CN114475781A - Vehicle control method, device, equipment and storage medium - Google Patents
Vehicle control method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN114475781A CN114475781A CN202210155218.9A CN202210155218A CN114475781A CN 114475781 A CN114475781 A CN 114475781A CN 202210155218 A CN202210155218 A CN 202210155218A CN 114475781 A CN114475781 A CN 114475781A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- candidate
- angle
- steering
- front wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium. The method comprises the following steps: acquiring at least two candidate steering wheel angles of a vehicle; acquiring the rotation angle, the course angle deviation and the transverse position deviation of a front wheel of a vehicle at the previous moment; for each candidate steering wheel angle, inputting the candidate steering wheel angle, the vehicle front wheel angle at the last moment of the vehicle, the course angle deviation and the transverse position deviation into a vehicle kinematic model; outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate transverse position deviation of the vehicle at the current moment, which are related to the candidate steering wheel corner, based on the vehicle kinematics model; and determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment. By the technical scheme of the invention, the accuracy of steering control of the automatic driving vehicle can be improved.
Description
Technical Field
The embodiment of the invention relates to a computer data processing technology, in particular to a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium.
Background
In the field of automatic driving, path tracking is a key execution layer control technology in an automatic driving system, and accurate driving along a planned road is realized by controlling a steering control system of a vehicle, so that the safety and the comfort of an intelligent vehicle are influenced.
Therefore, how to enable the steering control system of the automatic driving vehicle to provide more accurate steering instructions so as to effectively control the automatic driving vehicle and ensure the safe driving of the vehicle is a problem to be solved urgently at present.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium, which can improve the accuracy of steering control of an automatic driving vehicle and ensure the safe driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
acquiring at least two candidate steering wheel angles of a vehicle;
acquiring a front wheel rotating angle of the vehicle at the previous moment, a course angle deviation of the vehicle at the previous moment and a transverse position deviation of the vehicle at the previous moment;
for each candidate steering wheel angle, inputting the candidate steering wheel angle, a vehicle front wheel angle at a previous moment on the vehicle, a course angle deviation at the previous moment on the vehicle and a transverse position deviation at the previous moment on the vehicle into a vehicle kinematics model;
outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate transverse position deviation of the vehicle at the current moment, which are associated with the candidate steering wheel corner, based on a vehicle kinematics model;
and determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring at least two candidate steering wheel rotating angles of a vehicle;
the second acquisition module is used for acquiring the corner of the front wheel of the vehicle at the previous moment, the course angle deviation of the vehicle at the previous moment and the transverse position deviation of the vehicle at the previous moment;
the input module is used for inputting the candidate steering wheel angle, the vehicle front wheel angle at the last moment of the vehicle, the course angle deviation at the last moment of the vehicle and the transverse position deviation at the last moment of the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
the output module is used for outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate transverse position deviation of the vehicle at the current moment, which are related to the candidate steering wheel corner, based on a vehicle kinematic model;
and the execution module is used for determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command and controlling the steering of the vehicle at the next moment.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle control method as provided by any of the embodiments of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. Wherein the program when executed by a processor implements a vehicle control method as provided in any of the embodiments of the invention.
The technical scheme provided by the embodiment of the invention comprises the steps of obtaining at least two candidate steering wheel turning angles of a vehicle, the front wheel turning angle of the vehicle at the last moment of the vehicle, the course angle deviation of the vehicle at the last moment of the vehicle and the transverse position deviation of the vehicle at the last moment of the vehicle, inputting the obtained data into a vehicle kinematic model aiming at each candidate steering wheel turning angle, outputting the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the current moment of the vehicle, which are associated with the candidate steering wheel turning angles, determining the actual steering wheel turning angle at the current moment according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel turning angle command, and controlling the turning of the vehicle at the next moment, and determining the more accurate actual steering wheel turning angle according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation by the mode, therefore, a more accurate steering wheel steering angle command can be generated, the accurate steering of the vehicle at the next moment is controlled, and the accurate vehicle steering control is realized.
Drawings
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a block diagram of a vehicle control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, which is applicable to how a steering control system of a vehicle in an autonomous vehicle generates a steering angle command to control a steering condition of the vehicle, and the method may be executed by a vehicle control device, may be implemented in a software and/or hardware manner, and may be integrated in an electronic device having a vehicle control function. As shown in fig. 1, the vehicle control method provided in this embodiment specifically includes:
s101, at least two candidate steering wheel rotating angles of the vehicle are obtained.
