CN111634331A - Steering control method, device and system for automatic driving vehicle - Google Patents
Steering control method, device and system for automatic driving vehicle Download PDFInfo
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- CN111634331A CN111634331A CN202010523732.4A CN202010523732A CN111634331A CN 111634331 A CN111634331 A CN 111634331A CN 202010523732 A CN202010523732 A CN 202010523732A CN 111634331 A CN111634331 A CN 111634331A
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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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Abstract
The application discloses a steering control method, a device and a system of an automatic driving vehicle, wherein the method comprises the following steps: acquiring the current position, the current direction and the current running speed of the automatic driving vehicle; comparing the current position and the current direction with the target track to obtain a transverse error and a course error; obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current driving speed, the wheelbase and the foresight distance of the automatic driving vehicle; and acquiring the current angular rate of the automatic driving vehicle by using the angular rate measuring element, and performing steering control on the automatic driving vehicle according to the difference value between the target angular rate and the current angular rate. According to the technical scheme, the angular rate of the automatic driving vehicle is used as the feedback value to perform steering control, and the installation position of the angular rate measuring element is not limited in the process, so that the situations of damage, falling and the like can be avoided as much as possible, and the control effect of the steering control of the automatic driving vehicle can be improved.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and more particularly, to a steering control method, device and system for an automatic driving vehicle.
Background
The automatic driving is a product of high combination and development of modern computer science, pattern recognition and control technology, senses the surrounding environment of a vehicle by using sensors with different functions, plans a safe and collision-free path according to road, vehicle position and obstacle information obtained by sensing, and controls the speed and steering of the vehicle, so that the vehicle can be safely and autonomously driven on the road.
Currently, when steering control of an autonomous vehicle is performed, an absolute angle or a relative angle of a wheel is obtained, and the obtained wheel angle is used as a feedback value to perform control, and the wheel angle is often obtained in the following two ways: one is to install an absolute angle sensor or an angle encoder on a wheel rotating shaft of the autonomous vehicle, and the other is to install a relative angle sensor or a gyroscope on the wheel rotating shaft. However, since the autonomous vehicle often encounters jolt and severe shaking during driving, an angle measuring device installed at a position of a wheel rotation shaft for measuring an angle of a wheel is easily damaged or even dropped, so that accuracy of steering control of the autonomous vehicle may be reduced or even the steering control of the autonomous vehicle may not be realized.
In summary, how to improve the control effect of the steering control of the automatic driving vehicle is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present application is to provide a steering control method, apparatus, device and computer readable storage medium for an autonomous vehicle, which are used to improve the control effect of the steering control of the autonomous vehicle.
In order to achieve the above purpose, the present application provides the following technical solutions:
a steering control method of an autonomous vehicle, comprising:
acquiring the current position, the current direction and the current running speed of the automatic driving vehicle;
comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error;
obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current running speed and a pre-acquired wheelbase and a forward-looking distance of the automatic driving vehicle;
acquiring the current angular rate of the automatic driving vehicle by using an angular rate measuring element, and obtaining the difference value between the target angular rate and the current angular rate;
and carrying out steering control on the automatic driving vehicle according to the difference value.
Preferably, obtaining the target angular rate of the autonomous vehicle according to the lateral error, the heading error, the current driving speed, and a pre-acquired wheelbase and a forward-looking distance of the autonomous vehicle, includes:
by using
Obtaining a target angle of the wheels of the autonomous vehicle;
by using
Obtaining a target angular rate of the autonomous vehicle;
wherein λ is a target angle of a wheel of the autonomous vehicle, L is a wheel base of the autonomous vehicle, d is the lateral error, ψ is the heading error, F is the forward looking distance, v is the current running speed, is a target angular velocity of the autonomous vehicle.
Preferably, the angular rate measuring element is embodied as a gyroscope, and one axis of the gyroscope is configured as a zenith axis of the autonomous vehicle.
