CN110171416A - Vehicle travel control method, device, computer-readable medium and electronic equipment - Google Patents
Vehicle travel control method, device, computer-readable medium and electronic equipment Download PDFInfo
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- CN110171416A CN110171416A CN201811137065.5A CN201811137065A CN110171416A CN 110171416 A CN110171416 A CN 110171416A CN 201811137065 A CN201811137065 A CN 201811137065A CN 110171416 A CN110171416 A CN 110171416A
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- vehicle
- deviation
- travel track
- target
- target travel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/10—Path keeping
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
Abstract
The embodiment provides a kind of vehicle travel control method, device, computer-readable medium and electronic equipments.The vehicle travel control method includes: target travel track and the vehicle movement information for obtaining vehicle；According to the target travel track and vehicle movement information, the second deviation between the actual heading and bogey heading of the first deviation and vehicle between the actual travel track and target travel track of vehicle in the process of moving is calculated；According to first deviation and second deviation, the corner control amount controlled the steering wheel of vehicle is determined；Based on the corner control amount, the vehicle is controlled.The technical solution of the embodiment of the present invention is it is contemplated that deviation between deviation and actual travel track and target travel track between actual heading and bogey heading in vehicle travel process controls vehicle, it not only realizes simply, but also can be improved the accuracy of vehicle control.
Description
Technical field
The present invention relates to computer and automatic control technology field, in particular to a kind of vehicle travel control method,
Device, computer-readable medium and electronic equipment.
Background technique
In the motion control of autonomous driving vehicle, usually by the crosswise joint of vehicle and it is longitudinally controlled carry out decoupling point
It does not control, wherein crosswise joint is an important factor for determining autonomous driving vehicle motion control effects superiority and inferiority.But the relevant technologies
The transverse movement control algolithm of the autonomous driving vehicle of middle proposition control precision when realizing is lower, can not achieve the essence to automobile
Really control.
Summary of the invention
The embodiment provides a kind of vehicle travel control method, device, computer-readable medium and electronics to set
It is standby, and then the accurate control to vehicle driving may be implemented at least to a certain extent.
Other characteristics and advantages of the invention will be apparent from by the following detailed description, or partially by the present invention
Practice and acquistion.
According to an aspect of an embodiment of the present invention, a kind of vehicle travel control method is provided, comprising: obtain vehicle
Target travel track and vehicle movement information；According to the target travel track and the vehicle movement information, the vehicle is calculated
The reality of the first deviation and the vehicle between actual travel track and the target travel track in the process of moving
The second deviation between border course and bogey heading；According to first deviation and second deviation, determine to the vehicle
The corner control amount that is controlled of steering wheel；Based on the corner control amount, the vehicle is controlled.
According to an aspect of an embodiment of the present invention, a kind of controlling device for vehicle running is provided, comprising: acquiring unit,
For obtaining target travel track and the vehicle movement information of vehicle；First processing units, for according to the target travel rail
Mark and the vehicle movement information calculate the actual travel track of the vehicle in the process of moving and the target travel track
Between the first deviation and the vehicle actual heading and bogey heading between the second deviation；The second processing unit is used
According to first deviation and second deviation, the corner control amount controlled the steering wheel of the vehicle is determined；
Control unit controls the vehicle for being based on the corner control amount.
In some embodiments of the invention, aforementioned schemes are based on, the first processing units include: first determining single
Member, for determining the current location of the vehicle according to the location information for including in the vehicle movement information；Second determines list
Member, for according to the target travel track and the current location, determine on the target travel track with the present bit
It sets apart from nearest target position；Third determination unit, for determining according to the target travel track and the target position
The pre- of the vehicle takes aim at a position；First computing unit, for based on the current location, the target position and described pre- taking aim at
Point position, calculate between the actual travel track and the target travel track of the vehicle in the process of moving first partially
Difference.
In some embodiments of the invention, aforementioned schemes are based on, if second determination unit is configured that the target
Driving trace include multiple discrete loci points, then calculate separately between the multiple discrete loci point and the current location away from
From using the discrete loci point nearest apart from the current location as the target position；If the target travel track is to connect
Continuous track, then according to the corresponding lopcus function of the continuous path calculate the current location with it is each on the lopcus function
The distance between point relationship, determines the target position according to the distance relation.
In some embodiments of the invention, aforementioned schemes are based on, the third determination unit is configured that according to the mesh
Cursor position chooses the position between the target position at a predetermined distance in the direction of advance of the target travel track
Pre- a position is taken aim at as described, wherein the preset distance is the distance that the vehicle travels in scheduled duration.
In some embodiments of the invention, aforementioned schemes are based on, first computing unit, which is configured that described in calculating, works as
First error, the current location and pre- second taken aim between a position between front position and the target position are missed
Difference and the target position and the pre- third error taken aim between a position；It is missed according to the first error, described second
The poor and described third error calculates first deviation.
In some embodiments of the invention, aforementioned schemes are based on, first computing unit is configured to through following public affairs
Formula calculates first deviation:
Wherein, Δ d indicates first deviation；Δd1Indicate the first error；Δd2Indicate second error；Δ
d3Indicate the third error.
In some embodiments of the invention, aforementioned schemes are based on, the first processing units include: the 4th determining single
Member, for determining the actual heading of the vehicle according to the course angle information for including in the vehicle movement information；5th determines
Unit determines the vehicle for the pre- tangential direction for taking aim at a position on the target travel track according to the vehicle
Bogey heading；Second computing unit, for calculating the difference between the actual heading of the vehicle and the bogey heading, with
Obtain second deviation.
