CN112208515B - Vehicle transverse control method, device, equipment and medium - Google Patents
Vehicle transverse control method, device, equipment and medium Download PDFInfo
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- B60—VEHICLES IN GENERAL
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for controlling a vehicle transversely. The method comprises the following steps: calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track; obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters; and adjusting the steering wheel angle of the vehicle to be a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle. According to the technical scheme of the embodiment of the invention, the problem that when the vehicle is subjected to additional lateral force and the posture of the vehicle body changes, the deviation still exists only by correcting the transverse control of the vehicle through the error compensation steering wheel corner is solved, and the effect of improving the accuracy of the transverse control of the vehicle is realized.
Description
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle transverse control method, device, equipment and medium.
Background
The function of the intelligent vehicle transverse control technology is to realize automatic tracking of a transverse position target, such as a lane central line or a GPS track.
The commercial vehicle has large mass, large mass change range, high mass center position and large wind area. The characteristics enable the intelligent commercial vehicle to be stressed complexly and changeably in the transverse control, and the posture of the vehicle is changed due to stress.
At present, in the prior art, a steering wheel angle is usually determined according to an error between a current position and a target position of a vehicle to realize control of an intelligent vehicle, and a vehicle body posture change caused by stress when the vehicle is transversely controlled is not considered, so that the transverse control of the vehicle is deviated.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for controlling a vehicle transversely, so as to achieve the effect of improving the accuracy of the transverse control of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle lateral control method, including:
calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track;
obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters;
and adjusting the steering wheel angle of the vehicle to be a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle.
In a second aspect, an embodiment of the present invention further provides a vehicle lateral control apparatus, including:
the error compensation steering wheel corner calculation module is used for calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track;
the vehicle body posture compensation steering wheel corner acquisition module is used for acquiring vehicle body posture parameters of the vehicle and acquiring a vehicle body posture compensation steering wheel corner according to the vehicle body posture parameters;
and the steering wheel corner adjusting module is used for adjusting the steering wheel corner of the vehicle to a target steering wheel corner according to the error compensation steering wheel corner and the vehicle body posture compensation steering wheel corner.
In a third aspect, an embodiment of the present invention further provides an on-board device, where the on-board device includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle lateral control method as provided by any of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the vehicle lateral control method as provided in any of the embodiments of the present invention.
According to the embodiment of the invention, the error compensation steering wheel rotation angle is calculated according to the current position of the vehicle and the preset motion track; compensating the error between the current position of the vehicle and the preset motion track according to the error compensation steering wheel rotation angle; obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters; compensating the change of the vehicle body posture caused by receiving a transverse acting force according to the vehicle body posture compensation steering wheel corner; according to the error compensation steering wheel corner and the vehicle body posture compensation steering wheel corner, the steering wheel corner of the vehicle is adjusted to be the expected steering wheel corner, the problem that when the vehicle is subjected to additional lateral force and the vehicle body posture changes, the deviation still exists when the transverse control of the vehicle is corrected only through the error compensation steering wheel corner is solved, and the effect of improving the accuracy of the transverse control of the vehicle is achieved.
Drawings
FIG. 1 is a flow chart of a method for lateral control of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle coordinate system according to one embodiment of the present invention;
FIG. 3 is a schematic view of a two-degree-of-freedom bicycle model in accordance with a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the effect of the vehicle body attitude compensation control according to the first embodiment of the present invention;
fig. 5 is a structural diagram of a vehicle lateral control apparatus in a second embodiment of the invention;
fig. 6 is a schematic structural diagram of an in-vehicle device 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. 1 is a flowchart of a vehicle lateral control method according to an embodiment of the present invention, where the embodiment is applicable to a vehicle lateral control situation, and the method may be executed by a vehicle lateral control device, and specifically includes the following steps:
and S110, calculating an error compensation steering wheel angle according to the current position of the vehicle and a preset motion track.
