CN109002040A - Vehicle automatic control method, device and computer readable storage medium - Google Patents
Vehicle automatic control method, device and computer readable storage medium Download PDFInfo
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- CN109002040A CN109002040A CN201810892522.5A CN201810892522A CN109002040A CN 109002040 A CN109002040 A CN 109002040A CN 201810892522 A CN201810892522 A CN 201810892522A CN 109002040 A CN109002040 A CN 109002040A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a kind of vehicle automatic control method, device and computer readable storage mediums.Wherein this method is in automatic driving vehicle, comprising: plans the three-dimensional automatic Pilot path of vehicle；According to the three-dimensional automatic Pilot path, the steering curve of the vehicle is obtained；According to position of the vehicle in the three-dimensional automatic Pilot path, the steering angle of the vehicle at this location is determined using the steering curve；And according to the steering angle, control the steering in the position of the vehicle.The automatic control mode of the embodiment of the present invention can rapidly and accurately obtain steering angle.
Description
Technical field
The present invention relates to Vehicular automatic driving technology more particularly to a kind of vehicle automatic control methods, device and computer
Readable storage medium storing program for executing.
Background technique
In recent years, automatic Pilot technology is gradually risen, and becomes hot spot.So-called automatic Pilot refers to the participation for being not required to very important person,
And the running track of vehicle is automatically controlled by computer system, such as automatically control the speed, acceleration of vehicle, steering,
Parking etc..In automatic Pilot, how vehicle can be travelled along desired trajectory to be controlled such that the steering of vehicle
It is very important problem.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle automatic control method, device and computer readable storage mediums.
Embodiments of the present invention provide a kind of vehicle automatic control method, are used in automatic driving vehicle, the side
Method includes: to plan the three-dimensional automatic Pilot path of vehicle；According to the three-dimensional automatic Pilot path, the steering of the vehicle is obtained
Curve；According to position of the vehicle in the three-dimensional automatic Pilot path, the vehicle is determined using the steering curve
Steering angle at this location；And according to the steering angle, control the steering in the position of the vehicle.
Wherein, according to the three-dimensional automatic Pilot path, obtain the vehicle steering curve include: by it is described it is three-dimensional from
Dynamic driving path is projected in two-dimensional surface, to obtain the steering curve of the vehicle.
Wherein, the position according to the vehicle in the three-dimensional automatic Pilot path, utilizes the steering curve
Determine that the steering angle of the vehicle at this location includes: to convert to the steering curve, to obtain each point in path
Relationship between steering angle and speed；And according to the relationship, the speed by the vehicle in the position exports the vehicle
Steering angle at the position.
Wherein, according to the steering angle, the steering in the position for controlling the vehicle includes: to obtain the steering angle
Compensation rate；The steering angle is compensated using the compensation rate of the steering angle, with control the vehicle in the position
It turns to.
Wherein, the compensation rate for obtaining the steering angle, comprising: according to speed of the vehicle at the position and
Simulation control is carried out to whole vehicle model by the steering angle that the steering curve obtains, to obtain the observation ginseng of the vehicle
Number；And calculated using observed parameter and turn to compensation, to obtain the compensation rate of the steering angle；Wherein, the observed parameter packet
It includes: yaw velocity, side slip angle and/or acceleration.
The embodiment of the invention also provides a kind of vehicle automatic control devices, are used in automatic driving vehicle, described device
It include: planning module, for planning the three-dimensional automatic Pilot path of vehicle；Steering curve generation module, for according to described three
Automatic Pilot path is tieed up, the steering curve of the vehicle is obtained；Steering angle computing module is used for according to the vehicle described three
The position in automatic Pilot path is tieed up, determines the steering angle of the vehicle at this location using the steering curve；And control
Molding block, for controlling the steering in the position of the vehicle according to the steering angle.
Wherein, the steering curve generation module, is specifically used for: it is flat that the three-dimensional automatic Pilot path is projected on two dimension
In face, to obtain the steering curve of the vehicle.
Wherein, the steering angle computing module includes: converter unit, for being converted to the steering curve, with
Relationship into path between the steering angle and speed of each point；And lead-out unit, for being existed by the vehicle according to the relationship
Speed at the position exports steering angle of the vehicle at the position.
Wherein, the control module, comprising: acquiring unit, for obtaining the compensation rate of the steering angle；And control is single
Member compensates the steering angle for the compensation rate using the steering angle, to control turning in the position for the vehicle
To.
The embodiment of the invention also provides a kind of computer readable storage mediums, can be readable by a computer and hold for storing
Capable computer program enables to the computer to hold when the computer program is loaded and executed by the computer
The above-mentioned vehicle automatic control method of row.