The candidate steering wheel angle is an alternative steering angle for outputting a steering wheel angle command. The number of candidate steering wheel angles is at least two.
Optionally, the candidate steering wheel angles may be at least two candidate steering wheel angles, where the candidate steering wheel angles are determined by a control unit of the vehicle according to existing relevant experience, and then a preset number of candidate steering wheel angles are selected from a preset database or a preset value interval according to an algorithm rule by using a specific selection algorithm.
S102, obtaining a front wheel rotating angle of the vehicle at the previous moment, a course angle deviation of the vehicle at the previous moment and a transverse position deviation of the vehicle at the previous moment.
The vehicle front wheel steering angle refers to the average value of the steering angles of the left front wheel and the right front wheel of the vehicle, and the heading angle deviation refers to the deviation between the driving direction of the vehicle and the expected driving direction. The lateral position deviation refers to a deviation between the position of the vehicle and an expected position.
Optionally, the control unit of the vehicle may process data collected by the sensors or devices related to the vehicle to obtain the corner, the heading angle deviation, and the lateral position deviation of the front wheel of the vehicle at the previous time on the vehicle. The last time may refer to a time that is a preset period before the current time of the vehicle, such as one minute before the current time, five minutes before the current time, or ten minutes before the current time.
S103, inputting the candidate steering wheel angle, the vehicle front wheel angle at the previous moment on the vehicle, the course angle deviation at the previous moment on the vehicle and the transverse position deviation at the previous moment on the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle.
And S104, outputting the candidate vehicle front wheel rotation angle, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the current moment, which are related to the candidate steering wheel rotation angle, based on the vehicle kinematic model.
The candidate vehicle front wheel rotation angle, the candidate heading angle deviation and the candidate transverse position deviation of the vehicle at the current moment, which are associated with the candidate steering wheel rotation angle, are obtained by performing the operation of S103 once for each candidate steering wheel rotation angle, and a group of candidate vehicle front wheel rotation angle, candidate heading angle deviation and candidate transverse position deviation of the vehicle at the current moment, which are associated with the candidate steering wheel rotation angle, can be correspondingly obtained.
Alternatively, the vehicle kinematics model may be an equation that may include known coefficients obtained through pre-calculation and may further include four independent variable parameters of a candidate steering wheel angle, a vehicle front wheel angle at a time on the vehicle, a heading angle deviation and a lateral position deviation, and by inputting the known coefficients and the four independent variable parameters obtained through pre-calculation into the vehicle kinematics model, a candidate vehicle front wheel angle, a candidate heading angle deviation and a candidate lateral position deviation at a current time of the vehicle associated with the candidate steering wheel angle may be output.
Optionally, based on the obtained at least two candidate steering wheel angles, for each candidate steering wheel angle, an operation of inputting the candidate steering wheel angle, the vehicle front wheel angle at the last moment of the vehicle, the heading angle deviation and the lateral position deviation into the vehicle kinematic model is performed once, a group of candidate vehicle front wheel angles, candidate heading angle deviations and candidate lateral position deviations at the current moment of the vehicle associated with the candidate steering wheel angle are output, and by performing the operation for multiple times, multiple groups of candidate vehicle front wheel angles, candidate heading angle deviations and candidate lateral position deviations at the current moment of the vehicle associated with the candidate steering wheel angle can be obtained.
And S105, determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment.
The actual steering wheel angle at the present time is the steering angle ultimately determined for controlling the steering of the vehicle. The steering wheel steering angle command is correspondingly generated according to the actual steering wheel turning angle at the current moment.
Optionally, the obtained multiple sets of candidate vehicle front wheel turning angles, candidate heading angle deviations and candidate lateral position deviations at the current time of the vehicle, which are associated with the candidate steering wheel turning angles, may be input into a selection model, an optimal set of candidate vehicle front wheel turning angles, candidate heading angle deviations and candidate lateral position deviations is selected from the multiple sets according to a certain selection rule, and further an actual steering wheel turning angle corresponding to the candidate vehicle front wheel turning angle is determined according to the optimal set of candidate vehicle front wheel turning angles, so as to generate a steering wheel turning angle command, and control the turning of the vehicle at the next time.
The technical scheme provided by the embodiment of the invention comprises the steps of obtaining at least two candidate steering wheel turning angles of a vehicle, the front wheel turning angle of the vehicle at the last moment of the vehicle, the course angle deviation of the vehicle at the last moment of the vehicle and the transverse position deviation of the vehicle at the last moment of the vehicle, inputting the obtained data into a vehicle kinematic model aiming at each candidate steering wheel turning angle, outputting the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the current moment of the vehicle, which are associated with the candidate steering wheel turning angles, determining the actual steering wheel turning angle at the current moment according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel turning angle command, and controlling the turning of the vehicle at the next moment, and determining the more accurate actual steering wheel turning angle according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation by the mode, therefore, a more accurate steering wheel steering angle command can be generated, the accurate steering of the vehicle at the next moment is controlled, the accuracy of the steering control of the automatic driving vehicle is improved, and the safe driving of the vehicle is guaranteed.
On the basis of the above embodiment, preferably, determining the actual steering wheel angle at the current time according to the candidate vehicle front wheel angle, the candidate heading angle deviation and the candidate lateral position deviation includes:
comparing the candidate vehicle front wheel corner with the vehicle front wheel corner at the previous moment of the vehicle to obtain a first comparison result;
comparing the candidate course angle deviation with the course angle deviation of the vehicle at the previous moment to obtain a second comparison result;
comparing the candidate transverse position deviation with the transverse position deviation of the vehicle at the previous moment to obtain a third comparison result;
and determining the actual steering wheel angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
The first comparison result may be obtained by subtracting the candidate vehicle front wheel steering angle from the vehicle front wheel steering angle at the previous moment of the vehicle, and taking a difference between the candidate vehicle front wheel steering angle and the vehicle front wheel steering angle as the first comparison result; the second comparison result may be obtained by subtracting the candidate heading angle deviation from the heading angle deviation at the previous time on the vehicle, and taking the difference between the candidate heading angle deviation and the heading angle deviation as the second comparison result; the third comparison result may be a subtraction of the candidate lateral position deviation and the lateral position deviation at the time on the vehicle, and the difference therebetween is used as the third comparison result.
Optionally, the candidate vehicle front wheel steering angle, the candidate heading angle deviation and the candidate lateral position deviation corresponding to the minimum mean value of the three comparison results may be determined according to the first comparison result, the second comparison result and the third comparison result, and the actual steering wheel steering angle corresponding to the candidate vehicle front wheel steering angle is calculated further according to the steering transmission ratio between the vehicle front wheel steering angle and the steering wheel steering angle, so as to determine the actual steering wheel steering angle at the current moment. By the method, an optimal group of candidate vehicle front wheel turning angles, candidate heading angle deviations and candidate transverse position deviations can be selected, so that the determined actual steering wheel turning angle at the current moment is more accurate, and the safe driving of the vehicle can be guaranteed.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention, and this embodiment further explains in detail steps before "outputting a candidate vehicle front wheel rotation angle, a candidate heading angle deviation, and a candidate lateral position deviation at the current time of the vehicle associated with the candidate steering wheel rotation angle based on the vehicle kinematics model" based on the above-mentioned embodiment. As shown in fig. 2, the vehicle control method provided in this embodiment specifically includes:
s201, at least two candidate steering wheel rotating angles of the vehicle are obtained.
S202, obtaining a front wheel rotating angle of the vehicle at the previous moment, a course angle deviation of the vehicle at the previous moment and a transverse position deviation of the vehicle at the previous moment.
S203, acquiring a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheel base and a vehicle front wheel corner, actual sampling time and a reference path of the vehicle.
The time constant of the vehicle steering control system may be obtained by performing parameter identification on actual steering angle data of the steering system using a system identification kit of MATLAB (matrix laboratory). The wheel base of the vehicle refers to the distance between two perpendicular lines which pass through the middle points of two adjacent wheels on the same side of the vehicle and are perpendicular to the longitudinal symmetry plane of the vehicle. In short, the wheelbase of a vehicle is the distance from the center of the front axle to the center of the rear axle of the vehicle. The steering transmission ratio of the vehicle front wheel angle is a ratio representing the relationship between the vehicle front wheel angle and the vehicle steering wheel angle, and is fixed for each vehicle. The actual sampling time refers to a sampling period in the discretization processing. The reference path of the vehicle refers to a path on which the vehicle is expected to travel, and the reference path of the vehicle may be directly acquired by a control unit of the vehicle.
S204, selecting a reference point closest to the rear wheel of the vehicle according to the reference path of the vehicle; and obtains a reference vehicle speed at the reference point and a reference front wheel steering angle at the reference point.