In some embodiments of the invention, aforementioned schemes are based on, described the second processing unit includes: that third calculates list
Member, for calculating the feedback control amount controlled the steering wheel according to first deviation and second deviation；It is folded
Add unit, for the feedforward control amount controlled the steering wheel and the feedback control amount to be overlapped, to obtain
The corner control amount that the steering wheel of the vehicle is controlled.
In some embodiments of the invention, aforementioned schemes are based on, the third computing unit is configured that obtaining position misses
Poor gain and course error gain；Using the location error gain as the weight of first deviation, by the course error
Weight of the gain as second deviation is weighted summation to first deviation and second deviation, obtains the sum value；
Described and value and scheduled feedback control gain product is calculated, using the opposite number of the product as the feedback control amount.
In some embodiments of the invention, aforementioned schemes are based on, the third computing unit is also used to: according to the vehicle
It is pre- take aim at a position, determine the pre- curvature for taking aim at a position on the target travel track；Pre- point is taken aim at according to described
The car speed for including in the curvature and the vehicle movement information on the target travel track is set, institute's rheme is calculated
Set Error Gain and the course error gain.
In some embodiments of the invention, aforementioned schemes are based on, the third computing unit is configured to through following public affairs
Formula calculates the location error gain and course error gain:
Wherein, A indicates the location error gain；B indicates the course error gain；UxIndicate the longitudinal direction of the vehicle
Speed；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle；c1、c2、c3、c4、c5、c6And c7
Indicate constant.
In some embodiments of the invention, aforementioned schemes, the controlling device for vehicle running further include: the 4th are based on
Computing unit, for being calculated by the following formula the feedforward control amount controlled the steering wheel:
Wherein, Frd indicates the feedforward control amount；L indicates that the wheelbase of the vehicle, lf indicate that the center of gravity of the vehicle arrives
The distance in front-wheel axle center, lr indicate the center of gravity of the vehicle to the distance of rear-wheel, and m indicates the quality of the vehicle, and Cf indicates institute
The cornering stiffness of the front tyre of vehicle is stated, Cr indicates the cornering stiffness of the rear tyre of the vehicle, UxIndicate the vehicle
Longitudinal velocity；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle.
In some embodiments of the invention, aforementioned schemes are based on, described control unit is configured that based on the corner control
The assigned direction and specified angle that amount processed is included, the steering wheel for controlling the vehicle are described specified towards assigned direction rotation
Angle.
According to an aspect of an embodiment of the present invention, a kind of computer-readable medium is provided, computer is stored thereon with
Program realizes such as above-mentioned vehicle travel control method as described in the examples when the computer program is executed by processor.
According to an aspect of an embodiment of the present invention, a kind of electronic equipment is provided, comprising: one or more processors；
Storage device, for storing one or more programs, when one or more of programs are held by one or more of processors
When row, so that one or more of processors realize such as above-mentioned vehicle travel control method as described in the examples.
In the technical solution provided by some embodiments of the present invention, by according to the target travel track of vehicle and vehicle
Motion information calculates the first deviation between the actual travel track and target travel track of vehicle in the process of moving, with
And the second deviation between the actual heading and bogey heading of vehicle, and then determined based on first deviation and the second deviation to vehicle
The corner control amount that is controlled of steering wheel, to be controlled based on the corner control amount vehicle, so as to vehicle
When carrying out crosswise joint, it is contemplated that deviation and reality between actual heading and bogey heading in vehicle travel process
Deviation between driving trace and target travel track, and then by both Preference-Deviation Mappings to the control to steering wheel for vehicle,
It not only realizes simply, but also can be improved the accuracy of vehicle control, while there is stronger universality, it can be in various types
Vehicle on promoted.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.It should be evident that the accompanying drawings in the following description is only the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.In the accompanying drawings:
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention；
Fig. 2 diagrammatically illustrates the flow chart of vehicle travel control method according to an embodiment of the invention；
Fig. 3 diagrammatically illustrates the actual travel of calculating vehicle according to an embodiment of the invention in the process of moving
The flow chart of the first deviation between track and target travel track；
Fig. 4 diagrammatically illustrate it is according to an embodiment of the invention calculate vehicle actual heading and bogey heading it
Between the second deviation flow chart；
Fig. 5 shows the course angle schematic diagram of vehicle according to an embodiment of the invention；
Fig. 6 diagrammatically illustrates determination according to an embodiment of the invention and turns to what the steering wheel of vehicle was controlled
The flow chart of angle control amount；
Fig. 7 diagrammatically illustrates the feedback control according to an embodiment of the invention for calculating and being controlled steering wheel
The flow chart of amount；
Fig. 8 diagrammatically illustrates the flow chart of vehicle travel control method according to an embodiment of the invention；
Fig. 9 show it is according to an embodiment of the invention by vehicle kinematics model simplification be two-wheeled cycle model
Schematic diagram；
Figure 10 diagrammatically illustrates the block diagram of controlling device for vehicle running according to an embodiment of the invention；
Figure 11 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the present invention will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to the embodiment of the present invention.However,
It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced without one or more in specific detail,
Or it can be using other methods, constituent element, device, step etc..In other cases, it is not shown in detail or describes known side
Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Block diagram shown in the drawings is only functional entity, not necessarily must be corresponding with physically separate entity.
I.e., it is possible to realize these functional entitys using software form, or realized in one or more hardware modules or integrated circuit
These functional entitys, or these functional entitys are realized in heterogeneous networks and/or processor device and/or microcontroller device.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all content and operation/step,
It is not required to execute by described sequence.For example, some operation/steps can also decompose, and some operation/steps can close
And or part merge, therefore the sequence actually executed is possible to change according to the actual situation.
