CN111731307B - Vehicle turning control method and device, vehicle and storage medium - Google Patents
Vehicle turning control method and device, vehicle and storage medium Download PDFInfo
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The embodiment of the invention discloses a vehicle turning control method and device, a vehicle and a storage medium. Wherein, the method comprises the following steps: receiving current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor; determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information; determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information; determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information; and controlling the vehicle to turn according to the steering wheel angle and the running acceleration. According to the technical scheme provided by the embodiment of the invention, the vehicle can pass through the curve with larger curvature when turning is controlled, and the stability and the comfort are improved.
Description
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle turning control method and device, a vehicle and a storage medium.
Background
With the development of modern science and technology and sensor technology, the automatic driving technology has also developed rapidly. In the automatic driving technique, the quality of the trajectory tracking control determines the quality of the running performance of the automatic driving vehicle. In the trajectory tracking control of the vehicle, the vehicle turning control is particularly important.
The existing vehicle trajectory tracking control algorithm is a Proportional Integral Derivative (PID) algorithm, the PID algorithm forms a control deviation according to a given value and an actual output value, and the deviation is linearly combined according to proportion, Integral and Derivative to form a control quantity to control a controlled object.
However, when the vehicle adopting the control algorithm tracks, especially when the vehicle turns, the vehicle cannot pass through a curve with a larger curvature, and particularly at the later stage of the curve, the steering wheel is easy to shake, so that the comfort is poor.
Disclosure of Invention
The embodiment of the invention provides a vehicle turning control method and device, a vehicle and a storage medium, so that the stability and the comfort can be improved through a curve with larger curvature when the vehicle is controlled to turn.
In a first aspect, an embodiment of the present invention provides a vehicle turning control method, including:
receiving current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor;
determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information;
determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information;
determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information;
and controlling the vehicle to turn according to the steering wheel angle and the running acceleration.
In a second aspect, an embodiment of the present invention provides a vehicle turning control apparatus, including:
the information receiving module is used for receiving current position information of the vehicle, which is captured by a positioning navigation system, target waypoint information in a target curve where the vehicle is located and current speed information of the vehicle, which is captured by a setting sensor;
the information determining module is used for determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information;
the corner determining module is used for determining the steering wheel corner of the vehicle through model predictive control according to the transverse control input information;
the acceleration determining module is used for determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information;
and the turning control module is used for controlling the vehicle to turn according to the steering wheel rotating angle and the running acceleration.
In a third aspect, an embodiment of the present invention provides a vehicle including:
the positioning navigation system is used for carrying out position determination and path guidance on the vehicle;
at least one vehicle sensor for measuring the vehicle working state parameter and realizing the automatic control of the vehicle;
a steering wheel for controlling a direction of a vehicle;
one or more controllers for controlling the vehicle;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the vehicle turning control method according to any of the embodiments of the invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium on which is stored a computer program that, when executed by a controller, implements a vehicle turning control method according to any embodiment of the present invention.
The embodiment of the invention provides a vehicle turning control method, a device, a vehicle and a storage medium, firstly receiving current position information of the vehicle and target road point information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor, then determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target road point information and the current speed information, then determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information, determining running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information, and finally controlling the vehicle to turn according to the steering wheel angle and the running acceleration so that the vehicle can pass through the curve with larger curvature when in turning control, the condition that the steering wheel shakes is avoided, and the safety, stability and comfort in the driving process of the vehicle are improved.
Drawings
FIG. 1A is a flowchart illustrating a method for controlling a turn of a vehicle according to an embodiment of the present invention;
fig. 1B is a flowchart of a determination process of lateral control input information and longitudinal control input information of a vehicle in a method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a vehicle turning control apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle according to 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.
Example one
Fig. 1A is a flowchart of a vehicle turning control method according to an embodiment of the present invention, and the embodiment is applicable to a case where any vehicle is controlled during turning. The vehicle turning control method provided by the embodiment can be executed by the vehicle turning control method device provided by the embodiment of the invention, which can be realized by software and/or hardware, and is integrated in the vehicle executing the method, and the vehicle can be an automatic driving vehicle.