Preferably, the acquiring the current position, the current direction, and the current traveling speed of the autonomous vehicle includes:
and acquiring the current position, the current direction and the current running speed of the automatic driving vehicle by using a navigation system pre-installed on the automatic driving vehicle.
Preferably, the navigation system is a Beidou satellite navigation system.
Preferably, the steering control of the autonomous vehicle according to the difference value includes:
and controlling the rotating speed of a motor arranged on a steering wheel of the automatic driving vehicle according to the absolute value of the difference, and controlling the rotating direction of the motor according to the positive sign and the negative sign of the difference.
A steering control apparatus of an autonomous vehicle, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current position, the current direction and the current running speed of the automatic driving vehicle;
the comparison module is used for comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error;
the target angular rate obtaining module is used for obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current running speed and the pre-acquired wheelbase and forward-looking distance of the automatic driving vehicle;
the second acquisition module is used for acquiring the current angular rate of the automatic driving vehicle by using an angular rate measuring element and acquiring the difference value between the target angular rate and the current angular rate;
and the steering control module is used for performing steering control on the automatic driving vehicle according to the difference value.
A steering control system for an autonomous vehicle, comprising a controller, a motor mounted on a steering wheel of the autonomous vehicle, an angular rate measuring element, wherein:
the angular rate measuring element is used for acquiring the current angular rate of the automatic driving vehicle;
the controller is used for storing a computer program and realizing the steps of the steering control method of the automatic driving vehicle when the computer program is executed;
and the motor is used for carrying out steering control on a steering wheel of the automatic driving vehicle according to the control of the controller.
Preferably, the angular rate measuring element is embodied as a gyroscope, and one axis of the gyroscope is configured as a zenith axis of the autonomous vehicle.
Preferably, the method further comprises the following steps:
and the navigation system is installed on the automatic driving vehicle and is used for acquiring the current position, the current direction and the current running speed of the automatic driving vehicle.
The application provides a steering control method, a device and a system of an automatic driving vehicle, wherein the method comprises the following steps: acquiring the current position, the current direction and the current running speed of the automatic driving vehicle; comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error; obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current driving speed and the pre-acquired wheelbase and the foresight distance of the automatic driving vehicle; acquiring the current angular rate of the automatic driving vehicle by using an angular rate measuring element, and acquiring a difference value between a target angular rate and the current angular rate; and performing steering control on the automatic driving vehicle according to the difference value.
According to the technical scheme disclosed by the application, the current information of the current position, the current direction and the current running speed of the automatic driving vehicle is obtained, the target angular rate of the automatic driving vehicle is obtained according to the current information, the steering control is carried out on the automatic driving vehicle according to the difference value between the target angular rate and the current angular rate of the automatic driving vehicle obtained by using the angular rate measuring element, compared with the problem that an angle measuring device is required to be installed at the position of a wheel rotating shaft when the steering control is carried out by using the wheel angle as a feedback value at present, but the angle measuring device is easy to damage or even drop due to bumping and violent shaking of the automatic driving vehicle, and finally the steering control effect is poor, the angular rate of the automatic driving vehicle is used as the feedback value to carry out the steering control, and the angular rate measuring element only needs to obtain the current angular rate of the automatic driving vehicle in the steering control, the installation position of the automatic steering control device is not limited, namely the automatic steering control device is not required to be installed on a wheel rotating shaft of the automatic steering vehicle, so that the situations of damage, even falling and the like in the running process of the automatic steering vehicle can be avoided, the steering control of the automatic steering vehicle can be smoothly and normally carried out, and the control effect of the steering control of the automatic steering vehicle can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart illustrating steering control of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a steering control device of an autonomous vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a steering control system of an autonomous vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, which shows a flowchart of a steering control method of an autonomous vehicle according to an embodiment of the present application, the steering control method of an autonomous vehicle according to an embodiment of the present application may include:
s11: the current position, the current direction, and the current traveling speed of the autonomous vehicle are acquired.