The method comprises the steps of obtaining an image of a current driving road of a vehicle through a shooting device of the vehicle, obtaining a lane line or a center line of a road surface according to the obtained driving road image, and generating a preset motion track according to the obtained lane line or the center line. In the intelligent driving process of the vehicle, the vehicle is driven along a preset motion track through automatic control of the vehicle. However, in the automatic control process, a deviation may occur between an actual running track of the vehicle and a preset motion track, and a compensation turning angle of the steering wheel needs to be calculated to compensate the deviation.
Optionally, calculating an error compensation steering wheel angle according to the current position of the vehicle and a preset motion trajectory, including: calculating a lateral position deviation and a course angle deviation according to the current position and the preset motion track; and calculating the error compensation steering wheel rotation angle according to the lateral position deviation and the course angle deviation. And calculating the lateral position deviation and the course angle deviation of the vehicle according to the current position of the vehicle and a preset motion track. Fig. 2 is a schematic diagram of a coordinate system established for a vehicle, in which the y-axis direction is the lateral direction of the vehicle, so the lateral position deviation of the vehicle is the deviation between the current position of the vehicle and the preset motion track in the y-axis direction.
Optionally, the current vehicle speed of the vehicle is obtained, and a control coefficient corresponding to the current vehicle speed is obtained according to the current vehicle speed and a preset corresponding relationship between the vehicle speed and the control coefficient; obtaining the proportional-integral controller according to the control coefficient; and calculating the error compensation steering wheel rotation angle through the proportional-integral controller according to the lateral position deviation and the course angle deviation. The proportional integral controller adopts PI control parameters which change along with the vehicle speed, so that the control parameters corresponding to the current vehicle speed are searched in a preset corresponding relation table of the vehicle speed and the control coefficient. And generating a proportional-integral controller according to the searched control parameters. And inputting the lateral position deviation and the course angle deviation into a proportional integral controller to obtain an error compensation steering wheel rotation angle.
Optionally, the control coefficients include: the system comprises a lateral position deviation proportional control coefficient, a lateral position deviation integral control coefficient, a course angle deviation proportional control coefficient and a course angle deviation integral control coefficient; the proportional-integral controller is designed as follows:
wherein k is a weighting coefficient; k is a radical ofpc0The lateral position deviation proportional control coefficient; k is a radical ofic0Integral control coefficient, k, for lateral position deviationpc1The course angle deviation proportion control coefficient; k is a radical ofic1The integral control coefficient of the course angle deviation; t0 is the current time; t1 is the lateral error integral control duration; t2 is the heading error integral control duration; SWA2 is error compensated steering wheel angle; c. C0Is a lateral position deviation; c. C1Is the heading angle deviation.
And searching in the corresponding relation between the current vehicle speed and the preset vehicle speed and control coefficient according to the current vehicle speed to obtain a lateral position deviation proportional control coefficient, a lateral position deviation integral control coefficient, a course angle deviation proportional control coefficient and a course angle deviation integral control coefficient. Illustratively, table 1 is a table of correspondence between vehicle speed and control coefficient, and the control coefficient is looked up according to table 1.
TABLE 1 correspondence of vehicle speed to control coefficient
And after the control coefficient of the current vehicle speed is found, generating a proportional-integral controller, and inputting the lateral position deviation and the course angle deviation into the proportional-integral controller to obtain an error compensation steering wheel turning angle. The control coefficients corresponding to different vehicle speeds are different, so that the obtained proportional-integral controller is more suitable for the vehicle speed of the current vehicle, and the obtained error compensation steering wheel rotation angle is more accurate.
And S120, obtaining vehicle body attitude parameters of the vehicle, and obtaining a vehicle body attitude compensation steering wheel corner according to the vehicle body attitude parameters.
The vehicle is subjected to external force during running, such as side wind, or the road surface is uneven, so that the vehicle is subjected to additional force. The additional force causes the attitude of the vehicle to change, and at this time, the vehicle cannot be adjusted to a desired movement track to run by correcting the lateral control of the vehicle only by compensating the steering wheel rotation angle through the error. Therefore, the posture of the vehicle body needs to be adjusted.
Optionally, obtaining the vehicle body attitude parameter of the vehicle, and obtaining a vehicle body attitude compensation steering wheel corner according to the vehicle body attitude parameter, includes: obtaining the vehicle body attitude parameters through a gyroscope or an inertial navigation system, wherein the vehicle body attitude parameters comprise: lateral acceleration and roll angle of the vehicle; and obtaining the vehicle body attitude compensation steering wheel rotation angle according to the lateral acceleration and the roll angle. The lateral acceleration and the roll angle of the vehicle are obtained through a gyroscope or an inertial navigation system of the vehicle, as shown in fig. 2, the lateral acceleration of the vehicle is the acceleration of the vehicle in the y-axis direction, and the roll angle of the vehicle is the tilt angle of the vehicle in the y-axis direction. And obtaining the vehicle body posture compensation steering wheel rotation angle according to the lateral acceleration and the roll angle of the vehicle.
Optionally, obtaining the vehicle body attitude compensation steering wheel angle according to the lateral acceleration and the roll angle includes: and acquiring the vehicle body attitude compensation steering wheel corner according to the lateral acceleration, the roll angle and a preset value taking table of the vehicle body attitude compensation control quantity. When the vehicle runs on a flat road surface under the working condition without lateral force, the posture of the vehicle body is changed. For example, when the vehicle turns, the vehicle body posture changes due to inertia, the influence of the vehicle body posture changes on the vehicle motion is different from the influence of the vehicle body posture changes due to extra lateral force, therefore, when the lateral motion control compensation is carried out according to different vehicle body postures, the influence of the vehicle state is considered, a lateral control compensation strategy which simultaneously considers the vehicle total weight, the vehicle lateral acceleration and the vehicle body lateral inclination angle is adopted, and the actual vehicle test calibration is combined, so that the approximately optimal compensation effect can be obtained. The compensator can be expressed as:
SWA3＝f(m,ay,φ)
wherein SWA3 is the vehicle body attitude compensation steering wheel angle, m is the vehicle total weight, ay is the lateral acceleration, and phi is the vehicle body roll angle.
And obtaining a value taking table of the vehicle body posture compensation steering wheel corner shown in the table 2 according to the formula, and searching the corresponding vehicle body posture compensation steering wheel corner according to the lateral acceleration and the roll angle table of the vehicle. In the table, the left-hand steering wheel angle is positive and the right-hand steering wheel angle is negative.
Table 2 value-taking table for vehicle body posture compensation steering wheel corner
As can be seen from table 2, when the vehicle body posture compensation steering wheel angle is 0, the vehicle is not subjected to a lateral force, and the vehicle body posture is not changed at this time, or the vehicle body posture is changed only under the inertia effect, and at this time, the steering wheel angle does not need to be compensated.
And S130, compensating the steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture, and adjusting the steering wheel angle of the vehicle to be the target steering wheel angle.
And adjusting the steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle, so that the vehicle runs along the preset motion track.
Optionally, the adjusting the steering wheel angle of the vehicle to the target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle includes: adjusting the expected steering wheel angle of the vehicle to a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle; the expected steering wheel turning angle is obtained by calculation according to a two-degree-of-freedom bicycle model and an optimal expected turning radius; and calculating the optimal expected turning radius according to the current position and the preset motion trail.