Referring to fig. 1A, the method includes, but is not limited to, the steps of:
s110, receiving current position information of a vehicle, captured by a positioning navigation system, target waypoint information in a target curve where the vehicle is located, and current speed information of the vehicle, captured by a setting sensor.
The Positioning and navigation System may be a Global Positioning System (GPS), and the GPS may display an actual position of the vehicle in real time, and provide travel route planning and navigation, information inquiry, emergency assistance, and the like. In addition, in order to obtain the target waypoint information in the target curve where the vehicle is located, the vehicle can run in the target curve once in advance, and during the running process, track information can be recorded through a GPS module arranged on the vehicle, the track information contains a plurality of target points, and the information contained by the target points can be called as the target waypoint information.
In order to avoid danger when the vehicle turns, it is necessary to control the turning of the vehicle. Then the current position information of the vehicle and the target waypoint information in the target curve in which the vehicle is located, as well as the current vehicle speed information of the vehicle, are first acquired. The current position information of the vehicle and the target road point information in the target curve where the vehicle is located can be determined through a positioning navigation system in the vehicle, and the current speed information of the vehicle can be acquired through a wheel speed sensor in the vehicle. After receiving the current position information of the vehicle, the target waypoint information in the target curve where the vehicle is located and the current speed information of the vehicle, the input information in the vehicle turning control process can be conveniently determined according to the information.
And S120, determining the transverse control input information and the longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information.
The control of the vehicle driving process can be divided into lateral control and longitudinal control. The transverse control mainly controls the driving direction of the vehicle by controlling the rotation angle and the rotation speed of a steering wheel; the longitudinal control mainly controls the running speed of the vehicle by operating an accelerator pedal, a brake pedal and a gear shifting handle. The vehicle turning control can be divided into lateral control and longitudinal control.
After the current position information, the target waypoint information and the current vehicle speed information of the vehicle are acquired, input information in the vehicle turning control process needs to be known in order to control the vehicle to turn, and at this time, the transverse control input information and the longitudinal control input information of the vehicle can be determined according to the current position information, the target waypoint information and the current vehicle speed information of the vehicle.
Further, fig. 1B is a flowchart of a determination process of lateral control input information and longitudinal control input information of a vehicle in a method according to an embodiment of the present invention, and referring to fig. 1B, the determination process includes, but is not limited to, the following steps:
and S1201, taking the preset target longitudinal speed and the current longitudinal speed in the current speed information as longitudinal control input information of the vehicle.
The target longitudinal speed is a speed expected to be reached by the vehicle during the driving process, and the preset target longitudinal speed in this embodiment may be 10km/h, and may also be set according to the vehicle environment and the actual conditions of other surrounding vehicles, which is not limited in this embodiment.
When the vehicle is controlled longitudinally, the longitudinal control input information of the vehicle needs to be determined, and the longitudinal control input information of the vehicle comprises the following steps: a target longitudinal vehicle speed and a current longitudinal vehicle speed. At this time, the preset target longitudinal speed and the current longitudinal speed in the current speed information can be used as the longitudinal control input information of the vehicle, so that the acceleration of the vehicle in the running process can be determined through a corresponding control algorithm according to the longitudinal control input information.
And S1202, determining the current coordinate position and the target coordinate position corresponding to the current position information and the target waypoint information in a set coordinate system.
The target waypoint information can be determined through the track information recorded by the GPS module equipped on the vehicle, and the target waypoint data received by the GPS module is data in a Universal Transverse ink Grid (UTM) coordinate System, so that a coordinate System, that is, a UTM coordinate System, is set. Meanwhile, the current position data of the vehicle can be acquired through the GPS module, and the current position data is also data in a UTM coordinate system.
Therefore, the current coordinate position and the target coordinate position corresponding to the current position information and the target waypoint information in the UTM coordinate system can be determined according to the GPS module.
And S1203, determining transverse control input information of the vehicle which turns to the target road point according to the current coordinate position and the target coordinate position.
