CN113335313A - Vehicle angle deviation calibration method and device, electronic equipment and storage medium - Google Patents
Vehicle angle deviation calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN113335313A CN113335313A CN202110899291.2A CN202110899291A CN113335313A CN 113335313 A CN113335313 A CN 113335313A CN 202110899291 A CN202110899291 A CN 202110899291A CN 113335313 A CN113335313 A CN 113335313A
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Abstract
The embodiment of the application provides a vehicle angle deviation calibration method, a vehicle angle deviation calibration device, electronic equipment and a storage medium, wherein a first control instruction is sent to a target vehicle when a vehicle angle calibration instruction is received, and the first control instruction is used for controlling the target vehicle to run at a first running angle; acquiring a first deviation distance of a target vehicle after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of a road; and determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process. The vehicle is controlled to run at a first running angle, and angle correction information is determined by measuring a first deviation distance generated in the running process, so that the vehicle angle deviation is calibrated. The target vehicle is enabled to ensure that the actual travel angle coincides with the input control angle based on the angle correction information during the travel automatic drive control.
Description
Technical Field
The present disclosure relates to the field of automatic driving control, and in particular, to a method and an apparatus for calibrating a vehicle angle deviation, an electronic device and a storage medium.
Background
At present, along with the development of automatic driving technology, the automatic driving function based on intelligent networking car is more and more mature, and intelligent networking car can realize the automatic driving control of vehicle through the sensing unit that self set up, control equipment such as high in the clouds equipment, trackside equipment, or the controller that sets up on the vehicle.
After the intelligent internet automobile receives the steering control angle determined based on the path navigation algorithm, the intelligent internet automobile can steer according to the steering control angle, however, in the process of actual use, the deviation between the actual driving angle of the automobile and the input control angle often occurs due to the problems that the machining precision and the assembling precision of mechanical parts in the automobile are low, or the distance between the mechanical parts is increased due to use abrasion, and the like, so that the accuracy and the safety of automatic driving control are influenced.
Disclosure of Invention
The application provides a vehicle angle deviation calibration method, a vehicle angle deviation calibration device, electronic equipment and a storage medium, which are used for solving the problem that the actual driving angle of a vehicle and an input control angle have deviation in the automatic driving process.
According to a first aspect of embodiments of the present application, there is provided a vehicle angle deviation calibration method, including:
when a vehicle angle calibration instruction is received, sending a first control instruction to a target vehicle, wherein the first control instruction is used for controlling the target vehicle to run at a first running angle; acquiring a first deviation distance of the target vehicle after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road; and determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process.
In one possible implementation, obtaining a first deviation distance of the target vehicle after traveling for a first duration includes: acquiring an initial deviation distance, wherein the initial deviation distance is the initial distance between the target vehicle and the road center line when the target vehicle is in a calibration state; after the first duration, obtaining a second deviation distance, wherein the second deviation distance represents the distance between the body of the target vehicle and the center line of the road after the target vehicle runs for the first duration; and determining the first deviation distance according to the initial deviation distance and the second deviation distance.
In one possible implementation, determining angle correction information according to the first deviation distance includes: acquiring an accumulated running distance, wherein the accumulated running distance is a distance moved by the target vehicle after running for a first time; and determining angle correction information according to the first deviation distance and the accumulated running distance.
In one possible implementation manner, determining angle correction information according to the first deviation distance and the accumulated travel distance includes: acquiring preset vehicle wheel base information, wherein the vehicle wheel base information is used for representing the wheel base length of the target vehicle; determining a front wheel deviation angle according to the vehicle wheel base information, the accumulated running distance and the first deviation distance; and determining angle correction information according to the proportional relation between the steering angle of the front wheel and the steering wheel and the deviation angle of the front wheel.
In a possible implementation manner, the first control instruction includes speed information, and the first control instruction is further used for controlling the running speed of the target vehicle during running; the method further comprises the following steps: and determining the accumulated running distance according to the speed information and the first time length.
In a possible implementation manner, the first control instruction includes a speed value sequence, where the speed value sequence includes a plurality of speed values and time intervals respectively corresponding to the speed values, and the speed value sequence is used to represent the running speeds of the target vehicle in different time intervals during the running process; acquiring a first deviation distance of the target vehicle after the target vehicle runs for a first time period, wherein the method comprises the following steps: respectively determining corresponding first time length according to each time interval; acquiring a first deviation distance of the target vehicle after a first duration corresponding to each time interval; according to the first deviation distance, determining angle correction information, which comprises the following steps: and determining angle correction information corresponding to each speed value according to the first deviation distance corresponding to each first time length.