FIG. 3 shows an ideal two-degree-of-freedom bicycle model, where in FIG. 3, δ is the front wheel rotation angle, vfFor front-wheel speed, αfIs a front wheel side slip angle, FxfFor front wheel tangential force, FyfIs a front wheel lateral force,/fIs the distance of the center of mass from the front wheel,/rIs the center of mass distance, thetaeIs the included angle between the longitudinal axis of the vehicle and the fixed coordinate system on the ground, v is the vehicle speed at the barycenter, beta is the barycenter slip angle, v is the center anglexIs the longitudinal velocity at the centroid, vyIs the lateral velocity at the centroid, r is the yaw rate of the vehicle, vrFor rear-wheel speed, FxrFor rear wheel tangential force, FyrIs a rear wheel lateral force, alpharIs a rear wheel side slip angle. I iszIn order to be the moment of inertia,
is the amount of change in the yaw rate of the vehicle. According to the stress balance, the following are provided:
and solving the model to obtain the expected steering wheel angle.
Wherein k isfFor front axle yaw stiffness, krFor rear axle yaw stiffness, isFor the steering system gear ratio, SWA1 is the desired steering wheel angle.
The expected steering wheel angle is compensated through the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle to obtain a target steering wheel angle, and the steering wheel of the vehicle rotates through the target steering wheel angle and can run along a preset motion track. Fig. 4 is a schematic diagram illustrating the effect of the vehicle body posture compensation control, in which the abscissa represents the vehicle travel time and the ordinate represents the deviation of the vehicle actual path from the preset motion trajectory. The vehicle body posture compensation through the steering wheel rotation angle can be obtained from the graph, and the deviation of the actual path of the vehicle and the preset motion track is smaller and is between [ -0.2 and 0.2 ]; when the steering wheel corner has no body attitude compensation, the deviation of the actual path of the vehicle and the preset motion track is large, and the maximum error reaches 0.4. The vehicle body posture compensation of the vehicle steering wheel can obviously reduce the transverse control error and improve the transverse control precision.
According to the technical scheme of the embodiment, the error compensation steering wheel rotation angle is calculated according to the current position of the vehicle and the preset motion track; compensating the error between the current position of the vehicle and the preset motion track according to the error compensation steering wheel rotation angle; obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters; compensating the change of the vehicle body posture caused by receiving a transverse acting force according to the vehicle body posture compensation steering wheel corner; according to the error compensation steering wheel corner and the vehicle body posture compensation steering wheel corner, the steering wheel corner of the vehicle is adjusted to be the expected steering wheel corner, the problem that when the vehicle is subjected to additional lateral force and the vehicle body posture changes, the deviation still exists when the transverse control of the vehicle is corrected only through the error compensation steering wheel corner is solved, and the effect of improving the accuracy of the transverse control of the vehicle is achieved.
Example two
Fig. 5 is a structural diagram of a vehicle lateral direction control apparatus according to a second embodiment of the present invention, including: an error compensation steering wheel angle calculation module 310, a body attitude compensation steering wheel angle acquisition module 320, and a steering wheel angle adjustment module 330.
The error compensation steering wheel angle calculating module 310 is configured to calculate an error compensation steering wheel angle according to the current position of the vehicle and a preset motion trajectory; the vehicle body posture compensation steering wheel corner obtaining module 320 is used for obtaining vehicle body posture parameters of the vehicle and obtaining a vehicle body posture compensation steering wheel corner according to the vehicle body posture parameters; and a steering wheel angle adjusting module 330, configured to adjust the steering wheel angle of the vehicle to a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle.
In the technical solution of the above embodiment, the error compensation steering wheel angle calculating module 310 includes:
the deviation calculation unit is used for calculating lateral position deviation and course angle deviation according to the current position and the preset motion track;
and the error compensation steering wheel rotating angle calculating unit is used for calculating the error compensation steering wheel rotating angle according to the lateral position deviation and the course angle deviation.
In the technical solution of the above embodiment, the error compensation steering wheel angle calculating unit includes:
the control coefficient acquisition subunit is used for acquiring the current vehicle speed of the vehicle and acquiring a control coefficient corresponding to the current vehicle speed according to the corresponding relationship between the current vehicle speed and a preset vehicle speed and the control coefficient;
the controller acquisition subunit is used for acquiring the proportional-integral controller according to the control coefficient;
and the error compensation steering wheel rotating angle calculating subunit is used for calculating the error compensation steering wheel rotating angle through the proportional-integral controller according to the lateral position deviation and the course angle deviation.