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention.
As shown in Figure 1, deviateing target travel track since vehicle 101 will appear actual travel track in the process of moving
There is traveling deviation between situation, i.e. actual travel track and target travel track, therefore traveling control is being carried out to vehicle 101
When, vehicle position information can be detected by the positioning device 102 being mounted on vehicle 101, attitude transducer 103 detects course
Angle information and velocity sensor 104 detect velocity information, then by controller 105 according to the target travel track of vehicle 101
The information detected with each sensor calculates the actual travel track and target travel track of vehicle 101 in the process of moving
Between the first deviation, and calculate the second deviation between the actual heading and bogey heading of vehicle 101, then according to this first
Deviation and the second deviation determine the corner control amount controlled the steering wheel of vehicle 101, and then are based on the corner control amount
Vehicle is controlled.Such as if it is determined that the corner control amount controlled to the steering wheel of vehicle 101 is to rotate clockwise 5 °,
The steering wheel that then vehicle 101 can be controlled based on the corner control amount rotates clockwise 5 °, to realize that the transverse direction to vehicle 101 is controlled
System.
It should be noted that vehicle travel control method provided by the embodiment of the present invention can be controlled as shown in Fig. 1
Device 105 processed executes, and correspondingly, controlling device for vehicle running can be set in controller 105.Wherein, controller 105 can be set
It sets in the inside of vehicle 101, and then is controlled by steering wheel of the controller 105 to vehicle 101, to realize to vehicle 101
Crosswise joint.
The realization details of the technical solution of the embodiment of the present invention is described in detail below:
Fig. 2 diagrammatically illustrates the flow chart of vehicle travel control method according to an embodiment of the invention, the vehicle
Travel control method can be executed by the equipment with operation processing function, which can be control shown in Fig. 1
Device 105.Referring to shown in Fig. 2, which includes at least step S210 to step S240, is described in detail as follows:
In step S210, target travel track and the vehicle movement information of vehicle are obtained.
In one embodiment of the invention, the target travel track of vehicle can be set by user, or can be
It is automatically generated according to the destination that the homeposition of user and user are selected.Vehicle movement information includes the course angle letter of vehicle
Breath, the travel speed of vehicle, the location information of vehicle etc., vehicle movement information can be examined by the sensor being installed on vehicle
It measures, the sensor being installed on vehicle may include attitude transducer (for detecting the course angle information of vehicle), speed
Sensor (for detecting the travel speed of vehicle), positioning device (for detecting the location information of vehicle) etc..
With continued reference to shown in Fig. 2, in step S220, according to the target travel track and the vehicle movement information,
Calculate the first deviation between the actual travel track and the target travel track of vehicle in the process of moving and the vehicle
Actual heading and bogey heading between the second deviation.
In one embodiment of the invention, course indicate vehicle travel speed relative to preset coordinates system horizontal axis (or
Person is relative to the earth arctic) direction.Wherein it is possible to which the course angle information that is detected by attitude transducer determines vehicle
Actual heading, can also using vehicle it is pre- take aim at tangential direction of the position on target travel track as vehicle target navigate
To.
In an embodiment of the present invention, vehicle unavoidably will appear in the process of moving deviates asking for target travel track
Topic, in order to realize the accurate control to vehicle driving, can calculate reality according to the vehicle movement information that sensor detects
The first deviation between driving trace and target travel track and the second deviation between actual heading and bogey heading, with
The driving process for adjusting vehicle based on first deviation and the second deviation illustrates how to calculate individually below above-mentioned first partially
Difference and the second deviation:
Calculate the embodiment of the first deviation between actual travel track and target travel track:
In one embodiment of the invention, as shown in figure 3, calculate vehicle actual travel track in the process of moving with
The process of the first deviation between target travel track includes the following steps S310 to step S340:
In step s310, the current location of the vehicle is determined according to the location information for including in vehicle movement information.
In an embodiment of the present invention, location information can be GPS (Global Positioning System, the whole world be fixed
Position system) location information, for example the location information of vehicle can be obtained by the GPS positioning device being installed on vehicle, into
And the current location of vehicle can be determined based on the location information.
In step s 320, according to target travel track and the current location, determine on the target travel track with
The current location is apart from nearest target position.
In one embodiment of the invention, if target travel track includes multiple discrete loci points, such as target travel
Track is made of multiple discrete loci points, then the current location of this multiple discrete loci points and vehicle can be calculated separately
The distance between, then using the discrete loci point nearest apart from current location as the target position.
In another embodiment of the present invention, if target travel track is continuous path, for example target trajectory is by rail
The track that trace function defines, then can be calculated on current location and lopcus function according to the corresponding lopcus function of the continuous path
The distance between each point relationship, and relationship determines the target position according to this distance.It specifically, can be according to track letter
Number determines the coordinate of a point on lopcus function, then calculates the distance between the coordinate of the point and the coordinate of current location,
The distance between the point of current location and lopcus function relationship is obtained, it is corresponding when then determining that distance is minimum by the distance relation
Lopcus function on point, and using the point as the target position nearest apart from current location.
With continued reference to shown in Fig. 3, in step S330, according to the target travel track and the target position, determine
The pre- of the vehicle takes aim at a position.