The reference path of the vehicle may include at least two reference points and position coordinates, a reference vehicle speed and a reference front wheel rotation angle corresponding to each reference point. The reference vehicle speed refers to a vehicle longitudinal speed at a reference point. The reference front wheel turning angle refers to an average value of the left front wheel turning angle and the right front wheel turning angle of the vehicle at the reference point.
Optionally, the reference point closest to the center of the rear wheel of the vehicle may be selected according to a plurality of reference points on the vehicle reference path, where the center of the rear wheel of the vehicle is the center of a connecting line between the left rear wheel of the vehicle and the right rear wheel of the vehicle. The reference vehicle speed and the reference front wheel rotation angle at the reference point can be obtained from the reference point closest to the rear wheel of the vehicle.
Optionally, obtaining a reference front wheel rotation angle at the reference point includes:
obtaining a curvature at a reference point;
and determining a reference front wheel rotation angle at the reference point according to the curvature at the reference point and the vehicle wheelbase.
The curvature at the reference point may be calculated by the control unit of the vehicle according to the reference path of the vehicle and the position of the reference point.
Illustratively, the reference front wheel turning angle δ at the reference point is determined based on the curvature at the reference point and the vehicle wheel basepCan be calculated by the following formula:
δp＝arctan(L·κp)
wherein L represents a vehicle wheel base, κpRepresenting the curvature at the reference point P.
S205, constructing a vehicle kinematic model according to a time constant of a vehicle steering control system, a vehicle wheel base, a steering transmission ratio of a vehicle front wheel corner, actual sampling time, a reference vehicle speed and a reference front wheel corner.
Optionally, constructing a vehicle kinematic model according to a time constant of a vehicle steering control system, a vehicle wheel base, a steering transmission ratio of a vehicle front wheel corner, actual sampling time, a reference vehicle speed, and a reference front wheel corner includes:
the vehicle motion coefficient A is determined by a first formulad：
Wherein I represents an identity matrix, vpRepresenting the reference vehicle speed, T representing the actual sampling time, deltapIndicating a reference front wheel steering angle, L indicating a vehicle wheel base, and τ indicating a time constant of a vehicle steering control system;
the steering wheel angle coefficient B is determined by the following second equationd：
Wherein isteerThe steering gear ratio is indicative of the angle of rotation of the front wheels of the vehicle, T is indicative of the actual sampling time, and τ is indicative of the time constant of the vehicle steering control system.
Determining the vehicle motion constant W by the third equationd：
Wherein v ispIndicating the reference vehicle speed, δpIndicating the reference front wheel angle, L the vehicle wheelbase, and T the actual sample time.
According to the coefficient of motion A of the vehicledSteering wheel angle coefficient BdAnd a vehicle motion constant WdAnd constructing a vehicle kinematic model:
wherein, deltak+1Candidate vehicle front wheel steering angle e representing the current time of the vehiclehead_k+1A candidate course angle deviation, e, representing the current time of the vehiclelat_k+1Representing the candidate lateral position deviation, delta, of the vehicle at the current timesw_cmdIndicating candidate steering wheel angle, deltakIndicating the angle of rotation of the front wheels of the vehicle at a moment on the vehicle, ehead_kIndicating the course angle deviation at a time on the vehicle, elat_kIndicating a lateral position deviation at a time on the vehicle.
It should be noted that the derivation process of the vehicle kinematic model is as follows:
(1) first consider the following non-linear vehicle kinematics model:
wherein the content of the first and second substances,
and eheadRespectively representing an estimated value and an actual value of the vehicle heading angle deviation,
and elatRespectively represent estimated values of the lateral position deviation of the vehicle,
and δ represents an estimated value and an actual value of a front wheel steering angle of the vehicle, respectively, v represents a vehicle longitudinal speed, δsw_cmdIndicating candidate steering wheel angle, isteerA steering gear ratio representing a steering angle of a front wheel of the vehicle.
(2) And linearizing the nonlinear vehicle kinematic model at a reference point P, namely expanding the nonlinear vehicle kinematic model by using a Taylor formula, wherein the Taylor formula is a formula for describing values nearby by using information of a function at a certain point. If the function satisfies a certain condition, the taylor formula can use each order derivative value of the function at a certain point as a coefficient to construct a polynomial to approximately express the function. After taylor expansion of the nonlinear vehicle kinematic model, the following linearized vehicle kinematic model can be obtained:
where τ represents the time constant of the vehicle steering control system, vpIndicating the reference vehicle speed, δpIndicating a reference front wheel steering angle.
(3) Discretizing the linearized vehicle kinematic model according to the actual sampling time T, wherein the discretizing refers to a means for mapping limited individuals in an infinite space into a limited space, and the following final vehicle kinematic model is obtained:
and S206, inputting the candidate steering wheel angle, the vehicle front wheel angle at the moment on the vehicle, the course angle deviation at the moment on the vehicle and the transverse position deviation at the moment on the vehicle into the vehicle kinematic model aiming at each candidate steering wheel angle.
And S207, outputting the candidate vehicle front wheel rotating angle, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the current moment, which are related to the candidate steering wheel rotating angle, based on the vehicle kinematic model.
S208, determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment.
The technical scheme provided by the embodiment of the invention comprises the steps of obtaining at least two candidate steering wheel turning angles of a vehicle, the front wheel turning angle, the course angle deviation and the transverse position deviation of the vehicle at the previous moment on the vehicle, the time constant of a vehicle steering control system, the steering transmission ratio of a vehicle wheel base and the front wheel turning angle of the vehicle, the actual sampling time and the reference path of the vehicle, constructing a vehicle kinematics model according to the time constant of the vehicle steering control system, the vehicle wheel base, the steering transmission ratio of the front wheel turning angle of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel turning angle, further determining the actual steering wheel turning angle at the current moment on the basis of the vehicle kinematics model output and the candidate steering wheel turning angle deviation and the candidate transverse position deviation of the vehicle at the current moment related to the candidate steering wheel turning angles, and generating a steering wheel turning angle command, the steering of the vehicle at the next moment is controlled, and the accuracy of the relevant parameters output by the established vehicle kinematics model is higher in such a way, so that the accuracy of the steering control of the automatic driving vehicle and the driving safety of the vehicle can be ensured.
EXAMPLE III
Fig. 3 is a structural block diagram of a vehicle control device according to a third embodiment of the present invention, where the vehicle control device according to the third embodiment of the present invention is capable of executing a vehicle control method according to any one of the embodiments of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
The vehicle control apparatus may include a first acquisition module 301, a second acquisition module 302, an input module 303, an output module 304, and an execution module 305.
A first obtaining module 301, configured to obtain at least two candidate steering wheel angles of a vehicle;
a second obtaining module 302, configured to obtain a front wheel rotation angle of the vehicle at a previous time on the vehicle, a heading angle deviation of the vehicle at the previous time, and a lateral position deviation of the vehicle at the previous time;
an input module 303, configured to input, for each candidate steering wheel angle, the candidate steering wheel angle, a vehicle front wheel angle at a previous time on the vehicle, a course angle deviation at a previous time on the vehicle, and a lateral position deviation at a previous time on the vehicle into a vehicle kinematics model;
an output module 304, configured to output a candidate vehicle front wheel steering angle, a candidate heading angle deviation, and a candidate lateral position deviation of the vehicle at the current time, which are associated with the candidate steering wheel steering angle, based on a vehicle kinematics model;
and the executing module 305 is configured to determine an actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate heading angle deviation and the candidate lateral position deviation, generate a steering wheel steering angle command, and control steering of the vehicle at the next moment.
The technical scheme provided by the embodiment of the invention comprises the steps of obtaining at least two candidate steering wheel turning angles of a vehicle, the front wheel turning angle of the vehicle at the last moment of the vehicle, the course angle deviation of the vehicle at the last moment of the vehicle and the transverse position deviation of the vehicle at the last moment of the vehicle, inputting the obtained data into a vehicle kinematic model aiming at each candidate steering wheel turning angle, outputting the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation of the vehicle at the current moment of the vehicle, which are associated with the candidate steering wheel turning angles, determining the actual steering wheel turning angle at the current moment according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel turning angle command, and controlling the turning of the vehicle at the next moment, and determining the more accurate actual steering wheel turning angle according to the candidate vehicle front wheel turning angle, the candidate course angle deviation and the candidate transverse position deviation by the mode, therefore, a more accurate steering wheel steering angle command can be generated, the accurate steering of the vehicle at the next moment is controlled, and the accurate vehicle steering control is realized.
Further, the device further comprises a third acquisition module, a reference point selection module and a model construction module.
