CN112356828A - Vehicle transverse control method and device, vehicle and readable storage medium - Google Patents
Vehicle transverse control method and device, vehicle and readable storage medium Download PDFInfo
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- CN112356828A CN112356828A CN202011232746.7A CN202011232746A CN112356828A CN 112356828 A CN112356828 A CN 112356828A CN 202011232746 A CN202011232746 A CN 202011232746A CN 112356828 A CN112356828 A CN 112356828A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The embodiment of the invention provides a vehicle transverse control method, a device, a vehicle and a readable storage medium, wherein the method comprises the following steps: when a vehicle is parked, acquiring vehicle working condition information of the vehicle, which is identified by a vehicle bus system; determining an initial transverse control parameter according to the vehicle working condition information, and determining a correction deviation parameter corresponding to the initial transverse control parameter; determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter; and controlling a steering wheel to output the front wheel rotation angle of the vehicle according to the target transverse control parameter. According to the embodiment of the invention, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle lateral control method, a vehicle lateral control apparatus, a vehicle, and a computer-readable storage medium.
Background
The core technology of the execution of the automatic driving control mainly includes longitudinal control and lateral control technology of the vehicle. Longitudinal control, i.e. driving and braking control of the vehicle, means that accurate following of a desired vehicle speed is achieved through coordination of the accelerator and the brake. And transverse control, namely path tracking of the automatic driving automobile is realized through adjustment of a steering wheel angle and control of tire force. The transverse control system aims to control the automobile to automatically keep an expected driving route, and has good riding comfort and stability under different speeds, loads, wind resistance and road conditions.
At present, the method commonly used in the automatic driving lateral control process is LQR (linear quadratic regulator) and a variant thereof, namely a linear quadratic regulator, and the LQR can achieve good effect when applied to a tracked track with continuous and smooth curvature, but is difficult to use in a scene, such as parking, in which the situations of discontinuous curvature, path jump, time variation and the like are easy to occur and difficult to predict.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a vehicle lateral control method and a corresponding vehicle lateral control device, a vehicle, and a computer-readable storage medium that overcome or at least partially address the above-mentioned problems.
In order to solve the above problem, an embodiment of the present invention discloses a vehicle lateral control method, including:
when a vehicle is parked, acquiring vehicle working condition information of the vehicle, which is identified by a vehicle bus system;
determining an initial transverse control parameter according to the vehicle working condition information, and determining a correction deviation parameter corresponding to the initial transverse control parameter;
determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter;
and controlling a steering wheel to output the front wheel rotation angle of the vehicle according to the target transverse control parameter.
Optionally, the vehicle operating condition information includes vehicle driving information, the vehicle driving information includes a vehicle heading, the corrected deviation parameter includes a heading angle deviation parameter, and the determining a corrected deviation parameter corresponding to the initial lateral control parameter includes:
determining a first included angle; the first included angle is an included angle between a tangent line of a tracked path of the vehicle at a pre-aiming point and the heading of the vehicle;
and determining the course angle deviation parameter corresponding to the initial transverse control parameter according to the first included angle.
Optionally, the determining the heading angle deviation parameter corresponding to the initial lateral control parameter according to the first included angle includes:
determining a course angle correction deviation proportion coefficient;
and calculating the product of the course angle correction deviation proportion system and the first included angle to obtain the course angle deviation parameter corresponding to the initial transverse control parameter.
Optionally, the determining a target lateral control parameter according to the initial lateral control parameter and the corrected deviation parameter includes:
and calculating the sum of the initial transverse control parameter and the correction deviation parameter to obtain the target transverse control parameter.
Optionally, the determining a corrected deviation parameter corresponding to the initial lateral control parameter includes:
determining the curvature deviation parameter corresponding to the initial lateral control parameter.
Optionally, the vehicle operating condition information further includes vehicle environment information, the vehicle driving information further includes vehicle speed and vehicle wheel base, determining an initial lateral control parameter according to the vehicle operating condition information includes:
determining a pre-aiming distance of the vehicle according to the vehicle speed or the vehicle environment information;
determining a preview point from the tracked path of the vehicle according to the preview distance;
and determining the initial transverse control parameter according to the pre-aiming distance and the pre-aiming point.
