CN112829760B - Vehicle driving track prediction method and system - Google Patents
Vehicle driving track prediction method and system Download PDFInfo
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- CN112829760B CN112829760B CN201911167269.8A CN201911167269A CN112829760B CN 112829760 B CN112829760 B CN 112829760B CN 201911167269 A CN201911167269 A CN 201911167269A CN 112829760 B CN112829760 B CN 112829760B
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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
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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
-
- 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
- B60W2520/12—Lateral speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The invention relates to a method and a system for predicting a vehicle running track, wherein the method comprises the steps of obtaining the running speed and the steering wheel angle of a vehicle, determining a first influence factor according to the ratio of an actual measured value and a theoretical value of the yaw rate of the vehicle when the running speed is greater than or equal to a vehicle speed threshold value and the steering wheel angle is less than a steering wheel threshold value, or when the running speed is less than the vehicle speed threshold value and the steering wheel angle is greater than or equal to the steering wheel threshold value, and correcting the turning radius according to the first influence factor; when the driving speed is greater than the speed threshold value and the steering wheel angle is greater than the corner threshold value, a first influence factor is determined according to the ratio of the measured value and the theoretical value of the yaw velocity of the vehicle, a second influence factor is determined according to the centroid slip angle of the vehicle, and the turning radius is corrected according to the first influence factor and the second influence factor. According to the invention, the accuracy of the estimation of the running track is improved by correcting the turning radius under different running states.
Description
Technical Field
The invention belongs to the technical field of vehicle running control, and particularly relates to a method and a system for predicting a vehicle running track.
Background
The prediction of the vehicle running track is important for the control of the intelligent vehicle. Only the running track of the vehicle under different input conditions can be accurately predicted, the steering wheel angle of the vehicle can be changed by comparing the predicted running track with the planned running track of the vehicle, the functions of steering, obstacle avoidance and the like of the vehicle are realized, and the safe running of the wheels is ensured.
In the prior art, chinese patent application publication No. CN109186607A provides a method for predicting a vehicle travel track point, which determines a coordinate point of a current vehicle according to a GPS signal, and estimates a current vehicle position using a position of a next new coordinate point if a distance between the current coordinate point determined by the GPS and a last cycle GPS coordinate point exceeds a distance traveled at a corresponding time at the current vehicle speed, and replaces the GPS coordinate position with the estimated value. The estimation method is to determine the driving angle of the vehicle according to the current GPS position and the second new position of the vehicle and estimate the position of the vehicle on the basis of the driving angle. The method also needs to use GPS signals to determine the position, and when the GPS signals are completely absent and the duration of the absence is long, the algorithm is invalid, so the prediction reliability of the method is low.
Chinese patent publication No. CN103661599B provides a system and method for predicting a turning trajectory of a vehicle, in which a driving trajectory of the vehicle is predicted based on a state of the vehicle, a front wheel steering angle is calculated based on a steering wheel steering angle of the vehicle, and then the driving trajectory of the vehicle under input is predicted by calculation, but the method is applicable only to a low speed stage and a small steering wheel steering angle, and the method is ineffective in a high speed stage and a large steering wheel steering angle, and thus the prediction reliability of the method is low.
Disclosure of Invention
The invention aims to provide a method and a system for predicting a vehicle running track, which are used for solving the problem of low reliability of the prediction method in the prior art.
Based on the purpose, the technical scheme of the prediction method of the vehicle driving track is as follows:
acquiring the running speed and the steering wheel angle of the vehicle, comparing the running speed with a set speed threshold value, and comparing the steering wheel angle with a set angle threshold value;
when the running speed is greater than or equal to the speed threshold value and the steering wheel angle is less than the steering wheel threshold value, or when the running speed is less than the speed threshold value and the steering wheel angle is greater than or equal to the steering wheel threshold value, the vehicle is in the state B, and the influence factor f in the state B is determined according to the ratio of the measured value and the theoretical value of the yaw rate of the vehicle 1According to the influence factor f in the B state1A calculation formula for correcting the turning radius based on the wheelbase and the wheel turning angle of the vehicleDetermining;
when the running speed is greater than the speed threshold value and the steering wheel angle is greater than the steering angle threshold value, the vehicle is in the C state, and the first influence factor f in the C state is determined according to the ratio of the measured value and the theoretical value of the yaw angular speed of the vehicle2Determining a second influence factor f in the C state according to the centroid slip angle of the vehicle3According to the first influence factor f in the C state2And a second influence factor f3And correcting the calculation formula of the turning radius.