In one embodiment of the invention, it can be chosen in the direction of advance of target travel track and the target position
A position is taken aim at as pre- in position between setting at a predetermined distance, wherein preset distance is what vehicle travelled in scheduled duration
Distance.It should be noted that vehicle traveling direction represented by the direction of advance of target travel track, that is, target travel track, in advance
Timing length can be 1 second, for example the travel speed of vehicle is 5 meter per seconds, then can will be in the direction of advance of target travel track
A position is taken aim at as pre- in the position that 5 meters of distance objective position.
In step S340, based on the current location, the target position and it is described it is pre- take aim at a position, calculate vehicle and exist
The first deviation between actual travel track in driving process and target travel track.
In one embodiment of the invention, first error between current location and target position, current can be calculated
Position and the second error between a position and target position are taken aim in advance and takes aim at the third error between a position in advance, then root
First deviation is calculated according to the first error, the second error and third error.
In one embodiment of the invention, first deviation can be calculated by the following formula:
Wherein, Δ d indicates first deviation；Δd1Indicate the first error；Δd2Indicate second error；Δ
d3Indicate the third error.
It is worth noting that: the first deviation being calculated in above-described embodiment is angular amount, this is for the ease of subsequent
Calculate the corner control amount controlled steering wheel.And in other embodiments of the invention, computationally state the first deviation
When, angular amount can also not be calculated first, and it is converted into angular amount again when calculating corner control amount, for example can incite somebody to actionAs above-mentioned first deviation.
Calculate the embodiment of the second deviation between the actual heading and bogey heading of vehicle:
In one embodiment of the invention, as shown in figure 4, calculating the between the actual heading and bogey heading of vehicle
The process of two deviations includes the following steps S410 to step S430:
In step S410, the practical boat of the vehicle is determined according to the course angle information for including in vehicle movement information
To.
In one embodiment of the invention, course angle information can pass through Inertial Measurement Unit (Inertial
Measurement unit, IMU) it is detected, Inertial Measurement Unit can be the posture of the attitude angle for measuring vehicle
Sensor, the attitude angle identify the course angle information of vehicle.As shown in figure 5, course angle information illustrates that vehicle is sat predetermined
Mark system (such as earth axes x0,y0) under vehicle systemic velocity v and horizontal axis x0Angle theta, in Fig. 5, angle beta indicate vehicle matter
Heart side drift angle, angle ψ indicate Vehicular yaw angle, θ=β+ψ.Therefore, the reality of vehicle can be determined according to the course angle information of vehicle
Border course.
In the step s 420, according to the pre- tangential direction for taking aim at a position on the target travel track of the vehicle,
Determine the bogey heading of the vehicle.
It in one embodiment of the invention, can be by the pre- tangent line side for taking aim at a position on target travel track of vehicle
To the bogey heading as vehicle.
In step S430, the difference between the actual heading of the vehicle and the bogey heading is calculated, to obtain
State the second deviation.
In one embodiment of the invention, the second deviation is angular amount, in this way can be in order to which subsequent calculating is to steering wheel
The corner control amount controlled.
With continued reference to shown in Fig. 2, in step S230, according to first deviation and second deviation, determine to institute
State the corner control amount that the steering wheel of vehicle is controlled.
In one embodiment of the invention, as shown in fig. 6, determining that the corner controlled the steering wheel of vehicle controls
The process of amount includes the following steps S610 to step S620:
In step S610, according to first deviation and second deviation, calculating controls the steering wheel
Feedback control amount.
In one embodiment of the invention, as shown in fig. 7, calculating the feedback that other side is controlled to disk in step S610
The process of control amount includes the following steps S710 to step S730:
In step S710, location error gain and course error gain are obtained.
In one embodiment of the invention, the mistake of location error gain and course error gain is obtained in step S710
Journey can specifically include: pre- according to vehicle takes aim at a position, and determination takes aim at curvature of the position on target travel track in advance, so
Afterwards according to the pre- vehicle taken aim at a position and include in the curvature and the vehicle movement information on the target travel track
Speed, calculates the location error gain and the course error gain.
In one embodiment of the invention, taking aim at curvature of the position on target travel track in advance is pre- take aim at a little in target
For tangent directional angle on driving trace to the rotation rate of arc length, mean curvature is bigger, indicates that target travel track is being taken aim at a little in advance
Bending degree is bigger.
In one embodiment of the invention, the location error gain and course error can be calculated by the following formula
Gain:
Wherein, A indicates the location error gain；B indicates the course error gain；UxIndicate the longitudinal direction of the vehicle
Speed；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle；c1、c2、c3、c4、c5、c6And c7
Indicate constant.
In one embodiment of the invention, c1、c2、c3、c4、c5、c6And c7Value can be set according to actual needs
It is fixed, such as can be by c1It is set as 30, by c2It is set as 1, by c3It is set as 4, by c4It is set as 20, by c5It is set as 2, by c6It is set as 5, by c7If
It is 20.
In step S720, the location error gain as the weight of first deviation and is missed the course
Weight of the poor gain as second deviation is weighted summation to first deviation and second deviation, obtain and
Value.
In step S730, described and value and scheduled feedback control gain product is calculated, and by the phase of the product
Anti- number is used as the feedback control amount.
In one embodiment of the invention, feedback control gain can be chosen based on experience value.
With continued reference to shown in Fig. 6, in step S620, by the feedforward control amount controlled the steering wheel and described
Feedback control amount is overlapped, to obtain the corner control amount controlled the steering wheel of the vehicle.