Before the automatic driving vehicle performs automatic driving, a target track for the automatic driving vehicle to perform automatic driving may be obtained in advance, the target track has a function of enabling the automatic driving vehicle to travel along the target track through steering control to complete automatic driving, and a wheel base of the automatic driving vehicle may be obtained in advance through measurement or the like, and a forward-looking distance of the automatic driving vehicle may be obtained in advance.
During the automatic driving of the automatic driving vehicle, current information of the current position, the current direction and the current running speed of the automatic driving vehicle can be acquired, so that the target angular rate of the automatic driving vehicle can be acquired according to the current information.
In order to improve the control precision of steering control over the automatic driving vehicle, the current position, the current direction and the current running speed of the automatic driving vehicle can be acquired in real time, so that real-time steering control over the automatic driving vehicle is achieved.
In addition, it should be noted that the autonomous vehicle mentioned here may be any type of vehicle, that is, the steering control scheme of the autonomous vehicle provided by the present application may be applied to any type of vehicle capable of implementing autonomous driving.
S12: and comparing the current position and the current direction with the target track of the automatic driving vehicle to obtain a transverse error and a course error.
After step S11 is performed, the acquired current position and current direction of the autonomous vehicle may be compared with the target trajectory of the autonomous vehicle to obtain a lateral error and a heading error of the autonomous vehicle.
Specifically, when the comparison is performed, a straight line parallel to the body of the automatically-driven vehicle can be made along the target track of the automatically-driven vehicle according to the current position of the automatically-driven vehicle, and is marked as a straight line a, and the transverse error is the distance between the straight line a and the body of the automatically-driven vehicle; meanwhile, when the comparison is carried out, a tangent line can be made according to the target track of the automatic driving vehicle passing through the current position of the automatic driving vehicle and is marked as a straight line b, and the course error is an angle formed between the straight line b and the direction of the head of the automatic driving vehicle (determined according to the current direction of the automatic driving vehicle).
In order to improve the control precision of steering control of the automatic driving vehicle, the current position and the current direction can be compared with the target track of the automatic driving vehicle in real time, so that real-time steering control of the automatic driving vehicle is realized.
S13: and obtaining the target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current driving speed and the pre-acquired wheelbase and the foresight distance of the automatic driving vehicle.
After step S12 is performed, the target angular velocity of the autonomous vehicle may be calculated according to the acquired lateral error, heading error, current driving speed, and the pre-acquired wheelbase and forward-looking distance of the autonomous vehicle, i.e., the angular velocity at which the autonomous vehicle should currently drive is calculated so that the autonomous vehicle can automatically drive along the target trajectory.
In order to improve the control precision of steering control over the automatic driving vehicle, the target angular rate of the automatic driving vehicle can be obtained in real time, and therefore real-time steering control over the automatic driving vehicle is facilitated.
S14: and acquiring the current angular velocity of the automatic driving vehicle by using the angular velocity measuring element, and acquiring the difference value between the target angular velocity and the current angular velocity.
The angular rate measuring element may be previously installed on the autonomous vehicle before the autonomous vehicle performs autonomous driving, and the current angular rate of the autonomous vehicle may be acquired using the installed angular rate measuring element during the autonomous driving of the autonomous vehicle.
Thereafter, the target angular velocity of the autonomous vehicle acquired through step S13 may be subtracted from the current angular velocity of the autonomous vehicle acquired using the angular velocity measuring element to obtain a difference Diff _ Z between the target angular velocity and the current angular velocity (Diff _ Z ═ target angular velocity — current angular velocity).
In order to improve the control accuracy of steering control of the autonomous vehicle, the angular rate measuring element may be used to obtain the current angular rate of the autonomous vehicle in real time, and obtain the difference between the target angular rate and the current angular rate in real time, so as to implement real-time steering control of the autonomous vehicle.
S15: and performing steering control on the automatic driving vehicle according to the difference value.