The beneficial effects of the present invention are:
The embodiment of the present invention obtains steering curve by the three-dimensional path planned, then directly obtains vehicle by steering curve
Steering angle on certain position, and the steering of vehicle is controlled according to the steering angle in turn.Such control mode can be quick
And it is accurately realized the course changing control of vehicle.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of vehicle automatic control method；
Fig. 2 is the schematic diagram in three-dimensional automatic Pilot path；
Fig. 3 A be Fig. 2 automatic Pilot path X/Y plane projection schematic diagram；
Fig. 3 B is the schematic diagram of another embodiment of steering curve；
Fig. 4 is the flow diagram of the embodiment of step 105 in Fig. 1；
Fig. 5 is the flow diagram of the embodiment of step 107 in Fig. 1；
Fig. 6 is the schematic diagram for turning to the process of compensation；
Fig. 7 is the structural schematic diagram of the embodiment of vehicle automatic control device of the invention；
Fig. 8 is the structural schematic diagram of the embodiment of the steering angle computing module in Fig. 7；
Fig. 9 is the structural schematic diagram of the embodiment of the control module in Fig. 7.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to each reality of the invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order to make the reader understand this application better, many technical details are proposed.But even if without these technical details and base
In the various changes and modifications of following embodiment, each claim of the application technical side claimed also may be implemented
Case.
As shown in Figure 1, being a kind of flow diagram of the embodiment of vehicle automatic control method.Wherein, the control method
It can be used in automatic driving vehicle.Specifically, which is mainly used for controlling the steering of vehicle, since vehicle is in reality
It in traveling, and not always along straight-line travelling, therefore will be very along desired trajectory traveling for vehicle to the course changing control of vehicle
Significant.It is understood that in automatic control, the control to vehicle includes many aspects, such as speed control etc., and
Course changing control mentioned in this article can realize the automatic control of vehicle in conjunction with other control modes to vehicle.
As shown in Figure 1, the vehicle automatic control method comprises the following processes:
Firstly, planning the three-dimensional automatic Pilot path of vehicle at step 101.
Secondly, according to the three-dimensional automatic Pilot path of planning, obtaining the steering curve of vehicle at step 103.
Again, at step 105, according to the position of vehicle in the paths, in the position using steering curve export vehicle
The steering angle at place.
Finally, according to derived steering angle, controlling steering of the vehicle at above-mentioned position at step 107.
In above process, steering curve is obtained via three-dimensional path, then in conjunction with the physical location of vehicle in the paths
Vehicle is obtained in the steering angle of this position, to control the steering of vehicle according to obtained steering angle.Such control mode,
It is easily achieved and can quickly and accurately realize the course changing control of vehicle, ensure that vehicle can be travelled by predefined paths.
In the following, the details to above-mentioned steps is described in detail, it should be noted that following datail descriptions are merely to make
Above-mentioned autocontrol method can more easily be realized by obtaining those skilled in the art, rather than be limitation of the present invention.
In above-mentioned step 101, the driving path of vehicle can be planned according to starting point and destination.It needs to illustrate
It is that the driving path of vehicle is three-dimensional, it can indicated by xyz three-dimensional system of coordinate.As shown in Fig. 2, being the three-dimensional of simulation
Automatic Pilot path, wherein can indicate an automatic Pilot path by the curve of A point to B point.And stain or black in figure
Block region indicates the barrier in path, and in practice, the three-dimensional driving path of planning needs to get around barrier.
Practical three-dimensional automatic Pilot path in Fig. 2 is the three-dimensional vehicle route risen, bent in the projection of X-Y plane
Line is the steering curve of vehicle.That is, three-dimensional automatic Pilot path is in the drop shadow curve of X-Y plane and the steering of vehicle
Angle is directly related.Therefore, in above-mentioned steps 103, the steering curve for obtaining vehicle may include: by three-dimensional automatic Pilot path
It is projected in two-dimensional surface, to obtain the steering curve of vehicle.For example, shown in Fig. 2 three-dimensional flat in XY from curve is driven
The projection in face can be as shown in Figure 3A.
Since steering curve is related to the steering angle of vehicle, in step 105, the steering curve of vehicle can use
Export the steering angle of vehicle.For certain situations, steering curve meets function curve requirement, i.e. corresponding one an of independent variable because
The curve of variable can be expressed as function curve, the i.e. corresponding Vehicular turn δ of an independent variable x.For example, the steering of Fig. 3 A is bent
Line can be represented by the following equation:
Y=-0.0028x4+0.0082x3-0.1122x2+0.0059x+4.9997
Its corresponding curvature estimation formula are as follows:
Using the curvature estimation formula, then steering angle of the available vehicle in x.
But in some cases, steering curve (drop shadow curve) and it is unsatisfactory for function curve, such as shown in Fig. 3 B, example
Tetra- points of A, B, C and D have such as been corresponded to as x=0.6.At this point, caning be found that A, B, C and D using above-mentioned curvature estimation formula
4 points of amount of curvature is equal, but it can clearly be seen that the curvature of four points is unequal from figure.Therefore, it is necessary to above-mentioned
Formula is modified.
Specifically, vehicle along planning path once travel, speed and time determine a unique coordinate points, that is, sit
Mark x and y can regard the function of Vehicle Speed and time as, i.e., write publicity (1) as polar form:
Due to geometric locus continuous and derivable, then its form that can be converted formula (2), and can lead everywhere, then the time is asked
Local derviation, and bring formula (1) into and converted, it converts an accepted way of doing sth (3).
Local derviation about speed is asked to formula (3), is obtained:
It willReplacementInstead ofIt brings into formula (4), can obtain:
It is available according to formula (5):
In formula, l is wheelbase, and speed v is projection speed of the real-time speed of vehicle in X-Y plane, it may be assumed that
V=v0cosθpitch (7)
In formula,
θpitch--- vehicle attitude angle, rad.
Vehicle is unique in the attitude angle size of each point, and attitude angle is defined as three-dimensional track in the drop shadow curve of X-Z plane
Each point tangential angle.
Drop shadow curve to three-dimensional track in X-Z plane is fitted using z1=polyfit (x, z, 4), obtains curve
Equation are as follows:
Z=-0.4x2+5 (8)
The vehicle attitude angle size of each point are as follows:
Z '=- 0.8x (9)
Three-dimensional path for having planned is shown by formula (9) (10), by projecting path, obtains turning with vehicle
To relevant curve, convert to curve the relationship of available vehicle steering angle and speed and path each point, as long as that is,
Vehicle reaches certain point in real time, and the steering angle of vehicle has made a reservation for.
Generally, as shown in figure 4, step 105 can specifically include:
Step 401: steering curve is converted, to obtain the relationship in path between the steering angle and speed of each point,
Such as formula (1) is to the conversion process of formula (6).And
Step 403: according to the relationship, the steering angle of vehicle at this location is exported according to the speed of vehicle present position,
It is specifically shown in formula (6).
In above-mentioned step 107, the steering of vehicle can be directly controlled using steering angle.In addition, in some implementations
In mode, the compensation rate of steering angle can also be first sought, recycles compensated steering angle then to control the steering of vehicle.Example
Such as, as shown in figure 5, above-mentioned step 107 can include: with a more step
Step 501, the compensation rate of steering angle is obtained.And
Step 502: steering angle is compensated using the compensation rate of steering angle, to control the steering of vehicle.
In above-mentioned steps 501, when vehicle is in certain position, can use the speed of vehicle in the position with by turning to
The steering angle that curve obtains carries out simulation control to whole vehicle model, thus obtain a series of observation parameter, such as vehicle
Yaw velocity, side slip angle and/or acceleration, etc..Then it is calculated using these parameters and turns to compensation rate, to utilize
The compensation rate compensates steering angle.The process can be with as shown in fig. 6, for example in Fig. 6, using vehicle velocity V 0 and steering angle sigma as whole
Then the yaw velocity of output is observed in the input of vehicle model, side slip angle and/or acceleration etc. observe parameter, and by seeing
Parameter is examined to calculate and turn to compensation to compensate to steering angle sigma.
In addition to above method process, the embodiment of the invention also provides a kind of vehicle automatic control devices, for driving automatically
It sails in vehicle.Many details of the vehicle automatic control device describe in preceding method process, therefore this part is only listed
The main contents of the control device, and ignore datail description.
As shown in fig. 7, the automatic control device includes: planning module 701, for planning the three-dimensional automatic Pilot road of vehicle
Diameter；Steering curve generation module 702, for obtaining the steering curve of the vehicle according to the three-dimensional automatic Pilot path；Turn
It is bent using the steering for the position according to the vehicle in the three-dimensional automatic Pilot path to angle computing module 703
Line determines the steering of the vehicle at this location；And control module 704, for controlling the vehicle according to the steering angle
The steering in the position.
Wherein, the steering curve generation module 702, is specifically used for: the three-dimensional automatic Pilot path is projected on two
In dimensional plane, to obtain the steering curve of the vehicle.
Wherein, as shown in figure 8, the steering angle computing module 703 includes: converter unit 7031, for the steering
Curve is converted, to obtain the relationship in path between the steering angle and speed of each point；And lead-out unit 7032, it is used for root
According to the relationship, steering angle of the vehicle at the position is exported in the speed of the position by the vehicle.
Wherein, as shown in figure 9, the control module 704, comprising: acquiring unit 7041, for obtaining the steering angle
Compensation rate；And control unit 7042, the steering angle is compensated for the compensation rate using the steering angle, described in control
The steering in the position of vehicle.
Above-mentioned automatic control device obtains steering curve via three-dimensional path, then in conjunction with the reality of vehicle in the paths
Border position obtains vehicle in the steering angle of this position, to control the steering of vehicle according to obtained steering angle.Such control
Mode processed, it is easy to accomplish and can quickly and accurately realize the course changing control of vehicle, it ensure that vehicle can be by predetermined road
Diameter traveling.
It is noted that it is involved in the present invention to each module be can for logic module, in practical applications, one
A logic unit can be a physical unit, be also possible to a part of a physical unit, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude innovative part of the invention, it will not be with solution institute of the present invention in present embodiment
The technical issues of proposition, the less close unit of relationship introduced, but this does not indicate that there is no other single in present embodiment
Member.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above embodiment method, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated between
In matter, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be
Magnetic disk, CD, read-only memory (Read-OnlyMemory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Finally, it is stated that applying herein, a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (10)
1. a kind of vehicle automatic control method, in automatic driving vehicle, which is characterized in that the described method includes:
Plan the three-dimensional automatic Pilot path of vehicle；
According to the three-dimensional automatic Pilot path, the steering curve of the vehicle is obtained；
According to position of the vehicle in the three-dimensional automatic Pilot path, determine that the vehicle exists using the steering curve
Steering angle at the position；And
According to the steering angle, the steering in the position of the vehicle is controlled.
2. vehicle automatic control method as described in claim 1, which is characterized in that according to the three-dimensional automatic Pilot path,
The steering curve for obtaining the vehicle includes:
The three-dimensional automatic Pilot path is projected in two-dimensional surface, to obtain the steering curve of the vehicle.
3. vehicle automatic control method as described in claim 1, which is characterized in that it is described according to the vehicle in the three-dimensional
Position in automatic Pilot path determines that the steering angle of the vehicle at this location includes: using the steering curve
The steering curve is converted, to obtain the relationship in path between the steering angle and speed of each point；And
According to the relationship, steering angle of the vehicle at the position is exported in the speed of the position by the vehicle.
4. vehicle automatic control method as described in claim 1, which is characterized in that according to the steering angle, control the vehicle
The steering in the position include:
Obtain the compensation rate of the steering angle；
The steering angle is compensated, using the compensation rate of the steering angle to control the steering in the position of the vehicle.
5. vehicle automatic control method as claimed in claim 4, which is characterized in that the compensation for obtaining the steering angle
Amount, comprising:
According to speed of the vehicle at the position and the steering angle obtained by the steering curve to whole vehicle model
Simulation control is carried out, to obtain the observed parameter of the vehicle；And
It is calculated using the observed parameter and turns to compensation, to obtain the compensation rate of the steering angle；
Wherein, the observed parameter includes: yaw velocity, side slip angle and/or acceleration.
6. a kind of vehicle automatic control device, in automatic driving vehicle, which is characterized in that described device includes:
Planning module, for planning the three-dimensional automatic Pilot path of vehicle；
Steering curve generation module, for obtaining the steering curve of the vehicle according to the three-dimensional automatic Pilot path；
Steering angle computing module utilizes described turn for the position according to the vehicle in the three-dimensional automatic Pilot path
The steering angle of the vehicle at this location is determined to curve；And
Control module, for controlling the steering in the position of the vehicle according to the steering angle.
7. vehicle automatic control device as claimed in claim 6, which is characterized in that the steering curve generation module, specifically
For:
The three-dimensional automatic Pilot path is projected in two-dimensional surface, to obtain the steering curve of the vehicle.
8. vehicle automatic control device as claimed in claim 6, which is characterized in that the steering angle computing module includes:
Converter unit, for being converted to the steering curve, to obtain in path between the steering angle and speed of each point
Relationship；And
Lead-out unit, for according to the relationship, the speed by the vehicle in the position to export the vehicle in institute's rheme
Set the steering angle at place.
9. vehicle automatic control device as claimed in claim 6, which is characterized in that the control module, comprising:
Acquiring unit, for obtaining the compensation rate of the steering angle；And
Control unit compensates the steering angle for the compensation rate using the steering angle, with control the vehicle in institute
The steering that rheme is set.
10. a kind of computer readable storage medium, for storing the computer program that can be read and executed by a computer, when described
When computer program is loaded and executed by the computer, the computer is enabled to execute as any in claim 1~6
Vehicle automatic control method described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810892522.5A CN109002040A (en) | 2018-08-07 | 2018-08-07 | Vehicle automatic control method, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810892522.5A CN109002040A (en) | 2018-08-07 | 2018-08-07 | Vehicle automatic control method, device and computer readable storage medium |
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Family
ID=64595658
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