CN113734183A - Vehicle control method, device and equipment based on steering delay and storage medium - Google Patents
Vehicle control method, device and equipment based on steering delay and storage medium Download PDFInfo
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The application discloses a vehicle control method, a device, equipment and a storage medium based on steering hysteresis, wherein the method comprises the following steps: acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment; determining a front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant; determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model; and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration. Therefore, comprehensive smooth control can be performed on the target vehicle through the decoupled transverse and longitudinal model, a steering delay response time constant is introduced, timely control over the target vehicle is guaranteed, and the stability and robustness of vehicle operation are improved.
Description
Technical Field
The embodiment of the application relates to the field of information processing, in particular to a vehicle control method, device and equipment based on steering hysteresis and a storage medium.
Background
At present, an algorithm applied to an unmanned vehicle is a perfect mathematical differential equation model, the problem of response of a mechanical structure on a real vehicle is not considered, and if the response delay of the mechanical structure on the vehicle is too large, the control of a vehicle controller is diverged, and the expected vehicle running state cannot be achieved.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, a device, equipment and a storage medium based on steering delay, which can carry out comprehensive smooth control on a target vehicle through a decoupled transverse and longitudinal model and introduce a steering delay response time constant, thereby ensuring the timely control on the target vehicle and improving the stability and robustness of vehicle operation.
In a first aspect, an embodiment of the present application further provides a vehicle control method based on steering hysteresis, where the method includes:
acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment;
determining a front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant;
determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model;
and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
In a second aspect, an embodiment of the present application further provides a vehicle control device based on steering hysteresis, including:
the acquisition module is used for acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment;
the determining module is used for determining the front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant;
the determining module is used for determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model;
and the control module is used for adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
In a third aspect, an embodiment of the present application further provides a computer device, including: the memory, the processor and the computer program stored on the memory and operable on the processor, when the processor executes the computer program, implement the steering hysteresis based vehicle control method as provided in any embodiment of the present application.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a steering hysteresis-based vehicle control method as provided in any of the embodiments of the present application.
The embodiment of the application provides a vehicle control method, a device, equipment and a storage medium based on steering hysteresis, wherein the method comprises the following steps: acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment; determining a front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant; determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model; and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration. Therefore, comprehensive smooth control can be performed on the target vehicle through the decoupled transverse and longitudinal model, a steering delay response time constant is introduced, timely control over the target vehicle is guaranteed, and the stability and robustness of vehicle operation are improved.
Drawings
FIG. 1 is a control schematic diagram of a longitudinal-transverse decoupling kinematics model in an embodiment of the present application;
FIG. 2 is a flow chart of a method of controlling a vehicle based on steering hysteresis in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a vehicle control device based on steering retardation in an embodiment of the present application;
FIG. 3a is a schematic structural diagram of another vehicle control device based on steering retardation in the embodiment of the present application;
fig. 4 is a schematic structural diagram of a computer device in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
In addition, in the embodiments of the present application, the words "optionally" or "exemplarily" are used for indicating as examples, illustrations or explanations. Any embodiment or design described herein as "optionally" or "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "optionally" or "exemplarily" etc. is intended to present the relevant concepts in a concrete fashion.
At present, the traditional error model of the unmanned vehicle of commodity circulation is:
wherein,
and
is the current position coordinate of the vehicle, v is the current running speed of the vehicle, heading _ error is the heading angle error of the vehicle,
the change of the course angle error of the vehicle is Steer, the front wheel steering angle of the vehicle and wheel _ base, the wheel base of the vehicle. As can be seen from the above model, the conventional model is cross-coupled and longitudinal-coupled, and there is no processing of the system lag. This can result in control divergence of the vehicle controller and failure to achieve the desired vehicle operating state.
Based on this, the embodiment of the present application provides a model considering steering hysteresis, and the control principle of the model is as shown in fig. 1, that is, the state quantity of the unmanned logistics vehicle is obtained and input to the MPC controller, the MPC controller processes the state quantity according to the internal model processing logic to obtain the control quantity, and the unmanned logistics vehicle is processed according to the control quantity.