Since the vehicle lateral control input information is related to the current coordinate position and the target coordinate position of the vehicle, after the current coordinate position and the target coordinate position are determined, the lateral control input information of the vehicle which turns to the target road point can be determined according to the current coordinate position and the target coordinate position.
Optionally, the determining, according to the current coordinate position and the target coordinate position, lateral control input information of the vehicle that turns to the target waypoint may specifically include:
determining the curvature and the lateral displacement deviation of a road from the current position to the target road point by the current coordinate position and the target coordinate position; recording the abscissa direction in the set coordinate system as the current lane line direction of a target curve where the vehicle is located, and recording the current driving direction of the vehicle as the vehicle head direction; determining a turning angle formed by the direction of the current lane line and the direction of the vehicle head; and taking the road curvature, the lateral displacement deviation, the turning angle and the current transverse speed in the current speed information as transverse control input information of the vehicle.
In the process of tracking the track, the vehicle can drive from the current vehicle position to the target road position. The vehicle position information includes a travel distance and a travel direction. The transverse control of the vehicle is to reach the target waypoint, so the road curvature is related to the bending degree of a curve in the turning process of the vehicle, the current transverse vehicle speed and the lateral displacement deviation are related to how long the vehicle is to be controlled to reach the target waypoint, and the steering angle formed by the current lane line direction and the head direction is related to how the steering wheel of the vehicle should be steered. Road curvature, lateral displacement deviation, steering angle and current lateral vehicle speed are therefore closely related to the lateral control of the vehicle. Thus, road curvature, lateral displacement deviation, steering angle, and current lateral vehicle speed need to be determined.
At the moment, the road curvature of the vehicle from the current position to the target road point can be obtained according to the current coordinate position of the vehicle, the target coordinate position and the curvature calculation formula; determining lateral displacement deviation according to the displacement deviation of the center of mass of the vehicle and the target coordinate position; the direction of the abscissa in the UTM coordinate system is taken as the current lane line direction of a target curve where the vehicle is located, and the current driving direction of the vehicle is taken as the direction of the vehicle head, so that the turning angle formed by the current lane line direction and the direction of the vehicle head can be determined; the current lateral vehicle speed may be determined based on the current vehicle speed information. After the road curvature, the lateral displacement deviation, the turning angle and the current transverse vehicle speed are determined, the current transverse vehicle speed in the road curvature, the lateral displacement deviation, the turning angle and the current vehicle speed information can be used as transverse control input information of the vehicle, so that the steering wheel turning angle of the vehicle can be determined through a corresponding control algorithm according to the transverse control input information.
And S130, determining the steering wheel angle of the vehicle through model predictive control according to the transverse control input information.
The Model Predictive Control (MPC) algorithm is based on the established system Model, calculates a future value and optimizes the future value according to the obtained current measurement information at each sampling time, acts the first element of the finally obtained Control sequence on the controlled object, repeats the process at the next sampling time, uses a new measurement value as the initial condition of predicting the future dynamics of the system at the time, refreshes the optimization problem and solves the problem again.
Since the lateral control input information of the vehicle is related to the lateral control of the vehicle, which mainly controls the traveling direction of the vehicle by manipulating the turning angle and the rotational speed of the steering wheel. The steering wheel angle of the vehicle can be determined by the MPC algorithm according to the lateral control input information, so that the steering wheel angle of the vehicle can be correspondingly controlled according to the determined steering wheel angle when the vehicle is controlled to turn.
Optionally, the determining the steering wheel angle of the vehicle through model predictive control according to the lateral control input information may specifically include:
taking the transverse control input information as the input of the model predictive control to obtain the vehicle front wheel rotation angle output by the model predictive control; and determining a target turning angle value matched with the front wheel turning angle of the vehicle from a preset angle association table, and taking the target turning angle as the steering wheel turning angle of the vehicle.
