresponding corner closed-loop control parameters from the track tracking calculation model according to the current running state of the vehicle; and calculating the torque of a steering motor of the steering gear according to the current steering angle of the steering gear and the target steering angle by adopting the selected steering angle closed-loop control parameters.
22. The trajectory tracking control device for autonomous parking of a vehicle according to claim 21, wherein the torque calculation unit is adapted to select the rotation angle closed-loop control parameter corresponding to a stationary state when a current running state of the vehicle is the stationary state; and when the current running state of the vehicle is a motion state, selecting a corner closed-loop control parameter corresponding to the static state.
23. The trajectory tracking control device for autonomous parking of a vehicle according to claim 17, characterized in that the torque calculation unit is adapted to detect whether or not a steering direction of the current steering angle of the vehicle coincides with a steering direction of the target steering angle; when the steering direction of the current steering angle of the vehicle is inconsistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to correct the steering gear, and adjusting the steering angle of the steering gear to the target steering angle after correcting the steering gear; and when the steering direction of the current steering angle of the vehicle is consistent with the steering direction of the target steering angle, calculating the torque required by the steering motor to adjust the steering gear from the current steering angle to the target steering angle according to the current steering angle and the target steering angle.
24. The trajectory tracking control device for autonomous parking of a vehicle according to claim 17, characterized by further comprising:
the first target vehicle speed calculation unit is suitable for acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating a target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model;
a first driving direction determination unit adapted to determine a driving direction of the vehicle based on the current global driving path;
the first accelerator pedal opening and brake pedal opening calculating unit is suitable for selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the accelerator pedal opening and the brake pedal opening, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
and the first control unit is also suitable for controlling the vehicle to run at a target speed according to the calculated opening degrees of the accelerator pedal and the brake pedal.
25. The trajectory tracking control device for autonomous parking of a vehicle according to claim 24, wherein the first accelerator pedal opening and brake pedal opening calculation unit is adapted to select a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
26. The trajectory tracking control device for autonomous parking of a vehicle according to claim 25, wherein the first accelerator pedal opening and brake pedal opening calculation unit is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to a previous target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the previous target vehicle speed.
27. A trajectory tracking control device for autonomous parking of a vehicle, characterized by comprising: the system comprises a second position acquisition unit, a second global driving path planning unit, a second target vehicle speed calculation unit, a second driving direction determination unit, a second accelerator pedal opening and brake pedal opening calculation unit and a second control unit, wherein:
the second position acquisition unit acquires the current position of the vehicle in real time;
the second global driving path planning unit is suitable for planning the current global driving path of the vehicle in real time according to the destination and the current position of the vehicle;
the second target vehicle speed calculation unit is suitable for acquiring a maximum driving speed, a distance from a front obstacle to the vehicle, a driving direction of the obstacle, a speed relative to the vehicle and a current speed of the vehicle corresponding to the current global driving path according to the current position of the vehicle and the current global driving path, and calculating the target vehicle speed of the vehicle by adopting a first longitudinal control algorithm in a preset track tracking calculation model; the second target vehicle speed calculation unit is further adapted to calculate a vehicle speed corresponding to the vehicle capable of safely stopping according to the distance from the front obstacle to the vehicle, the obstacle traveling direction, the speed relative to the vehicle, and the current speed of the vehicle, compare the maximum speed corresponding to the global traveling path with the vehicle speed corresponding to the vehicle capable of stopping, and use the smallest one of the maximum speed and the vehicle speed as the target vehicle speed;
the second driving direction determining unit is suitable for determining the driving direction of the vehicle according to the current global driving path;
the second accelerator pedal opening and brake pedal opening calculation unit is suitable for selecting a corresponding second longitudinal control algorithm from the track tracking calculation model according to the current vehicle speed and the target vehicle speed, and calculating the accelerator pedal opening and the brake pedal opening, wherein the selected second longitudinal control algorithm corresponds to the target vehicle speed and the current vehicle speed of the vehicle;
the second control unit is suitable for controlling the vehicle to run at a target speed according to the running direction according to the calculated opening degrees of the accelerator pedal and the brake pedal;
the track tracking calculation model comprises one of a corner closed-loop control algorithm, a pre-aiming control algorithm, an algorithm for calculating the torque of a steering motor of the steering gear, a first longitudinal control algorithm and a second longitudinal control algorithm; the second longitudinal control algorithm comprises one of a multi-path PID control algorithm, a fuzzy control algorithm and an open-loop control algorithm;
and the second accelerator pedal opening and brake pedal opening calculation unit is also suitable for selecting a corresponding target vehicle speed interval according to the current vehicle speed and the target vehicle speed, and calculating the accelerator pedal opening and the brake pedal opening by adopting a second longitudinal control algorithm corresponding to the selected target vehicle speed interval.
28. The trajectory tracking control device for autonomous parking of a vehicle according to claim 27, wherein the second accelerator pedal opening and brake pedal opening calculation unit is further adapted to, when there is no target vehicle speed interval corresponding to the target vehicle speed, obtain a second longitudinal control algorithm corresponding to a previous target vehicle speed, and calculate the accelerator pedal opening and the brake pedal opening by using the second longitudinal control algorithm corresponding to the previous target vehicle speed.
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