CN113753024A - Method, device and equipment for eliminating vehicle steady state deviation and storage medium - Google Patents

Method, device and equipment for eliminating vehicle steady state deviation and storage medium Download PDF

Info

Publication number
CN113753024A
CN113753024A CN202011333990.2A CN202011333990A CN113753024A CN 113753024 A CN113753024 A CN 113753024A CN 202011333990 A CN202011333990 A CN 202011333990A CN 113753024 A CN113753024 A CN 113753024A
Authority
CN
China
Prior art keywords
deviation
vehicle
current
steady state
state deviation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011333990.2A
Other languages
Chinese (zh)
Other versions
CN113753024B (en
Inventor
窦凤谦
边学鹏
石平
张亮亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Qianshi Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Qianshi Technology Co Ltd filed Critical Beijing Jingdong Qianshi Technology Co Ltd
Priority to CN202011333990.2A priority Critical patent/CN113753024B/en
Publication of CN113753024A publication Critical patent/CN113753024A/en
Application granted granted Critical
Publication of CN113753024B publication Critical patent/CN113753024B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for eliminating vehicle steady state deviation, wherein the method comprises the following steps: acquiring a current position deviation and a historical position deviation of a current running vehicle; determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation; and determining a target compensation angle according to the steady state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run. The method provided by the embodiment of the invention determines the steady state deviation by combining the historical position deviation and the current position deviation, determines the target compensation angle according to the steady state deviation and the current vehicle speed, and controls the vehicle to run based on the target compensation angle, thereby realizing the accurate and reasonable elimination of the steady state deviation in the vehicle running process.

