CN111619554A - Vehicle rear wheel steering control method, device, equipment and storage medium - Google Patents
Vehicle rear wheel steering control method, device, equipment and storage medium Download PDFInfo
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- CN111619554A CN111619554A CN202010485098.XA CN202010485098A CN111619554A CN 111619554 A CN111619554 A CN 111619554A CN 202010485098 A CN202010485098 A CN 202010485098A CN 111619554 A CN111619554 A CN 111619554A
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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
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
Abstract
The invention discloses a vehicle rear wheel steering control method, device, equipment and storage medium. The method comprises the following steps: in an automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle; determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle; planning a driving path according to the environment information and the vehicle state to obtain a target route; determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle; and controlling the vehicle to run according to the vehicle corner information, so as to improve the driving comfort degree through the technical scheme of the invention.
Description
Technical Field
The embodiment of the invention relates to vehicle technology, in particular to a method, a device, equipment and a storage medium for controlling the rear wheel steering of a vehicle.
Background
As automobiles enter an intelligent era, the demand for the convenience of vehicle use is higher and higher, and rear wheel steering control systems used on various automobiles at the present stage receive steering wheel steering angle signals output after operation of a driver through an entire automobile ECU or a chassis domain controller ECU, calculate the rear wheel steering angle signals and enable the rear wheel steering action through an execution mechanism MCU. The method is different from the common driving habit, and scratch and rub on two sides easily; some vehicle enterprises have put forward the requirement of disabling the rear wheel steering function when parking, thus losing the advantage of the rear wheel steering system of reducing the turning radius.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for controlling the steering of rear wheels of a vehicle, and aims to solve the problems in the prior art.
In a first aspect, an embodiment of the present invention provides a method, including: in an automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle;
determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle;
planning a driving path according to the environment information and the vehicle state to obtain a target route;
determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and controlling the vehicle to run according to the vehicle turning angle information.
Further, the vehicle rotation angle information for each position is calculated according to the following formula:
wherein Y represents the lateral direction of the vehicleDisplacement, m represents the total mass of the vehicle, a, b represent the distance of the center of mass of the vehicle from the front and rear axles, respectively, kf、krRespectively represents the total cornering stiffness of the front and rear wheels,
indicating the direction angle of the vehicle, IzRepresenting the moment of inertia of the vehicle about the Z-axis, uaWhich is indicative of the speed of the vehicle,findicating the angle of rotation of the front wheels of the vehicle,rindicating the rear wheel turning angle of the vehicle.
Further, in the automatic parking mode, before the vehicle data is collected by the probe installed on the vehicle, the method further includes:
collecting state parameters of a steering wheel through a steering wheel torque sensor and a steering wheel hands-off detection sensor;
and determining a parking mode according to the state parameters of the steering wheel.
Further, the steering wheel leaves hand detection sensor for setting up the pressure sensor on the steering wheel, the state parameter of steering wheel includes: pressure data applied to the steering wheel and steering wheel moment data.
Further, determining the parking mode according to the state parameter of the steering wheel includes:
if the pressure data applied to the steering wheel is larger than or equal to the pressure threshold value and the steering wheel moment data is larger than or equal to the moment threshold value, determining that the parking mode is an artificial parking mode;
and if the pressure data applied to the steering wheel is smaller than a pressure threshold value or the torque data of the steering wheel is smaller than a torque threshold value, determining that the parking mode is the automatic parking mode.
Further, the method also comprises the following steps:
starting a rear wheel steering function in an artificial parking mode;
and when the clicking operation of the user on the corresponding forbidden area of the rear wheel steering is detected, the rear wheel steering function is forbidden.
Further, in the manual parking mode, the turning on of the rear wheel steering function includes:
receiving a steering wheel corner signal transmitted by a CAN bus;
and performing reverse follow-up steering action of the rear wheels based on a first proportional coefficient according to the steering wheel angle signal.
In a second aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes: the device comprises a setting module, a control module and a control module, wherein the setting module is used for acquiring vehicle parameters through a detector arranged on a vehicle in an automatic parking mode;
the first determination module is used for determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises the current position of the vehicle;
the planning module is used for planning a driving path according to the environment information and the vehicle state to obtain a target route;
the second determination module is used for determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and the control module is used for controlling the vehicle to run according to the vehicle corner information.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to any one of the embodiments of the present invention.
In the embodiment of the invention, in the automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle; determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle; planning a driving path according to the environment information and the vehicle state to obtain a target route; determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle; according to the vehicle corner information control vehicle traveles to realize solving because distinguishing with general driving habit, produce the problem of the circumstances of scraping and rubbing of both sides easily, can promote driving comfort.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1A is a flowchart of a method for controlling the rear wheel steering of a vehicle according to a first embodiment of the present invention;
FIG. 1B is a diagram of a mode switching circuit according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a rear wheel steering control apparatus for a vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1A is a flowchart of a rear wheel steering control of a vehicle according to an embodiment of the present invention, where the embodiment is applicable to a case of rear wheel steering control of a vehicle, and the method may be executed by a rear wheel steering control apparatus of a vehicle according to an embodiment of the present invention, where the apparatus may be implemented in software and/or hardware, and as shown in fig. 1A, the method specifically includes the following steps:
and S110, in the automatic parking mode, acquiring vehicle parameters through a detector arranged on the vehicle.
Specifically, after the driver starts the automatic parking function through the automatic parking mode switch, the vehicle acquires vehicle parameters through a camera, a laser radar, an ultrasonic sensor and other detectors.
And S120, determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises the current position of the vehicle.
Specifically, environment planning and vehicle attitude estimation are performed according to vehicle parameters, and the automatic parking control module receives a vehicle state signal through communication with the CAN.
And S130, planning a driving path according to the environment information and the vehicle state to obtain a target route.
Specifically, the driving path planning is performed based on a given control algorithm (e.g., ant colony algorithm planning path + Bezier algorithm fairing control algorithm, or monocular vision method).
S140, determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle.
Specifically, the vehicle turning angle information of each position is calculated according to the target route and the current position of the vehicle.
Optionally, the vehicle rotation angle information of each position is calculated according to the following formula:
wherein Y represents the lateral displacement of the vehicle, m-tableIndicating the total mass of the vehicle, a, b indicating the distance of the center of mass of the vehicle from the front and rear axles, respectively, kf、krRespectively represents the total cornering stiffness of the front and rear wheels,
indicating the direction angle of the vehicle, IzRepresenting the moment of inertia of the vehicle about the Z-axis, uaWhich is indicative of the speed of the vehicle,findicating the angle of rotation of the front wheels of the vehicle,rindicating the rear wheel turning angle of the vehicle.
And S150, controlling the vehicle to run according to the vehicle turning angle information.
Specifically, the front wheel steering control module and the rear wheel steering control module are controlled in an enabling mode according to the vehicle steering angle information, the front wheel steering device and the rear wheel steering device are driven to act, and the steering function of automatic parking is achieved.
Optionally, in the automatic parking mode, before the vehicle data is collected by a detector disposed on the vehicle, the method further includes:
collecting state parameters of a steering wheel through a steering wheel torque sensor and a steering wheel hands-off detection sensor;
and determining a parking mode according to the state parameters of the steering wheel.
Optionally, the steering wheel is away from hand detection sensor for setting up the pressure sensor on the steering wheel, the state parameter of steering wheel includes: pressure data applied to the steering wheel and steering wheel moment data.
Optionally, determining a parking mode according to the state parameter of the steering wheel includes:
if the pressure data applied to the steering wheel is larger than or equal to the pressure threshold value and the steering wheel moment data is larger than or equal to the moment threshold value, determining that the parking mode is an artificial parking mode;
and if the pressure data applied to the steering wheel is smaller than a pressure threshold value or the torque data of the steering wheel is smaller than a torque threshold value, determining that the parking mode is the automatic parking mode.
Optionally, the method further includes:
starting a rear wheel steering function in an artificial parking mode;
and when the clicking operation of the user on the corresponding forbidden area of the rear wheel steering is detected, the rear wheel steering function is forbidden.
Optionally, in the manual parking mode, the turning on of the rear wheel steering function includes:
receiving a steering wheel corner signal transmitted by a CAN bus;
and performing reverse follow-up steering action of the rear wheels based on a first proportional coefficient according to the steering wheel angle signal.
Wherein the first scale factor is preset.
The technical scheme disclosed by the embodiment of the invention can directly control the front and rear wheel steering controller control modules to carry out parking steering action of the vehicle; the automatic parking and manual parking can be freely switched; the driver can freely select the follow-up steering of the rear wheels or return to the zero position and lock.
In a specific example, after the driver starts the automatic parking function through the automatic parking mode switch, the vehicle performs environment planning and posture estimation of the vehicle through a camera, a laser radar, an ultrasonic sensor and other detectors, the automatic parking control module receives a state signal of the vehicle through communication with the CAN, performs driving path planning based on a given control algorithm (such as an ant colony algorithm planning path + Bezier algorithm fairing control algorithm, or a monocular vision method and the like), and then calculates the turning angle information of the vehicle at each position, so as to enable the front wheel steering control module and the rear wheel steering control module to be controlled, and drive the front wheel steering device and the rear wheel steering device to operate, thereby realizing the steering function of automatic parking. In the manual parking mode, as shown in fig. 1B, when the driver operates (a function start delay value may be set according to a definition of function safety, for example, 30ms, to prevent a malfunction), the steering wheel torque sensor and the steering wheel off-hand detection sensor send out enable signals, the enable signals sent from the and gate 1 and the brake pedal pass through or are sent to the isolation relay 1, and the isolation relay 1 interrupts the enable signals sent from the automatic parking control module to the front and rear wheel steering controllers; the OR gate sends an enable signal to the automatic parking mode switch through the CAN bus to be closed, andreminding the driver of attention; meanwhile, an enabling signal of an OR gate opens the isolation relay 2 through the AND gate 2, at the moment, a rear wheel steering angle calculation module starts to work, receives a steering wheel steering angle signal transmitted by a CAN bus, and performs reverse follow-up steering action of rear wheels on the basis of a given proportionality coefficient K, wherein the formula isr＝-KfWherein, in the step (A),findicating the angle of rotation of the front wheels of the vehicle,rindicating the rear wheel turning angle of the vehicle. The function can be switched according to the use habit of the driver. When a driver starts the rear wheel steering forbidding function, the rear wheel steering forbidding module enables the isolation relay 2 to be disconnected through the AND gate 2, at the moment, the rear wheel steering function is forbidden, and the rear wheel steering executing mechanism returns to a zero position and is locked, so that the rear wheel steering executing mechanism does not participate in parking.
According to the technical scheme of the embodiment, vehicle parameters are collected through a detector arranged on a vehicle in an automatic parking mode; determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle; planning a driving path according to the environment information and the vehicle state to obtain a target route; determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle; according to the vehicle corner information control vehicle traveles to realize solving because distinguishing with general driving habit, produce the problem of the circumstances of scraping and rubbing of both sides easily, can promote driving comfort.
Example two
Fig. 2 is a schematic structural diagram of a rear wheel steering control device for a vehicle according to a second embodiment of the present invention. The present embodiment may be applied to the case of vehicle rear wheel steering control, and the apparatus may be implemented in a software and/or hardware manner, and may be integrated into any device that provides the function of vehicle rear wheel steering control, as shown in fig. 2, where the vehicle rear wheel steering control apparatus specifically includes: a setup module 210, a first determination module 220, a planning module 230, a second determination module 240, and a control module 250.
The system comprises a setting module, a data processing module and a control module, wherein the setting module is used for acquiring vehicle parameters through a detector arranged on a vehicle in an automatic parking mode;
the first determination module is used for determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises the current position of the vehicle;
the planning module is used for planning a driving path according to the environment information and the vehicle state to obtain a target route;
the second determination module is used for determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and the control module is used for controlling the vehicle to run according to the vehicle corner information.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, vehicle parameters are collected through a detector arranged on a vehicle in an automatic parking mode; determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle; planning a driving path according to the environment information and the vehicle state to obtain a target route; determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle; according to the vehicle corner information control vehicle traveles to realize solving because distinguishing with general driving habit, produce the problem of the circumstances of scraping and rubbing of both sides easily, can promote driving comfort.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing a vehicle rear wheel steering control method provided by an embodiment of the present invention:
in an automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle;
determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle;
planning a driving path according to the environment information and the vehicle state to obtain a target route;
determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and controlling the vehicle to run according to the vehicle turning angle information.
Example four
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle rear wheel steering control method as provided in all the inventive embodiments of this application:
in an automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle;
determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle;
planning a driving path according to the environment information and the vehicle state to obtain a target route;
determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and controlling the vehicle to run according to the vehicle turning angle information.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle rear wheel steering control method characterized by comprising:
in an automatic parking mode, vehicle parameters are collected through a detector arranged on a vehicle;
determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises a current position of the vehicle;
planning a driving path according to the environment information and the vehicle state to obtain a target route;
determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and controlling the vehicle to run according to the vehicle turning angle information.
2. The method according to claim 1, characterized in that the vehicle rotation angle information for each position is calculated according to the following formula:
wherein Y represents the lateral displacement of the vehicle, m represents the total mass of the vehicle, a, b represent the distance of the center of mass of the vehicle from the front and rear axles, respectively, kf、krRespectively represents the total cornering stiffness of the front and rear wheels,
indicating the direction angle of the vehicle, IzRepresenting the moment of inertia of the vehicle about the Z-axis, uaIndicating vehicleThe speed of the vehicle is set to be,findicating the angle of rotation of the front wheels of the vehicle,rindicating the rear wheel turning angle of the vehicle.
3. The method of claim 2, wherein in the automatic parking mode, before collecting vehicle data by a probe provided on the vehicle, further comprising:
collecting state parameters of a steering wheel through a steering wheel torque sensor and a steering wheel hands-off detection sensor;
and determining a parking mode according to the state parameters of the steering wheel.
4. The method of claim 3, wherein the steering wheel hands-off detection sensor is a pressure sensor disposed on a steering wheel, and the state parameters of the steering wheel include: pressure data applied to the steering wheel and steering wheel moment data.
5. The method of claim 4, wherein determining a parking mode based on the state parameter of the steering wheel comprises:
if the pressure data applied to the steering wheel is larger than or equal to the pressure threshold value and the steering wheel moment data is larger than or equal to the moment threshold value, determining that the parking mode is an artificial parking mode;
and if the pressure data applied to the steering wheel is smaller than a pressure threshold value or the torque data of the steering wheel is smaller than a torque threshold value, determining that the parking mode is the automatic parking mode.
6. The method of claim 5, further comprising:
starting a rear wheel steering function in an artificial parking mode;
and when the clicking operation of the user on the corresponding forbidden area of the rear wheel steering is detected, the rear wheel steering function is forbidden.
7. The method of claim 6, wherein in the manual parking mode, activating the rear wheel steering function comprises:
receiving a steering wheel corner signal transmitted by a CAN bus;
and performing reverse follow-up steering action of the rear wheels based on a first proportional coefficient according to the steering wheel angle signal.
8. A vehicle rear wheel steering control device characterized by comprising:
the device comprises a setting module, a control module and a control module, wherein the setting module is used for acquiring vehicle parameters through a detector arranged on a vehicle in an automatic parking mode;
the first determination module is used for determining environmental information and a vehicle state according to the vehicle parameters, wherein the vehicle state comprises the current position of the vehicle;
the planning module is used for planning a driving path according to the environment information and the vehicle state to obtain a target route;
the second determination module is used for determining vehicle corner information of each position on the target route according to the target route and the current position of the vehicle;
and the control module is used for controlling the vehicle to run according to the vehicle corner information.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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| CN113085840A (en) * | 2021-04-21 | 2021-07-09 | 中国第一汽车股份有限公司 | Parking path determination method and device, vehicle and storage medium |
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| CN114435460A (en) * | 2022-03-24 | 2022-05-06 | 苏州轻棹科技有限公司 | Steering wheel control method in automatic parking scene |
| CN115158455A (en) * | 2022-08-23 | 2022-10-11 | 奇瑞汽车股份有限公司 | Control method and device of rear wheel active steering system, vehicle and storage medium |
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