CN110316249B - Transverse control method and device - Google Patents
Transverse control method and device Download PDFInfo
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- CN110316249B CN110316249B CN201910677555.2A CN201910677555A CN110316249B CN 110316249 B CN110316249 B CN 110316249B CN 201910677555 A CN201910677555 A CN 201910677555A CN 110316249 B CN110316249 B CN 110316249B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides a transverse control method, which comprises the following steps: acquiring position information of a first marker bit and first position information of a vehicle, and determining a first transverse deviation of the vehicle according to the position information of the first marker bit and the first position information of the vehicle; calculating a first course angle and a first lateral deviation convergence speed of the vehicle according to the first lateral deviation; when the vehicle runs along the roadside, calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner; acquiring the position information of a second zone bit; determining a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second marker bit; and cutting off the road edge according to the second course angle and the second transverse deviation convergence speed. Therefore, the real-time performance of control and the stability of signal input are improved, the phenomenon that the vehicle head is excessively deviated to rub edges is prevented, and the welt cut-in stage is more suitable for the large deviation of the vehicle to cut in the welt.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a transverse control method and a transverse control device.
Background
With the rapid development of the unmanned technology in recent years, the safety of the unmanned vehicle running at the edge of the road is concerned, the unmanned cleaning vehicle needs to ensure the control precision in the welt cleaning scene, prevent the edge from being touched, and avoid the phenomenon of 'picture dragon' caused by frequent correction, so that the transverse control is very important for ensuring the safety of the unmanned cleaning vehicle running in the welt scene.
Fig. 1 is a schematic view of vehicle tracking welt driving in the prior art, an unmanned vehicle cleans under a welt scene, a high-precision map needs to be made, a welt road (i.e. a reference path) is given during drawing, the unmanned vehicle transverse control adopts a common tracking mode, only the tracking effect is considered in the transverse control, and the defect is very obvious:
the map is manufactured off line, the accuracy is doubtful, and when the reference path and the roadside edge have angle difference, the road edge is easy to collide;
the single common method is difficult to meet the requirement of control on precision during edge pasting. The welting process needs to integrally master the deviation between the vehicle body and the roadside, otherwise, the vehicle head or the vehicle tail can have large errors and the edge is rubbed.
The cut-in and cut-out of the vehicle in the welting scene are not considered, and if the steering is too violent during the cut-in process, the vehicle can drive into the welting section at a large angle, so unsafe conditions such as oscillation overshoot and the like are easy to occur.
Disclosure of Invention
The embodiment of the invention aims to provide a transverse control method and a transverse control device, which are used for solving the problem of oscillation overshoot of a vehicle in a welting scene in the prior art.
In order to solve the above problem, in a first aspect, the present invention provides a lateral control method, including:
acquiring position information of a first zone bit;
determining a first lateral deviation of the vehicle according to the first position information of the vehicle and the position information of the first marker bit;
calculating a first course angle and a first transverse deviation convergence speed of the vehicle according to the first transverse deviation;
controlling the front wheel rotation angle of the vehicle according to the planned first course angle or the change process of the first transverse deviation convergence speed so as to cut into the road edge;
when the vehicle runs along the roadside, respectively determining a first road point which is closest to the middle point of a first axle of the vehicle and a second road point which is closest to the middle point of a second axle of the vehicle;
calculating a first distance between the first road point and the midpoint of the first axle to obtain first deviation data, and calculating a second distance between the second road point and the midpoint of the second axle to obtain second deviation data;
calculating a pre-aiming distance according to the first deviation data and a first vehicle speed of the vehicle;
calculating a first corner according to the first deviation data, a first vehicle speed of the vehicle, a distance between a midpoint of the first axle and a midpoint of a second axle and the pre-aiming distance;
calculating a second rotation angle according to the second deviation data;
calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner;
acquiring the position information of a second zone bit;
determining a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second marker bit;
planning a change process of a second course angle or a second transverse deviation convergence speed of the vehicle according to the second transverse deviation;
and controlling the rotation angle of the front wheel of the vehicle according to the change process of the planned second course angle or the second transverse deviation convergence speed so as to cut off the road edge.