Description

Method, device and equipment for eliminating vehicle steady state deviation and storage medium
Technical Field
The embodiment of the invention relates to the field of vehicle control, in particular to a method, a device, equipment and a storage medium for eliminating vehicle steady state deviation.
Background
With the development of unmanned driving technology, unmanned vehicles are also gradually widely used. The motion control of an unmanned vehicle can be generally divided into longitudinal control and lateral control. The longitudinal control realizes the speed and acceleration control of the vehicle, the transverse control realizes the steering control of the vehicle, and the longitudinal control and the transverse control are combined to realize the track tracking of the unmanned vehicle.
In the process of implementing the invention, the inventor finds that at least the following technical problems exist in the prior art: during the process of leaving a factory or driving for a long time, the wheel may have a steady-state deviation of a certain angle due to a mechanical structure problem. The steady state deviation can cause interference to the lateral control, so that the vehicle cannot well track the planned track, and when the steady state deviation is large to a certain degree, the safety of vehicle running can be badly influenced.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for eliminating vehicle steady state deviation, which are used for accurately eliminating the steady state deviation in vehicle operation and improving the safety of vehicle running.
In a first aspect, an embodiment of the present invention provides a method for eliminating a vehicle steady-state deviation, including:
acquiring a current position deviation and a historical position deviation of a current running vehicle;
determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and determining a target compensation angle according to the steady-state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
In a second aspect, an embodiment of the present invention further provides a vehicle steady-state deviation elimination apparatus, including:
the position deviation acquiring module is used for acquiring the current position deviation and the historical position deviation of the current running vehicle;
the steady state deviation determining module is used for determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and the steady state deviation elimination module is used for determining a target compensation angle according to the steady state deviation and the current vehicle speed and generating a control signal based on the target compensation angle to control the current running vehicle to run.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement a vehicle steady state deviation elimination method as provided by any of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle steady-state deviation elimination method provided in any embodiment of the present invention.
The embodiment of the invention obtains the current position deviation and the historical position deviation of the current running vehicle; determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation; the method comprises the steps of determining a target compensation angle according to a steady-state deviation and the current vehicle speed, generating a control signal based on the target compensation angle to control the current running vehicle to run, determining the steady-state deviation by combining a historical position deviation and the current position deviation, determining the target compensation angle according to the steady-state deviation and the current vehicle speed, and controlling the vehicle to run based on the target compensation angle, so that the steady-state deviation in the running process of the vehicle is eliminated accurately and reasonably.
Drawings
FIG. 1 is a flow chart of a method for eliminating a steady state deviation of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for eliminating a steady-state deviation of a vehicle according to a second embodiment of the present invention;
fig. 3a is a block diagram of a vehicle steady-state deviation elimination system according to a third embodiment of the present invention;
fig. 3b is a flowchart of a vehicle steady-state deviation elimination method according to a third embodiment of the present invention;
FIG. 3c is a schematic diagram of a steady state offset measurement provided by a third embodiment of the present invention;
FIG. 3d is a schematic diagram of a path tracking deviation according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle steady-state deviation elimination device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for eliminating a steady-state deviation of a vehicle according to an embodiment of the present invention. The present embodiment is applicable to a case where steady-state deviation elimination is performed for an unmanned vehicle in travel. The method may be performed by a vehicle steady state deviation elimination device, which may be implemented in software and/or hardware, for example, which may be configured in a computer device. As shown in fig. 1, the method includes:
and S110, acquiring the current position deviation and the historical position deviation of the current running vehicle.
In this embodiment, the position deviation of the currently running vehicle may be a deviation of an actual position of the currently running vehicle from a planned position in the planned trajectory. Alternatively, the calculation of the positional deviations may each take the center of the rear axle of the currently running vehicle as a reference point.
Specifically, the current position deviation may be understood as a deviation between an actual position of the currently-running vehicle at the current time and a planned position at the current time in the planned trajectory, and the historical position deviation may be understood as a deviation between an actual position of the currently-running vehicle at the historical time and a planned position at a corresponding historical time in the planned trajectory. The historical time may be a plurality of times, and the specific setting mode of the historical time may be set according to the actual application scenario, which is not limited herein. Optionally, a time point within a set time period from the current time may be acquired as the historical time, and a travel time point within a set distance from the current position may also be acquired as the historical time.