After the difference between the target angular rate and the current angular rate is obtained, the motor mounted on the steering wheel of the autonomous vehicle can be controlled according to the difference, so that the motor controls the steering wheel of the autonomous vehicle to steer, and the steering control of the autonomous vehicle is realized.
In order to improve the control precision of the steering control of the automatic driving vehicle, the automatic driving vehicle can be subjected to real-time steering control according to the difference obtained in real time, so that the accuracy of the steering control of the automatic driving vehicle is improved, and the automatic driving effect of the automatic driving vehicle is improved.
As can be seen from the above process, the present application does not use the wheel angle as a feedback value to implement the steering control of the autonomous vehicle, but uses the angular velocity of the autonomous vehicle as a feedback value to implement the steering control of the autonomous vehicle, and thus the present application does not need to install an angle measuring device in the wheel axial direction to measure the wheel angle, but only needs to install an angular velocity measuring element on the autonomous vehicle to obtain the current angular velocity of the autonomous vehicle and cooperate with the above process, and therefore, the angular velocity measuring element used in the present application is not limited in the installation position on the autonomous vehicle, i.e., does not need to be installed in the wheel axial direction of the autonomous vehicle, but can be installed in a position where the autonomous vehicle is not easily damaged or dropped due to jolt and shake, therefore, the situation that the angular rate measuring element is damaged or even falls off due to jolt and severe shake of the automatic driving vehicle in the automatic driving process can be avoided as much as possible, the service life and the use experience of the angular rate measuring element can be prolonged as much as possible, the normal and smooth operation of the steering control of the automatic driving vehicle can be ensured, and the control effect of the steering control of the automatic driving vehicle can be improved.
In addition, because the angular rate measuring element only needs to complete the acquisition of the current angular rate of the automatic driving vehicle, the angular rate measuring element is not limited by factors such as vehicle type, horsepower, vehicle age and the like as an angle measuring device is installed on a wheel rotating shaft in the prior art, and the installation position of the angular rate measuring element on the automatic driving vehicle is not limited, the installation difficulty of the angular rate measuring element can be reduced, the installation time is reduced, and the steering control efficiency of the automatic driving vehicle is improved conveniently.
According to the technical scheme disclosed by the application, the current information of the current position, the current direction and the current running speed of the automatic driving vehicle is obtained, the target angular rate of the automatic driving vehicle is obtained according to the current information, the steering control is carried out on the automatic driving vehicle according to the difference value between the target angular rate and the current angular rate of the automatic driving vehicle obtained by using the angular rate measuring element, compared with the problem that an angle measuring device is required to be installed at the position of a wheel rotating shaft when the steering control is carried out by using the wheel angle as a feedback value at present, but the angle measuring device is easy to damage or even drop due to bumping and violent shaking of the automatic driving vehicle, and finally the steering control effect is poor, the angular rate of the automatic driving vehicle is used as the feedback value to carry out the steering control, and the angular rate measuring element only needs to obtain the current angular rate of the automatic driving vehicle in the steering control, the installation position of the automatic steering control device is not limited, namely the automatic steering control device is not required to be installed on a wheel rotating shaft of the automatic steering vehicle, so that the situations of damage, even falling and the like in the running process of the automatic steering vehicle can be avoided, the steering control of the automatic steering vehicle can be smoothly and normally carried out, and the control effect of the steering control of the automatic steering vehicle can be improved.
The steering control method for an autonomous vehicle according to an embodiment of the present application obtains a target angular rate of the autonomous vehicle according to a lateral error, a heading error, a current running speed, and a wheel base and a forward looking distance of the autonomous vehicle, which are obtained in advance, and may include:
by using
Obtaining a target angle of a wheel of the autonomous vehicle;
by using
Obtaining a target angular rate of the autonomous vehicle;
where λ is a target angle of the wheels of the autonomous vehicle, L is a wheel base of the autonomous vehicle, d is a lateral error, ψ is a heading error, F is a forward-looking distance, v is a current running speed, and is a target angular velocity of the autonomous vehicle.