Because the MPC algorithm is a control algorithm based on the system model, and the system model is established in advance, the vehicle front wheel rotation angle output by the MPC algorithm can be obtained by taking the transverse control input information as the input of the MPC algorithm. A corresponding ratio relation exists between the range of the front wheel steering angle of the vehicle and the steering angle range of the steering wheel of the vehicle, a preset angle association table can be established according to the corresponding ratio relation, a target steering angle value matched with the front wheel steering angle of the vehicle can be determined by checking the angle association table, then the target steering angle is used as the steering wheel steering angle of the vehicle, and therefore the steering wheel steering angle of the vehicle is determined.
And S140, determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information.
The Proportional Integral Derivative (PID) control algorithm is operated according to the input deviation and the functional relationship of proportional, Integral and Derivative, and the operation result is used to control the output.
It should be noted that: the input deviation is the read value of the controlled object — the set value. For example: if the temperature is controlled to 26 degrees, but the temperature read from the temperature sensor is 28 degrees, 26 degrees is the "set value" and 28 degrees is the "value read for the controlled object". The effect of the ratio may be: proportionally reflecting an input deviation signal of a control system, and immediately generating a control action to reduce the input deviation once the input deviation is generated; the integration mainly has the functions of eliminating static errors and improving the zero-difference degree of the system; the differential function is to reflect the variation trend of the input deviation signal and introduce an effective early correction signal before the value of the input deviation signal becomes larger, thereby accelerating the action speed of the system and reducing the adjustment time.
Since the longitudinal control mainly controls the running speed of the vehicle by operating an accelerator pedal, a brake pedal and a gear shift handle, the longitudinal control input information is used as the input of a PID control algorithm, and the running acceleration of the vehicle can be finally determined according to the PID control algorithm.
And S150, controlling the vehicle to turn according to the steering wheel angle and the running acceleration.
After the vehicle steering wheel angle and the running acceleration are determined, the vehicle can be controlled to turn according to specific numerical values of the vehicle steering wheel angle and the running acceleration.
The technical solution provided by this embodiment is to first receive current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor, then determine lateral control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information, then determine a steering wheel angle of the vehicle through model predictive control according to the lateral control input information, determine a driving acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information, and finally control the vehicle to turn according to the steering wheel angle and the driving acceleration, so that the vehicle can pass through a curve with a large curvature during turning control, and avoid a situation that the steering wheel shakes, the safety, the stability and the comfort in the running process of the vehicle are improved.
Example two
Fig. 2 is a schematic structural diagram of a vehicle turning control device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus may include:
the information receiving module 210 is configured to receive current position information of a vehicle, which is captured by a positioning navigation system, and target waypoint information in a target curve where the vehicle is located, and current speed information of the vehicle, which is captured by a setting sensor;
an information determining module 220, configured to determine, according to the current position information, the target waypoint information, and the current vehicle speed information, lateral control input information and longitudinal control input information of the vehicle;
a steering angle determining module 230, configured to determine a steering wheel angle of the vehicle through model predictive control according to the lateral control input information;
an acceleration determination module 240, configured to determine a running acceleration of the vehicle through proportional-integral-derivative control according to the longitudinal control input information;
and a turning control module 250 for controlling the vehicle to turn according to the steering wheel angle and the running acceleration.
The technical solution provided by this embodiment is to first receive current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor, then determine lateral control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information, then determine a steering wheel angle of the vehicle through model predictive control according to the lateral control input information, determine a driving acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information, and finally control the vehicle to turn according to the steering wheel angle and the driving acceleration, so that the vehicle can pass through a curve with a large curvature during turning control, and avoid a situation that the steering wheel shakes, the safety, the stability and the comfort in the running process of the vehicle are improved.
Further, the vehicle turning control device may further include:
the longitudinal information determining module is used for taking a preset target longitudinal speed and the current longitudinal speed in the current speed information as longitudinal control input information of the vehicle;
the coordinate position determining module is used for determining the current coordinate position and the target coordinate position corresponding to the current position information and the target waypoint information in a set coordinate system;
and the transverse information determining module is used for determining transverse control input information of the vehicle which turns and runs to the target road point according to the current coordinate position and the target coordinate position.
Further, the lateral information determining module may be specifically configured to:
determining the curvature and the lateral displacement deviation of a road from the current position to the target road point by the current coordinate position and the target coordinate position;
recording the abscissa direction in the set coordinate system as the current lane line direction of a target curve where the vehicle is located, and recording the current driving direction of the vehicle as the vehicle head direction;
determining a turning angle formed by the direction of the current lane line and the direction of the vehicle head;
and taking the road curvature, the lateral displacement deviation, the turning angle and the current transverse speed in the current speed information as transverse control input information of the vehicle.
Further, the rotation angle determining module 230 may be specifically configured to:
taking the transverse control input information as the input of the model predictive control to obtain the vehicle front wheel rotation angle output by the model predictive control;
and determining a target turning angle value matched with the front wheel turning angle of the vehicle from a preset angle association table, and taking the target turning angle as the steering wheel turning angle of the vehicle.
The vehicle turning control device provided by the embodiment can be applied to the vehicle turning control method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle according to a third embodiment of the present invention, as shown in fig. 3, the vehicle includes a positioning navigation system 310, a vehicle sensor 320, a steering wheel 330, a controller 340, a storage device 350, and a communication device 360; the number of the vehicle sensors 320 is at least one, and one vehicle sensor 320 is taken as an example in fig. 3; the number of the controllers 340 may be one or more, and one controller 340 is illustrated in fig. 3; the positioning navigation system 310, the vehicle sensors 320, the steering wheel 330, the controller 340, the storage device 350, and the communication device 360 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 3.
A positioning and navigation system 310 for position determination and path guidance of the vehicle; the vehicle sensor 320 is used for measuring the vehicle working state parameters and realizing the automatic control of the vehicle; a steering wheel 330 for controlling the direction of the vehicle; one or more controllers 340 for controlling the vehicle; the storage device 350, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the vehicle turning control method in the embodiment of the present invention (e.g., the information receiving module 210, the information determining module 220, the turning angle determining module 230, the acceleration determining module 240, and the turning control module 250 used in the vehicle turning control device). The controller 340 executes various functional applications and data processing of the vehicle, that is, implements the vehicle turning control method described above, by running software programs, instructions, and modules stored in the storage device 350.
The storage device 350 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 350 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage device 350 may further include memory located remotely from controller 340, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And a communication device 360 for implementing network connection or mobile data connection between the servers.
The vehicle provided by the embodiment can be used for executing the vehicle turning control method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, the program, when executed by a controller, implementing a vehicle turning control method in any implementation of the present invention, the method specifically including:
receiving current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor;
determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information;
determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information;
determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information;
and controlling the vehicle to turn according to the steering wheel angle and the running acceleration.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle turning control method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle turning control device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A vehicle turning control method characterized by comprising:
receiving current position information of a vehicle and target waypoint information in a target curve where the vehicle is located, which are captured by a positioning navigation system, and current speed information of the vehicle, which is captured by a setting sensor;
determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information;
determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information;
determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information;
controlling the vehicle to turn according to the steering wheel angle and the running acceleration;
wherein, according to the current position information, the target waypoint information and the current speed information, determining the transverse control input information and the longitudinal control input information of the vehicle comprises:
taking a preset target longitudinal speed and a current longitudinal speed in the current speed information as longitudinal control input information of the vehicle;
determining a current coordinate position and a target coordinate position corresponding to the current position information and the target waypoint information in a set coordinate system;
and determining the transverse control input information of the vehicle which turns to the target road point according to the current coordinate position and the target coordinate position.
2. The method of claim 1, wherein determining lateral control input information for the vehicle to travel to the target waypoint in a turn based on the current coordinate position and the target coordinate position comprises:
determining the curvature and the lateral displacement deviation of a road from the current position to the target road point by the current coordinate position and the target coordinate position;
recording the abscissa direction in the set coordinate system as the current lane line direction of a target curve where the vehicle is located, and recording the current driving direction of the vehicle as the vehicle head direction;
determining a turning angle formed by the direction of the current lane line and the direction of the vehicle head;
and taking the road curvature, the lateral displacement deviation, the turning angle and the current transverse speed in the current speed information as transverse control input information of the vehicle.
