CN113135180A - Vehicle control method and device, vehicle and medium - Google Patents
Vehicle control method and device, vehicle and medium Download PDFInfo
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- CN113135180A CN113135180A CN202110587279.8A CN202110587279A CN113135180A CN 113135180 A CN113135180 A CN 113135180A CN 202110587279 A CN202110587279 A CN 202110587279A CN 113135180 A CN113135180 A CN 113135180A
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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
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The embodiment of the invention provides a vehicle control method, a vehicle control device, a vehicle and a medium, wherein the method comprises the following steps: obtaining a parking path and a first position of a vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located; determining a turn time of the vehicle based on the second sub-path; determining a second pose according to the first pose and the steering time; determining whether the second sub-path can be tracked when the vehicle matches the second pose; and if so, correspondingly controlling according to the steering time and the second position. The embodiment of the invention can reduce the situation of pivot steering in the process of switching the front and back paths when the vehicle is parked, reduce the loss of corresponding parts of the vehicle, ensure the path tracking precision and improve the driving experience of a user.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a vehicle control method, a vehicle control device, a vehicle, and a medium.
Background
The electric vehicle becomes one of daily vehicles of more and more people, and with the development of internet and electronic technology, many electric vehicles have an automatic parking function, and the vehicle is parked at a designated position by controlling the vehicle to move forwards or backwards.
In general, during parking of a vehicle, a parking space is required to be found from the driving direction, and after the parking space required to be parked is determined, the vehicle is parked in a backward turning direction.
When the vehicle is changed in the front-back direction, pivot steering is generally needed, but the pivot steering increases vehicle loss (such as tire wear) and also causes the movement of the vehicle in the parking process to be discontinuous, thereby affecting the vehicle using experience of a user.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a vehicle control method and a corresponding vehicle control apparatus, vehicle and medium that overcome or at least partially solve the above-mentioned problems.
In order to solve the above problem, an embodiment of the present invention discloses a vehicle control method, including:
obtaining a parking path and a first position of a vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located;
determining a turn time of the vehicle based on the second sub-path;
determining a second pose according to the first pose and the steering time;
determining whether the second sub-path can be tracked when the vehicle matches the second pose;
and if so, correspondingly controlling according to the steering time and the second position.
Optionally, the step of determining a steering time of the vehicle based on the second sub-path comprises:
determining a first yaw angle of the vehicle;
determining a second deflection angle matching the second sub-path;
and determining the steering time of the vehicle according to the first deflection angle, the second deflection angle and a preset steering speed.
Optionally, the step of determining a second deflection angle matching the second sub-path includes:
determining curvature information of the second sub-path;
determining a second deflection angle matching the curvature information.
Optionally, the vehicle is provided with a steering control assembly; the control assembly is provided with an initial position;
the first deflection angle is a rotation angle of the current steering control assembly relative to the initial position;
the second deflection angle is a rotation angle of the steering control assembly relative to the initial position when the moving direction of the vehicle corresponds to the curvature information.
Optionally, the second sub-path comprises a second sub-path end point; the step of determining whether the second sub-path can be tracked when the vehicle matches the second pose includes:
determining a turn radius threshold when the vehicle matches the second position;
and judging whether the vehicle can track the second sub-path or not according to the second pose, the turning radius threshold and the second sub-path end point.
Optionally, the step of determining whether the second sub-path can be tracked according to the second pose, the turning radius threshold, and the second sub-path end point includes:
determining a target area according to the second pose and the turning radius threshold;
judging whether the second sub-path end point is located in the target area;
if not, determining that the vehicle can track the second sub-path;
if so, determining that the vehicle cannot track the second sub-path;
the target area is an area with the tangent point of the second position, the orientation of the second posture as a tangent line and the turning radius threshold as a radius.
Optionally, the method further comprises:
if the second sub-path cannot be tracked when the vehicle and the second pose match, returning to the step of determining a second pose from the first pose and the steering time;
and when the vehicle moves to the end point of the first sub-path, controlling the vehicle to steer in place to be matched with the second sub-path.