Optionally, the control coefficients include: the system comprises a lateral position deviation proportional control coefficient, a lateral position deviation integral control coefficient, a course angle deviation proportional control coefficient and a course angle deviation integral control coefficient;
the proportional-integral controller is designed as follows:
wherein k is a weighting coefficient; k is a radical ofpc0The lateral position deviation proportional control coefficient; k is a radical ofic0Integral control coefficient, k, for lateral position deviationpc1The course angle deviation proportion control coefficient; k is a radical ofic1The integral control coefficient of the course angle deviation; t0 is the current time; t1 is the lateral error integral control duration; t2 is the heading error integral control duration; SWA2 is error compensated steering wheel angle; c. C0Is a lateral position deviation; c. C1Is the heading angle deviation.
In the technical solution of the above embodiment, the vehicle body posture compensation steering wheel rotation angle obtaining module 320 includes:
the vehicle body attitude parameter acquisition unit is used for acquiring the vehicle body attitude parameters through a gyroscope or an inertial navigation system, and the vehicle body attitude parameters comprise: lateral acceleration and roll angle of the vehicle;
and the vehicle body posture compensation steering wheel corner acquisition unit is used for acquiring the vehicle body posture compensation steering wheel corner according to the lateral acceleration and the roll angle.
In the technical solution of the above embodiment, the vehicle body posture compensation steering wheel corner obtaining unit is specifically configured to obtain the vehicle body posture compensation steering wheel corner according to the lateral acceleration, the roll angle, and a preset value taking table of the vehicle body posture compensation control quantity.
In the technical solution of the above embodiment, the steering wheel angle adjusting module 330 includes:
the expected steering wheel corner adjusting module is used for adjusting the expected steering wheel corner of the vehicle to a target steering wheel corner according to the error compensation steering wheel corner and the vehicle body posture compensation steering wheel corner; the expected steering wheel turning angle is obtained by calculation according to a two-degree-of-freedom bicycle model and an optimal expected turning radius; and calculating the optimal expected turning radius according to the current position and the preset motion trail.
According to the technical scheme of the embodiment, the error compensation steering wheel rotation angle is calculated according to the current position of the vehicle and the preset motion track; compensating the error between the current position of the vehicle and the preset motion track according to the error compensation steering wheel rotation angle; obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters; compensating the change of the vehicle body posture caused by receiving a transverse acting force according to the vehicle body posture compensation steering wheel corner; according to the error compensation steering wheel corner and the vehicle body posture compensation steering wheel corner, the steering wheel corner of the vehicle is adjusted to be the expected steering wheel corner, the problem that when the vehicle is subjected to additional lateral force and the vehicle body posture changes, the deviation still exists when the transverse control of the vehicle is corrected only through the error compensation steering wheel corner is solved, and the effect of improving the accuracy of the transverse control of the vehicle is achieved.
The vehicle transverse control device provided by the embodiment of the invention can execute the vehicle transverse control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 6 is a schematic structural diagram of an in-vehicle device according to a third embodiment of the present invention, as shown in fig. 6, the in-vehicle device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the vehicle-mounted device may be one or more, and one processor 410 is taken as an example in fig. 6; the processor 410, the memory 420, the input device 430, and the output device 440 in the in-vehicle apparatus may be connected by a bus or other means, and fig. 6 illustrates an example of connection by a bus.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle lateral direction control method in the embodiment of the present invention (e.g., the error-compensated steering wheel angle calculation module 310, the body posture-compensated steering wheel angle acquisition module 320, and the steering wheel angle adjustment module 330 in the vehicle lateral direction control device). The processor 410 executes various functional applications and data processing of the in-vehicle device by executing software programs, instructions, and modules stored in the memory 420, that is, implements the vehicle lateral control method described above.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage 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 memory 420 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, memory 420 may further include memory located remotely from processor 410, which may be connected to the in-vehicle device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the in-vehicle apparatus. The output device 440 may include a display device such as a display screen.