In one embodiment of the invention, the feedforward control amount controlled steering wheel can be based on vehicle movement
It learns what equation calculation obtained, for example the feedforward control amount controlled steering wheel can be calculated by the following formula:
Wherein, Frd indicates the feedforward control amount；L indicates that the wheelbase of the vehicle, lf indicate that the center of gravity of the vehicle arrives
The distance in front-wheel axle center, lr indicate the center of gravity of the vehicle to the distance of rear-wheel, and m indicates the quality of the vehicle, and Cf indicates institute
The cornering stiffness of the front tyre of vehicle is stated, Cr indicates the cornering stiffness of the rear tyre of the vehicle, UxIndicate the vehicle
Longitudinal velocity；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle.
With continued reference to shown in Fig. 2, in step S240, it is based on the corner control amount, the vehicle is controlled.
In one embodiment of the invention, corner control amount is for carrying out crosswise joint, crosswise joint to vehicle
Refer to the control being perpendicularly to the direction of movement, i.e., course changing control is carried out to vehicle.It is alternatively possible to be included based on corner control amount
Assigned direction and specified angle, control the steering wheel of the vehicle towards the assigned direction and rotate the specified angle.Such as
If it is determined that the corner control amount controlled the steering wheel of vehicle is to rotate clockwise 5 °, then the corner control amount can be based on
The steering wheel of control vehicle rotates clockwise 5 °, to realize the crosswise joint to vehicle.
The technical solution of previous embodiment makes when carrying out crosswise joint to vehicle, it is contemplated that vehicle travel process
In actual heading and bogey heading between deviation and actual travel track and target travel track between deviation, in turn
It is simple by not only realizing on both Preference-Deviation Mappings to the control to steering wheel for vehicle, but also can be improved the essence of vehicle control
Exactness, while there is stronger universality, it can be promoted on various types of vehicles.
It is described in detail below in conjunction with technical solution of the Fig. 8 to the embodiment of the present invention.As shown in figure 8, according to the present invention
One embodiment vehicle travel control method, comprising:
Step S801 obtains the target travel track of vehicle.
In one embodiment of the invention, the target travel track of vehicle can be set by user, or can be
It is automatically generated according to the destination that the homeposition of user and user are selected.
Step S802 is decoded target travel track.
In one embodiment of the invention, being decoded to target travel track is by being adapted to and being calculated mesh
Mark the corresponding continuous parameter equation of driving trace or discrete loci point information.
Step S803 obtains the information that sensor detects.
In one embodiment of the invention, obtaining the information that sensor detects is specifically to obtain attitude transducer detection
To course angle information, acquisition speed sensor detect Vehicle Speed, obtain the vehicle position that detects of positioning device
Confidence breath etc..
Step S804 calculates control information.
In one embodiment of the invention, it can determine that distance should on target travel track according to the current location of vehicle
Then the nearest target position in current location is chosen and phase between the target position in the direction of advance of target travel track
A position is taken aim at as pre- in position away from preset distance.After determination takes aim at a position in advance, pre- take aim at a little in target line is further determined that
It sails the curvature on track and takes aim at a course angle in advance.Wherein, taking aim at the curvature a little on target travel track in advance is pre- take aim at a little in target
Tangent directional angle on driving trace takes aim at the bogey heading that a course angle is vehicle, the mesh of vehicle to the rotation rate of arc length in advance
The tangential direction a little on target travel track is as taken aim in advance in mark course.
Obtain above-mentioned current location, target position and in advance take aim at a position after, the same target in current location can be calculated
Error delta d between position1, current location is the same as taking aim at error delta d between a position in advance2, target position is the same as taking aim between a position in advance
Error delta d3, current course with bogey heading error delta h.
Step S805, unified error dimension.
It in one embodiment of the invention, can be by current location with the error delta d between target position1, present bit
It sets with the error delta d taken aim between a position in advance2, target position is the same as taking aim at error delta d between a position in advance3, and currently course is same
The dimension of the error delta h of bogey heading carries out unification, and weighted sum, specific as follows to state shown in formula 1:
In above-mentioned formula 1, A indicates the location error gain；B indicates the course error gain.Of the invention
In one embodiment, the calculation formula of location error gain A can be as shown in formula 2, and the calculation formula of course error gain B can
With as shown in formula 3:
Wherein, in above-mentioned formula 2 and formula 3, UxIndicate the longitudinal velocity of the vehicle；KsExpression is taken aim at a little in target in advance
Curvature on driving trace.
Step S806 calculates the control amount to steering wheel.
In one embodiment of the invention, the Δ fi that can be obtained by above-mentioned formula 1 calculates steering wheel for vehicle
Feedback control amount Bcd, specifically Bcd=-C × Δ fi, wherein C indicates to pass through the feedback control gain that empirical value determines.And
The feedforward control amount Frd of steering wheel for vehicle can be gone out by vehicle kinematics equation calculation, specifically, following formula can be passed through
4 calculate feedforward control amount Frd.
Wherein, as shown in figure 9, being lf table in formula 4 after two-wheeled cycle model by vehicle kinematics model simplification
Show the center of gravity of vehicle to the distance in front-wheel axle center, lr indicates the center of gravity of vehicle to the distance of rear-wheel.In addition, the L in formula 4 is indicated
The wheelbase of vehicle, m indicate the quality of vehicle, and Cf indicates that the cornering stiffness of the front tyre of vehicle, Cr indicate the rear wheel rotation of vehicle
The cornering stiffness of tire, UxIndicate the longitudinal velocity of vehicle；KsIt indicates to take aim at the curvature a little on target travel track in advance.
After the feedback control amount Bcd and feedforward control amount Frd that steering wheel for vehicle is calculated, it can be calculated pair
The corner control amount Output=Frd+Bcd of steering wheel for vehicle.
Step S807 exports control amount.