The embodiment of the invention also discloses a vehicle control device, which comprises:
the route acquisition module is used for acquiring a parking route and a first position of the vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located;
a turn time determination module to determine a turn time of the vehicle based on the second sub-path;
the second posture determining module is used for determining a second posture according to the first posture and the steering time;
the path tracking judgment module is used for judging whether the second sub-path can be tracked when the vehicle is matched with the second position;
and the control module is used for correspondingly controlling according to the steering time and the second position if the second sub-path can be tracked when the vehicle is matched with the second position.
The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle 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 control method are realized.
The embodiment of the invention has the following advantages:
the method comprises the steps of obtaining a parking path and a first position of a vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located; determining a steering time required for the vehicle to steer to match the second sub-path; when the vehicle runs forwards along the first sub-path, predicting that the vehicle starts to turn from the current moment according to the first pose and the turning time, wherein the pose of the vehicle is the second pose when the turning time is reached; judging whether the second sub-path can be tracked when the vehicle is matched with the second position; if so, correspondingly controlling according to the steering time and the second position posture so as to enable the vehicle to start steering, and enabling the vehicle to run backwards along the second sub-path when the steering time is reached, so that the situation of in-situ steering in the process of switching the front and back paths when the vehicle is parked is reduced, the loss of corresponding parts of the vehicle is reduced, and the driving experience of a user is improved.
Drawings
FIG. 1 is a flow chart illustrating steps of an embodiment of a method for controlling a vehicle provided by the present invention;
fig. 2 is a schematic diagram of determining the trackability of a path according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an exemplary vehicle control method provided by the present invention;
fig. 4 is a block diagram of a vehicle 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 further detail below.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a vehicle control method of the present invention is shown, which may specifically include the following steps:
when the vehicle triggers the automatic parking function, the vehicle can generate a parking path according to preset rules and related parameters (such as environmental information around the vehicle and parameters related to a target parking space), and when the vehicle runs along the parking path, the vehicle can be parked at a specified parking space.
The embodiment of the present invention does not limit the specific generation manner and generation rule of the parking path.
The parking path generally includes two or more sub-paths connected in sequence, and the embodiment of the present invention will be further described with an example in which the parking path includes a first sub-path and a second sub-path.
The first sub-path is a path currently tracked by the vehicle to travel, and the second sub-path is a next path of the first sub-path.
Poses may include, but are not limited to, position and attitude, and the poses may be the orientation of the vehicle, including the orientation in the horizontal direction, the first pose including a current first position of the vehicle, and the first attitude. It will be appreciated that the orientation of the vehicle may also include an orientation in the vertical direction.
the vehicle can adjust the driving direction of the vehicle according to the preset speed, and the time required for the vehicle to change from the current direction to the direction matched with the second sub-path is determined as the steering time.
Wherein the orientation matched with the second sub-route is an orientation in which the vehicle can travel in the second sub-route extending shape.
and when the vehicle runs along the first sub-path, predicting the motion of the vehicle according to the first pose, predicting that the vehicle starts to steer based on the first pose at the current moment, and the pose when the steering duration reaches the steering time obtained in the step 102 is the second pose of the vehicle.
and judging whether the vehicle can track the second sub-path when the vehicle is matched with the second position, wherein the tracking of the second sub-path means that the vehicle can run along the second sub-path.
And 105, if the second sub-path can be tracked when the vehicle is matched with the second position, performing corresponding control according to the steering time and the second position.
And if the vehicle can track the second sub-path when the vehicle is matched with the second position posture, controlling the vehicle to steer according to the steering time so that the vehicle is in a second position and a second posture matched with the second position posture when the steering time is up, and the vehicle can start to track the second sub-path.
In the embodiment of the present invention, the first sub-path is a forward path, and the second sub-path is a backward path. The vehicle runs forwards along the first sub-path and runs backwards along the second sub-path, and the vehicle is controlled to steer according to steering time by tracking the second sub-path when the vehicle is detected to be matched with the second position posture, so that the vehicle can be located at the second position and the second posture when steering is completed, and at the moment, the vehicle can track the second sub-path to run backwards, and the vehicle is prevented from steering in place when the paths in the front and the back directions are switched.