Fig. 2 is a flowchart of a steering hysteresis-based vehicle Control method provided in an embodiment of the present application, which may be applied to a Model Predictive Control (MPC) controller of an unmanned vehicle, where the MPC controller is shown in a dashed-line box part in fig. 1, as shown in fig. 2, and the method may include, but is not limited to, the following steps:
s201, acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment.
The target vehicle in this step is an unmanned vehicle controlled by the MPC controller, and further, compared with the parameter quantities required by the conventional control model, in the embodiment of the present application, the motion state quantity of the target vehicle is divided in detail, specifically, into a lateral motion state quantity and a longitudinal motion state quantity. For example, the lateral motion state quantity of the target vehicle acquired in this step may include a heading angle error and a front wheel steering angle, and the longitudinal motion state quantity may include a vehicle longitudinal position error and a vehicle longitudinal speed error.
S202, determining the front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model.
For example, the implementation manner of determining the front wheel steering angle of the target vehicle at the next time in this step may include: substituting the acquired transverse motion state quantity of the target vehicle into a preset transverse kinematics model to obtain a transverse kinematics model to be solved; and determining the front wheel steering angle of the target vehicle at the next moment according to the lateral kinematics model to be solved and the optimal solution library.
The optimal solution library is a database for solving an optimization problem, and exemplarily, as shown in fig. 1, the optimal solution library adopted in the embodiment of the present application is an OSQP library.
Further, in the embodiment of the present application, the designed preset lateral kinematics model includes a steering hysteresis response time constant, so that the real steering response of the vehicle can be considered, and the vehicle steering can be controlled in time.
Illustratively, the preset lateral kinematic model may include: a lateral displacement error equation, a course angle error equation and a front wheel steering angle equation.
And S203, determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematic model.
For example, the implementation manner of determining the acceleration of the target vehicle at the next time in this step may include: and substituting the longitudinal motion state quantity into a preset longitudinal kinematics model to obtain a longitudinal kinematics model to be solved, and determining the acceleration of the target vehicle at the next moment according to the longitudinal kinematics model to be solved and the optimal solution library.
In an embodiment of the present application, the preset longitudinal kinematic model may include: a longitudinal position error equation and a longitudinal velocity error equation.
And S204, adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
Based on the above process, it can be seen that in the embodiment of the application, the transverse and longitudinal control of the unmanned vehicle is decoupled, the preset transverse kinematics model and the preset longitudinal kinematics model are respectively designed, and the preset transverse kinematics model further comprises a steering hysteresis response time constant, so that two control quantities of a front wheel steering angle and an acceleration can be respectively determined based on two different models in the transverse direction and the longitudinal direction, and the motion state of the target vehicle at the next moment is controlled and adjusted based on the two control quantities, so that the vehicle operation state can be timely controlled, and the stability and the robustness of the unmanned vehicle in operation are improved.
The embodiment of the application provides a vehicle control method based on steering hysteresis, which comprises the following steps: acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment; determining a front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant; determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model; and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration. Therefore, comprehensive smooth control can be performed on the target vehicle through the decoupled transverse and longitudinal model, a steering delay response time constant is introduced, timely control over the target vehicle is guaranteed, and the stability and robustness of vehicle operation are improved.
In an example, if the data format of the lateral motion state quantity and the longitudinal motion state quantity acquired in the step S201 does not satisfy the data processing format of the optimal solution library (for example, the OSQP library), an implementation manner provided by the embodiment of the present application further includes: and processing the data formats of the transverse motion state quantity and the longitudinal motion state quantity according to the data processing format of the optimal solution library, adjusting the data formats of the transverse motion state quantity and the longitudinal motion state quantity into the data processing format of the optimal solution library, and performing data processing based on the optimal solution library, the adjusted transverse motion state quantity and the adjusted longitudinal motion state quantity, a preset transverse kinematics model and a preset transverse kinematics model to obtain the adjustment of the front wheel steering angle and the acceleration of the target vehicle.