In one possible implementation, before sending the first control instruction to the target vehicle, the method further includes: sending a second control instruction to the target vehicle, wherein the second control instruction is used for controlling the target vehicle to run to a calibration state, and the calibration state represents a state that a vehicle body of the target vehicle is parallel to a road center line; when a vehicle angle calibration instruction is received, a first control instruction is sent to a target vehicle, and the method comprises the following steps: and when a vehicle angle calibration instruction is received and the target vehicle is in a calibration state, sending a first control instruction to the target vehicle.
In one possible implementation, the first travel angle is 0 degrees.
According to a second aspect of the embodiments of the present application, there is provided a vehicle angular deviation calibration apparatus, including:
the system comprises a transceiving module, a control module and a control module, wherein the transceiving module is used for sending a first control instruction to a target vehicle when receiving a vehicle angle calibration instruction, and the first control instruction is used for controlling the target vehicle to run at a first running angle;
the acquisition module is used for acquiring a first deviation distance after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road;
and the determining module is used for determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the steering process.
In a possible implementation manner, the obtaining module is specifically configured to: acquiring an initial deviation distance, wherein the initial deviation distance is the initial distance between the target vehicle and the road center line when the target vehicle is in a calibration state; after the first duration, obtaining a second deviation distance, wherein the second deviation distance represents the distance between the body of the target vehicle and the center line of the road after the target vehicle runs for the first duration; and determining the first deviation distance according to the initial deviation distance and the second deviation distance.
In a possible implementation manner, the determining module is specifically configured to: acquiring an accumulated running distance, wherein the accumulated running distance is a distance moved by the target vehicle after running for a first time; and determining angle correction information according to the first deviation distance and the accumulated running distance.
In a possible implementation manner, when determining the angle correction information according to the first deviation distance and the accumulated travel distance, the determining module is specifically configured to: acquiring preset vehicle wheel base information, wherein the vehicle wheel base information is used for representing the wheel base length of the target vehicle; determining a front wheel deviation angle according to the vehicle wheel base information, the accumulated running distance and the first deviation distance; and determining angle correction information according to the proportional relation between the steering angle of the front wheel and the steering wheel and the deviation angle of the front wheel.
In a possible implementation manner, the first control instruction includes speed information, and the first control instruction is further used for controlling the running speed of the target vehicle during running; the determining module is further configured to: and determining the accumulated running distance according to the speed information and the first time length.
In a possible implementation manner, the first control instruction includes a speed value sequence, where the speed value sequence includes a plurality of speed values and time intervals respectively corresponding to the speed values, and the speed value sequence is used to represent the running speeds of the target vehicle in different time intervals during the running process; the acquisition module is specifically configured to: respectively determining corresponding first time length according to each time interval; acquiring a first deviation distance of the target vehicle after a first duration corresponding to each time interval; the determining module is specifically configured to: and determining angle correction information corresponding to each speed value according to the first deviation distance corresponding to each first time length.
In a possible implementation manner, before sending the first control instruction to the target vehicle, the transceiver module is further configured to: sending a second control instruction to the target vehicle, wherein the second control instruction is used for controlling the target vehicle to run to a calibration state, and the calibration state represents a state that a vehicle body of the target vehicle is parallel to a road center line; the transceiver module is specifically configured to: and when a vehicle angle calibration instruction is received and the target vehicle is in a calibration state, sending a first control instruction to the target vehicle.
In one possible implementation, the first travel angle is 0 degrees.
According to a third aspect of embodiments of the present application, there is provided an electronic device, comprising: a memory, a processor, and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to perform the vehicle angle deviation calibration method according to any one of the first aspect of the embodiments of the present application.
According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored therein computer-executable instructions, which when executed by a processor, are configured to implement the vehicle angle deviation calibration method according to any one of the first aspect of the embodiments of the present application.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product comprising a computer program that, when executed by a processor, implements the first aspect and the various possible vehicle angle deviation calibration methods of the first aspect as described above.
According to the vehicle angle deviation calibration method, the vehicle angle deviation calibration device, the electronic equipment and the storage medium, when a vehicle angle calibration instruction is received, a first control instruction is sent to a target vehicle, and the first control instruction is used for controlling the target vehicle to run at a first running angle; acquiring a first deviation distance of the target vehicle after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road; and determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process. The vehicle is controlled to run at a first running angle, and angle correction information is determined by measuring a first deviation distance generated in the running process, so that the vehicle angle deviation is calibrated. The target vehicle can ensure that the actual driving angle is consistent with the input control angle based on the angle correction information in the driving automatic driving control process, and the accuracy and the safety of automatic driving control are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is an application scenario diagram of a vehicle angle deviation calibration method according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle angle deviation calibration method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a target vehicle in a calibration state according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a first deviation distance provided by an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a modification of an automatic driving control process of a vehicle based on angle modification information according to an embodiment of the present application;
FIG. 6 is a flow chart of a vehicle angle deviation calibration method according to another embodiment of the present application;
FIG. 7 is a flowchart of one implementation of step S207 in the embodiment shown in FIG. 6;
FIG. 8 is a schematic structural diagram of a vehicle angular deviation calibration apparatus according to an embodiment of the present application;
fig. 9 is a schematic diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.
The following explains an application scenario of the embodiment of the present application:
fig. 1 is an application scenario diagram of the vehicle angle deviation calibration method provided in the embodiment of the present application, and as shown in fig. 1, the vehicle angle deviation calibration method provided in this embodiment may be applied in an application scenario of a maintenance mode of an intelligent networked automobile. Specifically, the vehicle angle deviation calibration method provided by this embodiment may be applied to cloud equipment, roadside equipment and the like which communicate with the intelligent networked automobile and can control the intelligent networked automobile to run. In this embodiment, a cloud device (i.e., a cloud server shown in fig. 1) is taken as an execution subject to be described, specifically, as shown in fig. 1, a cloud server 11 is respectively in communication with an intelligent internet automobile 12 and a terminal device 13, after receiving a vehicle angle calibration instruction sent by the terminal device 13, the cloud server 11 sends a first control instruction to the intelligent internet automobile 12, so that the intelligent internet automobile runs in a direction indicated by the first control instruction, and sends deviation data in a running process to the cloud server, and the cloud server generates angle correction information representing an angle deviation of the vehicle based on the deviation data returned by the intelligent internet automobile, and completes calibration of the vehicle angle deviation. In the subsequent process of carrying out actual unmanned control on the vehicle, the control angle of the input vehicle can be corrected based on angle correction information preset in the cloud server or the target vehicle, so that the actual running path of the vehicle is consistent with the expected path of the path navigation algorithm, and the accuracy and the safety of automatic driving control are improved.
The open transverse control interface of the existing drive-by-wire vehicle chassis is a steering wheel angle control interface, and a transverse control algorithm calculates a steering wheel angle command and then outputs the steering wheel angle command to a steering actuating mechanism for execution. However, the core of most lateral control algorithms is to calculate the front wheel deflection angle of the vehicle, and then convert the front wheel deflection angle into a corresponding steering wheel rotation angle according to the transmission ratio of a steering mechanism or a model of the steering mechanism and output the steering wheel rotation angle to a drive-by-wire chassis for lateral control. This is done by default when the angle fed back by the steering wheel sensor is zero, and the front wheel (steering wheel) angle is also zero, i.e. the vehicle will travel straight ahead. However, in practice, when the steering wheel angle sensor is zero, the vehicle does not travel straight ahead but a certain angle deviation occurs due to three reasons, namely, measurement deviation of the steering wheel angle sensor itself, sensor angle installation, and mechanical deviation of a transmission mechanism connecting the steering wheel and the front wheels. And this deviation will vary from vehicle to vehicle. This has a large influence on the lateral control, increases the difficulty of parameter adjustment in the algorithm, and reduces the performance of the lateral control.
Meanwhile, because the requirement of the automatic driving control on the real-time performance is very high, in the prior art, the angle deviation of the vehicle can be corrected through closed-loop control and other modes so as to improve the steering precision, however, the problem of reduction of the real-time performance of the automatic driving control is caused due to time consumption of control caused by a closed-loop control scheme of detection-adjustment, and the real-time performance and the safety of the automatic driving control are influenced.
Therefore, there is a need for a method for calibrating an angle deviation of an intelligent networked automobile in a maintenance mode applied to the intelligent networked automobile, so that the angle deviation can be directly corrected based on a calibration result in an actual automatic driving control process of the automobile, and the real-time performance and safety of automatic driving control are improved.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a vehicle angle deviation calibration method provided in an embodiment of the present application, and is applied to a cloud server, as shown in fig. 2, the vehicle angle deviation calibration method provided in the embodiment includes the following steps:
and S101, when a vehicle angle calibration instruction is received, sending a first control instruction to a target vehicle, wherein the first control instruction is used for controlling the target vehicle to run at a first running angle.
For example, the vehicle angle calibration instruction may be an instruction for starting a process of angle calibration of the target vehicle, which is transmitted to the cloud server through the terminal device in communication with the cloud server. Wherein. The vehicle angle calibration instruction comprises an identifier used for indicating a target vehicle, and after receiving the vehicle angle calibration instruction, the cloud server generates a first control instruction used for controlling the target vehicle to run according to the identifier and sends the first control instruction to the target vehicle so as to control the target vehicle. The first driving angle is included in the first control instruction, and is used as an input control parameter of the target vehicle, and is used for controlling the driving angle of the target vehicle.
In one possible implementation, the first control instruction includes a set of control parameters that cause the target vehicle to perform an action, e.g., advance 10 meters at an a-travel angle. In another possible implementation manner, the first control instruction includes a control parameter sequence composed of multiple sets of control parameters, so that the target vehicle continuously performs multiple actions, for example, continuously performs: the vehicle is advanced 10 meters at a driving angle a, 10 meters at a driving angle b and 10 meters at a driving angle c. The cloud server can send a first control instruction to one or more target vehicles according to the vehicle angle calibration instruction, and when the cloud server sends the first control instruction to one or more target vehicles, the angle deviation calibration of a plurality of intelligent networked automobiles can be achieved at the same time.
Step S102, a first deviation distance of the target vehicle after the target vehicle runs for a first time is obtained, and the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road.
Illustratively, in an application scenario of a maintenance mode of the intelligent networked automobile applied in this embodiment, the target vehicle is in a calibration state before receiving the first control instruction, the calibration state represents a state in which a body of the target vehicle is parallel to a center line of a road, and a position where the target vehicle is located when the target vehicle is in the calibration state is an initial position. Fig. 3 is a schematic diagram of a target vehicle in a calibration state according to an embodiment of the present application, and as shown in fig. 3, a vehicle body direction of the target vehicle is parallel to a road centerline direction. The center line of the road may be a traffic indication line actually existing on the road surface, or may be a virtual indication line determined by two side edges of the road, so that, for example, when the target vehicle is in the calibration state, the vehicle body of the target vehicle is parallel to the two side edges of the road.
Further, the target vehicle may travel in the first travel angle direction based on the content of the first control command after receiving the first control command, however, the actual travel angle of the vehicle may not be consistent with the first travel angle due to machining errors and assembly errors of a driving mechanism controlling the steering of the vehicle inside the vehicle, and after the target vehicle continues to travel for the first time period, a lateral offset may be generated between the current position of the target vehicle and the initial position of the target vehicle when the target vehicle is in the calibration state. The lateral offset may be determined by a first offset distance, which is a distance between a body of the target vehicle and a center line of a roadway, where the distance between the body of the target vehicle and the center line of the roadway may be a distance between the center line of the body of the target vehicle and the center line of the roadway, or a distance between either side of the body and the center line of the roadway. In one possible implementation, the initial position of the target vehicle in the calibration state coincides with the center line of the road, in which case the first offset distance is the lateral offset. In another possible implementation, the initial position of the target vehicle in the calibration state is not coincident with the center line of the roadway, in which case the first offset distance is a difference from the initial offset distance, i.e., a lateral offset. Fig. 4 is a schematic diagram of a first deviation distance provided by an embodiment of the present application, as shown in fig. 4, a target vehicle starts to travel based on a first travel angle from an initial position when the target vehicle is in a calibration state, where, for example, the first travel angle is 0 degree, that is, the target vehicle travels along a direction of a center line of a road, due to an angular deviation, an actual travel route of the target vehicle does not coincide with the center line of the road during traveling, and a distance between a vehicle body center line of the target vehicle and the center line of the road is the first deviation distance.
And step S103, determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process.
For example, after the first deviation distance is determined, since the first deviation distance is caused by the angular deviation, the first deviation distance becomes larger as the travel distance increases. When other conditions (for example, the traveling speed) are constant, the angle deviation angle can be determined by performing angle relationship conversion based on a proportional relationship between the first deviation distance and the traveling distance. For example, the ratio of the first deviation distance to the driving distance is subjected to arcsine calculation, so that an angle corresponding to the angle deviation can be obtained, and then angle correction information is generated according to the angle deviation, so that the calibration of the vehicle angle deviation is completed. The angle correction information may be used to correct the control angle of the input target vehicle during actual automatic driving control of the target vehicle so that the actual travel angle of the target vehicle matches the control angle of the input target vehicle.
Fig. 5 is a schematic diagram illustrating that an automatic driving control process of a vehicle is corrected based on angle correction information according to an embodiment of the present application, after angle correction information of a target vehicle is obtained, a cloud server synchronizes the angle correction information into the target vehicle, and after the target vehicle receives path information generated based on a route planning algorithm, a control angle corresponding to the path information is corrected according to the angle correction information, as shown in fig. 5, when the control angle corresponding to the path information is 0 degree, the target vehicle inputs a correction control angle corresponding to the angle correction information into a steering execution unit based on the corresponding angle correction information, so that the target vehicle travels at a travel angle of 0 degree in an actual travel process, and an actual travel route of the target vehicle is consistent with a planned route.
In the embodiment, when a vehicle angle calibration instruction is received, a first control instruction is sent to a target vehicle, and the first control instruction is used for controlling the target vehicle to run at a first running angle; acquiring a first deviation distance of a target vehicle after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of a road; and determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process. The vehicle is controlled to run at a first running angle, and angle correction information is determined by measuring a first deviation distance generated in the running process, so that the vehicle angle deviation is calibrated. The target vehicle can ensure that the actual driving angle is consistent with the input control angle based on the angle correction information in the driving automatic driving control process, and the accuracy and the safety of automatic driving control are improved.
Fig. 6 is a flowchart of a vehicle angle deviation calibration method according to another embodiment of the present application, and as shown in fig. 6, the vehicle angle deviation calibration method according to this embodiment further details steps S101-S103 on the basis of the vehicle angle deviation calibration method according to the embodiment shown in fig. 2, and adds a step of adjusting a target vehicle to a calibration state before step S101, so that the vehicle angle deviation calibration method according to this embodiment includes the following steps:
step S201, a second control instruction is sent to the target vehicle, the second control instruction is used for controlling the target vehicle to run to a calibration state, and the calibration state represents a state that the vehicle body of the target vehicle is parallel to the center line of the road.
The second control command is a command for controlling the target vehicle such that the vehicle body state of the target vehicle is parallel to the center line of the road. Through the second control instruction, the purpose of zeroing the current driving angle of the target vehicle can be achieved, so that the subsequent calibration steps are facilitated. After receiving the second control instruction, the target vehicle can automatically adjust the vehicle body to be parallel to the central line of the road by detecting the road route, the road surface mark and other methods through a sensor arranged on the target vehicle, and the target vehicle is kept to run at a stable speed. This process may be implemented based on a controller provided in the target vehicle, and will not be described in detail herein.
Step S202, when a vehicle angle calibration instruction is received and the target vehicle is in a calibration state, a first control instruction is sent to the target vehicle, wherein the first control instruction comprises speed information, and the first control instruction is also used for controlling the running speed of the target vehicle in the running process.
Illustratively, the speed information included in the first control instruction is used for controlling a running speed of the target vehicle during running from an initial position. In one possible implementation, the speed information may include a predetermined speed value, for example, 30, indicating that the target vehicle is traveling at a speed of 30 km/h during the angular deviation calibration.
In this embodiment, speed information indicating a running speed of the target vehicle is set in the first control instruction, so that the target vehicle can run at a better and stable speed in the vehicle angle deviation calibration process, and the influence of an excessively high vehicle speed or a vehicle speed change on the calibration result in the angle deviation calibration process of the target vehicle is avoided.
In another possible implementation manner, the first control instruction includes a speed value sequence, the speed value sequence includes a plurality of speed values and time intervals respectively corresponding to the speed values, and the speed value sequence is used for representing the running speeds of the target vehicle in different time intervals during the running process. In the present embodiment, the first control instruction is used to instruct the target vehicle to perform variable speed running, that is, to run based on the speed values in the speed value sequence, so as to test deviation values generated by the target vehicle at different running speeds.
Step S203, obtaining an initial deviation distance, wherein the initial deviation distance is the initial distance between the target vehicle and the road center line when the target vehicle is in a calibration state.
And step S204, after the first time period, acquiring a second deviation distance, wherein the second deviation distance represents the distance between the body of the target vehicle and the center line of the road after the target vehicle runs for the first time period.
In step S205, a first deviation distance is determined according to the initial deviation distance and the second deviation distance.
For example, after the target vehicle is adjusted to the calibration state by the second control command, a certain offset distance, i.e., an initial offset distance, may still exist between the vehicle body center line of the target vehicle and the road center line due to road restrictions. The initial deviation distance may be obtained by detecting road surface information by the target vehicle and performing data processing. Then, the target vehicle transmits the initial offset distance to the cloud server.
Further, after the target vehicle travels for a first time period at the first travel angle in response to the first control command, the target vehicle has a second deviation distance from the center line of the road, and a deviation distance caused by the angle deviation, that is, a first deviation distance is obtained by calculating a difference between the second deviation distance and the initial deviation distance.
In a possible implementation manner, in a case that the first control instruction includes a speed value sequence, the step of acquiring the first deviation distance includes: respectively determining corresponding first time lengths according to the time intervals; and acquiring a first deviation distance of the target vehicle after a first duration corresponding to each time interval.
More specifically, the velocity value sequence includes a plurality of velocity values and time intervals respectively corresponding to the velocity values. For example, the speed value sequence includes speed value a =10, the corresponding time interval is (0:1], the time interval representing that the target vehicle is in (0: 1), driving at a speed of 10 km/h; the speed value sequence comprises a speed value b =20, the corresponding time interval is (1: 2), the target vehicle is characterized in the time interval of (1: 2), the corresponding first time length is respectively determined according to each time interval, so that the first deviation distance is calculated once after the target vehicle passes each first time length, the target vehicle is automatically driven to a calibration state, for example, each time the first deviation distance is calculated.
And step S206, determining the accumulated running distance according to the speed information and the first time length, wherein the accumulated running distance is the distance moved by the target vehicle after the target vehicle runs for the first time length.
For example, the distance that the target vehicle moves in the first time for a long time, i.e., the accumulated travel distance, may be determined according to the product of the vehicle travel speed represented by the speed information and the first time duration. The accumulated running distance and the first deviation distance directly have a mapping relation, and the first deviation distance correspondingly increases when the accumulated running distance increases.
In one possible implementation, the cumulative travel distance may be determined by equation (1):
S=S0+v ×T （1）
wherein the content of the first and second substances,Sis the accumulated running distance;S0 is the driving distance of the previous period;vin order to realize the real-time running speed,Tis a calculation cycle. Within the first time length, passing through the preset calculation periodTAnd calculating the product of the real-time speed and the period in each period, and accumulating until the total time length reaches the first time length or the ending condition.
In a possible implementation manner, when the first control instruction includes a speed value sequence, a plurality of accumulated travel distances are respectively and correspondingly determined according to each speed value in the speed value sequence and the corresponding first duration, and each accumulated travel distance corresponds to a speed value.
And step S207, determining angle correction information according to the first deviation distance and the accumulated running distance.
Optionally, as shown in fig. 7, step S207 includes three specific implementation steps of S2071, S2072 and S2073:
step S2071, obtaining preset vehicle wheel base information, where the vehicle wheel base information is used to represent the wheel base length of the target vehicle.
Step S2072, determining a front wheel deviation angle according to the vehicle wheel base information, the accumulated travel distance, and the first deviation distance.
Step S2073, determining angle correction information according to the proportional relationship between the front wheel steering angle and the steering wheel steering angle and the front wheel deviation angle.
In one possible implementation, the angle correction information is used to correct a front wheel deviation angle of the target vehicle. The front wheel deviation angle of the target vehicle may be determined based on equation (2) taking into account the front-rear wheel distance (i.e., wheel base) of the target vehicle:
e＝arctan(2 ×L×d/(S 2)) （2）
wherein e is the deviation angle of the front wheel,Lis the wheel base of the target vehicle,Sto accumulate the distance traveled. And then, generating angle correction information according to the determined front wheel deviation angle, and finishing the calibration process of the angle deviation. Further, a rotation proportional relationship exists between the front wheel steering angle and the steering wheel steering angle, an angle deviation on the steering wheel side is determined correspondingly according to the front wheel deviation angle and the rotation proportional relationship, and the angle deviation on the steering wheel side is used as angle correction information. And in the actual running process of the target vehicle, correcting the control angle input into the target vehicle through the angle correction information, so that the actual running angle of the target vehicle is consistent with the running angle generated through the path planning algorithm.
Illustratively, in a case where the first control instruction includes a velocity value sequence, the step of determining the angle correction information includes: and determining angle correction information corresponding to each speed value according to the first deviation distance corresponding to each first time length. That is, for the first deviation distance corresponding to each first time length, a corresponding front wheel deviation angle is determined, and the calculation process is similar to the process of calculating a front wheel deviation angle in the steps of the above embodiment, and is not described herein again. In the embodiment, the angle correction information can be used for correcting the angle deviation of the intelligent networked automobile at different driving speeds by calculating the front wheel deviation angles corresponding to different speed values, so that the steering correction accuracy is further improved, and the accuracy and the safety of automatic driving control are improved.
Fig. 8 is a schematic structural diagram of a vehicle angular deviation calibration device provided in an embodiment of the present application, and is applied to a cloud server, and as shown in fig. 8, a vehicle angular deviation calibration device 3 provided in this embodiment includes:
the transceiver module 31 is configured to send a first control instruction to the target vehicle when receiving a vehicle angle calibration instruction, where the first control instruction is used to control the target vehicle to travel at a first travel angle;
the obtaining module 32 is configured to obtain a first deviation distance after the target vehicle runs for a first duration, where the first deviation distance is a distance between a vehicle body of the target vehicle and a road center line;
and the determining module 33 is configured to determine angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the steering process.
In a possible implementation manner, the obtaining module 32 is specifically configured to: acquiring an initial deviation distance, wherein the initial deviation distance is the initial distance between a target vehicle and a road center line when the target vehicle is in a calibration state; after the first time length, acquiring a second deviation distance, wherein the second deviation distance represents the distance between the body of the target vehicle and the center line of the road after the target vehicle runs for the first time length; and determining a first deviation distance according to the initial deviation distance and the second deviation distance.
In a possible implementation manner, the determining module 33 is specifically configured to: acquiring an accumulated running distance, wherein the accumulated running distance is a distance moved by a target vehicle after running for a first time; and determining angle correction information according to the first deviation distance and the accumulated running distance.
In a possible implementation manner, the determining module 33, when determining the angle correction information according to the first deviation distance and the accumulated driving distance, is specifically configured to: acquiring preset vehicle wheel base information, wherein the vehicle wheel base information is used for representing the wheel base length of a target vehicle; determining a front wheel deviation angle according to the relationship between the vehicle wheel base information, the accumulated running distance and the first deviation distance; and determining angle correction information according to the proportional relation between the front wheel corner and the steering wheel corner.
In one possible implementation manner, the first control instruction includes speed information, and the first control instruction is further used for controlling the running speed of the target vehicle in the running process; the determining module 33 is further configured to: and determining the accumulated running distance according to the speed information and the first time length.
In one possible implementation manner, the first control instruction includes a speed value sequence, the speed value sequence includes a plurality of speed values and time intervals respectively corresponding to the speed values, and the speed value sequence is used for representing the running speeds of the target vehicle in different time intervals in the running process; the obtaining module 32 is specifically configured to: respectively determining corresponding first time lengths according to the time intervals; acquiring a first deviation distance of a target vehicle after a first duration corresponding to each time interval; the determining module 33 is specifically configured to: and determining angle correction information corresponding to each speed value according to the first deviation distance corresponding to each first time length.
In a possible implementation manner, before sending the first control instruction to the target vehicle, the transceiver module 31 is further configured to: sending a second control instruction to the target vehicle, wherein the second control instruction is used for controlling the target vehicle to run to a calibration state, and the calibration state represents a state that a vehicle body of the target vehicle is parallel to a road center line; a transceiver module, specifically configured to: and when the vehicle angle calibration instruction is received and the target vehicle is in a calibration state, sending a first control instruction to the target vehicle.
In one possible implementation, the first travel angle is 0 degrees.
The transceiver module 31, the obtaining module 32, and the determining module 33 are connected in sequence. The vehicle angle deviation calibration apparatus 3 provided in this embodiment may implement the technical solution of the method embodiment shown in any one of fig. 2 to 7, and the implementation principle and the technical effect are similar, and are not described herein again.
Fig. 9 is a schematic view of an electronic device according to an embodiment of the present application, and as shown in fig. 9, an electronic device 4 according to the embodiment includes: a memory 41, a processor 42 and a computer program.
The computer program is stored in the memory 41 and configured to be executed by the processor 42 to implement the vehicle angle deviation calibration method provided by any one of the embodiments corresponding to fig. 2 to 7 in the present application.
The memory 41 and the processor 42 are connected by a bus 43.
The relevant descriptions and effects corresponding to the steps in the embodiments corresponding to fig. 2 to fig. 7 can be understood, and are not described in detail herein.
One embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the vehicle angle deviation calibration method provided in any one of the embodiments corresponding to fig. 2 to fig. 7 of the present application.
The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
One embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for calibrating a vehicle angle deviation provided in any one of the embodiments corresponding to fig. 2 to fig. 7 of the present application is implemented.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (12)
1. A vehicle angle deviation calibration method is characterized by comprising the following steps:
when a vehicle angle calibration instruction is received, sending a first control instruction to a target vehicle, wherein the first control instruction is used for controlling the target vehicle to run at a first running angle;
acquiring a first deviation distance of the target vehicle after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road;
and determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the automatic driving control process.
2. The method of claim 1, wherein obtaining the first offset distance after the target vehicle has traveled for the first length of time comprises:
acquiring an initial deviation distance, wherein the initial deviation distance is the initial distance between the target vehicle and the road center line when the target vehicle is in a calibration state;
after the first duration, obtaining a second deviation distance, wherein the second deviation distance represents the distance between the body of the target vehicle and the center line of the road after the target vehicle runs for the first duration;
and determining the first deviation distance according to the initial deviation distance and the second deviation distance.
3. The method of claim 1, wherein determining angular correction information based on the first offset distance comprises:
acquiring an accumulated running distance, wherein the accumulated running distance is a distance moved by the target vehicle after running for a first time;
and determining angle correction information according to the first deviation distance and the accumulated running distance.
4. The method of claim 3, wherein determining angle correction information based on the first offset distance and the accumulated distance traveled comprises:
acquiring preset vehicle wheel base information, wherein the vehicle wheel base information is used for representing the wheel base length of the target vehicle;
determining a front wheel deviation angle according to the vehicle wheel base information, the accumulated running distance and the first deviation distance;
and determining angle correction information according to the proportional relation between the steering angle of the front wheel and the steering wheel and the deviation angle of the front wheel.
5. The method according to claim 4, characterized in that speed information is included in the first control instruction, and the first control instruction is also used for controlling the running speed of the target vehicle during running;
the method further comprises the following steps:
and determining the accumulated running distance according to the speed information and the first time length.
6. The method according to claim 1, wherein the first control instruction comprises a speed value sequence, the speed value sequence comprises a plurality of speed values and time intervals respectively corresponding to the speed values, and the speed value sequence is used for representing the running speed of the target vehicle in different time intervals in the running process;
acquiring a first deviation distance of the target vehicle after the target vehicle runs for a first time period, wherein the method comprises the following steps:
respectively determining corresponding first time length according to each time interval;
acquiring a first deviation distance of the target vehicle after a first duration corresponding to each time interval;
according to the first deviation distance, determining angle correction information, which comprises the following steps:
and determining angle correction information corresponding to each speed value according to the first deviation distance corresponding to each first time length.
7. The method of any of claims 1-6, wherein prior to sending the first control command to the target vehicle, the method further comprises:
sending a second control instruction to the target vehicle, wherein the second control instruction is used for controlling the target vehicle to run to a calibration state, and the calibration state represents a state that a vehicle body of the target vehicle is parallel to a road center line;
when a vehicle angle calibration instruction is received, a first control instruction is sent to a target vehicle, and the method comprises the following steps:
and when a vehicle angle calibration instruction is received and the target vehicle is in a calibration state, sending a first control instruction to the target vehicle.
8. The method according to any one of claims 1-6, wherein the first travel angle is 0 degrees.
9. A vehicle angular deviation calibration device is characterized by comprising:
the system comprises a transceiving module, a control module and a control module, wherein the transceiving module is used for sending a first control instruction to a target vehicle when receiving a vehicle angle calibration instruction, and the first control instruction is used for controlling the target vehicle to run at a first running angle;
the acquisition module is used for acquiring a first deviation distance after the target vehicle runs for a first time, wherein the first deviation distance is the distance between the vehicle body of the target vehicle and the center line of the road;
and the determining module is used for determining angle correction information according to the first deviation distance, wherein the angle correction information is used for correcting the angle deviation of the target vehicle in the steering process.
10. An electronic device, comprising: a memory, a processor, and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the vehicle angle deviation calibration method as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the vehicle angle deviation calibration method according to any one of claims 1 to 8.
12. A computer program product comprising a computer program which, when executed by a processor, implements the vehicle angular deviation calibration method of any one of claims 1 to 8.
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