Based on the above purpose, a technical solution of a system for predicting a vehicle driving track is as follows:
the device comprises an acquisition module and a processing module, wherein the acquisition module is used for acquiring the running speed, the steering wheel angle and the yaw rate of the vehicle; the processor is used for determining the turning radius of the vehicle according to the prediction method of the vehicle running track.
The two technical schemes have the beneficial effects that:
the invention classifies the vehicle running state by using the running speed and the steering wheel angle, calculates the vehicle running track by adopting different methods under different running states, namely under the running state of high running speed and small steering wheel angle or under the running state of low running speed and large steering wheel angle (namely under the B state), determines the influence factor f under the B state for correcting the turning radius by the yaw rate 1(ii) a In the operating state with a high driving speed and a large steering wheel angle (i.e., in the C state), the first influencing factor f in the C state for correcting the turning radius is determined not only from the yaw rate2Determining a second influencing factor f for correcting the turning radius in the C state by the centroid slip angle3According to the invention, the accuracy of the estimation of the running track is improved by correcting the turning radius under different running states.
Specifically, when the running vehicle speed is greater than or equal to a vehicle speed threshold value and the steering wheel angle is smaller than a steering angle threshold value, or when the running vehicle speed is smaller than the vehicle speed threshold value and the steering wheel angle is greater than or equal to the steering angle threshold value, the vehicle is in a state B, and the calculation formula after the turning radius is corrected is as follows:
where R is the corrected turning radius, l is the wheel base of the vehicle, δ is the wheel angle, γ is the measured value of the yaw rate, and γ isdIs a theoretical value of yaw rate, f1Is the influence factor in the B state.
When the running speed is greater than the speed threshold value and the steering wheel angle is greater than the steering angle threshold value, the vehicle is in a state C, and the calculation formula after the turning radius is corrected is as follows:
where R is the corrected turning radius, l is the wheel base of the vehicle, δ is the wheel angle, γ is the measured value of the yaw rate, and γ is dIs the theoretical value of yaw angular velocity, beta is the centroid slip angle of the vehicle, f2Is the first influence factor in the C state, f3The second influence factor in the C state.
Drawings
FIG. 1 is a schematic view of the invention in a state of turning;
FIG. 2 is a schematic view of the B-state turning state of the present invention;
fig. 3 is a schematic view of the C-state turning state of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The method comprises the following steps:
when the turning radius of the vehicle in the transient driving is estimated, the driving state of the vehicle is divided into A, B, C three states according to the driving vehicle speed v and the steering wheel angle delta, and the specific division method is shown in table 1. Wherein v is1And delta1The threshold values of the running speed and the steering wheel angle are respectively, and real vehicle calibration is required according to different vehicle types.
TABLE 1
In the state A, the turning radius of the vehicle is far larger than the wheel base of the vehicle, and the slip angle of the rear axle vehicle can be ignored; in the state B, the vehicle is in a linear stage, but the slip angle of the vehicle cannot be ignored at the moment, and the difference between the instantaneous turning radius and the steady-state turning radius is compensated according to the magnitude of the yaw velocity; and (4) entering a C state, wherein the vehicle enters a nonlinear area, the stability state of the vehicle cannot be judged only according to the yaw velocity, and the influence of the centroid slip angle of the vehicle on the instantaneous turning radius of the vehicle is considered.
According to different driving states of the vehicle, the specific turning radius prediction process is as follows:
calculation of turning radius in A State
In the a state, the vehicle running speed is small and the steering wheel angle is small, the vehicle turning radius is large at this time, and the front-rear axle slip angle is small, and it is considered that the instant center of the vehicle is on the extension line of the rear axle in such a situation. As shown in fig. 1.
In the a-state case, the turning radius is much larger than the wheelbase of the vehicle, so the turning radius can be expressed as:
wherein R is the turning radius of the vehicle, l is the wheel base of the vehicle, and delta is the front wheel steering angle of the vehicle, and can be obtained through steering wheel steering angle conversion.