In one example, the lateral displacement error equation in the lateral kinematics model may be:
the course error equation is:
the front wheel steering equation is:
wherein,
represents the lateral displacement error, v represents the current running speed of the vehicle, heading _ error is the heading angle error of the vehicle,
is the derivative of the heading angle error, i.e., the amount of change in the heading angle error, steer is the current nose wheel angle of the vehicle, wheel _ base is the wheelbase of the vehicle,
steer _ cmd is the front wheel steering angle at the next moment of the vehicle, and tau is the steering delay response time constant, and the value can be 230 milliseconds.
Since the production batches of the unmanned vehicles are different, the response consistency of the same vehicles in different batches may also be different, so optionally, a real vehicle test may be performed on each vehicle, the steering delay response time of each vehicle is obtained through steering excitation, and the average response time of each vehicle or the median of each steering delay response time is used as the steering delay response time of the vehicle of the model.
In one example, the longitudinal position error equation in the longitudinal kinematic model may be:
the longitudinal velocity error equation may be:
wherein,
the derivative of the vehicle longitudinal position error, i.e. the amount of change in the longitudinal position error, lon speed is the vehicle longitudinal speed,
being the derivative of the vehicle longitudinal speed error, i.e. the change in the longitudinal speed error, lon acc is the acceleration of the vehicle at the next moment in time.
The parameter steer _ cmd in the lateral kinematics model and the parameter lon _ acc in the longitudinal kinematics model are used as control variables in fig. 1 to control the operating state of the vehicle.
Fig. 3 is a schematic structural diagram of a vehicle control device based on steering hysteresis according to an embodiment of the present application, and as shown in fig. 3, the device may include: an acquisition module 301, a determination module 302 and a control module 303;
the acquisition module is used for acquiring the transverse motion state quantity of the target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment;
the determining module is used for determining the front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering delay response time constant;
the determining module is used for determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model;
and the control module is used for adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
In an example, the determining module is configured to substitute the lateral motion state quantity into a preset lateral kinematics model to obtain a lateral kinematics model to be solved; and determining the front wheel steering angle of the target vehicle at the next moment according to the lateral kinematics model to be solved and the optimal solution library.
Substituting the longitudinal motion state quantity into a preset longitudinal kinematic model to obtain a longitudinal kinematic model to be solved; and determining the acceleration of the target vehicle at the next moment according to the longitudinal kinematics model to be solved and the optimal solution library.
Illustratively, the preset lateral kinematics model includes: a transverse displacement error equation, a course angle error equation and a front wheel steering angle equation;
the front wheel steering angle equation comprises a steering delay response time constant;
the lateral motion state quantities include: course angle error and nose wheel steering angle.
Illustratively, the preset longitudinal kinematic model includes: a longitudinal position error equation and a longitudinal velocity error equation;
wherein the longitudinal motion state quantity comprises: vehicle longitudinal position error and vehicle longitudinal velocity error.
In one example, as shown in fig. 3a, the apparatus may further include a processing module 304;
and the processing module is used for processing the data formats of the transverse motion state quantity and the longitudinal motion state quantity according to the data processing format of the optimal solution library under the condition that the data formats of the transverse motion state quantity and the longitudinal motion state quantity do not meet the data processing format of the optimal solution library, and adjusting the data formats of the transverse motion state quantity and the longitudinal motion state quantity into the data processing format of the optimal solution library.
The steering hysteresis-based vehicle control device can execute the steering hysteresis-based vehicle control method provided by the figure 2, and has corresponding devices and beneficial effects in the method.
Fig. 4 is a schematic structural diagram of a computer apparatus according to embodiment 4 of the present invention, as shown in fig. 4, the computer apparatus includes a controller 401, a memory 402, an input device 403, and an output device 404; the number of the controllers 401 in the computer device may be one or more, and one controller 401 is taken as an example in fig. 4; the controller 401, the memory 402, the input device 403, and the output device 404 in the computer apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The memory 402 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the steering hysteresis-based vehicle control method in the embodiment of fig. 2 (e.g., the obtaining module 301, the determining module 302, and the control module 303 in the steering hysteresis-based vehicle control device). The controller 401 executes various functions of the computer device and data processing by executing software programs, instructions, and modules stored in the memory 402, that is, implements the steering hysteresis-based vehicle control method described above.
The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 402 may further include memory located remotely from the controller 401, which may be connected to a terminal/server through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 404 may include a display device such as a display screen.
Embodiments of the present application also provide a storage medium containing computer-executable instructions that, when executed by a computer controller, are configured to perform a method for steering hysteresis-based vehicle control, the method comprising the steps shown in fig. 2.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that the modules included in the vehicle control device based on the steering hysteresis are merely divided according to the functional logic, but are not limited to the above division manner as long as the corresponding functions can be realized, and are not used to limit the scope of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A steering hysteresis-based vehicle control method, comprising:
acquiring the transverse motion state quantity of a target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment;
determining a front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering hysteresis response time constant;
determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model;
and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
2. The method according to claim 1, wherein the determining a front wheel steering angle of the target vehicle at a next time based on the lateral motion state quantity and a preset lateral kinematics model comprises:
substituting the transverse motion state quantity into the preset transverse kinematics model to obtain a transverse kinematics model to be solved;
and determining the front wheel steering angle of the target vehicle at the next moment according to the lateral kinematics model to be solved and the optimal solution library.
3. The method according to claim 1, wherein the determining the acceleration of the target vehicle at the next time based on the longitudinal motion state quantity and a preset longitudinal kinematics model comprises:
substituting the longitudinal motion state quantity into the preset longitudinal kinematic model to obtain a longitudinal kinematic model to be solved;
and determining the acceleration of the target vehicle at the next moment according to the longitudinal kinematics model to be solved and the optimal solution library.
4. The method according to claim 1 or 2, wherein the preset lateral kinematics model comprises: a transverse displacement error equation, a course angle error equation and a front wheel steering angle equation;
wherein the steering lag response time constant is contained in the front wheel steering angle equation;
the lateral motion state quantity includes: course angle error and nose wheel steering angle.
5. The method according to claim 1 or 3, wherein the preset longitudinal kinematic model comprises: a longitudinal position error equation and a longitudinal velocity error equation;
wherein the longitudinal motion state quantity includes: vehicle longitudinal position error and vehicle longitudinal velocity error.
6. The method according to claim 2 or 3, wherein in the case where the data format of the lateral-motion state quantity and the longitudinal-motion state quantity does not satisfy the data processing format of the optimal solution library, the method further comprises:
and processing the data formats of the transverse motion state quantity and the longitudinal motion state quantity according to the data processing format of the optimal solution library, and adjusting the data formats of the transverse motion state quantity and the longitudinal motion state quantity into the data processing format of the optimal solution library.
7. A steering hysteresis-based vehicle control apparatus, characterized by comprising:
the acquisition module is used for acquiring the transverse motion state quantity of a target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment;
the determining module is used for determining the front wheel steering angle of the target vehicle at the next moment based on the transverse motion state quantity and a preset transverse kinematics model; the preset transverse kinematics model comprises a steering hysteresis response time constant;
the determining module is used for determining the acceleration of the target vehicle at the next moment based on the longitudinal motion state quantity and a preset longitudinal kinematics model;
and the control module is used for adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration.
8. The apparatus of claim 7, wherein the preset lateral kinematics model comprises: a transverse displacement error equation, a course angle error equation and a front wheel steering angle equation;
wherein the steering lag response time constant is contained in the front wheel steering angle equation;
the lateral motion state quantity includes: course angle error and front wheel steering angle;
the preset longitudinal kinematic model includes: a longitudinal position error equation and a longitudinal velocity error equation;
wherein the longitudinal motion state quantity includes: vehicle longitudinal position error and vehicle longitudinal velocity error.
9. A computer device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing a steering hysteresis based vehicle control method as claimed in any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a steering hysteresis-based vehicle control method according to any one of claims 1 to 6.
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