In the embodiment of the invention, the parking path and the first position of the vehicle are obtained; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located; determining a steering time required for the vehicle to steer to match the second sub-path; when the vehicle runs forwards along the first sub-path, predicting that the vehicle starts to turn from the current moment according to the first pose and the turning time, wherein the pose of the vehicle is the second pose when the turning time is reached; judging whether the second sub-path can be tracked when the vehicle is matched with the second position; if so, correspondingly controlling according to the steering time and the second position posture so as to enable the vehicle to start steering, and enabling the position posture of the vehicle to be the second position posture when the steering time is reached, so that the vehicle can run backwards along the second sub-path, thereby reducing the situation of in-situ steering in the process of switching the front and back paths when the vehicle is parked, reducing the loss of corresponding parts of the vehicle, ensuring the path tracking precision and improving the driving experience of a user.
In an alternative embodiment of the present invention, step 102 comprises:
a substep S11 of determining a first yaw angle of the vehicle;
the first yaw angle may be a current yaw angle of the vehicle, and the yaw angle may correspond to a component for controlling the vehicle to change a driving direction.
A sub-step S12 of determining a second deflection angle matching the second sub-path;
the second yaw angle may be a yaw angle at which the vehicle is able to travel along the second sub-path.
And a substep S13 of determining a turning time of the vehicle according to the first deflection angle, the second deflection angle and a preset turning speed.
The vehicle can be steered at a preset steering speed, and the time required for the vehicle to turn from the first deflection angle to the second deflection angle is determined as the steering time.
In the embodiment of the present invention, the turning of the vehicle from the first yaw angle to the second yaw angle may be a constant speed turning or a variable speed turning, and the change of the turning speed is not limited in the embodiment of the present invention.
In an alternative embodiment of the present invention, the sub-step S12 includes: determining curvature information of the second sub-path; determining a second deflection angle matching the curvature information.
The second sub-path may be a circular arc-shaped path, and a second yaw angle matched with the curvature information may be determined by calculating curvature information of the circular arc-shaped second sub-path, according to which the vehicle can travel in an extending direction of the second sub-path when the means for controlling the vehicle to change the traveling direction corresponds to the second yaw angle.
In an alternative embodiment of the invention, the vehicle is provided with a steering control assembly; the control assembly is provided with an initial position;
in one example, the steering control assembly is a component that the driver in the vehicle can control, such as: a steering wheel; in another example, the steering control assembly is at least one structural member coupled to the wheels and controlling the wheels to rotate horizontally, and the direction of travel of the vehicle is controlled by controlling the rotation of the wheels in the horizontal direction.
When the control assembly is in the initial position, the vehicle is able to travel straight.
The first deflection angle is a rotation angle of the current steering control assembly relative to the initial position;
the second deflection angle is a rotation angle of the steering control assembly relative to the initial position when the moving direction of the vehicle corresponds to the curvature information.
Taking the steering control component as a steering wheel as an example, the first yaw is a yaw angle of the steering wheel with respect to the initial position at present, and the second yaw is a yaw angle with respect to the initial position when the moving direction of the vehicle matches the curvature information of the second sub-path.
In an optional embodiment of the invention, the second sub-path comprises a second sub-path end point; step 104:
a substep S21 of determining a turning radius threshold when the vehicle matches the second position;
when the vehicle matches the second position, determining the minimum turning radius length that the vehicle can execute as a turning radius threshold.
And a substep S22 of determining whether the vehicle can track the second sub-path according to the second pose, the turning radius threshold and the second sub-path end point.
And judging whether the vehicle can run along the second sub-path and run to the end point of the second sub-path when the vehicle is positioned at the second position in the second posture according to the turning threshold and the second posture, so that whether the vehicle can track the second sub-path when being matched with the second posture is judged.
In an alternative embodiment of the present invention, the sub-step S22 includes:
a substep S221, determining a target area according to the second pose and the turning radius threshold value;
based on the second pose and the turn radius threshold, at least one target region is determined.