And S120, determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation.
In the present embodiment, the steady state deviation refers to a phenomenon of cornering of the front wheels of the vehicle due to mechanical or structural problems. It is considered that the running of the vehicle is continuous, that is, the historical running state of the vehicle affects the running state at the present time. In the embodiment, the steady state deviation of the vehicle running at present is determined and corrected by combining the historical running state and the current running state of the vehicle, so that the running of the vehicle is closer to the planned path, and the safety of the vehicle running at present is improved.
Alternatively, the characteristic values of the current positional deviation and the historical positional deviation may be calculated, and the calculated characteristic values may be used as the steady-state deviation of the currently running vehicle. For example, the steady state deviation may be directly obtained by taking the average of the current position deviation and the historical position deviation, or may be obtained by weighting and summing the current position deviation and the historical position deviation.
In addition to the above-described aspect, in consideration of the fact that the steady-state deviation of the unmanned vehicle is easily determined when the vehicle regularly travels, in order to ensure the accuracy of the steady-state deviation, a part of scenes in which the vehicle regularly travels may be set in advance as the steady-state deviation determination scenes, such as a scene in which the vehicle travels straight, a scene in which the vehicle turns stably, and the like. And when the driving scene of the vehicle is a preset steady state deviation determination scene, determining and correcting the steady state deviation. Namely, the method for determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation comprises the following steps: acquiring the driving scene characteristics of the current driving vehicle, and judging whether the current driving scene of the current driving vehicle is a steady state deviation determining scene according to the driving scene characteristics; and when the current driving scene is a steady-state deviation determining scene, taking the average value of the current position deviation and the historical position deviation as the steady-state deviation. Optionally, the current driving scene of the vehicle may be determined according to the driving scene characteristics of the vehicle, and when the current driving scene is a preset steady-state deviation determination scene, the steady-state deviation is determined according to the acquired current position deviation and historical position deviation, and when the current driving scene is not the preset steady-state deviation determination scene, the current position deviation and the historical position deviation are not processed. The driving scene characteristics of the current driving scene may be speed characteristics, driving track characteristics, and the like of the current driving vehicle at a set time point.
Preferably, the acquiring a driving scene characteristic of the currently driving vehicle, and determining whether the current driving scene of the currently driving vehicle is a steady-state deviation determination scene according to the driving scene characteristic includes: acquiring curvature parameters of a running path of a current running vehicle, and judging whether a current running scene is a straight running scene or not according to the curvature parameters; and when the current driving scene is a straight driving scene, judging that the current driving scene is a steady state deviation determining scene. In general, the steady state deviation of the vehicle is most easily determined when the vehicle is traveling straight, and therefore the steady state deviation can be determined and corrected when the currently traveling vehicle is traveling straight. Specifically, the determination as to whether the vehicle is traveling straight may be determined based on a curvature parameter of a traveling path of the vehicle. For example, a historical curvature parameter of a running track of a currently running vehicle at a historical time and a current curvature parameter of the running track of the currently running vehicle at the current time are acquired, and whether the currently running vehicle runs in a straight line or not is judged according to the historical curvature parameter and the current curvature parameter. In one embodiment, a curvature threshold value may be preset, and when the average value of the historical curvature parameter and the current curvature parameter is smaller than the preset curvature threshold value, and both the historical curvature threshold value parameter and the current curvature parameter are smaller than the preset curvature threshold value, it is determined that the current driving scene of the current driving vehicle is a straight driving scene; otherwise, continuously collecting the running data of the current running vehicle for judgment.
And S130, determining a target compensation angle according to the steady state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
Considering that the influence of the vehicle speed on the compensation angle is large, in the embodiment, the steady-state deviation is corrected by combining the steady-state deviation of the current running vehicle and the current vehicle speed, so that the correction of the steady-state deviation is more reasonable. The target compensation angle determined according to the steady-state deviation and the current vehicle speed may be determined according to a preset compensation angle determination model (such as a neural network model), or may be determined according to a preset calibration table.
It can be understood that after the target compensation angle is determined, the determined target compensation angle needs to be considered in subsequent vehicle control, and the accuracy and the safety of the driving process are ensured. Illustratively, assuming that the target compensation angle is 2 degrees, the front wheel needs to deflect by 5 degrees according to the path planning, and a control command for deflecting the front wheel by 7 degrees is generated to control the deflection of the front wheel.