In the steering control of the autonomous vehicle, a target angle λ of wheels of the autonomous vehicle may be calculated according to a lateral error, a heading error, a wheel base of the autonomous vehicle, and a forward-looking distance, which are obtained in advance, specifically as follows:
wherein L is the wheelbase of the autonomous vehicle, d is the lateral error, psi is the course error, and F is the forward-looking distance;
then, the target angular rate of the autonomous vehicle may be calculated according to the target angle λ of the wheels of the autonomous vehicle and the acquired current running speed v of the autonomous vehicle, and the specific calculation method is as follows:
the target angular rate of the autonomous vehicle can be accurately calculated through the two formulas, so that steering control of the autonomous vehicle can be realized according to the target angular rate, and the autonomous vehicle can automatically drive along the target track.
According to the steering control method of the automatic driving vehicle, the angular rate measuring element is specifically a gyroscope, and one axis of the gyroscope is configured as a natural axis of the automatic driving vehicle.
In the steering control of the autonomous vehicle provided by the present application, the angular rate measuring element used may specifically be a gyroscope, and the gyroscope may be a single-axis gyroscope or a multi-axis gyroscope, and one axis of the gyroscope is configured as a zenith axis (i.e., an axis pointing to the roof) of the autonomous vehicle, so as to measure the current angular rate of the autonomous vehicle using the gyroscope.
When the gyroscope is a multi-axis gyroscope, any one of the axes included therein may be configured as the natural axis of the autonomous vehicle. In addition, it should be noted that, in the coordinate system corresponding to the autonomous vehicle (i.e., in the body coordinate system), three axes may be included, one being an axis along the forward direction of the autonomous vehicle, one being an axis along the lateral direction (i.e., the left side or the right side) of the autonomous vehicle, and one being an axis pointing to the roof (i.e., the above-mentioned longitudinal axis), and the three axes are perpendicular to each other.
The steering control method for the autonomous vehicle, provided by the embodiment of the application, is used for acquiring the current position, the current direction and the current running speed of the autonomous vehicle, and may include:
the current position, the current direction, and the current traveling speed of the autonomous vehicle are acquired using a navigation system previously installed on the autonomous vehicle.
Before the autonomous vehicle is driven automatically, a navigation system may be installed in advance on the autonomous vehicle, and specifically, the navigation system may be installed on a roof of the autonomous vehicle, so that a current position, a current direction, and a current driving speed of the autonomous vehicle may be accurately and conveniently acquired by using the navigation system.
According to the steering control method of the automatic driving vehicle, the navigation system is a Beidou satellite navigation system.
In the steering control of the automatic driving vehicle provided by the application, the navigation system can be specifically a Beidou satellite navigation system so as to realize accurate positioning and accurate measurement, thereby being convenient for improving the accuracy of the steering control of the automatic driving vehicle.
Of course, other navigation systems may be utilized as the navigation system used in the present application.
The steering control method for the autonomous vehicle, which is provided by the embodiment of the application, performs steering control on the autonomous vehicle according to the difference value, and may include:
and controlling the rotating speed of a motor arranged on a steering wheel of the automatic driving vehicle according to the absolute value of the difference, and controlling the rotating direction of the motor according to the positive sign and the negative sign of the difference.
When steering control is performed on the autonomous vehicle according to the difference between the target angular rate and the current angular rate, specifically, an absolute value of the difference may be used as a signal for controlling the rotation speed of a motor mounted on a steering wheel of the autonomous vehicle, and a sign (i.e., a sign) of the difference may be used as a signal for controlling the rotation direction of the motor, that is, the rotation speed of the motor may be controlled according to the absolute value of the difference, and the rotation direction of the motor may be controlled according to the sign of the difference, so that the autonomous vehicle may perform autonomous driving along the target trajectory.