The target area is an area with the tangent point of the second position, the orientation of the second posture as a tangent line and the turning radius threshold as a radius.
A substep S221 of determining whether the second sub-path end point is located in the target region;
and judging whether the vehicle can track the second sub-path or not according to the position relation between the target area and the end point of the second sub-path.
Step S221, if not, determining that the vehicle can track the second sub-path;
and when the end point of the second sub-path is not in the target area, determining that the vehicle can track the second sub-path.
A substep S221, if yes, determining that the vehicle cannot track the second subpath;
and when the second sub-path end point is located in the target area, namely the second sub-path end point is located outside the target area, determining that the vehicle can track the second sub-path.
For example: referring to fig. 2, which is a schematic diagram illustrating a determination of trackability of a route according to an embodiment of the present invention, a vehicle is currently located on the first sub-route W1, a location corresponding to the second position is predicted to be a location of the point L based on the obtained steering time, an orientation of the vehicle in the X direction when the vehicle matches the second position is predicted, and the Y direction is perpendicular to the X direction. And obtaining target areas A1 and A2 according to the second pose and the turning radius threshold value. The target areas a1, a2 are tangent to point L. X is a common tangent to the target areas A1 and A2.
If the next route of the first sub-route is the second sub-route W2 and the second sub-route end point P2 (the position of the arrow) is located within the target area a1, it is determined that the vehicle matches the second position, and the second sub-route W2 cannot be tracked.
If the next route of the first sub-route is the second sub-route W3 and the second sub-route end point P3 is located outside the target area a1, it is determined that the vehicle matches the second position, and the second sub-route W3 can be tracked.
In a specific implementation, the target area can be determined only on one side of the second sub-path end point relative to the vehicle according to the second pose and the turning radius threshold value, so that the data processing amount is reduced, and the response speed of the vehicle is improved.
In an optional embodiment of the invention, the method further comprises:
if the second sub-path cannot be tracked when the vehicle and the second pose match, returning to the step of determining a second pose from the first pose and the steering time; and when the vehicle moves to the end point of the first sub-path, controlling the vehicle to steer in place to be matched with the second sub-path.
If it is determined that the vehicle cannot track the second sub-path when the vehicle matches the second position, the method returns to step 103 and repeats step 103 and step 104.
Namely, when the vehicle runs on the first sub-path, repeatedly determining a new second pose, and repeatedly judging whether the vehicle is matched with the new second pose, whether the second sub-path can be tracked is judged, if so, the step 105 is executed, and if not, the vehicle continuously runs along the first sub-path until the vehicle runs to the end point of the first sub-path.
When the vehicle is positioned at the end point of the first sub-path, the vehicle is controlled to steer in place, so that the pose of the vehicle is matched with that of the second sub-path, and the vehicle can run along the second sub-path after being steered in place.
It is understood that the parking path may include three or more sub-paths, the current path of the vehicle is used as a first sub-path, and the next path of the first sub-path is used as a second sub-path, and the steps provided by the implementation of the present invention are executed, which are not described herein again.
In the following, an embodiment of the present invention is further described by an example, and referring to fig. 3, an example flowchart of a vehicle control method provided by the embodiment of the present invention is shown, including the following steps:
301, the next path curvature corresponding to the steering wheel angle is obtained. Acquiring a steering wheel angle (i.e. the second deflection angle) corresponding to the curvature of the next path (i.e. the curvature information of the second sub-path) of the current driving path (i.e. the first sub-path) of the vehicle according to the planned path information at the beginning of parking;
and 302, predicting the predicted pose of the vehicle when the curvature of the next path is turned to correspond to the turning angle of the steering wheel. Calculating the steering required by steering according to the difference between the current corner (namely the first deflection angle) and the next path corner, and predicting the second pose of the vehicle when the vehicle is steered in place by using a kinematic model;
and 303, judging whether the predicted pose can track the next path or not and judging whether the deviation between the predicted pose and the terminal pose of the current path is within an allowable range.