Optionally, the determining the initial lateral control parameter according to the preview distance and the preview point includes:
determining a second included angle; the second included angle is an included angle between a connecting line from the center of a rear wheel axle of the vehicle to the pre-aiming point and the heading of the vehicle;
and calculating according to a preset transverse control algorithm by adopting the second included angle, the vehicle wheelbase and the pre-aiming distance to obtain the initial transverse control parameter.
The embodiment of the invention also discloses a vehicle transverse control device, which comprises:
the acquisition module is used for acquiring the vehicle working condition information of the vehicle, which is identified by the vehicle bus system, when the vehicle is parked;
the first determining module is used for determining an initial transverse control parameter according to the vehicle working condition information and determining a correction deviation parameter corresponding to the initial transverse control parameter;
the second determining module is used for determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter;
and the control module is used for controlling a steering wheel to output the front wheel rotating angle of the vehicle according to the target transverse control parameter.
Optionally, the vehicle operating condition information includes vehicle driving information, the vehicle driving information includes a vehicle heading, the corrected deviation parameter includes a heading angle deviation parameter, and the first determining module includes:
the first determining submodule is used for determining a first included angle; the first included angle is an included angle between a tangent line of a tracked path of the vehicle at a pre-aiming point and the heading of the vehicle;
and the second determining submodule is used for determining the course angle deviation parameter corresponding to the initial transverse control parameter according to the first included angle.
Optionally, the second determining sub-module includes:
the first determining unit is used for determining a course angle correction deviation proportion coefficient;
and the first calculation unit is used for calculating the product of the course angle correction deviation proportion system and the first included angle to obtain the course angle deviation parameter corresponding to the initial transverse control parameter.
Optionally, the second determining module includes:
and the calculation submodule is used for calculating the sum of the initial transverse control parameter and the correction deviation parameter to obtain the target transverse control parameter.
Optionally, the modified deviation parameter comprises a curvature deviation parameter, and the first determining module comprises:
a third determining submodule for determining the curvature deviation parameter corresponding to the initial lateral control parameter.
Optionally, the vehicle operating condition information further includes vehicle environment information, the vehicle driving information further includes a vehicle speed and a vehicle wheel base, and the first determining module includes:
the fourth determination submodule is used for determining the pre-aiming distance of the vehicle according to the vehicle speed or the vehicle environment information;
a fifth determination submodule, configured to determine a preview point from the tracked path of the vehicle according to the preview distance;
and the sixth determining submodule is used for determining the initial transverse control parameter according to the pre-aiming distance and the pre-aiming point.
Optionally, the sixth determining sub-module includes:
the second determining unit is used for determining a second included angle; the second included angle is an included angle between a connecting line from the center of a rear wheel axle of the vehicle to the pre-aiming point and the heading of the vehicle;
and the second calculation unit is used for calculating according to a preset transverse control algorithm by adopting the second included angle, the vehicle wheelbase and the pre-aiming distance to obtain the initial transverse control parameter.
The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing the steps of a vehicle lateral control method as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle transverse control method are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when parking is carried out, the vehicle working condition information identified by the vehicle bus system is obtained, the initial transverse control parameter and the correction deviation parameter corresponding to the initial transverse control parameter are determined according to the vehicle working condition information, the target transverse control parameter is determined according to the initial transverse control parameter and the correction deviation parameter, and the steering wheel is controlled to output the front wheel rotation angle of the vehicle according to the target transverse control parameter. By adopting the method, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
Drawings
FIG. 1 is a flow chart of the steps of a method of lateral vehicle control according to an embodiment of the present invention;
FIG. 2 is a flow chart of steps in another method of lateral vehicle control according to an embodiment of the present invention;
FIG. 3 is a model schematic of a vehicle lateral control method according to an embodiment of the invention;
fig. 4 is a block diagram showing a configuration of a vehicle lateral control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of them. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The parking scene has the characteristics of low speed, discontinuous curvature, path jump and the like, and the currently adopted vehicle transverse control method is not suitable for being used in the parking scene.