In one embodiment of the present invention, before determining the target compensation angle according to the steady-state deviation and the current vehicle speed, the method further includes: acquiring running information of a current running vehicle running in a straight line within a set distance; and constructing a compensation turn angle calibration table according to the running position deviation, the running speed and the front wheel turning angle in the running information. Alternatively, a compensation rotation angle calibration table may be constructed in advance, so that the target compensation angle is determined according to the compensation rotation angle calibration table constructed in advance when the unmanned vehicle travels. Optionally, constructing the compensation corner calibration table requires that the vehicle travels a certain distance along a set straight line, measuring a left deviation or a right deviation of the vehicle relative to the set straight line, determining compensation angles at different traveling speeds with different deviations, and constructing the compensation corner calibration table.
Correspondingly, the target compensation angle is determined according to the steady state deviation and the current vehicle speed, and the method comprises the following steps: and taking the compensation corner corresponding to the steady-state deviation and the current vehicle speed in the compensation corner calibration table as a target compensation angle. Namely, the compensation corner corresponding to the steady-state deviation and the current vehicle speed is searched in the compensation corner calibration table to be used as a target compensation angle.
The embodiment of the invention obtains the current position deviation and the historical position deviation of the current running vehicle; determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation; the method comprises the steps of determining a target compensation angle according to a steady-state deviation and the current vehicle speed, generating a control signal based on the target compensation angle to control the current running vehicle to run, determining the steady-state deviation by combining a historical position deviation and the current position deviation, determining the target compensation angle according to the steady-state deviation and the current vehicle speed, and controlling the vehicle to run based on the target compensation angle, so that the steady-state deviation in the running process of the vehicle is eliminated accurately and reasonably.
Example two
Fig. 2 is a flowchart of a vehicle steady-state deviation elimination method according to a second embodiment of the present invention. The embodiment is further optimized on the basis of the scheme. As shown in fig. 2, the method includes:
and S210, acquiring the current position deviation and the historical position deviation of the current running vehicle.
And S220, determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation.
And S230, comparing the steady state deviation with a set deviation threshold, and determining a target compensation angle according to the steady state deviation and the current vehicle speed when the steady state deviation is smaller than the set deviation threshold.
In the present embodiment, in order to correct the steady-state deviation more accurately and reasonably, a steady-state deviation determination condition may be added so that the state of the vehicle can be determined more accurately. Optionally, the condition for determining the steady state deviation may be to determine whether the steady state deviation is smaller than a preset deviation threshold. When the steady state deviation is smaller than a preset deviation threshold value, the fact that the steady state deviation of the vehicle can be eliminated through compensation is indicated, and a target compensation angle is determined according to the steady state deviation and the current vehicle speed so as to eliminate the steady state deviation; when the steady state deviation is not less than the preset deviation threshold value, the steady state deviation of the vehicle cannot be eliminated through compensation, and the front wheels need to be manually subjected to structural correction to eliminate the steady state deviation of the vehicle. Wherein, the set deviation threshold value can be set according to actual requirements.
And S240, generating a control signal based on the target compensation angle to control the current running vehicle to run.
And S250, generating deviation alarm information when the steady state deviation is not less than the set deviation threshold value.
And when the steady state deviation is not less than the set deviation threshold value, generating deviation alarm information so that a worker can carry out structural correction on the front wheel of the vehicle according to the deviation alarm information to ensure the driving safety of the vehicle.
According to the embodiment of the invention, the judgment condition of the steady state deviation is added on the basis of the embodiment, the steady state deviation is compared with the set deviation threshold, when the steady state deviation is smaller than the set deviation threshold, the target compensation angle is determined according to the steady state deviation and the current vehicle speed, and the compensation is carried out on the basis of the target compensation angle, so that the elimination of the steady state deviation of the vehicle is more reasonable.
EXAMPLE III
The present embodiment provides a preferred embodiment based on the above-described embodiments.
The vehicle steady-state deviation elimination method provided by the embodiment can be executed by a steady-state deviation elimination system. Fig. 3a is a block diagram of a vehicle steady-state deviation elimination system according to a third embodiment of the present invention. As shown in FIG. 3a, the vehicle steady-state deviation elimination system comprises modules of historical deviation, steady-state deviation judgment, steady-state deviation control, safety alarm, steady-state deviation compensation calibration table and the like.