In a possible implementation manner, the acquiring the position information of the first flag specifically includes:
acquiring first original position information of a first marker bit through a first sensor;
acquiring second original position information of the first marker bit through a second sensor;
acquiring third original position information of the first marker bit through a third sensor;
and fusing the first original position information, the second original position information and the third original position information to obtain the position information of the first marker bit under the vehicle coordinate system.
In a possible implementation manner, the determining a first lateral deviation of the vehicle according to the first position information of the vehicle and the position information of the first flag specifically includes:
according to ey＝y-ydCalculating a first lateral deviation of the vehicle;
wherein y is transverse coordinate information in the position information of the vehicle, ydIs the horizontal coordinate information of the first flag bit.
In a possible implementation manner, controlling a first heading angle and a first lateral deviation convergence speed of the vehicle according to the first lateral deviation specifically includes:
according to the formula
Calculating a first heading angle and a first lateral deviation convergence speed of the vehicle;
where psi is the course angle, V is the first vehicle speed, VxIs the longitudinal velocity, VyIs the first lateral deviation convergence speed.
In a possible implementation manner, calculating a preview distance according to the first deviation data and a first vehicle speed of the vehicle specifically includes:
using formula l according to formulad＝k1*v+x|error1|Calculating a pre-aiming distance;
wherein ldFor the preview distance, k1 is a constant, v is the current first vehicle speed of the vehicle, and error1 is the first deviation data.
In one possible implementation, the calculating a first turning angle according to the first deviation data, the first vehicle speed of the vehicle, the distance between the midpoint of the first axle and the midpoint of the second axle, and the preview distance specifically includes:
according to the formula
Calculating a first rotation angle;
wherein, deltapurepursuitIs a first corner, L is the distance between the midpoint of the first axle and the midpoint of the second axle, Ldα is the included angle of the tangent of the arc from the midpoint of the first axle to the pre-aiming point.
In a possible implementation manner, the calculating a second rotation angle according to the second deviation data specifically includes:
according to the formula
Calculating a second rotation angle;
where δ front axis feedback is the second corner, error2 is the second deviation data, and kp, ki, kd are the parameters of three of the PIDs.
In a possible implementation manner, the calculating a second rotation angle according to the second deviation data specifically includes:
using formulas
Calculating a second rotation angle;
wherein, deltaFront axle feedbackFor the second steering angle, k2 is constant, v is the current first vehicle speed of the vehicle, and error2 is the second deviation data.
In a possible implementation manner, the calculating a target corner along which the vehicle travels along a roadside according to the first corner and the second corner specifically includes:
according to the formula delta-deltapurepursuit+δFront axle feedbackCalculating a target corner;
where δ is the target rotation angle, δpurepursuitIs a first angle of rotation, δFront axle feedbackIs the second corner.
In a second aspect, the present invention provides a lateral control device, the device comprising:
an acquisition unit configured to acquire position information of a first flag bit;
a determination unit for determining a first lateral deviation of the vehicle based on first position information of the vehicle and position information of the first flag bit;
the calculating unit is used for calculating a first course angle and a first transverse deviation convergence speed of the vehicle according to the first transverse deviation;
the cut-in unit is used for controlling the front wheel rotating angle of the vehicle according to the change process of the planned first course angle or the first transverse deviation convergence speed so as to cut in the road edge;
the determining unit is further used for respectively determining a first road point which is closest to the middle point of a first axle of the vehicle and a second road point which is closest to the middle point of a second axle of the vehicle when the vehicle runs along the roadside;
the calculating unit is further configured to calculate a first distance between the first road point and the midpoint of the first axle to obtain first deviation data, and calculate a second distance between the second road point and the midpoint of the second axle to obtain second deviation data;
the calculation unit is further used for calculating a pre-aiming distance according to the first deviation data and the first vehicle speed of the vehicle;
the calculation unit is further used for calculating a first corner according to the first deviation data, a first vehicle speed of the vehicle, the distance between the midpoint of the first axle and the midpoint of the second axle and the pre-aiming distance;
the calculating unit is further used for calculating a second rotation angle according to the second deviation data;
the calculation unit is further used for calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner;
the obtaining unit is further configured to obtain position information of a second flag bit;
the determining unit is further used for determining a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second marker bit;
the calculation unit is further used for calculating a second heading angle and a second transverse deviation convergence speed of the vehicle according to the second transverse deviation;
and the cutting-out unit is used for controlling the front wheel rotating angle of the vehicle according to the change process of the planned second course angle or the second transverse deviation convergence speed so as to cut out the road edge.
In a third aspect, the invention provides an apparatus comprising a memory for storing a program and a processor for performing the method of any of the first aspects.
In a fourth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the first aspects.
By applying the transverse control method and the transverse control device provided by the embodiment of the invention, the following technical effects are realized:
(1) the high-precision map is not used in the welt road section, so that the real-time performance of control and the stability of signal input are improved.
(2) The transverse algorithm main body uses a pureprorsuit transverse method, and is simple, efficient and easy to implement.
(3) The improved method of the pureprostring is provided, the accuracy of the original algorithm is improved, the transverse deviation of the vehicle is integrally mastered, and the phenomenon that the vehicle head is excessively deviated to rub edges is avoided.
(4) And in the welt cutting-in stage, the welt cutting-in method is more suitable for the large deviation cutting-in of the vehicle.
Drawings
FIG. 1 is a schematic view of a vehicle tracking welt running in the prior art;
fig. 2 is a schematic flow chart of a lateral control method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a first lateral deviation in the cutting-in phase;
FIG. 4 is a schematic diagram of the convergence speed of the planned heading angle change or lateral deviation;
FIG. 5 is a schematic diagram of a nearest waypoint;
FIG. 6 is a schematic diagram of calculating a first rotational angle;
fig. 7 is a schematic structural diagram of a lateral control device according to a second embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 2 is a schematic flow chart of a lateral control method according to an embodiment of the present invention. The method can be applied to an unmanned terminal, such as an unmanned Vehicle or a robot, and the following description will be given by taking the method as an example of the application of the method to an unmanned sweeping Vehicle, and when the method is applied to an unmanned sweeping Vehicle, the execution subject of the method is a processor of the unmanned sweeping Vehicle, which may be called an Automated Vehicle Control Unit (AVCU), and the AVCU corresponds to the "brain" of the unmanned sweeping Vehicle. The method comprises the following steps:
Specifically, in the pre-cleaning area, the cleaning vehicle needs to run along the road edge to clean thoroughly, an icon of the edge marking bit may be set at the starting point of the road edge in the pre-cleaning area, and may also be referred to as a first marking bit, and an icon of the cut edge marking bit may be set at the ending point of the road edge in the pre-cleaning area, and may also be referred to as a second marking bit.
By way of example and not limitation, during the running process of the vehicle, the icon of the welt marker bit may be acquired by means of a sensor mounted on the vehicle, such as a laser radar, a camera, an ultrasonic radar, and the like, and the position information of the first marker bit in the vehicle coordinate system may be obtained by fusing and coordinate-converting the first original position information in the laser radar coordinate system, the second original position information in the coordinate system, and the third original position information in the ultrasonic radar.
Specifically, the first lateral deviation of the vehicle, that is, the lateral deviation from the current position of the vehicle to the first marker may be calculated according to the current position information of the vehicle and the position information of the first marker.
By way of example, and not limitation, using the formula ey＝y-ydAnd calculating to obtain a first transverse deviation, wherein y is a vertical coordinate in the first position information of the vehicle, and yd is a vertical coordinate of the position information of the first marker.
The vehicle may determine current first location information of the vehicle according to a Global Positioning System (GPS) installed thereon.
And step 203, calculating a first heading angle and a first lateral deviation convergence speed of the vehicle according to the first lateral deviation.
And step 204, controlling the front wheel rotation angle of the vehicle according to the change process of the planned first heading angle or the first transverse deviation convergence speed so as to cut into the road edge.
Specifically, after the vehicle acquires the first flag bit, transition is performed to a welt driving state, and in order to ensure that the lateral deviation is zero when the welt driving state is reached, it is necessary to ensure that the vehicle course angle is parallel to the roadside edge.
In the ideal welting situation, two conditions need to be met, 1) waiting for the vehicle to be parallel to the curb edge during cut-in, and having a zero course angle, and 2) having zero first lateral deviation during cut-in.
The formula relating the vehicle kinematics to the first lateral deviation is as follows:
ey＝Vxsinψ+Vycosψ
Vy＝Vsinψ
wherein psi is a course angle, V is a first current vehicle speed of the vehicle, and V is a first current vehicle speedxIs the longitudinal speed, V, of the vehicleyIs the lateral speed of the vehicle, which may also be referred to as the first lateral deviation convergence speed, eyIs the first lateral deviation.
By means of kinematic formulas, two conditions can be convertedComprises the following steps: 1) vy→ 0 or ψ → 0, 2) ey→ 0, for optimal control state of cutting into a welt section.
As can be seen from fig. 3 and 4, the ey is relatively large when the vehicle is welted. Focusing only on conditions 2) eyAnd on the occasion of cutting into a welt road section, the vehicle and the road have an excessively large included angle and are rubbed off when the vehicle and the road are cut into the welt road section → 0. At the moment, a transition process needs to be arranged, and the steering angle of the front wheel of the vehicle is controlled, so that when the vehicle is smoothly cut into the welt, the condition 1) V is mety→ 0 or ψ → 0 to achieve smooth welting of the vehicle.
Arranging a transition 0 to increase to a specific value and then decrease to 0 from the specific value, wherein after the process is completed, the best control effect is just that e is 0; see fig. 4.
There are various methods for arranging the transition process, such as: the vehicle controls the heading angle psi to make VyThe variation process of (A) is increased and then decreased, and finally VyThe y-direction acceleration is zero integrated with the time axis, 0.
The first axle is a rear axle of the vehicle, and the second axle is a front axle of the vehicle.
During the driving process of the vehicle, a point closest to the midpoint of the first axle of the vehicle exists in the waypoints, and as shown in fig. 5, the point C is the closest first waypoint corresponding to the center a of the first axle.
The method for searching the road point closest to the first axle of the vehicle comprises the following steps:
let A point coordinate (x)0，yo) B point coordinate (x)1，x1) C point coordinate (x)2，y2) D point coordinate (x)3，y3). The distance of the point BCD on the following path from the center of the first axle of the vehicle is as follows:
and the waypoint closest to the first axle is dminThe corresponding waypoints.
The method of determining the second waypoint closest to the midpoint of the second axle of the vehicle is similar to the method described above and will not be described further herein.
Specifically, after the difference between the distances from the first road point to the midpoint of the first axle is calculated, an absolute value operation and an amplitude limiting operation are performed to obtain first deviation data. Wherein the clipping operation is to prevent abrupt changes in the preview distance.
And step 207, calculating the pre-aiming distance according to the first deviation data and the first vehicle speed of the vehicle.
In particular, formula l can be utilized according to the formulad＝k1*v+x|error1|Calculating a pre-aiming distance;
wherein ldFor the preview distance, k1 is a constant, v is the current first vehicle speed of the vehicle, and error1 is the first deviation data.
Specifically, a pre-aiming point on the path is selected according to the appropriate pre-aiming distance based on the middle point of the rear axle of the vehicle. The middle point of the rear axle of the vehicle is the tangent point of the circular arc, and on the path (g)x，gy) The arc which the vehicle passes from the middle point of the rear axle to the preview point is the pure tracking path, and R is the radius of the arc.
And step 208, calculating a first rotation angle according to the first deviation data, the current speed of the vehicle, the distance between the middle point of the first axle and the middle point of the second axle and the pre-aiming distance.
In particular, see FIG. 6, according to a formula
Calculating a first rotation angle;
wherein, deltapurepursuitIs a first corner, L is the distance between the midpoint of the first axle and the midpoint of the second axle, LdTo prepareThe aim distance, α, is the angle between the first axle midpoint and the tangent to the arc at the pre-aim point.
In step 209, a second rotation angle is calculated based on the second deviation data.
In one example, the second rotation angle may be calculated according to a PID algorithm, and specifically, a formula may be utilized
Calculating a second rotation angle;
where δ front axis feedback is the second corner, error2 is the second deviation data, and kp, ki, kd are the parameters of the three PIDs.
In another example, the second rotation angle may be calculated using a stanly algorithm, and in particular, may be calculated using a formula
Calculating a second rotation angle;
wherein, deltaFront axle feedbackFor the second steering angle, k2 is constant, v is the current first vehicle speed of the vehicle, and error2 is the second deviation data.
And step 210, calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner.
Specifically, δ is given by the formula δ ═ δpurepursuit+δFront axle feedbackCalculating a target corner;
where δ is the target rotation angle, δpurepursuitIs a first angle of rotation, δFront axle feedbackIs the second corner.
The pureprostring algorithm belongs to single-ring P control, and forms double-ring control by adding a closed loop with front axle deviation feedback, so that under the condition of integrally grasping the deviation of a vehicle body, the dead error of the pureprostring P control can be eliminated to a certain extent, and the deviation control precision of a rear axle is improved. The pureprostring + front axle feedback algorithm integrally considers the automobile body deviation, ensures that the sum of the absolute values of the deviations of the front axle and the rear axle is equal to zero when in a straight line, and the sum of the absolute values of the deviations of the front axle and the rear axle is the minimum when in a curve, so that the automobile body deviation is integrally grasped and is simple to realize.
Specifically, the method of obtaining the position information of the second flag bit is the same as the method of obtaining the position information of the first flag bit, and is not described herein again. When the vehicle acquires the second zone bit, the vehicle can exit the welt running path.
The method for obtaining the second lateral deviation is the same as the method for obtaining the first lateral deviation, and is not described herein again.
And step 213, planning the change process of the second heading angle or the second lateral deviation convergence speed of the vehicle according to the second lateral deviation.
And step 214, controlling the front wheel rotation angle of the vehicle according to the change process of the planned second heading angle or the second transverse deviation convergence speed so as to cut off the road edge.
Specifically, similar to the vehicle cutting into a curb, the vehicle may cut out the curb in a similar manner.
By applying the transverse control method provided by the first embodiment of the invention, the following technical effects are realized:
(1) the high-precision map is not used in the welt road section, so that the real-time performance of control and the stability of signal input are improved.
(2) The transverse algorithm main body uses a pureprorsuit transverse method, and is simple, efficient and easy to implement.
(3) The improved method of the pureprostring is provided, the accuracy of the original algorithm is improved, the transverse deviation of the vehicle is integrally mastered, and the phenomenon that the vehicle head is excessively deviated to rub edges is avoided.
(4) And in the welt cutting-in stage, the welt cutting-in method is more suitable for the large deviation cutting-in of the vehicle.
Fig. 7 is a schematic structural diagram of a lateral control device according to a second embodiment of the present invention. The lateral control apparatus is applied to a lateral control method, and as shown in fig. 7, the lateral control apparatus 700 includes: an acquisition unit 701, a determination unit 702, a calculation unit 703, a cutting-in unit 704, and a cutting-out unit 705.
The obtaining unit 701 is configured to obtain position information of a first flag bit;
the determining unit 702 is configured to determine a first lateral deviation of the vehicle according to the first position information of the vehicle and the position information of the first flag bit;
the calculation unit 703 is configured to plan a variation process of a first heading angle and a first lateral deviation convergence speed of the vehicle according to the first lateral deviation;
the cut-in unit 704 is configured to control a front wheel rotation angle of the vehicle according to a planned first heading angle or a change process of a first lateral deviation convergence speed to smoothly cut in the road edge;
the determination unit 702 is further configured to determine a first road point closest to a midpoint of a first axle of the vehicle and a second road point closest to a midpoint of a second axle of the vehicle, respectively, when the vehicle is traveling along the curb;
the calculating unit 703 is further configured to calculate a first distance between the first road point and the midpoint of the first axle to obtain first deviation data, and calculate a second distance between the second road point and the midpoint of the second axle to obtain second deviation data;
the calculating unit 703 is further configured to calculate a pre-aiming distance according to the first deviation data and the first vehicle speed of the vehicle;
the calculating unit 703 is further configured to calculate a first rotation angle according to the first deviation data, the first vehicle speed of the vehicle, and the distance between the midpoint of the first axle and the midpoint of the second axle, and the pre-aiming distance;
the calculating unit 703 is further configured to calculate a second rotation angle according to the second deviation data;
the calculation unit 703 is further configured to calculate a target corner along which the vehicle travels along the roadside according to the first corner and the second corner;
the obtaining unit 710 is further configured to obtain position information of the second flag bit;
the determining unit 702 is further configured to determine a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second flag bit;
the calculating unit 703 is further configured to plan a change process of a second heading angle of the vehicle or a convergence speed of a second lateral deviation according to the second lateral deviation;
the cutting unit 705 is configured to control the front wheel rotation angle of the vehicle according to the planned second heading angle or the variation process of the second lateral deviation convergence speed to smoothly cut the road edge.
The specific functions of each unit are similar to those of the first embodiment, and are not described in detail here.
The third embodiment of the invention provides equipment, which comprises a memory and a processor, wherein the memory is used for storing programs, and the memory can be connected with the processor through a bus. The memory may be a non-volatile memory such as a hard disk drive and a flash memory, in which a software program and a device driver are stored. The software program is capable of performing various functions of the above-described methods provided by embodiments of the present invention; the device drivers may be network and interface drivers. The processor is used for executing a software program, and the software program can realize the method provided by the first embodiment of the invention when being executed.
A fourth embodiment of the present invention provides a computer program product including instructions, which, when the computer program product runs on a computer, causes the computer to execute the method provided in the first embodiment of the present invention.
The fifth embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method provided in the first embodiment of the present invention is implemented.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A lateral control method, characterized in that the method comprises:
acquiring position information of a first zone bit;
determining a first lateral deviation of the vehicle according to the first position information of the vehicle and the position information of the first marker bit;
planning a change process of a first course angle or a first transverse deviation convergence speed of the vehicle according to the first transverse deviation; controlling the front wheel rotation angle of the vehicle according to the planned change process of the first course angle or the first transverse deviation convergence speed so as to cut into the road edge;
when the vehicle runs along the roadside, respectively determining a first road point which is closest to the middle point of a first axle of the vehicle and a second road point which is closest to the middle point of a second axle of the vehicle;
calculating a first distance between the first road point and the midpoint of the first axle to obtain first deviation data, and calculating a second distance between the second road point and the midpoint of the second axle to obtain second deviation data;
calculating a pre-aiming distance according to the first deviation data and a first vehicle speed of the vehicle;
calculating a first corner according to the first deviation data, a first vehicle speed of the vehicle, a distance between a midpoint of the first axle and a midpoint of a second axle and the pre-aiming distance;
calculating a second rotation angle according to the second deviation data;
calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner;
acquiring the position information of a second zone bit;
determining a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second marker bit;
planning a change process of a second course angle or a second transverse deviation convergence speed of the vehicle according to the second transverse deviation;
and controlling the corner of the front wheel of the vehicle according to the planned change process of the second course angle or the second transverse deviation convergence speed, and cutting off the road edge.
2. The method according to claim 1, wherein the obtaining the location information of the first flag bit specifically includes:
acquiring first original position information of a first marker bit through a first sensor;
acquiring second original position information of the first marker bit through a second sensor;
acquiring third original position information of the first marker bit through a third sensor;
and fusing the first original position information, the second original position information and the third original position information to obtain the position information of the first marker bit under the vehicle coordinate system.
3. The method according to claim 1, wherein determining the first lateral deviation of the vehicle based on the first position information of the vehicle and the position information of the first flag specifically comprises:
according to ey＝y-ydCalculating a first lateral deviation of the vehicle;
wherein y is transverse coordinate information in the position information of the vehicle, ydIs the horizontal coordinate information of the first flag bit.
4. The method according to claim 1, wherein controlling a first heading angle and a first lateral deviation convergence speed of the vehicle based on the first lateral deviation comprises:
according to the formula
Obtaining a relation between a first course angle and a first transverse deviation convergence speed of the vehicle, and planning a change process of a proper course angle or a proper transverse speed;
where psi is the course angle, V is the first vehicle speed, VxIs the longitudinal velocity, VyIs the first lateral deviation convergence speed.
5. The method of claim 1, wherein calculating a pre-line distance based on the first deviation data and a first vehicle speed of the vehicle comprises:
according to the formula ld＝k1*v+x|error1|Calculating a pre-aiming distance;
wherein ldFor the preview distance, k1 is a constant, v is the current first vehicle speed of the vehicle, and error1 is the first deviation data.
6. The method of claim 1, wherein calculating a first turn angle based on the first deviation data, a first vehicle speed of the vehicle and a distance between a midpoint of the first axle and a midpoint of a second axle, the preview distance, comprises:
according to the formula
Calculating a first rotation angle;
wherein, deltapurepursuitIs a first corner, L is the distance between the midpoint of the first axle and the midpoint of the second axle, Ldα is the included angle of the tangent of the arc from the midpoint of the first axle to the pre-aiming point.
7. The method according to claim 1, wherein said calculating a second rotation angle based on said second deviation data comprises:
according to the formula
Calculating a second rotation angle;
wherein, deltaFront axle feedbackFor the second corner, error2 is the second deviation data, and kp, ki, kd are the parameters of three of the PIDs.
8. The method according to claim 1, wherein said calculating a second rotation angle based on said second deviation data comprises:
using formulas
Calculating a second rotation angle;
wherein, deltaFront axle feedbackFor the second steering angle, k2 is constant, v is the current first vehicle speed of the vehicle, and error2 is the second deviation data.
9. The method according to claim 1, wherein calculating a target corner along which the vehicle is traveling along a curb based on the first corner and the second corner comprises:
according to the formula delta-deltapurepursuit+δFront axle feedbackCalculating a target corner;
where δ is the target rotation angle, δpurepursuitIs a first angle of rotation, δFront axle feedbackIs the second corner.
10. A lateral control device, characterized in that the device comprises:
an acquisition unit configured to acquire position information of a first flag bit;
a determination unit for determining a first lateral deviation of the vehicle based on first position information of the vehicle and position information of the first flag bit;
the calculating unit is used for planning a change process of a first course angle or a first transverse deviation convergence speed of the vehicle according to the first transverse deviation;
the cut-in unit is used for controlling the front wheel rotating angle of the vehicle according to a planned first course angle or the change process of the first transverse deviation convergence speed so as to cut in the road edge;
the determining unit is further used for respectively determining a first road point which is closest to the middle point of a first axle of the vehicle and a second road point which is closest to the middle point of a second axle of the vehicle when the vehicle runs along the roadside;
the calculating unit is further configured to calculate a first distance between the first road point and the midpoint of the first axle to obtain first deviation data, and calculate a second distance between the second road point and the midpoint of the second axle to obtain second deviation data;
the calculation unit is further used for calculating a pre-aiming distance according to the first deviation data and the first vehicle speed of the vehicle;
the calculation unit is further used for calculating a first corner according to the first deviation data, a first vehicle speed of the vehicle, the distance between the midpoint of the first axle and the midpoint of the second axle and the pre-aiming distance;
the calculating unit is further used for calculating a second rotation angle according to the second deviation data;
the calculation unit is further used for calculating a target corner of the vehicle running along the roadside according to the first corner and the second corner;
the obtaining unit is further configured to obtain position information of a second flag bit;
the determining unit is further used for determining a second lateral deviation of the vehicle according to the current second position information of the vehicle and the position information of the second marker bit;
the calculation unit is further used for planning a change process of a second course angle or a second transverse deviation convergence speed of the vehicle according to the second transverse deviation;
and the cutting-out unit is used for controlling the front wheel rotating angle of the vehicle according to the planned second course angle or the change process of the second transverse deviation convergence speed so as to cut out the road edge.
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| CN114415649B (en) * | 2020-10-12 | 2023-08-01 | 重庆兰德适普信息科技有限公司 | Automatic driving low-speed motion control method and device |
| CN114137825B (en) * | 2021-11-29 | 2024-05-07 | 合肥井松智能科技股份有限公司 | Motion control method, system and device for heavy-load double-steering-wheel AGV body |
| CN114577232A (en) * | 2022-03-08 | 2022-06-03 | 广东皓行科技有限公司 | Automatic vehicle navigation method and device with lost differential signal |
| CN114637296B (en) * | 2022-03-16 | 2023-05-16 | 中铁二院工程集团有限责任公司 | Tracking control system and control method for PRT vehicle |
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