Based on this, the present invention intends to provide a vehicle lateral control method and a corresponding vehicle lateral control device, a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above-mentioned problems.
One of the core ideas of the embodiment of the invention is that when parking is carried out, vehicle working condition information identified by a vehicle bus system is obtained, an initial transverse control parameter and a correction deviation parameter corresponding to the initial transverse control parameter are determined according to the vehicle working condition information, a target transverse control parameter is determined according to the initial transverse control parameter and the correction deviation parameter, and a steering wheel is controlled to output a front wheel turning angle of a vehicle according to the target transverse control parameter. By adopting the method, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
Referring to fig. 1, a flowchart illustrating steps of a vehicle lateral control method according to an embodiment of the present invention may specifically include the following steps:
And under a parking scene, obtaining the vehicle working condition information identified by the vehicle bus system. In one example, when a signal for starting parking is recognized, a request for obtaining current vehicle condition information can be sent to the vehicle bus system, and the vehicle bus system sends the required vehicle condition information after receiving the request.
And 102, determining an initial transverse control parameter according to the vehicle working condition information, and determining a correction deviation parameter corresponding to the initial transverse control parameter.
In the embodiment of the invention, the initial transverse control parameter can be determined according to the vehicle working condition information, wherein the initial transverse control parameter is obtained by calculation according to a common transverse control algorithm, and the common transverse control algorithm comprises an LQR transverse control algorithm, a pure tracking control algorithm and the like. In addition, a correction deviation parameter for correcting the initial lateral control parameter is determined according to the vehicle working condition information.
And 103, determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter.
In an embodiment of the invention, the target lateral control parameter is determined by the initial lateral control parameter and the corrected deviation parameter.
And 104, controlling a steering wheel to output the front wheel rotation angle of the vehicle according to the target transverse control parameter.
After the target transverse control parameter is determined, the steering wheel can be controlled to output the front wheel rotation angle of the vehicle according to the target transverse control parameter.
In summary, in the embodiment of the present invention, when parking is performed, vehicle condition information identified by a vehicle bus system is obtained, an initial lateral control parameter and a correction deviation parameter corresponding to the initial lateral control parameter are determined according to the vehicle condition information, a target lateral control parameter is determined according to the initial lateral control parameter and the correction deviation parameter, and a steering wheel is controlled to output a front wheel rotation angle of the vehicle according to the target lateral control parameter. By adopting the method, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
Referring to fig. 2, a flowchart illustrating steps of another vehicle lateral control method according to an embodiment of the present invention is shown, which may specifically include the following steps:
And step 202, determining initial transverse control parameters according to the vehicle working condition information.
In one case, a Pure tracking control algorithm (Pure Pursuit) may be employed to determine the initial lateral control parameters. The vehicle condition information includes vehicle environment information and vehicle running information, and the vehicle running information includes vehicle speed and vehicle wheel base.
For step 202, the following sub-steps may be performed:
and a substep S11 of determining a pre-address distance of the vehicle based on the vehicle speed or the vehicle environment information.
In practical application, a pre-aiming distance can be preset, a corresponding relation exists between the pre-aiming distance and vehicle environment information, a corresponding relation also exists between the pre-aiming distance and vehicle speed, the current vehicle speed or the current vehicle environment information in a parking scene can be determined, and then the current pre-aiming distance is determined according to the corresponding relation.
And a substep S12 of determining a preview point from the tracked path of the vehicle based on the preview distance.
And a substep S13 of determining the initial lateral control parameter according to the preview distance and the preview point.
After the pre-aiming distance is determined, a corresponding pre-aiming point can be determined according to the pre-aiming distance, and initial transverse control parameters are determined according to the pre-aiming distance and the pre-aiming point.
For sub-step S13, the following method may also be performed:
a second included angle is determined. And calculating according to a preset transverse control algorithm by adopting the second included angle, the vehicle wheelbase and the pre-aiming distance to obtain the initial transverse control parameter.