Fig. 3b is a flowchart of a vehicle steady-state deviation elimination method according to a third embodiment of the present invention, and as shown in fig. 3b, the vehicle steady-state deviation elimination method includes:
and S310, constructing a steady state deviation compensation calibration table.
The most direct way to eliminate the steady state deviation is to give the front wheel steering angle a certain compensation angle (i.e. a target compensation angle), wherein the compensation angle is directly related to the magnitude of the steady state deviation.
Fig. 3c is a schematic diagram of a steady-state deviation measurement provided by a third embodiment of the present invention, as shown in fig. 3c, the vehicle needs to travel a certain distance s along a set straight line for performing the steady-state deviation angle compensation, and the vehicle is measured relative to the set straight lineDeviation e _ l (left deviation) or e _ r (right deviation) of the line travel. In order to meet the zero offset requirement of the vehicle, the requirement that | e _ l | ≦ e is metmaxOr | e _ r | < emax，emaxThe deviation threshold value is set, namely the maximum value of the zero deviation of the allowed vehicle is set. When the vehicle is subjected to the zero offset correction, the zero offset value of the vehicle is only required to be smaller than the set zero offset maximum value. The above compensation method has no problem when the vehicle speed is low, but for a vehicle running at a high speed, when the steady state deviation is constant, the influence of the vehicle speed on the compensation angle is large. In order to eliminate the steady state deviation more accurately, a calibration table of the speed, the steady state deviation and the output rotation angle needs to be constructed. In the calibration table construction process, the state quantities are the vehicle speed v and the position deviation e, and the calibrated quantity is the compensated front wheel rotation angle δ, which is exemplarily shown in table 1.
TABLE 1
Figure BDA0002796618810000091
And after the calibration table is determined, the table can be looked up by acquiring specific steady state deviation and combining the current vehicle speed information. In the specific table look-up process, two-dimensional linear interpolation needs to be performed on the deviation and the speed to obtain a more accurate compensation angle.
And S320, calculating the steady state deviation.
During vehicle control, the deviation is calculated with the vehicle rear axle center as a reference point. The deviation of the lateral control of the vehicle includes a real-time position deviation and a history deviation. Fig. 3d is a schematic diagram of a path tracking offset according to a third embodiment of the present invention. As shown in fig. 3d, the lateral deviations of the track traces that have been driven are recorded as e _ h1, e _ h2, e _ h3 … … e _ hn, respectively, and the lateral deviation of the track trace at the current time of the vehicle is recorded as e _ n. For the sake of storage, only deviations within a certain time Δ t have been recorded in the past for the deviations of the historical driving trajectory.
And S330, judging steady state deviation.
After the lateral position deviation of the vehicle within the Δ t time is obtained, the acquired deviation needs to be determined. Since steady state deviations of the vehicle are most easily determined when the vehicle is traveling straight, it is possible to determine the approximate curvature of the trajectory through which these deviations travel to estimate the degree of tortuosity of the historical trajectory.
From the above, the historical deviation of the acquisition over the Δ t time is e _ h1、e_h2、e_h3……e_hnObtaining the curvature k of the corresponding path point1、κ2、κ2……κnThen the average curvature of the historical track is
Figure BDA0002796618810000101
Maximum curvature in historical track points is κmaxMax (k 1, k 2 … … κ n), when determining whether the history track is a flat path, setting the average curvature value and the maximum curvature value of the reference flat path to be respectively
Figure BDA0002796618810000102
And kappamax_refIf at the same time satisfy
Figure BDA0002796618810000103
The historical track can be judged to be a road section which can be used for testing the steady-state deviation, otherwise, the data collection is continued and the judgment is carried out.
After determining that the historical track is a section that can be used as a test steady state deviation, the steady state deviation of the vehicle can be determined
Figure BDA0002796618810000104
Thus obtaining the product.
And S340, correcting the steady state deviation.
In this embodiment, a safety threshold value of the steady state deviation is set to emaxWhen deviation from steady state
Figure BDA0002796618810000105
Less than a safety threshold emaxIn the process, the compensation can be carried out to eliminate the angle, the calibration plate is searched to determine the target compensation angle, and the correction is carried out based on the target compensation angle.
And S350, safety alarm.
When in steady stateDeviation of
Figure BDA0002796618810000106
Not less than a safety threshold emaxAnd generating alarm information to prompt a worker to correct the structure of the front wheel of the vehicle so as to ensure the driving safety of the vehicle.
According to the embodiment of the invention, the vehicle steady state deviation is monitored by combining the historical driving state of the unmanned vehicle with the current driving state, and the corresponding control method is designed to eliminate the steady state deviation, so that the control precision of the unmanned vehicle is improved, and the control requirements of the unmanned vehicle under different road conditions are met.
Example four
Fig. 4 is a schematic structural diagram of a vehicle steady-state deviation eliminating device according to a fourth embodiment of the present invention. The vehicle steady-state deviation elimination device can be implemented in software and/or hardware, for example, the vehicle steady-state deviation elimination device can be configured in a computer device. As shown in fig. 4, the apparatus includes a position deviation obtaining module 410, a steady state deviation determining module 420, and a steady state deviation eliminating module 430, wherein:
a position deviation obtaining module 410, configured to obtain a current position deviation and a historical position deviation of a current running vehicle;
a steady state deviation determination module 420 for determining a steady state deviation of the currently running vehicle from the current position deviation and the historical position deviation;
and the steady-state deviation elimination module 430 is used for determining a target compensation angle according to the steady-state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
The embodiment of the invention obtains the current position deviation and the historical position deviation of the current running vehicle through the position deviation obtaining module; the steady state deviation determining module determines the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation; the steady state deviation elimination module determines a target compensation angle according to the steady state deviation and the current vehicle speed, generates a control signal based on the target compensation angle to control the current running vehicle to run, determines the steady state deviation by combining the historical position deviation and the current position deviation, determines the target compensation angle according to the steady state deviation and the current vehicle speed, and controls the vehicle to run based on the target compensation angle, so that the steady state deviation in the vehicle running process is eliminated accurately and reasonably.
Optionally, on the basis of the foregoing scheme, the steady state deviation determining module 420 is specifically configured to:
acquiring the driving scene characteristics of the current driving vehicle, and judging whether the current driving scene of the current driving vehicle is a steady state deviation determining scene according to the driving scene characteristics;
and when the current driving scene is a steady-state deviation determining scene, taking the average value of the current position deviation and the historical position deviation as the steady-state deviation.
Optionally, on the basis of the foregoing scheme, the steady state deviation determining module 420 is specifically configured to:
acquiring curvature parameters of a running path of a current running vehicle, and judging whether a current running scene is a straight running scene or not according to the curvature parameters;
and when the current driving scene is a straight driving scene, judging that the current driving scene is a steady state deviation determining scene.
Optionally, on the basis of the above scheme, the apparatus further includes a calibration table construction module, configured to:
before determining a target compensation angle according to the steady state deviation and the current speed, acquiring running information of a current running vehicle running in a straight line within a set distance;
and constructing a compensation turn angle calibration table according to the running position deviation, the running speed and the front wheel turning angle in the running information.
Optionally, on the basis of the foregoing scheme, the steady-state deviation elimination module 430 is specifically configured to:
and taking the compensation corner corresponding to the steady-state deviation and the current vehicle speed in the compensation corner calibration table as a target compensation angle.
Optionally, on the basis of the foregoing scheme, the steady-state deviation elimination module 430 is specifically configured to:
and comparing the steady state deviation with a set deviation threshold, and determining a target compensation angle according to the steady state deviation and the current vehicle speed when the steady state deviation is smaller than the set deviation threshold.
Optionally, on the basis of the foregoing scheme, the steady state deviation elimination module 430 is further configured to:
and when the steady state deviation is not less than the set deviation threshold value, generating deviation alarm information.
The vehicle steady-state deviation eliminating device provided by the embodiment of the invention can execute the vehicle steady-state deviation eliminating method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 512 suitable for use in implementing embodiments of the present invention. The computer device 512 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 5, computer device 512 is in the form of a general purpose computing device. Components of computer device 512 may include, but are not limited to: one or more processors 516, a system memory 528, and a bus 518 that couples the various system components including the system memory 528 and the processors 516.
Bus 518 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and processor 516, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 512 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 512 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 528 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)530 and/or cache memory 532. The computer device 512 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage 534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 518 through one or more data media interfaces. Memory 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 540 having a set (at least one) of program modules 542, including but not limited to an operating system, one or more application programs, other program modules, and program data, may be stored in, for example, the memory 528, each of which examples or some combination may include an implementation of a network environment. The program modules 542 generally perform the functions and/or methods of the described embodiments of the invention.
The computer device 512 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), with one or more devices that enable a user to interact with the computer device 512, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 512 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, computer device 512 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 520. As shown, the network adapter 520 communicates with the other modules of the computer device 512 via the bus 518. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the computer device 512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 516 executes programs stored in the system memory 528 to execute various functional applications and data processing, for example, to implement a vehicle steady state deviation elimination method provided by the embodiment of the present invention, the method includes:
acquiring a current position deviation and a historical position deviation of a current running vehicle;
determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and determining a target compensation angle according to the steady state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
Of course, those skilled in the art can understand that the processor may also implement the technical solution of the method for eliminating the steady-state deviation of the vehicle provided by any embodiment of the present invention.
EXAMPLE six
The sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for eliminating the steady-state deviation of the vehicle provided by the sixth embodiment of the present invention, where the method includes:
acquiring a current position deviation and a historical position deviation of a current running vehicle;
determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and determining a target compensation angle according to the steady state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
Of course, the computer-readable storage medium, on which the computer program is stored, is not limited to the above method operations, and may also perform operations related to the vehicle steady-state deviation elimination method provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated 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 invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A vehicle steady state deviation elimination method, characterized by comprising:
acquiring a current position deviation and a historical position deviation of a current running vehicle;
determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and determining a target compensation angle according to the steady state deviation and the current vehicle speed, and generating a control signal based on the target compensation angle to control the current running vehicle to run.
2. The method of claim 1, wherein determining a steady state deviation for a currently traveling vehicle based on the current position deviation and the historical position deviation comprises:
acquiring the driving scene characteristics of the current driving vehicle, and judging whether the current driving scene of the current driving vehicle is a steady state deviation determining scene according to the driving scene characteristics;
and when the current driving scene is a steady-state deviation determination scene, taking the average value of the current position deviation and the historical position deviation as the steady-state deviation.
3. The method according to claim 2, wherein the obtaining of the driving scene characteristics of the currently-driving vehicle and the determining of whether the current driving scene of the currently-driving vehicle is a steady deviation determination scene according to the driving scene characteristics comprises:
acquiring curvature parameters of a running path of the current running vehicle, and judging whether the current running scene is a straight running scene according to the curvature parameters;
and when the current driving scene is a straight driving scene, judging that the current driving scene is a steady state deviation determining scene.
4. The method of claim 1, further comprising, prior to determining a target compensation angle based on the steady state deviation and a current vehicle speed:
acquiring running information of the current running vehicle running in a straight line within a set distance;
and constructing a compensation turn angle calibration table according to the running position deviation, the running speed and the front wheel turning angle in the running information.
5. The method of claim 4, wherein determining a target compensation angle based on the steady state deviation and a current vehicle speed comprises:
and taking the compensation corner corresponding to the steady-state deviation and the current vehicle speed in the compensation corner calibration table as the target compensation angle.
6. The method of claim 1, further comprising, prior to determining a target compensation angle based on the steady state deviation and a current vehicle speed:
and comparing the steady state deviation with a set deviation threshold, and determining a target compensation angle according to the steady state deviation and the current vehicle speed when the steady state deviation is smaller than the set deviation threshold.
7. The method of claim 6, further comprising:
and generating deviation alarm information when the steady state deviation is not less than the set deviation threshold value.
8. A vehicle steady-state deviation elimination apparatus, characterized by comprising:
the position deviation acquiring module is used for acquiring the current position deviation and the historical position deviation of the current running vehicle;
the steady state deviation determining module is used for determining the steady state deviation of the current running vehicle according to the current position deviation and the historical position deviation;
and the steady state deviation elimination module is used for determining a target compensation angle according to the steady state deviation and the current vehicle speed and generating a control signal based on the target compensation angle to control the current running vehicle to run.
9. A computer device, the device comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle steady state deviation elimination method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of cancellation of a steady-state deviation of a vehicle according to any one of claims 1 to 7.
CN202011333990.2A 2020-11-24 2020-11-24 Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle Active CN113753024B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011333990.2A CN113753024B (en) 2020-11-24 2020-11-24 Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011333990.2A CN113753024B (en) 2020-11-24 2020-11-24 Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle

Publications (2)

Publication Number Publication Date
CN113753024A true CN113753024A (en) 2021-12-07
CN113753024B CN113753024B (en) 2023-08-08

Family

ID=78786051

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011333990.2A Active CN113753024B (en) 2020-11-24 2020-11-24 Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle

Country Status (1)

Country Link
CN (1) CN113753024B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180297594A1 (en) * 2015-10-30 2018-10-18 Hitachi Automotive Systems, Ltd. Vehicular motion control device and method
CN109795477A (en) * 2019-02-22 2019-05-24 百度在线网络技术（北京）有限公司 Eliminate the method, apparatus and storage medium of stable state lateral deviation
CN110271534A (en) * 2019-06-14 2019-09-24 百度在线网络技术（北京）有限公司 Control method, device, computer equipment and the storage medium of automatic driving vehicle
US20200307612A1 (en) * 2019-03-29 2020-10-01 Aisin Seiki Kabushiki Kaisha Vehicle control device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180297594A1 (en) * 2015-10-30 2018-10-18 Hitachi Automotive Systems, Ltd. Vehicular motion control device and method
CN109795477A (en) * 2019-02-22 2019-05-24 百度在线网络技术（北京）有限公司 Eliminate the method, apparatus and storage medium of stable state lateral deviation
US20200307612A1 (en) * 2019-03-29 2020-10-01 Aisin Seiki Kabushiki Kaisha Vehicle control device
CN110271534A (en) * 2019-06-14 2019-09-24 百度在线网络技术（北京）有限公司 Control method, device, computer equipment and the storage medium of automatic driving vehicle

Also Published As

Publication number Publication date
CN113753024B (en) 2023-08-08

Similar Documents

Publication Publication Date Title
CN110271534B (en) Control method and device for automatic driving vehicle, computer equipment and storage medium
CN109444932B (en) Vehicle positioning method and device, electronic equipment and storage medium
CN109522673B (en) Test method, device, equipment and storage medium
US11447141B2 (en) Method and device for eliminating steady-state lateral deviation and storage medium
CN111796521B (en) Foresight distance determining method, device, equipment and storage medium
CN111873991B (en) Vehicle steering control method, device, terminal and storage medium
CN110850895B (en) Path tracking method, device, equipment and storage medium
CN113552888B (en) Driving track control method, device, equipment and medium applied to unmanned vehicle
CN111121777A (en) Unmanned equipment trajectory planning method and device, electronic equipment and storage medium
CN111797780A (en) Vehicle following track planning method, device, server and storage medium
EP4345421A2 (en) Method for calibrating sensor parameters based on autonomous driving, apparatus, storage medium, and vehicle
CN113602350A (en) Method, device and equipment for dynamically calibrating deviation angle of front wheel of vehicle and storage medium
CN113696970B (en) Semi-trailer train, backing control method, device, equipment and medium
CN114475781A (en) Vehicle control method, device, equipment and storage medium
US20240343249A1 (en) Vehicle control method and apparatus, electronic device, and storage medium
CN115617051A (en) Vehicle control method, device, equipment and computer readable medium
CN113306570B (en) Method and device for controlling an autonomous vehicle and autonomous dispensing vehicle
CN113753024B (en) Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle
CN110850878A (en) Intelligent vehicle control method, device, equipment and medium
CN114194201A (en) Vehicle control method and device, electronic equipment and storage medium
CN114852051A (en) Vehicle running control method and device, electronic equipment and storage medium
CN111547127B (en) Zero compensation method and device for electric power steering system EPS
CN117773928B (en) Mobile device calibration method and device, electronic device and storage medium
CN116572972B (en) Transverse control method and device of vehicle, electronic equipment and storage medium
CN116923380A (en) Method, device, equipment and storage medium for determining vehicle parking pose

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant