CN114212146A - Method and device for acquiring corner midpoint of automatic driving vehicle - Google Patents
Method and device for acquiring corner midpoint of automatic driving vehicle Download PDFInfo
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- CN114212146A CN114212146A CN202111587142.9A CN202111587142A CN114212146A CN 114212146 A CN114212146 A CN 114212146A CN 202111587142 A CN202111587142 A CN 202111587142A CN 114212146 A CN114212146 A CN 114212146A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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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
The invention discloses a method and a device for acquiring a corner midpoint of an automatic driving vehicle, wherein the method comprises the following steps: controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the right-turning mechanical angle; controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the left-turning mechanical angle; dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector; and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end rotation angle position as the rotation angle midpoint of the automatic driving vehicle. The method is suitable for any vehicle type without installing expensive test instruments, is not required to be carried out on a special test field, has almost no skill requirement on testers, is very simple in test scheme and easy to realize, can accurately obtain the middle point of the vehicle corner, can meet the offline detection requirement of mass-production vehicle types of the automatic driving vehicles, and is favorable for large-scale popularization and use.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method and a device for acquiring a corner midpoint of an automatic driving vehicle.
Background
With the wide application of the automatic driving vehicle, the research and development and manufacturing force of the automatic driving vehicle is gradually increased, and in the research and development and manufacturing process of the automatic driving vehicle, the positioning parameters of the vehicle steering wheel need to be adjusted, wherein the positioning parameters comprise the determination of the middle point of the vehicle steering angle, the adjustment can also be called as the adjustment of the toe-in angle in the industry, and the steering angle at the moment is the middle point of the vehicle corner when the current toe-in angle meets the industry standard. Whether the steering wheel can immediately and automatically return to the straight-line driving position after being deflected under the action of external force or whether the vehicle can drive along the straight line when the steering control of the vehicle is not carried out is related to whether the middle point of the steering angle of the vehicle corresponds to the center position of left and right steering or not.
In the prior art, the following method is often adopted for determining the middle point of the turning angle of the vehicle: the method comprises the steps of using a four-wheel positioning instrument to detect the toe-in angle of a vehicle, continuously adjusting the length of a steering transverse pull rod until the toe-in angle of the vehicle detected by the four-wheel positioning instrument meets the enterprise standard, and defining the steering angle at the moment as the middle point of a vehicle corner. However, the above method has the following disadvantages: 1. the chassis size of the automatic driving vehicle at the present stage is not uniformly restricted, and is mostly of a heterosexual structure, and the four-wheel aligner is difficult to adapt to the chassis structure characteristics of all automatic driving vehicle types; 2. the customized four-wheel aligner is expensive, the field needs to be changed to a certain extent, and the cost of manpower and material resources is low.
Disclosure of Invention
Based on the defects of the prior art, the embodiment of the invention provides a method and a device for acquiring the turning angle midpoint of an automatic driving vehicle, which are used for determining the turning angle midpoint of the vehicle in an easy-to-operate and low-cost mode.
In a first aspect, an embodiment of the present invention provides a method for obtaining a midpoint of a corner of an autonomous vehicle, including:
controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the right-turning mechanical angle;
controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the left-turning mechanical angle;
dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector;
and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end rotation angle position as the rotation angle midpoint of the automatic driving vehicle.