Example four
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of vehicle lateral control, the method comprising:
calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track;
obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters;
and adjusting the steering wheel angle of the vehicle to be a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle.
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 lateral 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 lateral 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.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A vehicle lateral control method, characterized by comprising:
calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track;
obtaining body attitude parameters of the vehicle, and obtaining a body attitude compensation steering wheel corner according to the body attitude parameters;
adjusting the steering wheel angle of the vehicle to a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle;
wherein, the calculating the error compensation steering wheel rotation angle according to the current position of the vehicle and the preset motion track comprises:
calculating a lateral position deviation and a course angle deviation according to the current position and the preset motion track;
calculating the error compensation steering wheel rotation angle through a proportional integral controller according to the lateral position deviation and the course angle deviation;
wherein calculating the error compensated steering wheel angle based on the lateral position deviation and the heading angle deviation comprises:
acquiring the current speed of the vehicle, and acquiring a control coefficient corresponding to the current speed according to the current speed and a preset corresponding relation between the speed and the control coefficient;
obtaining a proportional-integral controller according to the control coefficient;
calculating the error compensation steering wheel rotation angle through the proportional-integral controller according to the lateral position deviation and the course angle deviation; wherein the control coefficients include: the system comprises a lateral position deviation proportional control coefficient, a lateral position deviation integral control coefficient, a course angle deviation proportional control coefficient and a course angle deviation integral control coefficient;
the proportional-integral controller is designed as follows:
wherein k is a weighting coefficient; k is a radical ofpc0The lateral position deviation proportional control coefficient; k is a radical ofic0Integral control coefficient, k, for lateral position deviationpc1The course angle deviation proportion control coefficient; k is a radical ofic1The integral control coefficient of the course angle deviation; t0 is the current time; t1 is the lateral error integral control duration; t2 is the heading error integral control duration; SWA2 is error compensated steering wheel angle; c. C0Is a lateral position deviation; c. C1Is the heading angle deviation.
2. The method of claim 1, wherein obtaining body attitude parameters of the vehicle and deriving a body attitude compensated steering wheel angle from the body attitude parameters comprises:
obtaining the vehicle body attitude parameters through a gyroscope or an inertial navigation system, wherein the vehicle body attitude parameters comprise: lateral acceleration and roll angle of the vehicle;
and obtaining the vehicle body attitude compensation steering wheel rotation angle according to the lateral acceleration and the roll angle.
3. The method of claim 2, wherein said deriving the body attitude compensated steering wheel angle from the lateral acceleration and the roll angle comprises:
and acquiring the vehicle body attitude compensation steering wheel corner according to the lateral acceleration, the roll angle and a preset value taking table of the vehicle body attitude compensation control quantity.
4. The method of claim 1, wherein adjusting the steering wheel angle of the vehicle to a target steering wheel angle based on the error-compensated steering wheel angle, the body attitude-compensated steering wheel angle, comprises:
adjusting the expected steering wheel angle of the vehicle to a target steering wheel angle according to the error compensation steering wheel angle and the vehicle body posture compensation steering wheel angle; the expected steering wheel turning angle is obtained by calculation according to a two-degree-of-freedom bicycle model and an optimal expected turning radius;
and calculating the optimal expected turning radius according to the current position and the preset motion trail.
5. A vehicle lateral control apparatus, characterized by comprising:
the error compensation steering wheel corner calculation module is used for calculating an error compensation steering wheel corner according to the current position of the vehicle and a preset motion track;
the vehicle body posture compensation steering wheel corner acquisition module is used for acquiring vehicle body posture parameters of the vehicle and acquiring a vehicle body posture compensation steering wheel corner according to the vehicle body posture parameters;
the steering wheel corner adjusting module is used for compensating the steering wheel corner according to the error compensation steering wheel corner and the vehicle body posture and adjusting the steering wheel corner of the vehicle to be a target steering wheel corner;
wherein the error compensation steering wheel angle calculation module comprises:
the deviation calculation unit is used for calculating lateral position deviation and course angle deviation according to the current position and the preset motion track;
the error compensation steering wheel corner calculation unit is used for calculating the error compensation steering wheel corner according to the lateral position deviation and the course angle deviation;
wherein the error compensation steering wheel angle calculation unit includes:
the control coefficient acquisition subunit is used for acquiring the current vehicle speed of the vehicle and acquiring a control coefficient corresponding to the current vehicle speed according to the corresponding relationship between the current vehicle speed and a preset vehicle speed and the control coefficient;
the controller acquisition subunit is used for acquiring a proportional-integral controller according to the control coefficient;
the error compensation steering wheel corner calculating subunit is used for calculating the error compensation steering wheel corner through the proportional-integral controller according to the lateral position deviation and the course angle deviation;
wherein the control coefficients include: the system comprises a lateral position deviation proportional control coefficient, a lateral position deviation integral control coefficient, a course angle deviation proportional control coefficient and a course angle deviation integral control coefficient;
the proportional-integral controller is designed as follows:
wherein k is a weighting coefficient; k is a radical ofpc0The lateral position deviation proportional control coefficient; k is a radical ofic0Integral control coefficient, k, for lateral position deviationpc1The course angle deviation proportion control coefficient; k is a radical ofic1The integral control coefficient of the course angle deviation; t0 is the current time; t1 is the lateral error integral control duration; t2 is the heading error integral control duration; SWA2 is error compensated steering wheel angle; c. C0Is a lateral position deviation; c. C1Is the heading angle deviation.
6. An in-vehicle apparatus characterized by comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle lateral control method of any of claims 1-4.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle lateral control method according to any one of claims 1 to 4.
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| CN112849127B (en) * | 2021-01-29 | 2022-08-02 | 北京理工大学 | Method, device, storage medium and equipment for controlling steering of vehicle |
| CN113085999B (en) * | 2021-04-30 | 2022-04-26 | 浙江吉利控股集团有限公司 | Vehicle control method and device and vehicle |
| CN113276836A (en) * | 2021-05-31 | 2021-08-20 | 爱驰汽车有限公司 | Vehicle transverse control method and device, computer equipment and storage medium |
| CN113696967B (en) * | 2021-09-01 | 2022-09-13 | 国汽智控(北京)科技有限公司 | Vehicle steering control method and device, electronic equipment and storage medium |
| CN114019975B (en) * | 2021-11-05 | 2024-06-11 | 广州极飞科技股份有限公司 | Agricultural tool track control method and device and agricultural machine |
| CN114524020B (en) * | 2022-02-28 | 2023-09-01 | 重庆长安汽车股份有限公司 | Steering wheel angle control method for co-driving of vehicles and man-machine |
| CN114619823B (en) * | 2022-03-21 | 2023-11-21 | 中国第一汽车股份有限公司 | Vehicle body posture adjusting method, device, medium and electronic equipment |
| CN114802442B (en) * | 2022-05-06 | 2023-09-05 | 小米汽车科技有限公司 | Vehicle transverse control method and device, storage medium and vehicle |
| CN115123196A (en) * | 2022-06-17 | 2022-09-30 | 上海华兴数字科技有限公司 | Vehicle transverse control method and system and vehicle |
| CN116337053A (en) * | 2022-12-08 | 2023-06-27 | 广州导远电子科技有限公司 | Vehicle navigation method, device, electronic equipment and storage medium |
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| KR102002334B1 (en) * | 2012-11-20 | 2019-07-23 | 현대모비스 주식회사 | Lane Keeping Assist Apparatus |
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