CN114013430A - Unified automatic driving vehicle control method for driving and parking - Google Patents
Unified automatic driving vehicle control method for driving and parking Download PDFInfo
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- CN114013430A CN114013430A CN202111614047.3A CN202111614047A CN114013430A CN 114013430 A CN114013430 A CN 114013430A CN 202111614047 A CN202111614047 A CN 202111614047A CN 114013430 A CN114013430 A CN 114013430A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
Abstract
A unified automatic driving vehicle control method for driving and parking is disclosed, wherein the automatic driving vehicle comprises an automatic driving controller, and the automatic driving controller is electrically connected with an EPS (electric power steering) of the vehicle; the invention calculates a pre-aiming distance parallel to the vehicle running direction according to the current vehicle speed and the running direction, selects a pre-aiming point, and selects the pre-aiming point behind the vehicle when the vehicle speed is negative, namely the vehicle parking is requested, and the invention has the advantages that: the method meets the requirements of the automatic driving vehicle under different working conditions by using the same control method, occupies little controller calculation force, and has high calculation real-time performance and better control effect.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to a unified automatic driving vehicle control method for driving and parking.
Background
The automatic parking function is an important component of an automatic driving system, is similar to the tracking running function of automatic driving, and also comprises a parking planning module and a parking control module, wherein the parking planning module provides a smooth parking track line from the current position of a vehicle to a parking spot, and the parking control module is responsible for controlling the gear position, the steering wheel rotating angle and the brake/accelerator pedal opening of the vehicle so that the vehicle can be stably parked in the parking spot according to the planning track line.
The control method of the automatic driving vehicle is strongly related to the running scene of the vehicle, the speed of the automatic driving vehicle is high when the automatic driving vehicle runs along the track, and any small jitter can be amplified, so that the driving control method focuses more on the stability and robustness of control, and the current position error of the vehicle does not need to be paid much attention; when the automatic driving vehicle is parked and warehoused, the vehicle dynamic model is changed from front wheel steering to rear wheel steering, the vehicle speed is low, and in order to ensure that the vehicle can be accurately parked in a parking space, the current position error and the current course error of the vehicle are concerned by the parking control method. In the prior art, based on the above consideration, two or more sets of control methods are often adopted for controlling the vehicle to enter and exit the garage respectively during driving and parking.
Disclosure of Invention
The invention relates to a method which can be simultaneously applied to the storage and the delivery of tracking running and parking of an automatic driving vehicle, and can ensure the precision and the stability of automatic driving control under the working conditions.
A unified automatic driving vehicle control method for driving and parking is disclosed, wherein the automatic driving vehicle comprises an automatic driving controller, and the automatic driving controller is electrically connected with an EPS vehicle, and the control method is characterized by comprising the following steps:
step 1, reference track planning point information and vehicle positioning information are issued by an automatic driving controller;
step 2, calculating a pre-aiming distance parallel to the vehicle running direction according to the current vehicle speed and the running direction, selecting a pre-aiming point, and selecting the pre-aiming point behind the vehicle when the vehicle speed is negative, namely the vehicle parking is requested;
step 3, the automatic driving controller traverses all points on the reference track, and finds a point on the reference track closest to the preview point as a reference point;
step 4, connecting the reference point and the next point of the reference point by the automatic driving controller, making a vertical line from the pre-aiming point to the connecting line of the reference point and the reference point, wherein the distance from the plumb foot to the pre-aiming point is a transverse distance error;
step 5, the automatic driving controller comprehensively calculates the transverse distance error and the course angle error to obtain an error value;
step 6, if the error value is 0, directly executing the steering wheel corner, if the error value is not 0, eliminating the comprehensive error by the automatic driving controller through a variable structure variable parameter PID controller, and outputting an expected steering wheel corner;
and 7, calculating an expected steering wheel angle by the automatic driving controller, packaging the expected steering wheel angle into a message in real time according to a communication protocol, and sending the message to the EPS control unit of the vehicle, so that the vehicle runs according to an expected running path.