Calculation of turning radius in B State
In the state B, the front and rear axles of the vehicle have a certain slip angle, and the slip angle and the tire stress of the front and rear axles are in a linear relation, and generally, the lateral acceleration of the vehicle is less than 0.4g at the moment, as shown in FIG. 2. In this state, if the calculation method of the turning radius in the state a is continuously used, it will be inaccurate, and therefore the turning radius of the vehicle needs to be corrected on the basis of the inaccurate calculation method, and the turning radius of the vehicle in the state B can be expressed as:
wherein gamma is the actual value of the yaw rate of the vehicle, gamma dIs an ideal value of yaw angular velocity, f1Representing a functional relationship, to modify the influence factor of the turning radius, Kp1,Ki1For adaptive adjustment of the coefficient, the value is a fixed value. In practical application, f1It can be simplified to an adaptive conditional relationship of the ratio of the actual value of the yaw rate to the ideal value. An ideal value gamma of the yaw rate of the vehicle can be obtained from the two-degree-of-freedom modeldThe actual value gamma of the yaw rate can be obtained according to the yaw rate sensor, then the quotient of the actual value and the ideal value of the yaw rate is calculated, the change proportion coefficient of the turning radius of the vehicle is obtained according to the self-adaptive relation, and the turning radius of the vehicle at the moment is further obtained.
Calculation of turning radius in C State
In the state B, the slip angle and the force applied to the front and rear axles are still in a linear state, and the lateral acceleration is generally not more than 0.4g, and at this time, if the driving speed or the steering wheel angle of the vehicle increases again, the vehicle enters the state C, and the vehicle is in a nonlinear state, as shown in fig. 3. In this case, only the influence of the yaw rate on the vehicle state cannot be considered, and the magnitude of the centroid slip angle of the vehicle needs to be considered.
The calculation formula of the turning radius at this time can be expressed as:
wherein beta is the centroid slip angle of the vehicle, f 2、f3Expressing functional relations respectively used for calculating a ratio of an actual value of a yaw velocity to an ideal value and a first influence factor and a second influence factor of a centroid slip angle on a corrected turning radius, Kp2,Ki2,Kp3,Ki3For adaptive adjustment of the coefficient, the value is a fixed value.
Dividing the running state of the vehicle into three types based on the vehicle speed and the front wheel steering angle, and calculating the running track of the vehicle by using the front wheel steering angle at the stage of low-speed small front wheel steering angle; in the high-speed large front wheel steering stage, the vehicle track is predicted by using the front wheel steering, and meanwhile, the driving track calculated based on the front wheel steering is corrected by using the state quantities of the vehicle, such as the ideal value and the actual value of the yaw rate of the vehicle, the centroid slip angle and the like; and in the low-speed large front wheel steering angle or high-speed small front wheel steering angle stage, the driving track calculated based on the steering wheel steering angle is corrected by utilizing the ideal value and the actual value of the yaw rate, the track prediction can be used for intelligent vehicle control and the like, and the specific track prediction is embodied as the predicted turning radius of the vehicle in the current state.
The present embodiment is a turning radius prediction performed by taking the turning of the front wheels of the vehicle as an example, and is also applicable to the case where the front wheels turn when the vehicle is reversed as another embodiment. In addition, the prediction method can be expanded to the field of vehicle illuminating lamp control and is used for adaptive track control of the front illuminating lamp.
The embodiment of the system comprises:
the embodiment provides a vehicle driving track prediction system, which comprises an acquisition module and a processing module, wherein the acquisition module is used for acquiring the driving speed, the steering wheel angle and the yaw rate of a vehicle; specifically, the running vehicle speed, the steering wheel angle, and the yaw rate may be measured using sensors existing in the vehicle.
The processing module is used for executing instructions to realize a prediction method in the method embodiment to obtain the turning radius of the vehicle; in particular, the functions of the processing module may be implemented by an ECU in the vehicle. As other embodiments, the processing module in this embodiment may be separately configured, and may be a microprocessor, such as an ARM, or a programmable chip, such as an FPGA, a DSP, or the like.
The invention classifies the running states of the vehicle by utilizing the vehicle speed and the steering wheel angle, and calculates the running track of the vehicle by adopting different technical schemes under different states, thereby improving the accuracy of the running track estimation. Compared with the prior art, the data acquired by the prediction system only utilizes the existing sensors of the vehicle, and additional sensors such as a GPS (global positioning system) and the like are not needed, so that the application of the sensors is reduced, and the cost is reduced.