And the second included angle is the included angle between the connecting line from the center of the rear wheel shaft of the vehicle to the pre-aiming point and the heading of the vehicle. And substituting the second included angle, the vehicle wheelbase and the pre-aiming distance into a formula of a pure tracking control algorithm for calculation to obtain initial transverse control parameters.
After determining the initial lateral control parameter, a correction deviation parameter for correcting the initial lateral control parameter needs to be determined, and in order to enable a person skilled in the art to better understand the embodiment of the present invention, an example of correcting the pure tracking control algorithm is described below.
Referring to fig. 3, a schematic model diagram of a lateral control method of a vehicle according to an embodiment of the invention is shown. Since the tire friction does not break the friction circle limit at low speeds, it can be considered that there is no slip and a kinematic bicycle model is used; and because the vehicle tracked path has the situation of curvature jump under the parking scene, the method can be improved based on a pure tracking control algorithm. The mathematical model of the pure tracking control algorithm is as follows:
wherein delta is the corner of the front wheel, L is the wheel base of the vehicle, alpha is the included angle between the connecting line from the center of the rear wheel shaft of the vehicle to the pre-aiming point and the heading of the vehicle, and LdIs the pre-aim distance.
In fig. 3, points (gx, gy) are preview points, and R is a turning radius.
Order (curvature of turning radius)
Wherein
The curvature can be expressed as
Wherein e islIs the lateral distance deviation, i.e. the projection of the pre-aiming point on the vehicle heading.
Therefore, the pure tracking control algorithm is essentially a proportional controller taking the transverse distance deviation as a feedback quantity, the situations of excessive overshoot, even oscillation and the like easily occur, the tracking precision of the vehicle course is difficult to guarantee, and the scraping and rubbing risks are caused by the phenomena of snaking, excessive inclination of the vehicle and the parking space direction and the like. Therefore, in order to improve the comfort and safety of the parking process, a correction deviation parameter is introduced.
In one case, the vehicle driving information includes a vehicle heading, a weight to improve the vehicle heading tracking accuracy may be introduced to the heading bias term, i.e., the correction bias parameter may be a heading angle bias parameter. In this case, the following steps may be performed:
Wherein the first included angle is an included angle between a tangent line of the tracked path of the vehicle at the pre-aiming point and the heading of the vehicle, which is referred to as an angle θ in fig. 3.
And 204, determining the course angle deviation parameter corresponding to the initial transverse control parameter according to the first included angle.
For step 204, the following sub-steps may be performed:
and a substep S21 of determining a heading angle correction deviation scaling factor.
And a substep S22 of calculating the product of the course angle correction deviation proportion system and the first included angle to obtain the course angle deviation parameter corresponding to the initial transverse control parameter.
In the embodiment of the invention, a course angle deviation parameter is introduced, the improvement is carried out on the basis of a pure tracking control algorithm, and a mathematical model of the improved transverse control algorithm is as follows:
and k is a course angle correction deviation ratio coefficient, and can be debugged according to actual conditions, so that the tracking of the vehicle course is more accurate, and the transverse error is not overlarge.
In another case, the modified deviation parameter may also be a curvature deviation parameter. In this case, the following steps may be performed:
determining the curvature deviation parameter corresponding to the initial lateral control parameter.
In the embodiment of the invention, besides the course angle deviation parameter, the curvature deviation parameter can be adopted to correct the initial transverse control parameter.
The target lateral control parameter is the sum of the initial lateral control parameter and the corrected deviation parameter.
In summary, in the embodiment of the present invention, when parking is performed, vehicle condition information identified by the vehicle bus system is obtained, an initial lateral control parameter and a correction deviation parameter corresponding to the initial lateral control parameter are determined according to the vehicle condition information, a target lateral control parameter is determined according to the initial lateral control parameter and the correction deviation parameter, and a steering wheel is controlled to output a front wheel rotation angle of the vehicle according to the target lateral control parameter. By adopting the method, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a vehicle lateral control device according to an embodiment of the present invention is shown, and may specifically include the following modules:
the obtaining module 401 is configured to obtain vehicle working condition information of a vehicle, which is identified by a vehicle bus system, when the vehicle is parked;
a first determining module 402, configured to determine an initial lateral control parameter according to the vehicle operating condition information, and determine a correction deviation parameter corresponding to the initial lateral control parameter;
a second determining module 403, configured to determine a target lateral control parameter according to the initial lateral control parameter and the corrected deviation parameter;
and a control module 404, configured to control a steering wheel to output a front wheel steering angle of the vehicle according to the target lateral control parameter.