An embodiment of the present application further provides a steering control device of an autonomous vehicle, referring to fig. 2, which shows a schematic structural diagram of the steering control device of the autonomous vehicle provided in the embodiment of the present application, and the steering control device may include:
a first obtaining module 21, configured to obtain a current position, a current direction, and a current running speed of the autonomous vehicle;
the comparison module 22 is used for comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error;
the target angular rate obtaining module 23 is configured to obtain a target angular rate of the autonomous vehicle according to the lateral error, the heading error, the current running speed, and a pre-acquired wheelbase and a forward-looking distance of the autonomous vehicle;
a second obtaining module 24, configured to obtain a current angular rate of the autonomous vehicle by using the angular rate measuring element, and obtain a difference between the target angular rate and the current angular rate;
and a steering control module 25, configured to perform steering control on the autonomous vehicle according to the difference.
The steering control apparatus for an autonomous vehicle according to an embodiment of the present application, the obtaining a target angular rate module 23 may include:
a first computing unit for utilizing
Obtaining a target angle of a wheel of the autonomous vehicle;
a second calculation unit for utilizing
Obtaining a target angular rate of the autonomous vehicle;
where λ is a target angle of the wheels of the autonomous vehicle, L is a wheel base of the autonomous vehicle, d is a lateral error, ψ is a heading error, F is a forward-looking distance, v is a current running speed, and is a target angular velocity of the autonomous vehicle.
According to the steering control device of the automatic driving vehicle, the angular rate measuring element is specifically a gyroscope, and one axis of the gyroscope is configured as a natural axis of the automatic driving vehicle.
In an embodiment of the present application, the first obtaining module 21 may include:
an acquisition unit for acquiring a current position, a current direction, and a current traveling speed of the autonomous vehicle using a navigation system previously installed on the autonomous vehicle.
The embodiment of the application provides a steering control device of an automatic driving vehicle, and a navigation system is a Beidou satellite navigation system.
In an embodiment of the present application, the steering control module 25 may include:
and the steering control unit is used for controlling the rotating speed of a motor arranged on a steering wheel of the automatic driving vehicle according to the absolute value of the difference value and controlling the rotating direction of the motor according to the positive sign and the negative sign of the difference value.
The embodiment of the present application further provides a steering control system of an autonomous vehicle, referring to fig. 3, which shows a schematic structural diagram of the steering control system of the autonomous vehicle provided in the embodiment of the present application, and may include a controller 31, a motor 32 mounted on a steering wheel of the autonomous vehicle, and an angular rate measuring element 33, where:
an angular rate measuring element 33 for acquiring a current angular rate of the autonomous vehicle;
a controller 31 for storing a computer program and implementing the steps of any of the above-described steering control methods for an autonomous vehicle when executing the computer program;
and a motor 32 for steering-controlling a steering wheel of the autonomous vehicle according to control of the controller 31.
Among them, the controller 31 may be installed inside the autonomous vehicle to protect the controller 31 by the autonomous vehicle.
In the steering control system of the autonomous vehicle provided by the embodiment of the present application, the angular rate measuring element 33 is specifically a gyroscope, and one axis of the gyroscope is configured as a natural axis of the autonomous vehicle.
The steering control system of an autonomous vehicle provided by the embodiment of the application can further comprise:
and a navigation system 34 installed on the autonomous vehicle for acquiring a current position, a current direction, and a current traveling speed of the autonomous vehicle.
For specific descriptions of relevant parts in the steering control device and system for an autonomous vehicle provided in the embodiments of the present application, reference may be made to detailed descriptions of corresponding parts in the steering control method for an autonomous vehicle provided in the embodiments of the present application, and details are not repeated here.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A steering control method for an autonomous vehicle, comprising:
acquiring the current position, the current direction and the current running speed of the automatic driving vehicle;
comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error;
obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current running speed and a pre-acquired wheelbase and a forward-looking distance of the automatic driving vehicle;
acquiring the current angular rate of the automatic driving vehicle by using an angular rate measuring element, and obtaining the difference value between the target angular rate and the current angular rate;
and carrying out steering control on the automatic driving vehicle according to the difference value.
2. The steering control method of an autonomous vehicle as claimed in claim 1, wherein obtaining a target angular rate of the autonomous vehicle according to the lateral error, the heading error, the current running speed, and a previously acquired wheelbase and a forward looking distance of the autonomous vehicle comprises:
by using
Obtaining a target angle of the wheels of the autonomous vehicle;
by using
Obtaining a target angular rate of the autonomous vehicle;
wherein λ is a target angle of a wheel of the autonomous vehicle, L is a wheel base of the autonomous vehicle, d is the lateral error, ψ is the heading error, F is the forward looking distance, v is the current running speed, is a target angular velocity of the autonomous vehicle.
3. The steering control method for an autonomous vehicle according to claim 1, characterized in that the angular rate measuring element is specifically a gyroscope, and one axis of the gyroscope is configured as a day axis of the autonomous vehicle.
4. The steering control method of an autonomous vehicle according to claim 1, wherein acquiring the current position, the current direction, and the current traveling speed of the autonomous vehicle includes:
and acquiring the current position, the current direction and the current running speed of the automatic driving vehicle by using a navigation system pre-installed on the automatic driving vehicle.
5. The steering control method of an autonomous vehicle as claimed in claim 4, wherein the navigation system is a Beidou satellite navigation system.
6. The steering control method of an autonomous vehicle according to claim 1, wherein steering control of the autonomous vehicle based on the difference value includes:
and controlling the rotating speed of a motor arranged on a steering wheel of the automatic driving vehicle according to the absolute value of the difference, and controlling the rotating direction of the motor according to the positive sign and the negative sign of the difference.
7. A steering control apparatus for an autonomous vehicle, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current position, the current direction and the current running speed of the automatic driving vehicle;
the comparison module is used for comparing the current position and the current direction with a target track of the automatic driving vehicle to obtain a transverse error and a course error;
the target angular rate obtaining module is used for obtaining a target angular rate of the automatic driving vehicle according to the transverse error, the course error, the current running speed and the pre-acquired wheelbase and forward-looking distance of the automatic driving vehicle;
the second acquisition module is used for acquiring the current angular rate of the automatic driving vehicle by using an angular rate measuring element and acquiring the difference value between the target angular rate and the current angular rate;
and the steering control module is used for performing steering control on the automatic driving vehicle according to the difference value.
8. A steering control system for an autonomous vehicle, comprising a controller, a motor mounted on a steering wheel of the autonomous vehicle, an angular rate measuring element, wherein:
the angular rate measuring element is used for acquiring the current angular rate of the automatic driving vehicle;
the controller for storing a computer program and implementing the steps of the steering control method of an autonomous vehicle according to any of claims 1 to 6 when executing the computer program;
and the motor is used for carrying out steering control on a steering wheel of the automatic driving vehicle according to the control of the controller.
9. Steering control system of an autonomous vehicle according to claim 8, characterized in that the angular rate measuring element is in particular a gyroscope, and one axis of the gyroscope is configured as the zenith axis of the autonomous vehicle.
10. The steering control system of an autonomous vehicle of claim 8, further comprising:
and the navigation system is installed on the automatic driving vehicle and is used for acquiring the current position, the current direction and the current running speed of the automatic driving vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010523732.4A CN111634331B (en) | 2020-06-10 | 2020-06-10 | Steering control method, device and system for automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010523732.4A CN111634331B (en) | 2020-06-10 | 2020-06-10 | Steering control method, device and system for automatic driving vehicle |
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| Publication Number | Publication Date |
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| CN111634331A true CN111634331A (en) | 2020-09-08 |
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| CN112977613A (en) * | 2021-03-18 | 2021-06-18 | 安徽江淮汽车集团股份有限公司 | Steering control method, device, equipment and storage medium for automatic driving automobile |
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