Claims (6)
1. A method for predicting a vehicle travel track, comprising the steps of:
acquiring the running speed and the steering wheel angle of the vehicle, comparing the running speed with a set speed threshold value, and comparing the steering wheel angle with a set angle threshold value;
when the running speed is greater than or equal to the speed threshold value and the steering wheel angle is less than the steering wheel threshold value, or when the running speed is less than the speed threshold value and the steering wheel angle is greater than or equal to the steering wheel threshold value, defining the running state of the vehicle at the moment as a B state, and determining an influence factor f in the B state according to the ratio of the measured value and the theoretical value of the yaw rate of the vehicle1According to the influence factor f in the B state1Correcting a calculation formula of the turning radius, wherein the calculation formula is determined according to the wheelbase and the wheel rotation angle of the vehicle;
when the running speed is greater than the speed threshold value and the steering wheel angle is greater than the steering angle threshold value, the running state of the vehicle at the moment is defined as a C state, and a first influence factor in the C state is determined according to the ratio of an actually measured value and a theoretical value of the yaw rate of the vehiclef2Determining a second influence factor f in the C state according to the centroid slip angle of the vehicle3According to the first influence factor f in the C state 2And a second influence factor f3And correcting the calculation formula of the turning radius.
2. The method for predicting a vehicle travel track according to claim 1, wherein when the travel vehicle speed is greater than or equal to a vehicle speed threshold value and the steering wheel angle is less than a steering angle threshold value, or when the travel vehicle speed is less than the vehicle speed threshold value and the steering wheel angle is greater than or equal to the steering angle threshold value, the vehicle is in the B state, and the calculation formula after the turning radius correction is as follows:
where R is the corrected turning radius, l is the wheel base of the vehicle, δ is the wheel angle, γ is the measured value of the yaw rate, and γ isdIs a theoretical value of yaw rate, f1Is the influence factor in the B state.
3. The method according to claim 1, wherein when the traveling vehicle speed is greater than a vehicle speed threshold value and the steering wheel angle is greater than a steering angle threshold value, the vehicle is in the C state, and the corrected turning radius is calculated as follows:
where R is the corrected turning radius, l is the wheel base of the vehicle, δ is the wheel angle, γ is the measured value of the yaw rate, and γ isdIs a theoretical value of yaw rate, beta is a centroid slip angle of the vehicle, f2Is the first influence factor in the C state, f 3The second influence factor in the C state.
4. The system for predicting the vehicle running track is characterized by comprising an acquisition module and a processing module, wherein the acquisition module is used for acquiring the running speed, the steering wheel angle and the yaw rate of a vehicle; the processing module is used for comparing the running vehicle speed with a set vehicle speed threshold value and comparing the steering wheel angle with a set steering angle threshold value;
when the running speed is greater than or equal to the speed threshold value and the steering wheel angle is less than the steering wheel threshold value, or when the running speed is less than the speed threshold value and the steering wheel angle is greater than or equal to the steering wheel threshold value, defining the running state of the vehicle at the moment as a B state, and determining an influence factor f in the B state according to the ratio of the measured value and the theoretical value of the yaw rate of the vehicle1According to the influence factor f in the B state1Correcting a calculation formula of the turning radius, wherein the calculation formula is determined according to the wheelbase and the wheel rotation angle of the vehicle;
when the running speed is greater than the speed threshold value and the steering wheel angle is greater than the steering angle threshold value, defining the running state of the vehicle at the moment as a C state, and determining a first influence factor f in the C state according to the ratio of an actually measured value and a theoretical value of the yaw rate of the vehicle 2Determining a second influence factor f under the C state according to the centroid slip angle of the vehicle3According to the first influence factor f in the C state2And a second influence factor f3And correcting the calculation formula of the turning radius.
5. The system according to claim 4, wherein when the vehicle speed is greater than or equal to a vehicle speed threshold value and the steering wheel angle is less than a steering wheel angle threshold value, or when the vehicle speed is less than the vehicle speed threshold value and the steering wheel angle is greater than or equal to the steering wheel angle threshold value, the vehicle is in the state B, and the modified calculation formula of the turning radius is as follows:
wherein R is the corrected rotationRadius of curvature, l wheel base of the vehicle, δ wheel angle, γ measured yaw rate, γdIs a theoretical value of yaw rate, f1Is the influence factor in the B state.
6. The system according to claim 4, wherein when the traveling vehicle speed is greater than the vehicle speed threshold value and the steering wheel angle is greater than the steering wheel angle threshold value, the vehicle is in the C state, and the corrected turning radius is calculated as follows:
where R is the corrected turning radius, l is the wheel base of the vehicle, δ is the wheel angle, γ is the measured value of the yaw rate, and γ is dIs a theoretical value of yaw rate, beta is a centroid slip angle of the vehicle, f2Is the first influence factor in the C state, f3The second factor in the C state.
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