Preferably, in step 2, the automatic driving controller first calculates a pre-aiming distance parallel to the driving direction of the vehicle according to the current vehicle speed and the driving direction, and the distance can be represented by the following formula: the target distance is the target distance when the vehicle speed is 0, k is the gain coefficient of the target distance along with the vehicle speed, and when the vehicle speed is negative, namely the vehicle parking is requested, the target point is selected behind the vehicle.
Preferably, in the step 4, the automatic driving controller traverses all points on the reference track, finds a point closest to the pre-aiming point and a next point of the point on the reference track, connects the two points to obtain a reference heading angle, makes a perpendicular line from the pre-aiming point to a connecting line of the two points, and makes the distance from the plumb foot to the pre-aiming point be a transverse distance error.
Preferably, in the step 5, an error value is obtained by comprehensively calculating the transverse distance error and the heading angle error, and since the dimension of the heading angle is radian and the dimension of the position is meter, the error calculation module unifies the position error value under the angle dimension by the atan function, and the calculation method can be characterized by the following formula: error is the error after synthesis, k is the position error weight, and 1-k is the course angle error weight.
error＝k*atan*errpos+(1-k)errθ
Preferably, in step 6, the parameters and structure of the PID controller are determined by the vehicle speed and the vehicle gear, so as to ensure good control effect during low-speed driving, high-speed driving, parking and delivery.
Compared with the prior art, the invention has the beneficial effects that:
the method of the invention uses the same control method to meet the requirements of automatically driving vehicles under different working conditions, occupies little controller calculation force, has high calculation real-time performance and better control effect, can accurately park in an expected parking point when used for parking, has better robustness when used for high-speed driving, and is not easy to cause abnormal shaking of the vehicles due to environmental disturbance.
Drawings
FIG. 1 is a flow chart of a control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a unified automatic driving vehicle control method for driving and parking, where the automatic driving vehicle includes an automatic driving controller, and the automatic driving controller is electrically connected to an EPS of the vehicle, is characterized in that the control method includes the following steps:
step 1, reference track planning point information and vehicle positioning information are issued by an automatic driving controller;
step 2, calculating a pre-aiming distance parallel to the vehicle running direction according to the current vehicle speed and the running direction, selecting a pre-aiming point, and selecting the pre-aiming point behind the vehicle when the vehicle speed is negative, namely the vehicle parking is requested;
step 3, the automatic driving controller traverses all points on the reference track, and finds a point on the reference track closest to the preview point as a reference point;
step 4, connecting the reference point and the next point of the reference point by the automatic driving controller, making a vertical line from the pre-aiming point to the connecting line of the reference point and the reference point, wherein the distance from the plumb foot to the pre-aiming point is a transverse distance error;
step 5, the automatic driving controller comprehensively calculates the transverse distance error and the course angle error to obtain an error value;
step 6, if the error value is 0, directly executing the steering wheel corner, if the error value is not 0, eliminating the comprehensive error by the automatic driving controller through a variable structure variable parameter PID controller, and outputting an expected steering wheel corner;
and 7, calculating an expected steering wheel angle by the automatic driving controller, packaging the expected steering wheel angle into a message in real time according to a communication protocol, and sending the message to the EPS control unit of the vehicle, so that the vehicle runs according to an expected running path.
In step 2, the automatic driving controller first calculates a pre-aiming distance parallel to the driving direction of the vehicle according to the current vehicle speed and the driving direction, and the distance can be represented by the following formula: the target distance is the target distance when the vehicle speed is 0, k is the gain coefficient of the target distance along with the vehicle speed, and when the vehicle speed is negative, namely the vehicle parking is requested, the target point is selected behind the vehicle.