It in one embodiment of the invention, can be to direction of traffic after obtaining to the corner control amount of steering wheel
Disk exports the control amount, to carry out crosswise joint to vehicle.
Step S808, judges whether the deviation of vehicle driving is eliminated, if so, terminating；Otherwise, return step S801.
The vehicle driving control program proposed in the above embodiment of the present invention has the advantages that response rapidly, to target
The variation response of track is rapid, delay is small；Stability is good, narrow suitable for urban traffic situation, high-speed road conditions, garden road conditions, closing
The various road conditions such as road conditions, and comfort is good under the scene of vehicle high-speed movement, and vehicle is not in that shaking is waved, and drives body
It tests comfortable；Accuracy is high, can be by control precision controlling within 20cm compared to the control method proposed in the related technology；It is real
Now simple, complicated model does not rely on the control program of the embodiment of the present invention, and algorithm is clearly easily realized；It is adaptable, this hair
The control program of bright embodiment, which can be generalized to, controls various types of autonomous driving vehicles, such as internal combustion engine, electronic
The autonomous driving vehicle of the various driving methods such as machine, hybrid power.
The device of the invention embodiment introduced below can be used for executing the vehicle driving control in the above embodiment of the present invention
Method processed.For undisclosed details in apparatus of the present invention embodiment, the above-mentioned vehicle travel control method of the present invention is please referred to
Embodiment.
Figure 10 diagrammatically illustrates the block diagram of controlling device for vehicle running according to an embodiment of the invention.The vehicle
Travel controlling system can be directly arranged at the inside of vehicle, to realize the control to vehicle；In addition, vehicle driving control dress
Setting can also be set in controller 105 shown in Fig. 1, which is arranged in the inside of vehicle 101, and then passes through
Controller 105 controls the steering wheel of vehicle 101, to realize the crosswise joint to vehicle 101.
Referring to Fig.1 shown in 0, controlling device for vehicle running 1000 according to an embodiment of the invention, comprising: obtain single
Member 1002, first processing units 1004, the second processing unit 1006 and control unit 1008.
Wherein, acquiring unit 1002 is used to obtain target travel track and the vehicle movement information of vehicle；First processing is single
Member 1004 is for calculating the reality of the vehicle in the process of moving according to the target travel track and the vehicle movement information
The actual heading of the first deviation and the vehicle between border driving trace and the target travel track and bogey heading it
Between the second deviation；The second processing unit 1006 is used to be determined according to first deviation and second deviation to the vehicle
The corner control amount that is controlled of steering wheel；Control unit 1008 is used to be based on the corner control amount, to the vehicle
It is controlled.
In one embodiment of the invention, first processing units 1004 include: the first determination unit, for according to
The location information for including in vehicle movement information determines the current location of the vehicle；Second determination unit, for according to
Target travel track and the current location determine on the target travel track with the current location apart from nearest target
Position；Third determination unit, for determining that the pre- of the vehicle is taken aim at a little according to the target travel track and the target position
Position；First computing unit, for based on the current location, the target position and it is described it is pre- take aim at a position, described in calculating
The first deviation between the actual travel track and the target travel track of vehicle in the process of moving.
In one embodiment of the invention, include if second determination unit is configured that the target travel track
Multiple discrete loci points then calculate separately the distance between the multiple discrete loci point and described current location, will be apart from institute
The nearest discrete loci point in current location is stated as the target position；If the target travel track is continuous path, root
According to the corresponding lopcus function of the continuous path calculate between each point on the current location and the lopcus function away from
From relationship, the target position is determined according to the distance relation.
In one embodiment of the invention, the third determination unit is configured that according to the target position, described
Position at a predetermined distance is chosen between the target position in the direction of advance of target travel track pre- to take aim at as described
Point position, wherein the preset distance is the distance that the vehicle travels in scheduled duration.
In one embodiment of the invention, first computing unit be configured that calculate the current location with it is described
First error, the current location and pre- second error taken aim between a position and the mesh between target position
Cursor position and the pre- third error taken aim between a position；According to the first error, second error and the third
Error calculates first deviation.
In one embodiment of the invention, first computing unit is configured to be calculated by the following formula described first
Deviation:
Wherein, Δ d indicates first deviation；Δd1Indicate the first error；Δd2Indicate second error；Δ
d3Indicate the third error.
In one embodiment of the invention, the first processing units 1004 include: the 4th determination unit, are used for basis
The course angle information for including in the vehicle movement information determines the actual heading of the vehicle；5th determination unit is used for root
According to the pre- tangential direction for taking aim at a position on the target travel track of the vehicle, the bogey heading of the vehicle is determined；
Second computing unit, for calculating the difference between the actual heading of the vehicle and the bogey heading, to obtain described
Two deviations.
In one embodiment of the invention, described the second processing unit 1006 includes: third computing unit, is used for basis
First deviation and second deviation calculate the feedback control amount controlled the steering wheel；Superpositing unit is used for
The feedforward control amount controlled the steering wheel and the feedback control amount are overlapped, to obtain to the vehicle
The corner control amount that steering wheel is controlled.
In one embodiment of the invention, the third computing unit, which is configured that, obtains location error gain and course
Error Gain；Using the location error gain as the weight of first deviation, using the course error gain as described in
The weight of second deviation is weighted summation to first deviation and second deviation, obtains the sum value；Calculate described and value
With the product of scheduled feedback control gain, using the opposite number of the product as the feedback control amount.