In an embodiment of the present invention, the vehicle operating condition information includes vehicle driving information, the vehicle driving information includes a vehicle heading, the corrected deviation parameter includes a heading angle deviation parameter, and the first determining module includes:
the first determining submodule is used for determining a first included angle; the first included angle is an included angle between a tangent line of a tracked path of the vehicle at a pre-aiming point and the heading of the vehicle;
and the second determining submodule is used for determining the course angle deviation parameter corresponding to the initial transverse control parameter according to the first included angle.
In an embodiment of the present invention, the second determining sub-module includes:
the first determining unit is used for determining a course angle correction deviation proportion coefficient;
and the first calculation unit is used for calculating the product of the course angle correction deviation proportion system and the first included angle to obtain the course angle deviation parameter corresponding to the initial transverse control parameter.
In an embodiment of the present invention, the second determining module includes:
and the calculation submodule is used for calculating the sum of the initial transverse control parameter and the correction deviation parameter to obtain the target transverse control parameter.
In an embodiment of the present invention, the corrected deviation parameter includes a curvature deviation parameter, and the first determining module includes:
a third determining submodule for determining the curvature deviation parameter corresponding to the initial lateral control parameter.
In an embodiment of the present invention, the vehicle operating condition information further includes vehicle environment information, and the vehicle driving information further includes a vehicle speed and a vehicle wheel base, and the first determining module includes:
the fourth determination submodule is used for determining the pre-aiming distance of the vehicle according to the vehicle speed or the vehicle environment information;
a fifth determination submodule, configured to determine a preview point from the tracked path of the vehicle according to the preview distance;
and the sixth determining submodule is used for determining the initial transverse control parameter according to the pre-aiming distance and the pre-aiming point.
In an embodiment of the present invention, the sixth determining sub-module includes:
the second determining unit is used for determining a second included angle; the second included angle is an included angle between a connecting line from the center of a rear wheel axle of the vehicle to the pre-aiming point and the heading of the vehicle;
and the second calculation unit is used for calculating according to a preset transverse control algorithm by adopting the second included angle, the vehicle wheelbase and the pre-aiming distance to obtain the initial transverse control parameter.
In summary, in the embodiment of the present invention, when parking is performed, vehicle condition information identified by the vehicle bus system is obtained, an initial lateral control parameter and a correction deviation parameter corresponding to the initial lateral control parameter are determined according to the vehicle condition information, a target lateral control parameter is determined according to the initial lateral control parameter and the correction deviation parameter, and a steering wheel is controlled to output a front wheel rotation angle of the vehicle according to the target lateral control parameter. By adopting the method, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter, the vehicle control effects of rapid and stable tracking in a parking scene and high tracking pose precision when the vehicle reaches a parking point are realized, and the comfort and the safety in the parking process are improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including: the vehicle transverse control method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle transverse control method embodiment is realized, the same technical effect can be achieved, and in order to avoid repetition, the details are not repeated.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the vehicle lateral control method, and can achieve the same technical effect, and is not described herein again to avoid repetition.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a vehicle lateral control method and a vehicle lateral control device, which are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A vehicle lateral control method, characterized in that the method comprises:
when a vehicle is parked, acquiring vehicle working condition information of the vehicle, which is identified by a vehicle bus system;
determining an initial transverse control parameter according to the vehicle working condition information, and determining a correction deviation parameter corresponding to the initial transverse control parameter;
determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter;
and controlling a steering wheel to output the front wheel rotation angle of the vehicle according to the target transverse control parameter.
2. The method of claim 1, wherein the vehicle operating condition information includes vehicle travel information including a vehicle heading, the revised bias parameter includes a heading angle bias parameter, and the determining a revised bias parameter corresponding to the initial lateral control parameter includes:
determining a first included angle; the first included angle is an included angle between a tangent line of a tracked path of the vehicle at a pre-aiming point and the heading of the vehicle;
and determining the course angle deviation parameter corresponding to the initial transverse control parameter according to the first included angle.
3. The method of claim 2, wherein said determining the course angle deviation parameter corresponding to the initial lateral control parameter from the first angle comprises:
determining a course angle correction deviation proportion coefficient;
and calculating the product of the course angle correction deviation proportion system and the first included angle to obtain the course angle deviation parameter corresponding to the initial transverse control parameter.
4. The method of claim 1, wherein said determining a target lateral control parameter from said initial lateral control parameter and said corrected deviation parameter comprises:
and calculating the sum of the initial transverse control parameter and the correction deviation parameter to obtain the target transverse control parameter.
5. The method of claim 1, wherein the modified bias parameter comprises a curvature bias parameter, and wherein determining the modified bias parameter corresponding to the initial lateral control parameter comprises:
determining the curvature deviation parameter corresponding to the initial lateral control parameter.
6. The method of claim 1, wherein the vehicle operating condition information further comprises vehicle environment information, the vehicle travel information further comprises vehicle speed and vehicle wheelbase, and the determining initial lateral control parameters from the vehicle operating condition information comprises:
determining a pre-aiming distance of the vehicle according to the vehicle speed or the vehicle environment information;
determining a preview point from the tracked path of the vehicle according to the preview distance;
and determining the initial transverse control parameter according to the pre-aiming distance and the pre-aiming point.
7. The method of claim 6, wherein said determining said initial lateral control parameter based on said preview distance and said preview point comprises:
determining a second included angle; the second included angle is an included angle between a connecting line from the center of a rear wheel axle of the vehicle to the pre-aiming point and the heading of the vehicle;
and calculating according to a preset transverse control algorithm by adopting the second included angle, the vehicle wheelbase and the pre-aiming distance to obtain the initial transverse control parameter.
8. A vehicle lateral control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the vehicle working condition information of the vehicle, which is identified by the vehicle bus system, when the vehicle is parked;
the first determining module is used for determining an initial transverse control parameter according to the vehicle working condition information and determining a correction deviation parameter corresponding to the initial transverse control parameter;
the second determining module is used for determining a target transverse control parameter according to the initial transverse control parameter and the correction deviation parameter;
and the control module is used for controlling a steering wheel to output the front wheel rotating angle of the vehicle according to the target transverse control parameter.
9. A vehicle, characterized by comprising: a processor, a memory and a computer program stored on and executable on the processor, the computer program, when executed by the processor, implementing the steps of a vehicle lateral control method according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a vehicle lateral control method according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011232746.7A CN112356828A (en) | 2020-11-06 | 2020-11-06 | Vehicle transverse control method and device, vehicle and readable storage medium |
| PCT/CN2021/101350 WO2022095460A1 (en) | 2020-11-06 | 2021-06-21 | Vehicle lateral control method and apparatus, and vehicle and readable storage medium |
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| CN113156945A (en) * | 2021-03-31 | 2021-07-23 | 深圳市优必选科技股份有限公司 | Automatic guide vehicle and parking control method and control device thereof |
| CN113291292A (en) * | 2021-06-02 | 2021-08-24 | 东风汽车集团股份有限公司 | Transverse control method and system based on slope road condition performance optimization |
| CN113311698A (en) * | 2021-05-26 | 2021-08-27 | 三一专用汽车有限责任公司 | Lane keeping control method, control device and vehicle |
| WO2022095460A1 (en) * | 2020-11-06 | 2022-05-12 | 广州小鹏自动驾驶科技有限公司 | Vehicle lateral control method and apparatus, and vehicle and readable storage medium |
| CN116165958A (en) * | 2023-04-25 | 2023-05-26 | 舜泰汽车有限公司 | Automatic driving system of amphibious special unmanned platform |
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| WO2022095460A1 (en) | 2022-05-12 |
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