Specifically, circular areas are determined on two sides of the center of a rear axle of the vehicle according to the minimum turning radius which can be executed by the vehicle, if the terminal point of the next path is in any circular area, the next path cannot be tracked, and if the terminal point of the next path is in two circular areas, the next path can be tracked; meanwhile, it needs to be satisfied that the predicted pose and the current path terminal pose are within an allowable deviation range, where the current path terminal pose is a pose when the vehicle travels to the terminal along the current path, for example: the difference between the position of the predicted pose and the current path end point is within an allowed length range, and/or the difference between the orientation of the predicted pose and the orientation of the current path end point pose is within an allowed angle range.
The allowable length range and the allowable angle range may be preset and adjusted, and the present invention is not limited to specific values of the allowable length range and the allowable angle range.
If the tracking can be performed and the allowable range is satisfied, performing step 304, and if the tracking cannot be performed or the allowable range is not satisfied, performing step 305;
304, turn to the next path with curvature corresponding to the steering wheel angle. If the next path can be tracked, turning the steering wheel to the next path corner from the current moment in the moving process of the vehicle;
and 305, keeping tracking the current path and turning on the spot after parking. If the vehicle is not trackable, the steering wheel is turned after the vehicle stops until the vehicle tracks the current path;
306, the steering wheel is turned into position, tracking the next path. And when the steering wheel is turned to the right position, switching to the corresponding gear of the next path to start tracking the path.
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 control device according to an embodiment of the present invention is shown, and may specifically include the following modules:
a path obtaining module 401, configured to obtain a parking path and a first position of a vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located;
a turn time determination module 402 for determining a turn time of the vehicle based on the second sub-path;
a second pose determination module 403, configured to determine a second pose according to the first pose and the turning time;
a path tracking determination module 404, configured to determine whether the second sub-path can be tracked when the vehicle matches the second position;
and the control module is used for correspondingly controlling according to the steering time and the second position if the second sub-path can be tracked when the vehicle is matched with the second position.
In an optional embodiment of the invention, the turn time determination 402 module comprises:
a first yaw angle determination submodule for determining a first yaw angle of the vehicle;
a second deflection angle determination sub-module for determining a second deflection angle matching the second sub-path;
and the steering time determining submodule is used for determining the steering time of the vehicle according to the first deflection angle, the second deflection angle and a preset steering speed.
In an optional embodiment of the invention, the turn time determination submodule comprises:
a curvature information determining unit for determining curvature information of the second sub-path;
a second deflection angle determination unit for determining a second deflection angle matching the curvature information.
In an alternative embodiment of the invention, the vehicle is provided with a steering control assembly; the control assembly is provided with an initial position;
the first deflection angle is a rotation angle of the current steering control assembly relative to the initial position;
the second deflection angle is a rotation angle of the steering control assembly relative to the initial position when the moving direction of the vehicle corresponds to the curvature information.
In an optional embodiment of the invention, the second sub-path comprises a second sub-path end point; the path tracking determination module 404 includes:
a radius threshold determination submodule for determining a turning radius threshold when the vehicle matches the second position;
and the path tracking judgment sub-module is used for judging whether the vehicle can track the second sub-path according to the second pose, the turning radius threshold and the second sub-path end point.
In an optional embodiment of the present invention, the path tracking determining sub-module includes:
the target area determining unit is used for determining a target area according to the second pose and the turning radius threshold;
a second sub-path end point position judging unit, configured to judge whether the second sub-path end point is located in the target area; if not, determining that the vehicle can track the second sub-path; if so, determining that the vehicle cannot track the second sub-path;
the target area is an area with the tangent point of the second position, the orientation of the second posture as a tangent line and the turning radius threshold as a radius.
In an optional embodiment of the invention, the apparatus further comprises:
the continuous judgment module is used for calling the second position and posture determination module, the path tracking judgment module and the control module if the second sub-path cannot be tracked when the vehicle is matched with the second position and posture;
and the pivot steering module is used for controlling the vehicle to pivot and steer to be matched with the second sub-path when the vehicle moves to the end point of the first sub-path.
