CN114275041A - Method and device for lateral control of autonomous vehicle, vehicle and storage medium - Google Patents
Method and device for lateral control of autonomous vehicle, vehicle and storage medium Download PDFInfo
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- CN114275041A CN114275041A CN202210022855.9A CN202210022855A CN114275041A CN 114275041 A CN114275041 A CN 114275041A CN 202210022855 A CN202210022855 A CN 202210022855A CN 114275041 A CN114275041 A CN 114275041A
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Abstract
The invention discloses a method and a device for automatically controlling the transverse direction of a driving vehicle, the vehicle and a storage medium. The method comprises the following steps: acquiring a planned driving path and actual driving information of a vehicle; determining a target tracking point on a planned driving path according to the acquired information; determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, calculating an initial control angle of the steering wheel according to each corner error item, and carrying out amplitude limiting processing on the initial control angle to obtain a target control angle of the steering wheel; and calculating target control angles of wheels of the vehicle according to the target control angles of the steering wheel, and sending the target control angles of the wheels to a chassis control system of the vehicle so that the chassis control system controls the steering of the wheels. According to the invention, the initial control angle of the steering wheel is obtained by calculating each corner error item of the steering wheel of the vehicle, and the final control angle is obtained by carrying out amplitude limiting processing on the initial control angle, so that the control accuracy, and the riding safety and comfort of the automatic driving vehicle are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a method and a device for automatically controlling the transverse direction of a driving vehicle, the vehicle and a storage medium.
Background
With the continuous development of automobile technology, automatic driving of vehicles is more and more popular. Existing autonomous vehicle control techniques divide control into lateral control and longitudinal control. The transverse control of the vehicle is taken as an important ring of the automatic driving technology, and the research and the refinement of the transverse control method of the vehicle are greatly helpful for improving the performance of the vehicle.
The lateral Control algorithms are various, such as Linear Quadratic Regulator (LQR) Control, pure tracking Control, Model Predictive Control (MPC) Control and the like, the accuracy of the LQR Control and the MPC Control is higher, but the algorithms are complex, the requirement on the calculation power is high, and the applicable scenes are relatively limited; the pure tracking control algorithm is simple, the requirement on computing power is low, but the control accuracy is not high, so that the safety and the comfort of riding the automatic driving vehicle are low.
Disclosure of Invention
The invention provides a method and a device for automatically controlling a transverse direction of a vehicle, the vehicle and a storage medium, which can avoid the problem of low safety and comfort of the automatic driving vehicle caused by adopting transverse control algorithms such as LQR control, pure tracking control, MPC control and the like to determine the transverse direction of the vehicle.
In a first aspect, an embodiment of the present invention provides a method for lateral control of an autonomous vehicle, including:
acquiring a planned driving path and actual driving information of a vehicle;
determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
the method includes calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel, and transmitting the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls steering of the wheels according to the target control angle of the wheels.
In a second aspect, an embodiment of the present invention further provides an automatic driving vehicle lateral control device, including:
the vehicle information acquisition module is used for acquiring a planned driving path and actual driving information of the vehicle;
the target tracking point determining module is used for determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
the first angle determining module is used for determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
the second angle determining module is used for carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
and the vehicle steering control module is used for calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel and sending the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheels according to the target control angle of the wheels.
In a third aspect, embodiments of the present invention further provide a vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for lateral control of an autonomous vehicle according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method for lateral control of an autonomous vehicle as described in any of the embodiments of the present invention.
In the embodiment of the invention, the planned driving path and the actual driving information of the vehicle can be obtained, and the target tracking point is determined on the planned driving path according to the planned driving path and the actual driving information; determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item; carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel; the method includes calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel, and transmitting the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls steering of the wheels according to the target control angle of the wheels. The transverse control method provided by the embodiment of the invention has the advantages of low algorithm complexity, good universality and wide application scene; and calculating each corner error item of the steering wheel of the vehicle through the determined target tracking point, and carrying out amplitude limiting processing on the control angle obtained by calculating each corner error item, so that a final control angle is obtained, the control accuracy is improved, the situation of over-violent control is avoided, and the safety and the comfort of riding of the automatic driving vehicle are improved.
Drawings
FIG. 1 is a schematic flow chart of a method for lateral control of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a lateral control system of an autonomous vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a target tracking point provided by an embodiment of the invention;
FIG. 4 is a schematic illustration of a lateral error of an autonomous vehicle provided by an embodiment of the present invention;
FIG. 5 is a block diagram of an apparatus for lateral control of an autonomous vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a 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 schematic flow diagram of a method for lateral control of an autonomous vehicle according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a system for lateral control of an autonomous vehicle according to an embodiment of the present invention. In a particular embodiment, the device may be integrated in a vehicle. The following embodiments will be described by taking as an example that the device is integrated in a vehicle, and with reference to fig. 1 and 2, the method specifically includes the following steps:
s101, acquiring a planned driving path and actual driving information of a vehicle;
the planned trajectory of the vehicle includes a motion trajectory of the vehicle planned according to the initial position and the destination of the vehicle, and the actual driving information of the vehicle includes an actual driving position, an actual driving speed, an actual driving direction, and the like of the current vehicle, which is not limited in the embodiment of the present invention.
Specifically, the planned driving path of the vehicle is completed by a vehicle track planning system, and the actual driving information of the vehicle is detected and identified by a vehicle state detection system.
In a specific embodiment, if a driver needs to travel from the place A to the place B, the place A and the place B are input into a vehicle trajectory planning system, the system plans a plurality of suitable paths according to information such as the distance between the place A and the place B, urban road construction conditions, the number of traffic lights, time length and the like, and the driver can select a path which best meets the current vehicle driving requirement as a planned driving path of the vehicle. Optionally, in the automatic driving process of the vehicle, the vehicle state detection system may detect actual driving information of the vehicle, such as an actual driving position, an actual driving speed, and an actual driving orientation of the vehicle, in real time.
S102, determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
specifically, the target tracking point may be used to measure information such as a distance, an orientation angle, and the like between an actual driving state of the vehicle and a planned driving path, and provide corresponding data for lateral control of the autonomous vehicle.
Optionally, the actual driving information includes a current driving position, and the determining of the target tracking point on the planned driving path according to the planned driving path and the actual driving information includes: searching a point closest to the current driving position from the planned driving path to obtain a basic tracking point; and starting from the basic tracking point, selecting a point which is reached after the planned preset running time from the planned running path to obtain a target tracking point.
The preset driving time period may be 3 minutes, 5 minutes, 10 minutes, and the like, which is not limited in the embodiment of the present invention.
In a specific embodiment, fig. 3 is a schematic diagram of a target tracking point provided in an embodiment of the present invention, where a driver needs to travel from a place a to a place B, the driver selects a path meeting a current vehicle driving demand as a planned driving path of a vehicle, and assuming that the vehicle drives to a position between the places a and B at this time, a vehicle state detection system detects that an actual driving position of the vehicle is C, selects a point D closest to the position C from the planned driving path of the vehicle as a base tracking point, and if a preset driving time period may be 5 minutes, selects a point E reached after 5 minutes of the planning on the planned driving path as the target tracking point.
S103, determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
the steering angle error term of the steering wheel includes a steering angle lateral position error term, a steering angle orientation position damping error term and the like of the steering wheel, and the initial control angle of the steering wheel is a steering angle of the steering wheel calculated according to the steering angle lateral position error term, the steering angle orientation position error term and the steering angle orientation position damping error term of the steering wheel.
Optionally, determining each steering angle error term of a steering wheel of the vehicle according to the target tracking point and the actual driving information, and calculating an initial control angle of the steering wheel according to each steering angle error term, including: determining a corner transverse position error term, a corner orientation position error term and a corner orientation position damping error term of a steering wheel of the vehicle according to the target tracking point and the actual running information; and calculating the initial control angle of the steering wheel according to the corner transverse position error term, the corner orientation position error term and the corner orientation position damping error term.
Specifically, the actual running information further includes a current running speed and a current heading, and the steering angle lateral position error term, the steering angle heading position error term, and the steering angle heading position damping error term of the steering wheel of the vehicle are determined according to the target tracking point and the actual running information, and include: determining a corner lateral position error term according to the following formula:
wherein theta _ d represents a corner transverse position error term, letraral _ k represents a transverse position error coefficient, leteral _ error represents a transverse error, the transverse error is a vertical distance from a current driving position to a tangent line at a target tracking point on a planned driving path, v represents a current driving speed, and little _ k represents a limiting coefficient; the corner orientation position error term is determined according to the following formula: theta _ raw ═ raw _ ref-raw; where theta _ yaw represents the corner orientation position error term, yaw _ ref represents the planned orientation at the target tracking point, and yaw represents the current orientation; and determining a corner orientation position damping error term according to the following formula:
where theta _ yaw _ d represents a steering angle orientation position damping error term, kd represents a damping coefficient, now _ theta _ yaw is a steering angle orientation position error term for the vehicle for the current control cycle, prev _ theta _ yaw is a steering angle orientation position error term for the vehicle for the previous control cycle, and ts is the control cycle.
For example, fig. 4 is a schematic diagram of a lateral error of an autonomous vehicle according to an embodiment of the present invention, where point a is a current driving position of the vehicle, and point l is set as2To plan the driving path, point B is the target tracking point on the planned driving path, l1For tangent line of target tracking point on the planned driving path, the transverse error of the automatic driving vehicle is from the current driving position A of the vehicle to the planned driving path l2Tangent line l at target tracking point B on1Perpendicular distance l of3。
In a specific embodiment, when the corner lateral position error term is calculated, if the lateral position error coefficient letaral _ k is 4, the lateral error leror is 7m, the limiting coefficient little _ k is 0.17, and the current vehicle driving speed v is 16m/s, the calculation formula of the corner lateral position error term is based on
The steering wheel angle lateral position error term theta _ d is obtained as arctan (1.7316), i.e., 60 degrees. When the angle orientation position error term is calculated, if the planned orientation yaw _ ref at the target tracking point is 365 degrees, the current orientation yaw of the vehicle is 295 degrees, and the angle orientation position error term theta _ yaw of the steering wheel is 70 degrees according to the calculation formula theta _ yaw of the angle orientation position error term, which is defined as yaw _ ref-yaw. When calculating the damping error term of the corner orientation position, if the damping coefficient kd is 2, the error term of the corner orientation position of the steering wheel of the vehicle in the current control period now _ theta _ raw is 380 degrees, the error term of the corner orientation position of the steering wheel of the vehicle in the previous control period prev _ theta _ raw is 220 degrees, the control period ts is 4, and according to the calculation formula of the damping error term of the corner orientation position, the damping error term of the corner orientation position is calculated
The steering wheel angle orientation position damping error term theta _ yaw _ d may be found to be 80 degrees.
Optionally, calculating an initial control angle of the steering wheel according to the corner lateral position error term, the corner orientation position error term, and the corner orientation position damping error term, includes: the initial control angle of the steering wheel is calculated according to the following formula: steer _ angle + theta _ raw _ d; where steer _ angle represents the initial steering angle of the steering wheel, theta _ d represents the corner lateral position error term, theta _ raw represents the corner orientation position error term, and theta _ raw _ d represents the corner orientation position damping error term.
Specifically, the corner transverse position error term, the corner orientation position error term and the corner orientation position damping error term are all angle values.
In one specific embodiment, if the corner lateral position error term theta _ d is 60 degrees, the corner orientation position error term theta _ raw is 70 degrees, and the corner orientation position damping error term theta _ raw is 80 degrees, the initial control angle of the steering wheel, for example, may be 210 degrees according to the calculation formula of the initial control angle of the steering wheel, steer _ angle ═ theta _ d + theta _ raw _ d.
S104, carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
specifically, the amplitude limiting processing means limiting an initial control angle of the steering wheel, so that the steering degree of the steering wheel can be effectively controlled, the phenomena of vehicle jolting and the like caused by excessive one-time turning angle of the steering wheel are reduced, and the driving experience of drivers and passengers can be greatly improved.
Optionally, the amplitude limiting processing is performed on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel, and the method includes: and carrying out amplitude limiting processing on the initial control angle of the steering wheel according to at least one of the steering wheel angle limiting threshold, the transverse acceleration limiting threshold and the maximum variation amplitude threshold of the steering wheel angle per control cycle to obtain the target control angle of the steering wheel.
The steering angle limit threshold of the steering wheel refers to a steering angle of the steering wheel, which occurs when the steering wheel turns left/right from the middle until the steering wheel is dead and cannot continue to turn, and specifically, the steering angle limit threshold of the steering wheel of the vehicle may have a certain difference according to the vehicle, for example, 540 degrees, 580 degrees, 630 degrees, and the like; the lateral acceleration limit threshold of the vehicle is calculated by the following formula:
wherein, limit _ range represents a lateral acceleration control threshold value of the vehicle, max _ lat _ acc represents the maximum lateral acceleration allowed in the lateral control process of the vehicle, ld is the wheelbase of the vehicle, v represents the current running speed, and steer _ ratio represents the transmission ratio between the steering wheel and the wheels of the vehicle; direction of rotationThe maximum variation range threshold of the steering angle per control cycle is used to limit the steering angle of the steering wheel during steering in each control cycle, and may be, for example, 180 degrees, 240 degrees, 360 degrees, and the like, specifically, controlling the steering angle in each control cycle may avoid vehicle jolt and the like caused by excessive steering angle of the steering wheel at one time, and may improve driving experience of driver and crew to a certain extent, which is not limited in the embodiment of the present invention.
In a specific embodiment, the initial control angle of the steering wheel is set to 600 degrees, the steering angle limit threshold of the steering wheel is set to 540 degrees, the lateral acceleration limit threshold of the vehicle is set to 430 degrees, the maximum variation range threshold of the steering wheel angle per control cycle is set to 360 degrees, and for example, assuming that three kinds of clipping methods are all present, the initial control angle of the steering wheel is clipped in the order of the steering angle limit threshold, the lateral acceleration limit threshold, and the maximum variation range threshold of the steering wheel angle per control cycle, the initial control angle (600 degrees) of the steering wheel is firstly clipped according to the steering angle limit threshold (540 degrees), the initial control angle of the steering wheel is limited to 540 degrees, and the initial control angle (540 degrees) of the steering wheel after clipping is secondly clipped according to the lateral acceleration limit threshold (430 degrees), the initial control angle (540 degrees) of the steering wheel subjected to amplitude limiting by the steering angle limiting threshold value of the steering wheel is limited to (430 degrees), and finally, according to the maximum variation amplitude threshold value (360 degrees) of the steering wheel in each control cycle, amplitude limiting processing is carried out on the initial control angle (430) of the steering wheel subjected to amplitude limiting by the steering angle limiting threshold value and the lateral acceleration limiting threshold value of the steering wheel, so that the target control angle (360 degrees) of the steering wheel can be obtained. Alternatively, in this example, if the maximum variation threshold per control cycle of the steering wheel angle is 450 degrees, and it is known that the initial control angle of the steering wheel, which is clipped by the steering angle limit threshold and the lateral acceleration limit threshold of the steering wheel, is 430 degrees, it is not necessary to clip the steering wheel according to the maximum variation threshold per control cycle of the steering wheel angle (450 degrees), and it can be directly confirmed that the target control angle of the steering wheel is 430 degrees.
And S105, calculating a target control angle of the wheels of the vehicle according to the target control angle of the steering wheel, and sending the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheels according to the target control angle of the wheels.
The target control angle of the steering wheel includes a steering angle of the steering wheel, and the target control angle of the wheel includes a steering angle of the wheel, which is not limited in the embodiments of the present invention.
Specifically, the target control angle of the steering wheel is converted into the target control angle of the wheels of the vehicle according to the gear ratio of the vehicle, and the chassis control system of the vehicle may be configured to receive the target control angle of the wheels of the vehicle and control the steering of the wheels according to the received target control angle of the wheels.
The transmission ratio is the ratio of the angular speeds of the two rotating members, different vehicles have different transmission ratios, the target control angle of the steering wheel of the vehicle can be converted into the target control angle of the wheels according to the current transmission ratio of the vehicle, and the conversion relation is as follows:
where wheel _ angle represents a target control angle of the wheels, steer _ angle represents a target control angle of the steering wheel, and steer _ ratio table represents a gear ratio between the steering wheel and the wheels of the vehicle.
In a specific embodiment, assuming that the target control angle of the steering wheel is 360 degrees for left turn and the transmission ratio of the vehicle is 15, the target control angle of the wheels of the vehicle is 24 degrees for left turn, and at this time, the target control angle of the wheels (24 degrees for left turn) is sent to the chassis control system of the vehicle, and the chassis control system controls the wheels to make 24 degrees for left turn according to the target control angle of the wheels (24 degrees for left turn).
Optionally, before calculating a target control angle of a wheel of the vehicle according to the target control angle of the steering wheel and sending the target control angle of the wheel to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheel according to the target control angle of the wheel, the method further includes: and carrying out digital low-pass filtering processing on the target control angle of the steering wheel.
Specifically, the digital low-pass filtering process can make the target control angle of the steering wheel smooth, so as to achieve the purpose of preventing the target control angle of the steering wheel from changing suddenly.
According to the technical scheme of the embodiment of the invention, the target tracking point is determined on the planned driving path according to the planned driving path and the actual driving information by acquiring the planned driving path and the actual driving information of the vehicle; determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item; carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel; the method includes calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel, and transmitting the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls steering of the wheels according to the target control angle of the wheels. The transverse control method provided by the embodiment of the invention has the advantages of low algorithm complexity, good universality and wide applicable scenes, and can avoid the problem of low safety and comfort of riding of the automatic driving vehicle caused by adopting transverse control algorithms such as LQR control, pure tracking control, MPC control and the like to determine the transverse control of the vehicle. According to the technical scheme provided by the embodiment of the invention, each corner error item of the steering wheel of the vehicle is calculated through the determined target tracking point, and the amplitude limiting processing is carried out on the control angle obtained by calculating each corner error item, so that the final control angle is obtained, the control accuracy is improved, the situation of over-violent control is avoided, and the safety and the comfort of riding of the automatic driving vehicle are improved.
Fig. 5 is a block diagram of an apparatus for lateral control of an autonomous vehicle according to an embodiment, wherein the apparatus includes: a vehicle information acquisition module 501, a target tracking point determination module 502, a first angle determination module 503, a second angle determination module 504, and a vehicle steering control module 505.
A vehicle information obtaining module 501, configured to obtain a planned driving path and actual driving information of a vehicle;
a target tracking point determining module 502, configured to determine a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
a first angle determining module 503, configured to determine each steering angle error item of a steering wheel of the vehicle according to the target tracking point and the actual driving information, and calculate an initial control angle of the steering wheel according to each steering angle error item;
a second angle determining module 504, configured to perform amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
and a vehicle steering control module 505 for calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel, and sending the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheels according to the target control angle of the wheels.
The automatic driving vehicle lateral control device provided by the embodiment is a method for realizing the automatic driving vehicle lateral control of the embodiment, and the realization principle and the technical effect of the automatic driving vehicle lateral control device provided by the embodiment are similar to those of the embodiment, and are not described again here.
Optionally, the target tracking point determining module 502 is specifically configured to find a point closest to the current driving position on the planned driving path to obtain a basic tracking point; and starting from the basic tracking point, selecting a point which is reached after the planned preset running time from the planned running path to obtain a target tracking point.
Optionally, the first angle determining module 503 is further configured to determine a steering angle lateral position error term, a steering angle orientation position error term, and a steering angle orientation position damping error term of a steering wheel of the vehicle according to the target tracking point and the actual driving information; and calculating the initial control angle of the steering wheel according to the corner transverse position error term, the corner orientation position error term and the corner orientation position damping error term.
Optionally, the first angle determining module 503 is specifically configured to determine the rotation angle lateral position error term according to the following formula:
the corner orientation position error term is determined according to the following formula:
theta _ raw ═ raw _ ref-raw; where theta _ yaw represents the corner orientation position error term, yaw _ ref represents the planned orientation at the target tracking point, and yaw represents the current orientation; and
determining a corner orientation position damping error term according to the following formula:
Optionally, the first angle determining module 503 is specifically configured to calculate an initial control angle of the steering wheel according to the following formula:
steer _ angle + theta _ raw _ d; where steer _ angle represents the initial steering angle of the steering wheel, theta _ d represents the corner lateral position error term, theta _ raw represents the corner orientation position error term, and theta _ raw _ d represents the corner orientation position damping error term.
Optionally, the second angle determining module 504 is specifically configured to perform amplitude limiting processing on the initial control angle of the steering wheel according to at least one of a steering wheel angle limiting threshold, a lateral acceleration limiting threshold, and a maximum variation amplitude threshold of the steering wheel angle per control cycle, so as to obtain a target control angle of the steering wheel.
Optionally, the apparatus for lateral control of an autonomous vehicle further comprises: and a signal processing module 506, configured to perform digital low-pass filtering processing on the target control angle of the steering wheel.
The device for automatically controlling the transverse direction of the vehicle can execute the method for automatically controlling the transverse direction of the vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present invention, and it can be seen that the computer apparatus includes a processor 601, a memory 602, an input device 603, and an output device 604; the number of processors 601 in the computer device may be one or more, and one processor 601 is taken as an example in fig. 6; the processor 601, the memory 602, the input device 603 and the output device 604 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 6.
The memory 602 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program modules corresponding to the lateral control method of the autonomous vehicle in the embodiment of the present invention (for example, the vehicle information acquisition module 501, the target tracking point determination module 502, the first angle determination module 503, the second angle determination module 504, and the vehicle steering control module 505). The processor 601 executes various functional applications and data processing of the computer device by executing software programs, instructions and modules stored in the memory 602, that is, the above-described functions defined in the system of the present invention are realized.
The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 602 may further include memory located remotely from the processor 601, which may be connected to a computer device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may be used to receive input information such as a planned driving path and actual driving information of the vehicle, and the output device 604 may include a display device such as a display screen.
The vehicle provided by the embodiment of the invention can execute the method for automatically controlling the transverse direction of the vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Embodiments of the present invention provide a readable storage medium containing computer executable instructions which, when executed by a computer processor, perform a method of lateral control of an autonomous vehicle, the method comprising:
acquiring a planned driving path and actual driving information of a vehicle;
determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
the method includes calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel, and transmitting the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls steering of the wheels according to the target control angle of the wheels.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for lateral control of an autonomous vehicle provided by any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the device for lateral control of an autonomous vehicle, the units and modules included in the device are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
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 described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the 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 of lateral control of an autonomous vehicle, comprising:
acquiring a planned driving path and actual driving information of a vehicle;
determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
and calculating a target control angle of a wheel of the vehicle according to the target control angle of the steering wheel, and sending the target control angle of the wheel to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheel according to the target control angle of the wheel.
2. The method of claim 1, wherein the actual travel information includes a current travel location, and wherein determining a target tracking point on the planned travel path based on the planned travel path and the actual travel information comprises:
searching a point closest to the current driving position from the planned driving path to obtain a basic tracking point;
and starting from the basic tracking point, selecting a point which arrives after the preset planned driving time from the planned driving path to obtain the target tracking point.
3. The method of claim 2, wherein determining respective steering angle error terms for a steering wheel of the vehicle based on the target tracking point and the actual travel information and calculating an initial control angle for the steering wheel based on the respective steering angle error terms comprises:
determining a corner transverse position error term, a corner orientation position error term and a corner orientation position damping error term of a steering wheel of the vehicle according to the target tracking point and the actual running information;
and calculating the initial control angle of the steering wheel according to the corner transverse position error term, the corner orientation position error term and the corner orientation position damping error term.
4. The method of claim 3, wherein the actual travel information further includes a current travel speed and a current heading, and wherein determining a cornering lateral position error term, a cornering heading position error term, and a cornering position damping error term for a steering wheel of the vehicle based on the target tracking point and the actual travel information comprises:
determining the corner lateral position error term according to the following formula:
determining the corner orientation position error term according to the following formula:
theta _ raw ═ raw _ ref-raw; wherein theta _ yaw represents the corner orientation position error term, yaw _ ref represents the planned orientation at the target tracking point, and yaw represents the current orientation; and
determining the corner orientation position damping error term according to the following formula:
5. The method of claim 3 or 4, wherein said calculating an initial control angle of the steering wheel from the corner lateral position error term, the corner orientation position error term, and the corner orientation position damping error term comprises:
calculating an initial control angle of the steering wheel according to the following formula:
steer _ angle + theta _ raw _ d; wherein steer _ angle represents an initial control angle of the steering wheel, theta _ d represents the corner lateral position error term, theta _ yaw represents the corner orientation position error term, and theta _ yaw _ d represents the corner orientation position damping error term.
6. The method of claim 1, wherein the performing the amplitude limiting process on the initial control angle of the steering wheel to obtain the target control angle of the steering wheel comprises:
and carrying out amplitude limiting processing on the initial control angle of the steering wheel according to at least one of a steering wheel angle limiting threshold, a transverse acceleration limiting threshold and a maximum variation amplitude threshold of the steering wheel angle per control cycle to obtain a target control angle of the steering wheel.
7. The method of claim 1, further comprising, prior to calculating a target control angle for a wheel of the vehicle based on the target control angle for the steering wheel and sending the target control angle for the wheel to a chassis control system of the vehicle, such that the chassis control system controls steering of the wheel based on the target control angle for the wheel:
and carrying out digital low-pass filtering processing on the target control angle of the steering wheel.
8. An apparatus for lateral control of an autonomous vehicle, comprising:
the vehicle information acquisition module is used for acquiring a planned driving path and actual driving information of the vehicle;
the target tracking point determining module is used for determining a target tracking point on the planned driving path according to the planned driving path and the actual driving information;
the first angle determining module is used for determining each corner error item of a steering wheel of the vehicle according to the target tracking point and the actual running information, and calculating an initial control angle of the steering wheel according to each corner error item;
the second angle determining module is used for carrying out amplitude limiting processing on the initial control angle of the steering wheel to obtain a target control angle of the steering wheel;
and the vehicle steering control module is used for calculating a target control angle of wheels of the vehicle according to the target control angle of the steering wheel and sending the target control angle of the wheels to a chassis control system of the vehicle, so that the chassis control system controls the steering of the wheels according to the target control angle of the wheels.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method of lateral control of an autonomous vehicle as claimed in any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of lateral control of an autonomous vehicle as claimed in any one of claims 1 to 7.
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