In one embodiment of the invention, the third computing unit is also used to: pre- according to the vehicle takes aim at point
It sets, determines the pre- curvature for taking aim at a position on the target travel track；According to a pre- position of taking aim in the target
The car speed for including in curvature and the vehicle movement information on driving trace, calculate the location error gain and
The course error gain.
In one embodiment of the invention, the third computing unit is configured to be calculated by the following formula the position
Error Gain and course error gain:
Wherein, A indicates the location error gain；B indicates the course error gain；UxIndicate the longitudinal direction of the vehicle
Speed；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle；c1、c2、c3、c4、c5、c6And c7
Indicate constant.
In one embodiment of the invention, the controlling device for vehicle running 1000 further include: the 4th computing unit,
For being calculated by the following formula the feedforward control amount controlled the steering wheel:
Wherein, Frd indicates the feedforward control amount；L indicates that the wheelbase of the vehicle, lf indicate that the center of gravity of the vehicle arrives
The distance in front-wheel axle center, lr indicate the center of gravity of the vehicle to the distance of rear-wheel, and m indicates the quality of the vehicle, and Cf indicates institute
The cornering stiffness of the front tyre of vehicle is stated, Cr indicates the cornering stiffness of the rear tyre of the vehicle, UxIndicate the vehicle
Longitudinal velocity；KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle.
In one embodiment of the invention, aforementioned schemes are based on, described control unit 1008 is configured that be turned based on described
The assigned direction and specified angle that angle control amount is included control the steering wheel of the vehicle towards described in assigned direction rotation
Specified angle.
It should be noted that the technical solution of the above embodiment of the present invention is carried out for carrying out traveling control to vehicle
It illustrates, vehicle therein can be the normal vehicle as the vehicles.In other embodiments of the invention, vehicle can also
To refer to the other equipment, such as robot device etc. that carry out traveling control.
Figure 11 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
The electronic equipment is able to carry out vehicle travel control method described in the above embodiment of the present invention, to realize the control to vehicle
System；Controlling device for vehicle running in above-described embodiment can be the electronic equipment, be also possible to a part of the electronic equipment,
The electronic equipment is set to the inside of vehicle, for realizing the crosswise joint to vehicle.
It should be noted that the computer system 1100 of the electronic equipment shown in Figure 11 is only an example, it should not be to this
The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 11, computer system 1100 include central processing unit (Central Processing Unit,
CPU) 1101, it can be according to the program being stored in read-only memory (Read-Only Memory, ROM) 1102 or from depositing
It stores up the program that part 1108 is loaded into random access storage device (Random Access Memory, RAM) 1103 and executes each
Kind movement appropriate and processing.In RAM 1103, it is also stored with various programs and data needed for system operatio.CPU
1101, ROM 1102 and RAM 1103 is connected with each other by bus 1104.Input/output (Input/Output, I/O) interface
1105 are also connected to bus 1104.
I/O interface 1105 is connected to lower component: the importation 1106 including keyboard, mouse etc.；Including such as cathode
Ray tube (Cathode Ray Tube, CRT), liquid crystal display (Liquid Crystal Display, LCD) etc. and loudspeaking
The output par, c 1107 of device etc.；Storage section 1108 including hard disk etc.；And including such as LAN (Local Area
Network, local area network) card, modem etc. network interface card communications portion 1109.Communications portion 1109 is via such as
The network of internet executes communication process.Driver 1110 is also connected to I/O interface 1105 as needed.Detachable media
1111, such as disk, CD, magneto-optic disk, semiconductor memory etc., are mounted on as needed on driver 1110, in order to
It is mounted into storage section 1108 as needed from the computer program read thereon.
Particularly, according to an embodiment of the invention, may be implemented as computer below with reference to the process of flow chart description
Software program.For example, the embodiment of the present invention includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 1109, and/or from detachable media
1111 are mounted.When the computer program is executed by central processing unit (CPU) 1101, executes in the system of the application and limit
Various functions.
It should be noted that computer-readable medium shown in the embodiment of the present invention can be computer-readable signal media
Or computer readable storage medium either the two any combination.Computer readable storage medium for example can be with
System, device or the device of --- but being not limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than
Combination.The more specific example of computer readable storage medium can include but is not limited to: have one or more conducting wires
Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type are programmable
Read-only memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, Portable, compact
Disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In the present invention, computer readable storage medium can be it is any include or storage program
Tangible medium, which can be commanded execution system, device or device use or in connection.And in this hair
In bright, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable
Any computer-readable medium other than storage medium, the computer-readable medium can send, propagate or transmit for by
Instruction execution system, device or device use or program in connection.The journey for including on computer-readable medium
Sequence code can transmit with any suitable medium, including but not limited to: wireless, wired etc. or above-mentioned is any appropriate
Combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in unit involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part realizes that described unit also can be set in the processor.Wherein, the title of these units is in certain situation
Under do not constitute restriction to the unit itself.
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be
Included in electronic equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying electronic equipment.
Above-mentioned computer-readable medium carries one or more program, when the electronics is set by one for said one or multiple programs
When standby execution, so that the electronic equipment realizes method described in above-described embodiment.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description
Member, but this division is not enforceable.In fact, embodiment according to the present invention, it is above-described two or more
Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould
The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the present invention
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, touch control terminal or network equipment etc.) executes embodiment according to the present invention
Method.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (15)
1. a kind of vehicle travel control method characterized by comprising
Obtain target travel track and the vehicle movement information of vehicle；
According to the target travel track and the vehicle movement information, the actual travel of the vehicle in the process of moving is calculated
The first deviation between track and the target travel track and between the actual heading and bogey heading of the vehicle
Two deviations；
According to first deviation and second deviation, determine that the corner controlled the steering wheel of the vehicle controls
Amount；
Based on the corner control amount, the vehicle is controlled.