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 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 control method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
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 embodiment of the vehicle control method, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here.
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 control method and a vehicle control device, a vehicle and a medium, 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 understand the method of the present invention and the core idea thereof; 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 (12)
1. A vehicle control method characterized by comprising:
obtaining a parking path and a first position of a vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located;
determining a turn time of the vehicle based on the second sub-path;
determining a second pose according to the first pose and the steering time;
determining whether the second sub-path can be tracked when the vehicle matches the second pose;
and if so, correspondingly controlling according to the steering time and the second position.
2. The method of claim 1, wherein the step of determining a turn time of the vehicle based on the second sub-path comprises:
determining a first yaw angle of the vehicle;
determining a second deflection angle matching the second sub-path;
and determining the steering time of the vehicle according to the first deflection angle, the second deflection angle and a preset steering speed.
3. The method of claim 2, wherein the step of determining a second deflection angle matching the second sub-path comprises:
determining curvature information of the second sub-path;
determining a second deflection angle matching the curvature information.
4. The method of claim 3, wherein the vehicle is provided with a steering control assembly; the control assembly is provided with an initial position;
the first deflection angle is a rotation angle of the current steering control assembly relative to the initial position;
the second deflection angle is a rotation angle of the steering control assembly relative to the initial position when the moving direction of the vehicle corresponds to the curvature information.
5. The method of claim 1 or 2 or 3 or 4, wherein the second sub-path comprises a second sub-path end point;
the step of determining whether the second sub-path can be tracked when the vehicle matches the second pose includes:
determining a turn radius threshold when the vehicle matches the second position;
and judging whether the vehicle can track the second sub-path or not according to the second pose, the turning radius threshold and the second sub-path end point.
6. The method of claim 5, wherein the step of determining whether the second sub-path can be tracked based on the second pose, the turn radius threshold, and the second sub-path end point comprises:
determining a target area according to the second pose and the turning radius threshold;
judging whether the second sub-path end point is located in the target area;
if not, determining that the vehicle can track the second sub-path;
if so, determining that the vehicle cannot track the second sub-path;
the target area is an area with the tangent point of the second position, the orientation of the second posture as a tangent line and the turning radius threshold as a radius.
7. The method of claim 1 or 2 or 3 or 4, further comprising:
if the second sub-path cannot be tracked when the vehicle and the second pose match, returning to the step of determining a second pose from the first pose and the steering time;
and when the vehicle moves to the end point of the first sub-path, controlling the vehicle to steer in place to be matched with the second sub-path.
8. A vehicle control apparatus characterized by comprising:
the route acquisition module is used for acquiring a parking route and a first position of the vehicle; the parking path comprises a first sub-path and a second sub-path; the first sub-path is a path where the vehicle is located;
a turn time determination module to determine a turn time of the vehicle based on the second sub-path;
the second posture determining module is used for determining a second posture according to the first posture and the steering time;
the path tracking judgment module is used for judging whether the second sub-path can be tracked when the vehicle is matched with the second position;
and the control module is used for correspondingly controlling according to the steering time and the second position if the second sub-path can be tracked when the vehicle is matched with the second position.
9. The apparatus of claim 8, wherein the turn time determination module comprises:
a first yaw angle determination submodule for determining a first yaw angle of the vehicle;
a second deflection angle determination sub-module for determining a second deflection angle matching the second sub-path;
and the steering time determining submodule is used for determining the steering time of the vehicle according to the first deflection angle, the second deflection angle and a preset steering speed.
10. The apparatus of claim 9, wherein the turn time determination submodule comprises:
a curvature information determining unit for determining curvature information of the second sub-path;
a second deflection angle determination unit for determining a second deflection angle matching the curvature information.
11. A vehicle, characterized by comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle control method as claimed in any one of claims 1-7.
12. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 7.
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| CN202110587279.8A CN113135180A (en) | 2021-05-27 | 2021-05-27 | Vehicle control method and device, vehicle and medium |
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Application publication date: 20210720 |