In the step 4, the automatic driving controller traverses all points on the reference track, finds a point closest to the pre-aiming point on the reference track and a next point of the point, connects the two points to obtain a reference course angle, and makes a perpendicular line from the pre-aiming point to a connecting line of the two points, wherein the distance from the perpendicular point to the pre-aiming point is a transverse distance error.
In the step 5, an error value is obtained by comprehensively calculating the transverse distance error and the course angle error, and since the dimension of the course angle is radian and the dimension of the position is meter, the error calculation module unifies the position error values under the angle dimension through the atan function, and the calculation method can be characterized by the following formula: error is the error after synthesis, k is the position error weight, and 1-k is the course angle error weight.
error＝k*atan*errpos+(1-k)Prrθ
In the step 6, the parameters and the structure of the PID controller are determined by the vehicle speed and the vehicle gear, so that good control effects can be ensured during low-speed driving, high-speed driving, parking and delivery.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A unified automatic driving vehicle control method for driving and parking is disclosed, wherein the automatic driving vehicle comprises an automatic driving controller, and the automatic driving controller is electrically connected with an EPS vehicle, and the control method is characterized by comprising the following steps:
step 1, reference track planning point information and vehicle positioning information are issued by an automatic driving controller;
step 2, calculating a pre-aiming distance parallel to the vehicle running direction according to the current vehicle speed and the running direction, selecting a pre-aiming point, and selecting the pre-aiming point behind the vehicle when the vehicle speed is negative, namely the vehicle parking is requested;
step 3, the automatic driving controller traverses all points on the reference track, and finds a point on the reference track closest to the preview point as a reference point;
step 4, connecting the reference point and the next point of the reference point by the automatic driving controller, making a vertical line from the pre-aiming point to the connecting line of the reference point and the reference point, wherein the distance from the plumb foot to the pre-aiming point is a transverse distance error;
step 5, the automatic driving controller comprehensively calculates the transverse distance error and the course angle error to obtain an error value;
step 6, if the error value is 0, directly executing the steering wheel corner, if the error value is not 0, eliminating the comprehensive error by the automatic driving controller through a variable structure variable parameter PID controller, and outputting an expected steering wheel corner;
and 7, calculating an expected steering wheel angle by the automatic driving controller, packaging the expected steering wheel angle into a message in real time according to a communication protocol, and sending the message to the EPS control unit of the vehicle, so that the vehicle runs according to an expected running path.
2. A method for controlling an autonomous vehicle for unified driving and parking according to claim 1, wherein in step 2, the autonomous controller first calculates a pre-aiming distance parallel to the driving direction of the vehicle according to the current vehicle speed and the driving direction, the distance being characterized by the following formula: the target distance is the target distance when the vehicle speed is 0, k is the gain coefficient of the target distance along with the vehicle speed, and when the vehicle speed is negative, namely the vehicle parking is requested, the target point is selected behind the vehicle.
3. The unified automatic driving vehicle control method for driving and parking as claimed in claim 1, wherein in said step 4, the automatic driving controller traverses all points on the reference track, finds a point on the reference track closest to the pre-aiming point and a next point on the reference track, connects the two points to obtain the reference heading angle, makes a perpendicular line from the pre-aiming point to the line connecting the two points, and the distance from the foot to the pre-aiming point is the lateral distance error.
4. The method as claimed in claim 1, wherein in the step 5, the error value is obtained by a comprehensive calculation of the lateral distance error and the heading angle error, and since the dimension of the heading angle is radian and the dimension of the position is meter, the error calculation module unifies the error value of the position under the dimension of the angle by atan function, and the calculation method is characterized by the following formula: error is the error after synthesis, k is the position error weight, and 1-k is the course angle error weight.
error＝k*atan*errpos+(1-k)errθ。
5. The unified automatic driving vehicle control method for driving and parking according to claim 1, wherein in step 6, the parameters and structure of the PID controller are determined by the vehicle speed and the vehicle gear, so as to ensure better control effect in low-speed driving, high-speed driving, parking and delivery.
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