In a second aspect, an embodiment of the present invention provides a device for acquiring a midpoint of a turning angle of an autonomous vehicle, including:
the maximum right-turning control module is used for controlling the end turning angle of the tire of the automatic driving vehicle to turn to the maximum value of the mechanical right-turning angle;
the left-turning maximum control module is used for controlling the end turning angle of the tire of the automatic driving vehicle to turn to the maximum value of the left-turning mechanical angle;
the included angle bisection module is used for dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two identical bisection angles through an angular bisection line;
and the corner midpoint acquisition module is used for controlling the direction of the tire end corner of the automatic driving vehicle to rotate to the angular bisector and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
According to the invention, the tire end rotation angle of the vehicle is controlled to rotate to the maximum value of the right-turn mechanical angle or the maximum value of the left-turn mechanical angle, and the steering angle of the tire end of the vehicle at the moment is recorded; then controlling the tire end of the vehicle to turn to the opposite direction to reach the maximum value of the mechanical angle; and equally dividing the maximum value of the two steering mechanical angles, controlling the vehicle to steer according to the direction of the angular bisector, and when the vehicle reaches the position of the angular bisector, determining the position of the end corner of the tire of the vehicle as the middle point of the corner of the vehicle. The method is suitable for any vehicle type without installing expensive test instruments, is not required to be carried out on a special test field, has almost no skill requirement on testers, is very simple in test scheme and easy to realize, can accurately obtain the middle point of the vehicle corner, can meet the offline detection requirement of mass-production vehicle types of the automatic driving vehicles, and is favorable for large-scale popularization and use.
Drawings
FIG. 1 is a flow chart of a method for obtaining a midpoint of a corner of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for obtaining a midpoint of a corner of an autonomous vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for obtaining a midpoint of a turn angle of an autonomous vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for obtaining a midpoint of a turn angle of an autonomous vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another method for obtaining a midpoint of a turn angle of an autonomous vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for acquiring a midpoint of a corner of an autonomous vehicle according to an 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.
Fig. 1 is a flowchart of a method for obtaining a midpoint of a turning angle of an autonomous vehicle, which may be used to determine the midpoint of the turning angle of the autonomous vehicle, according to an embodiment of the present invention, as shown in fig. 1, where the method includes:
and S110, controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the right-turn mechanical angle.
The automatic driving vehicle is not controlled by a driver, all control commands including steering, driving and braking are sent by a vehicle-mounted controller, and each corresponding control component executes the control command after receiving the control command. For convenience, the following may also be referred to as an autonomous vehicle, and the vehicles in the embodiments of the present invention are all referred to as autonomous vehicles.
According to the technical scheme in the embodiment of the invention, when the steering midpoint of the vehicle is adjusted, the steering midpoint of the vehicle is determined through a simple vehicle steering test. An external computer control end can be arranged, the computer control end is connected with the automatic driving vehicle, real-time communication is achieved, and the computer control end sends a steering command to the vehicle.
Specifically, the computer control end can send a right steering instruction to the maximum right-turning control module, and the maximum right-turning control module controls the tire end turning angle of the vehicle to turn to the maximum right-turning mechanical angle after receiving the instruction, wherein the maximum right-turning mechanical angle is the maximum angle which can be reached when the tire end of the vehicle turns to the right. It is understood that the steering of the tire end angle of the vehicle in any direction of left or right is only controlled here, and the vehicle is not limited to steering right first.
Optionally, the determination mode of the maximum value of the right-turn mechanical angle is not limited in this embodiment, for example: the sensor can be arranged at the tire end of the vehicle, the vehicle is controlled to rotate rightwards in a steering test, when the vehicle rotates rightwards to a maximum angle, the sensor detects the specific angle of the tire end of the vehicle at the moment, and the angle is defined as the maximum value of the mechanical angle of the right-turning; alternatively, in the steering test, after the vehicle is turned right to the maximum angle, the worker measures the steering angle of the end corner of the vehicle tire at that time, and defines this angle as the maximum value of the mechanical angle of the right turn.
And S120, controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the left-turning mechanical angle.
In one step, the computer control end can send a left steering instruction to the left-turning maximum control module, and after receiving the left steering instruction, the left-turning maximum control module controls the tire end turning angle of the automatic driving vehicle to turn to the left-turning mechanical angle maximum value, namely, controls the tire end of the vehicle to turn in the direction opposite to that in the step S110. If the tire end angle of the vehicle is controlled to be rotated to the maximum left-turn mechanical angle in the step S110, the tire end angle of the vehicle is controlled to be rotated to the maximum right-turn mechanical angle.
The setting mode of the maximum value of the left-turn mechanical angle is not limited in this embodiment, and any method capable of determining the maximum value of the left-turn mechanical angle and the maximum value of the right-turn mechanical angle of the vehicle can be considered in the technical solution protected by the embodiment of the present invention.
S130, dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector.
In the process, the included angle between the maximum value of the right-turning mechanical angle of the vehicle and the maximum value of the left-turning mechanical angle of the vehicle is the maximum steering angle of the tire end of the vehicle, the maximum steering angle of the tire end of the vehicle is divided into two equal parts, and the direction of the angular bisector is the central line direction of the steering angle of the vehicle.
Specifically, the maximum steering angle of the tire end of the vehicle is divided into two equal parts by the included angle bisection module, and the midpoint of an angle bisection line is confirmed. Optionally, the included angle bisection module can receive the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle detected by the sensor at the tire end of the vehicle, and then divide the included angle between the two into two identical bisection angles through an angular bisection line; and the included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle can be equally divided according to the measurement result of the working personnel. According to the different determination modes of the maximum value of the left-turn mechanical angle and the maximum value of the right-turn mechanical angle, the specific working modes of the included angle halving module are different.
And S140, controlling the tire end corner of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
Further, the computer control end controls the tire end of the vehicle to steer according to the direction of the angular bisector according to the result of the equal dividing angle of the included angle equal dividing module, and the corner position of the tire end after steering is the corner midpoint of the vehicle.
Fig. 2 is a schematic diagram of a method for acquiring a midpoint of a turning angle of an autonomous vehicle according to an embodiment of the present invention, and a specific implementation process of the method is described with reference to fig. 2. Firstly, controlling the end corner of the vehicle tire to rotate to a maximum value A of a right-turn mechanical angle, and recording the maximum value A of the right-turn mechanical angle; then controlling the end rotation angle of the vehicle tire to rotate to a left-turn mechanical angle maximum value B, and recording the left-turn mechanical angle maximum value B; an included angle bisection module equally divides an included angle between the maximum value A of the right-turning mechanical angle and the maximum value B of the left-turning mechanical angle according to an angle bisection line C, and determines the angle of the angle bisection line C; and finally, the corner midpoint acquisition module controls the direction of the tire end corner of the vehicle to rotate to the angular bisector C, and takes the current tire end corner position, namely the position of the tire end corner of the vehicle after the vehicle rotates to the angular bisector C, as the corner midpoint of the automatic driving vehicle.
According to the technical scheme provided by the embodiment of the invention, firstly, the tire end rotation angle of the vehicle is controlled to be rotated to the maximum value of the right-turn mechanical angle or the maximum value of the left-turn mechanical angle, and the steering angle of the tire end of the vehicle at the moment is recorded; then controlling the tire end of the vehicle to turn to the opposite direction to reach the maximum value of the mechanical angle; and equally dividing the maximum value of the two steering mechanical angles, controlling the vehicle to steer according to the direction of the angular bisector, and when the vehicle reaches the position of the angular bisector, determining the position of the end corner of the tire of the vehicle as the middle point of the corner of the vehicle. The method is suitable for any vehicle type without installing expensive test instruments, is not required to be carried out on a special test field, has almost no skill requirement on testers, is very simple in test scheme and easy to realize, can accurately obtain the middle point of the vehicle corner, can meet the offline detection requirement of mass-production vehicle types of the automatic driving vehicles, and is favorable for large-scale popularization and use.
Optionally, in an embodiment, controlling the end-of-tire rotation angle of the autonomous vehicle to the direction of the angular bisector may include: controlling the tyre end angle of the automatic driving vehicle to rotate from the maximum of the left-turning mechanical angle to the right by an equal angle
Specifically, if the tire end rotation angle of the vehicle is controlled to be rotated to the maximum value of the right-turn mechanical angle, then the tire end rotation angle of the vehicle is controlled to be rotated to the maximum value of the left-turn mechanical angle, and after an angular bisector of an included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle is determined, the tire end rotation angle of the automatic driving vehicle is controlled to be rotated to the right from the maximum value of the left-turn mechanical angle for equal angle division.
Optionally, in an embodiment, controlling the end-of-tire rotation angle of the autonomous vehicle to the direction of the angular bisector may include: and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the left by an equal angle from the maximum value of the right-turn mechanical angle.
Specifically, if the tire end rotation angle of the vehicle is controlled to rotate to the maximum value of the left-turn mechanical angle, then the tire end rotation angle of the vehicle is controlled to rotate to the maximum value of the right-turn mechanical angle, and after an angular bisector of an included angle between the maximum value of the left-turn mechanical angle and the maximum value of the right-turn mechanical angle is determined, the tire end rotation angle of the automatic driving vehicle is controlled to rotate to the left from the maximum value of the right-turn mechanical angle by an equal angle.
In the embodiment of the invention, the mechanical angle of turning to the right or the mechanical angle of turning to the left can be selected according to factors such as actual field requirements, the tire end turning angle of the vehicle is controlled to turn to the right from the maximum mechanical angle of turning to the left or to turn to the left from the maximum mechanical angle of turning to the right according to the turning direction, and the midpoint of the turning angle of the vehicle can be flexibly determined.
Optionally, as a preferred embodiment, controlling the end-of-tire rotation angle of the autonomous vehicle to the maximum mechanical angle for right-turn may include:
sending a right turn maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable the end corner of the tire of the automatic driving vehicle to turn to the maximum value of a right turn mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle;
controlling a tire end angle of an autonomous vehicle to a left turn mechanical angle maximum, comprising:
sending a left-turn maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable the end corner of the tire of the automatic driving vehicle to turn to the maximum value of a left-turn mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
Fig. 3 is a flowchart of another method for obtaining a midpoint of a turning angle of an autonomous vehicle according to an embodiment of the present invention, which is further detailed on the basis of the above embodiment, and referring to fig. 3, the method includes:
s210, sending a right turn maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable a tire end corner of the automatic driving vehicle to turn to the maximum value of a right turn mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
Specifically, in a steering test, a right turn maximum value instruction can be sent to the vehicle-mounted steer-by-wire system through the computer control end, and the right turn maximum value is larger than the maximum value of the right turn mechanical angle. Further, after the vehicle-mounted steer-by-wire system receives the right turn maximum value instruction, the tire end corner of the vehicle is controlled to turn right, and it can be understood that the tire end of the vehicle cannot reach the right turn maximum value when turning because the right turn maximum value is larger than the right turn mechanical angle maximum value, and when the tire end corner of the automatic driving vehicle turns to the right turn mechanical angle maximum value, the tire end corner can not turn right any more, and at the moment, the right turn mechanical angle maximum value is recorded. The determination method of the maximum value of the right-turning mechanical angle can refer to the above embodiments, and details are not repeated here.
The specific setting value of the maximum right-turn value is not limited in the embodiments of the present invention, and is preferably set to an angle far larger than the maximum right-turn mechanical angle that can be achieved under normal conditions of the vehicle tire, for example: if the maximum value of the right-turn mechanical angle under the normal condition of the ordinary vehicle is 30 degrees, the maximum value of the right-turn can be set to 3000 degrees, and the tire end of the vehicle cannot reach the steering command of 3000 degrees due to mechanical limitation. In the research and development test process, the maximum steering value which can be reached by the tire end of the vehicle is uncertain, and at the moment, an unreachable steering instruction is sent to the vehicle-mounted steer-by-wire system, so that the vehicle can be ensured to reach the maximum value of a right-turning machine, and the midpoint of the turning angle of the vehicle can be accurately obtained.
It is understood that the steering of the tire end angle of the vehicle in any direction of left or right is only controlled here, and the vehicle is not limited to steering right first.
S220, sending a left-turning maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable the end turning angle of the tire of the automatic driving vehicle to turn to the maximum value of a left-turning mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
Similarly, a left turn maximum value instruction can be sent to the vehicle-mounted steer-by-wire system through the computer control end, and the left turn maximum value is larger than the maximum value of the left turn mechanical angle. Further, after the vehicle-mounted steer-by-wire system receives the left-turn maximum value instruction, the tire end rotation angle of the vehicle is controlled to turn left, and it can be understood that the left-turn maximum value cannot be reached when the tire end of the vehicle turns, and when the tire end rotation angle of the automatic driving vehicle turns to the left-turn mechanical angle maximum value, the tire end rotation angle cannot turn left any more, and at the moment, the left-turn mechanical angle maximum value is recorded. The above embodiments can be referred to for determining the maximum value of the left-turning mechanical angle, and details are not repeated herein.
The specific setting value of the maximum left-turn value is not limited in the embodiments of the present invention, and is preferably set to an angle far larger than the maximum left-turn mechanical angle that can be achieved under normal conditions of the vehicle tire, for example: if the maximum value of the left-turn mechanical angle under the normal condition of the ordinary vehicle is 30 degrees, the maximum value of the left-turn can be set to 3000 degrees, and the tire end of the vehicle cannot reach the steering command of 3000 degrees due to mechanical limitation. And an unreachable steering instruction is sent to the vehicle-mounted steer-by-wire system, so that the vehicle can be ensured to reach the maximum value of a left-turning machine, and the midpoint of the turning angle of the vehicle can be accurately obtained.
It is understood that the tire end of the vehicle is controlled to turn in the opposite direction to that in S210, and if the tire end of the vehicle is controlled to turn left at S210, the tire end of the vehicle is controlled to turn right at this time.
And S230, dividing the included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector.
The specific implementation in this step is the same as that in the above embodiment, and is not described here again.
And S240, controlling the tire end corner of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
The specific implementation in this step is the same as that in the above embodiment, and is not described here again.
In the embodiment, the right turn maximum value instruction and the left turn maximum value instruction are sent to the vehicle-mounted steer-by-wire system, so that the tire end corner of the vehicle can accurately reach the maximum value of the right turn mechanical angle and the maximum value of the left turn mechanical angle, accidents in the test process are prevented, the tire end of the vehicle does not turn when the tire end of the vehicle does not reach the maximum value of the turn mechanical angle, the maximum value of the turn mechanical angle is judged wrongly, the problem of calculation errors of the middle point of the vehicle corner is caused, and the accuracy of obtaining the middle point of the corner is further improved.
Optionally, in an embodiment, the computer control end may send the right maximum turning instruction and the left maximum turning instruction to the vehicle-mounted steer-by-wire system through the wireless communication device.
The computer control end can directly send a right turning maximum value instruction and a left turning maximum value instruction to the vehicle-mounted steer-by-wire system through the wireless communication equipment, namely the computer control end simulates a vehicle-mounted controller and sends a steering instruction to the vehicle-mounted steer-by-wire system. The computer control end directly sends a steering instruction to the vehicle-mounted steer-by-wire system, and the vehicle-mounted steer-by-wire system completes corresponding steering action after receiving the steering instruction, so that the operation is direct, and the control efficiency is higher.
Optionally, in an embodiment, the computer control end may also send a right maximum value turning instruction and a left maximum value turning instruction to a vehicle-mounted controller of the vehicle-mounted steer-by-wire system through the wireless communication device; the vehicle-mounted controller is used for sending a right turning maximum value instruction and a left turning maximum value instruction to the vehicle-mounted steer-by-wire system.
The computer control end can also send a right turning maximum value instruction and a left turning maximum value instruction to a vehicle-mounted controller of the vehicle-mounted steer-by-wire system, the vehicle-mounted controller sends the right turning maximum value instruction and the left turning maximum value instruction to the vehicle-mounted steer-by-wire system, and the vehicle is controlled by the vehicle-mounted steer-by-wire system to complete corresponding steering actions. The computer control end sends a steering instruction to a vehicle-mounted controller of the vehicle-mounted steer-by-wire system, so that the vehicle-mounted steer-by-wire system can be controlled under the condition of not changing the existing control logic, and the accuracy of completion of the steering instruction is improved.
Optionally, the wireless communication device is a vehicle-mounted WIFI module or a vehicle-mounted bluetooth module.
Utilize on-vehicle WIFI module or on-vehicle bluetooth module to realize the communication between computer control end and on-vehicle drive-by-wire steering control system or the on-vehicle controller, need not additionally to build communication equipment to do not have external signal and cause the interference to control command, promote the continuity and the accuracy of control command transmission.
Optionally, as a preferred embodiment, after controlling the end-of-tire rotation angle of the autonomous vehicle to the maximum mechanical angle for right-turning, the method may further include: marking the maximum value of the right-turning mechanical angle as a zero-degree angle;
after controlling the end-of-tire rotation angle of the autonomous vehicle to the maximum left-turn mechanical angle, the method further comprises:
marking the maximum value of the left-turning mechanical angle as a second angle D; the second angle D is an included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle.
Fig. 4 is a flowchart of a method for obtaining a midpoint of a turning angle of an autonomous vehicle according to another embodiment of the present invention, which is further detailed on the basis of the above embodiment, and referring to fig. 4, the method includes:
and S310, controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the right-turn mechanical angle.
And S320, marking the maximum value of the right-turning mechanical angle as a zero-degree angle.
Specifically, the maximum right-turn control module marks the maximum right-turn mechanical angle as a zero-degree angle after the tire end angle of the vehicle is turned to the maximum right-turn mechanical angle. The specific marking manner can be implemented by any existing technology, and the embodiment does not limit this.
The maximum value of the right-turn mechanical angle is marked as a zero-degree angle, the specific angle of the maximum value of the right-turn mechanical angle does not need to be measured, the calculation flow of the method is further reduced, and the testing efficiency is improved.
And S330, controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the left-turning mechanical angle.
S340, marking the maximum value of the left-turning mechanical angle as a second angle D; the second angle D is an included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle.
Specifically, after the tire end rotation angle of the vehicle is rotated to the maximum left-turn mechanical angle, an included angle between the maximum right-turn mechanical angle and the maximum left-turn mechanical angle is marked as a second angle D, and it can be understood that the second angle D is the maximum steering angle of the tire end of the vehicle.
And S350, dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector.
The specific implementation in this step is the same as that in the above embodiment, and is not described here again. It should be noted that, at this time, an angle corresponding to an angle bisector of an included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle should be D/2.
And S360, controlling the tire end corner of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
The specific implementation in this step is the same as that in the above embodiment, and is not described here again.
Alternatively, controlling the tire end angle of the autonomous vehicle to turn to the direction of the angular bisector may include:
and controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the right by D/2 degrees from the maximum value of the left-turning mechanical angle.
Specifically, the tire end rotation angle of the vehicle is controlled to rotate to the right by D/2 degrees from the maximum value of the left-turning mechanical angle, so that the tire end rotation angle of the vehicle can be turned to the direction of the angular bisector.
Fig. 5 is a schematic diagram of another method for obtaining a center point of a corner of an autonomous vehicle according to an embodiment of the present invention, referring to fig. 5, first controlling a corner of a tire end of the vehicle to turn to a maximum mechanical angle of right turn, and marking the maximum mechanical angle of right turn as a zero angle; then controlling the end rotation angle of the vehicle tire to rotate to the maximum value of the left-turning mechanical angle, marking the maximum value of the left-turning mechanical angle as a second angle D, equally dividing the second angle D according to an angle bisector C by an included angle bisector module, and at the moment, dividing the angle of the angle bisector C into D/2; and finally, the corner midpoint acquisition module controls the direction of the tire end corner of the vehicle to rotate to the D/2 angle, and takes the current tire end corner position, namely the tire end corner position of the vehicle as the corner midpoint of the automatic driving vehicle after the vehicle rotates to the D/2 angle in the right direction.
In the embodiment, by marking the zero angle and the second angle, the measurement process of the maximum value of the steering mechanical angle of the vehicle can be reduced while the accuracy of the acquired corner midpoint is not influenced, so that the test flow is simplified, and the test efficiency is improved.
Based on the same conception, the embodiment of the invention also provides a device for acquiring the corner midpoint of the automatic driving vehicle, which is used for realizing the method for acquiring the corner midpoint of the automatic driving vehicle provided by any embodiment of the invention. Fig. 6 is a schematic structural diagram of a device for acquiring a midpoint of a turning angle of an autonomous vehicle according to an embodiment of the present invention, as shown in fig. 6, the device includes:
a maximum right-turn control module 100 for controlling a tire end angle of the autonomous vehicle to turn to a maximum right-turn mechanical angle;
a left turn maximum control module 200 for controlling the tire end angle of the autonomous vehicle to turn to a left turn mechanical angle maximum;
the included angle bisection module 300 is used for dividing the included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two identical bisection angles through an angular bisection line;
and a corner midpoint acquisition module 400, configured to control a tire end corner of the autonomous vehicle to rotate to a direction of the angular bisector, and use the current tire end corner position as a corner midpoint of the autonomous vehicle.
Optionally, the corner midpoint obtaining module 400 may be further configured to control the tire end corner of the autonomous vehicle to rotate to the right by an equal angle from the maximum left-turn mechanical angle.
Optionally, the corner midpoint acquiring module 400 may be further configured to control the tire end corner of the autonomous vehicle to rotate to the left by an equal angle from the maximum value of the right mechanical angle.
Alternatively, the steering angle midpoint acquiring module 400 may be disposed in an existing on-board steer-by-wire system of the autonomous vehicle.
Optionally, the device may further include a computer control terminal, configured to send a right turn maximum instruction to the vehicle-mounted steer-by-wire system, so as to turn the tire end rotation angle of the autonomous vehicle to the maximum right turn mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
Optionally, the computer control end may be further configured to send a left-turn maximum instruction to the vehicle-mounted steer-by-wire system, so that the tire end rotation angle of the autonomous vehicle is turned to the maximum left-turn mechanical angle; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
Optionally, the computer control end may be further configured to send a maximum right turn instruction and a maximum left turn instruction to the vehicle-mounted steer-by-wire system through the wireless communication device.
Optionally, the computer control end may be further configured to send a right maximum rotation instruction and a left maximum rotation instruction to a vehicle-mounted controller of the vehicle-mounted steer-by-wire system through the wireless communication device; the vehicle-mounted controller is used for sending a right turning maximum value instruction and a left turning maximum value instruction to the vehicle-mounted steer-by-wire system.
Optionally, the wireless communication device is a vehicle-mounted WIFI module or a vehicle-mounted bluetooth module.
Optionally, the right turn maximum control module 100 may be further configured to mark the right turn mechanical angle maximum as a zero degree angle.
Optionally, the left-turn maximum control module 200 may be further configured to mark the maximum left-turn mechanical angle as a second angle D; the second angle D is an included angle between the maximum value of the right-turn mechanical angle and the maximum value of the left-turn mechanical angle.
Optionally, the corner midpoint acquiring module 400 may be further configured to control the tire end corner of the autonomous vehicle to rotate to the left by D/2 degrees from the maximum value of the right-turn mechanical angle.
In the embodiment of the invention, the steering angle of the tire end of the vehicle at the moment is recorded by controlling the rotation angle of the tire end of the vehicle to be rotated to the maximum value of the right-turn mechanical angle or the maximum value of the left-turn mechanical angle; then controlling the tire end of the vehicle to turn to the opposite direction to reach the maximum value of the mechanical angle; and equally dividing the maximum value of the two steering mechanical angles, controlling the vehicle to steer according to the direction of the angular bisector, and when the vehicle reaches the position of the angular bisector, determining the position of the end corner of the tire of the vehicle as the middle point of the corner of the vehicle. The method is suitable for any vehicle type without installing expensive test instruments, is not required to be carried out on a special test field, has almost no skill requirement on testers, is very simple in test scheme and easy to realize, can accurately obtain the middle point of the vehicle corner, can meet the offline detection requirement of mass-production vehicle types of the automatic driving vehicles, and is favorable for large-scale popularization and use.
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 method for obtaining a midpoint of a corner of an autonomous vehicle, comprising:
controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of the right-turning mechanical angle;
controlling the end rotation angle of the tire of the automatic driving vehicle to rotate to the maximum value of a left-turning mechanical angle;
dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two equal divided angles through an angular bisector;
and controlling the tire end corner of the automatic driving vehicle to rotate to the direction of the angular bisector, and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
2. The corner midpoint acquisition method for an autonomous vehicle according to claim 1, wherein controlling the tire end corner of the autonomous vehicle to turn to the direction of the angular bisector comprises:
and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the right by an equal angle from the maximum value of the left-turning mechanical angle.
3. The corner midpoint acquisition method for an autonomous vehicle according to claim 1, wherein controlling the tire end corner of the autonomous vehicle to turn to the direction of the angular bisector comprises:
and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the left by an equal angle from the maximum value of the right-turn mechanical angle.
4. The corner midpoint acquisition method for an autonomous vehicle according to claim 1, wherein controlling the tire end corner of the autonomous vehicle to turn to the right mechanical angle maximum value comprises:
sending a right turn maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable a tire end corner of the autonomous vehicle to turn to a right turn mechanical angle maximum value; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle;
controlling a tire end angle of the autonomous vehicle to a left turn mechanical angle maximum, comprising:
sending a left-turn maximum value instruction to a vehicle-mounted steer-by-wire system so as to enable a tire end rotation angle of the autonomous vehicle to be turned to a left-turn mechanical angle maximum value; the maximum value of the right turn is larger than the maximum value of the right turn mechanical angle.
5. The method of claim 4, wherein the computer control end sends the maximum right turn command and the maximum left turn command to the on-board steer-by-wire system via a wireless communication device.
6. The method according to claim 4, wherein the computer control terminal sends a right turn maximum command and the left turn maximum command to a vehicle-mounted controller of the vehicle-mounted steer-by-wire system through a wireless communication device;
the vehicle-mounted controller is used for sending the right turning maximum value instruction and the left turning maximum value instruction to the vehicle-mounted steer-by-wire system.
7. The method according to claim 5 or 6, wherein the wireless communication device is a vehicle-mounted WIFI module or a vehicle-mounted Bluetooth module.
8. The corner midpoint acquisition method for an autonomous vehicle according to claim 1, wherein after controlling the tire end corner of the autonomous vehicle to turn to the right mechanical angle maximum, further comprising:
marking the maximum right-turn mechanical angle as a zero-degree angle;
after controlling the tire end rotation angle of the autonomous vehicle to the maximum left-turn mechanical angle, the method further comprises the following steps:
marking the left-turn mechanical angle maximum as a second angle D; and the second angle D is an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle.
9. The corner midpoint acquisition method for an autonomous vehicle according to claim 8, wherein controlling the tire end corner of the autonomous vehicle to turn to the direction of the angular bisector comprises:
and controlling the tire end rotation angle of the automatic driving vehicle to rotate to the right by D/2 degrees from the maximum value of the left-turning mechanical angle.
10. A turning angle midpoint acquisition device for an autonomous vehicle, characterized by comprising:
the maximum right-turning control module is used for controlling the end turning angle of the tire of the automatic driving vehicle to turn to the maximum value of the mechanical right-turning angle;
the left-turning maximum control module is used for controlling the tire end turning angle of the automatic driving vehicle to turn to the maximum value of a left-turning mechanical angle;
the included angle bisection module is used for dividing an included angle between the maximum value of the right-turning mechanical angle and the maximum value of the left-turning mechanical angle into two identical bisection angles through an angular bisection line;
and the corner midpoint acquisition module is used for controlling the tire end corner of the automatic driving vehicle to rotate to the direction of the angular bisector and taking the current tire end corner position as the corner midpoint of the automatic driving vehicle.
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