3. The method according to any one of claims 1-2, wherein said determining a steering wheel angle of said vehicle by model predictive control based on said lateral control input information comprises:
taking the transverse control input information as the input of the model predictive control to obtain the vehicle front wheel rotation angle output by the model predictive control;
and determining a target turning angle value matched with the front wheel turning angle of the vehicle from a preset angle association table, and taking the target turning angle as the steering wheel turning angle of the vehicle.
4. A vehicle turning control apparatus characterized by comprising:
the information receiving module is used for receiving current position information of the vehicle, which is captured by a positioning navigation system, target waypoint information in a target curve where the vehicle is located and current speed information of the vehicle, which is captured by a setting sensor;
the information determining module is used for determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target waypoint information and the current speed information;
the corner determining module is used for determining the steering wheel corner of the vehicle through model predictive control according to the transverse control input information;
the acceleration determining module is used for determining the running acceleration of the vehicle through proportional integral derivative control according to the longitudinal control input information;
the turning control module is used for controlling the vehicle to turn according to the steering wheel rotating angle and the running acceleration;
wherein the information determination module comprises
The longitudinal information determining module is used for taking a preset target longitudinal speed and the current longitudinal speed in the current speed information as longitudinal control input information of the vehicle;
the coordinate position determining module is used for determining the current coordinate position and the target coordinate position corresponding to the current position information and the target waypoint information in a set coordinate system;
and the transverse information determining module is used for determining transverse control input information of the vehicle which turns and runs to the target road point according to the current coordinate position and the target coordinate position.
5. The apparatus of claim 4, wherein the lateral information determining module is configured to:
determining the curvature and the lateral displacement deviation of a road from the current position to the target road point by the current coordinate position and the target coordinate position;
recording the abscissa direction in the set coordinate system as the current lane line direction of a target curve where the vehicle is located, and recording the current driving direction of the vehicle as the vehicle head direction;
determining a turning angle formed by the direction of the current lane line and the direction of the vehicle head;
and taking the road curvature, the lateral displacement deviation, the turning angle and the current transverse speed in the current speed information as transverse control input information of the vehicle.
6. The apparatus according to any one of claims 4 and 5, wherein the rotation angle determining module is configured to:
taking the transverse control input information as the input of the model predictive control to obtain the vehicle front wheel rotation angle output by the model predictive control;
and determining a target turning angle value matched with the front wheel turning angle of the vehicle from a preset angle association table, and taking the target turning angle as the steering wheel turning angle of the vehicle.
7. A vehicle, characterized by comprising:
the positioning navigation system is used for carrying out position determination and path guidance on the vehicle;
at least one vehicle sensor for measuring the vehicle working state parameter and realizing the automatic control of the vehicle;
a steering wheel for controlling a direction of a vehicle;
one or more controllers for controlling the vehicle;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, cause the one or more controllers to implement the vehicle turning control method of any one of claims 1-3.
8. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a controller, implements the vehicle turning control method according to any one of claims 1 to 3.
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| CN112455451B (en) * | 2020-12-04 | 2022-05-03 | 北京罗克维尔斯科技有限公司 | Method, apparatus, medium, and electronic device for controlling vehicle to travel on curved road |
| CN113129460B (en) * | 2021-03-17 | 2024-01-02 | 深圳成谷科技有限公司 | Method for determining driving direction of vehicle in intelligent traffic system and vehicle-mounted unit |
| CN113792375B (en) * | 2021-08-06 | 2022-09-09 | 清华大学 | Predictive cruise control vehicle speed analysis method, system and device based on cloud support |
| CN113848899A (en) * | 2021-09-22 | 2021-12-28 | 中国第一汽车股份有限公司 | Vehicle transverse control method, device, equipment and storage medium |
| EP4223616A1 (en) * | 2022-02-02 | 2023-08-09 | Aptiv Technologies Limited | Methods and systems for lateral control of a vehicle |
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