2. vehicle travel control method according to claim 1, which is characterized in that according to the target travel track and institute
Vehicle movement information is stated, is calculated between the actual travel track and the target travel track of the vehicle in the process of moving
First deviation, comprising:
The current location of the vehicle is determined according to the location information for including in the vehicle movement information；
According to the target travel track and the current location, determine on the target travel track with the current location away from
From nearest target position；
According to the target travel track and the target position, determine that the pre- of the vehicle takes aim at a position；
Based on the current location, the target position and it is described it is pre- take aim at a position, calculate the vehicle in the process of moving
The first deviation between actual travel track and the target travel track.
3. vehicle travel control method according to claim 2, which is characterized in that according to the target travel track and institute
Current location is stated, is determined on the target travel track with the current location apart from nearest target position, comprising:
If the target travel track includes multiple discrete loci points, calculates separately the multiple discrete loci point and work as with described
The distance between front position, using the discrete loci point nearest apart from the current location as the target position；
If the target travel track is continuous path, calculated according to the corresponding lopcus function of the continuous path described current
The distance between each point on position and lopcus function relationship, determines the target position according to the distance relation.
4. vehicle travel control method according to claim 2, which is characterized in that according to the target travel track and institute
Target position is stated, determines that the pre- of the vehicle takes aim at a position, comprising:
According to the target position, chosen between the target position apart in the direction of advance of the target travel track
Pre- a position is taken aim at as described in the position of preset distance, wherein the preset distance is that the vehicle travels in scheduled duration
Distance.
5. vehicle travel control method according to claim 2, which is characterized in that be based on the current location, the mesh
Cursor position and it is described it is pre- take aim at a position, calculate the actual travel track of the vehicle in the process of moving and the target travel rail
The first deviation between mark, comprising:
It calculates the first error between the current location and the target position, the current location and described pre- takes aim at a position
Between the second error and the target position and the pre- third error taken aim between a position；
According to the first error, second error and the third error, first deviation is calculated.
6. vehicle travel control method according to claim 5, which is characterized in that be calculated by the following formula described first
Deviation:
Wherein, Δ d indicates first deviation；Δd1Indicate the first error；Δd2Indicate second error；Δd3Table
Show the third error.
7. vehicle travel control method according to claim 1, which is characterized in that according to the target travel track and institute
Vehicle movement information is stated, the second deviation between the actual heading and bogey heading of the vehicle is calculated, comprising:
The actual heading of the vehicle is determined according to the course angle information for including in the vehicle movement information；
According to the pre- tangential direction for taking aim at a position on the target travel track of the vehicle, the target of the vehicle is determined
Course；
The difference between the actual heading of the vehicle and the bogey heading is calculated, to obtain second deviation.
8. vehicle travel control method according to claim 1, which is characterized in that according to first deviation and described
Two deviations determine the corner control amount controlled the steering wheel of the vehicle, comprising:
According to first deviation and second deviation, the feedback control amount controlled the steering wheel is calculated；
The feedforward control amount controlled the steering wheel and the feedback control amount are overlapped, to obtain to the vehicle
The corner control amount that is controlled of steering wheel.
9. vehicle travel control method according to claim 8, which is characterized in that according to first deviation and described
Two deviations calculate the feedback control amount controlled the steering wheel, comprising:
Obtain location error gain and course error gain；
Partially using the location error gain as the weight of first deviation, using the course error gain as described second
The weight of difference, is weighted summation to first deviation and second deviation, obtains the sum value；
Described and value and scheduled feedback control gain product is calculated, using the opposite number of the product as the feedback control
Amount.
10. vehicle travel control method according to claim 9, which is characterized in that obtain location error gain and course
Error Gain, comprising:
Pre- according to the vehicle takes aim at a position, determines the pre- curvature for taking aim at a position on the target travel track；
According to described pre- a position is taken aim in the curvature and the vehicle movement information on the target travel track include
Car speed calculates the location error gain and the course error gain.
11. vehicle travel control method according to claim 10, which is characterized in that be calculated by the following formula institute's rheme
Set Error Gain and course error gain:
Wherein, A indicates the location error gain；B indicates the course error gain；UxIndicate the longitudinal velocity of the vehicle；
KsIndicate the pre- curvature for taking aim at a position on the target travel track of the vehicle；c1、c2、c3、c4、c5、c6And c7Indicate normal
Number.
12. vehicle travel control method according to any one of claim 1 to 11, which is characterized in that turned based on described
Angle control amount controls the vehicle, comprising:
Based on assigned direction and specified angle that the corner control amount is included, the steering wheel of the vehicle is controlled towards the finger
Determine direction and rotates the specified angle.
13. a kind of controlling device for vehicle running characterized by comprising
Acquiring unit, for obtaining target travel track and the vehicle movement information of vehicle；
First processing units, for calculating the vehicle and being expert at according to the target travel track and the vehicle movement information
The actual heading of the first deviation and the vehicle between actual travel track and the target travel track during sailing
The second deviation between bogey heading；
The second processing unit, for according to first deviation and second deviation, determine to the steering wheel of the vehicle into
The corner control amount of row control；
Control unit controls the vehicle for being based on the corner control amount.
14. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that the computer program is located
Manage the vehicle travel control method realized as described in any one of claims 1 to 12 when device executes.
15. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs, when one or more of programs are by one or more of processing
When device executes, so that one or more of processors realize the vehicle driving control as described in any one of claims 1 to 12
Method processed.
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