The third acquisition module is used for acquiring a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheel base and a vehicle front wheel corner, actual sampling time and a reference path of the vehicle;
the reference point selection module is used for selecting a reference point closest to a rear wheel of the vehicle according to the reference path of the vehicle; obtaining a reference vehicle speed at the reference point and a reference front wheel rotation angle at the reference point;
and the model building module is used for building a vehicle kinematic model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the vehicle front wheel corner, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
Further, the model construction module may include a motion coefficient determination unit, a rotation angle coefficient determination unit, a motion constant determination unit, and a motion model construction unit.
A motion coefficient determination unit for determining a vehicle motion coefficient A by a first formulad：
Wherein I represents an identity matrix, vpRepresenting the reference vehicle speed, T representing the actual sampling time, deltapIndicating a reference front wheel steering angle, L indicating a vehicle wheel base, and τ indicating a time constant of a vehicle steering control system;
a rotation angle coefficient determination unit for determining the rotation of the steering wheel by the following second formulaAngular coefficient Bd：
Wherein isteerA steering gear ratio representing a steering angle of a front wheel of the vehicle;
a motion constant determining unit for determining a vehicle motion constant W by a third formulad：
A motion model construction unit for constructing a motion model based on the vehicle motion coefficient AdThe steering wheel angle coefficient BdAnd the vehicle motion constant WdAnd constructing a vehicle kinematic model:
wherein, deltak+1Candidate vehicle front wheel steering angle e representing the current time of the vehiclehead_k+1A candidate course angle deviation, e, representing the current time of the vehiclelat_k+1Representing the candidate lateral position deviation, delta, of the vehicle at the current timesw_cmdIndicating candidate steering wheel angle, deltakIndicating the angle of rotation of the front wheels of the vehicle at a moment on the vehicle, ehead_kIndicating the course angle deviation at a time on the vehicle, elat_kIndicating a lateral position deviation at a time on the vehicle.
Further, the reference point selection module comprises:
a curvature obtaining unit for obtaining a curvature at the reference point;
and the reference corner determining unit is used for determining a reference front wheel corner at the reference point according to the curvature at the reference point and the vehicle wheelbase.
Further, the execution module 305 includes:
a first result obtaining unit, configured to compare the candidate vehicle front wheel steering angle with a vehicle front wheel steering angle at a previous time on the vehicle, so as to obtain a first comparison result;
the second result obtaining unit is used for comparing the candidate course angle deviation with the course angle deviation of the vehicle at the previous moment to obtain a second comparison result;
a third result obtaining unit, configured to compare the candidate lateral position deviation with a lateral position deviation of the vehicle at a previous time to obtain a third comparison result;
and the actual steering angle determining unit is used for determining the actual steering wheel steering angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, and fig. 4 shows a block diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device shown in fig. 4 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in FIG. 4, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory (cache 32). The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments described herein.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, such as implementing a vehicle control method provided by an embodiment of the present invention, by executing programs stored in the system memory 28.
EXAMPLE five
Fifth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program is used for executing the vehicle control method provided by the fifth embodiment of the present invention when the computer program is executed by a processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments 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 embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments can be included 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 (8)
1. A vehicle control method, characterized by comprising:
acquiring at least two candidate steering wheel angles of a vehicle;
acquiring a front wheel rotating angle of a vehicle at a moment on the vehicle, a course angle deviation of the vehicle at the moment on the vehicle and a transverse position deviation of the vehicle at the moment on the vehicle;
inputting the candidate steering wheel angle, a vehicle front wheel angle at a previous moment on the vehicle, a course angle deviation at a previous moment on the vehicle and a transverse position deviation at the previous moment on the vehicle into a vehicle kinematics model for each candidate steering wheel angle;
outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate transverse position deviation of the vehicle at the current moment, which are associated with the candidate steering wheel corner, based on the vehicle kinematics model;
and determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command, and controlling the steering of the vehicle at the next moment.
2. The method of claim 1, wherein outputting, based on the vehicle kinematics model, a candidate vehicle front wheel angle, a candidate heading angle deviation, and a candidate lateral position deviation for a current time of the vehicle associated with the candidate steering wheel angle further comprises:
acquiring a time constant of a vehicle steering control system, a steering transmission ratio of a vehicle wheel base and a vehicle front wheel corner, actual sampling time and a reference path of a vehicle;
selecting a reference point closest to a rear wheel of the vehicle according to the reference path of the vehicle; obtaining a reference vehicle speed at the reference point and a reference front wheel rotation angle at the reference point;
and constructing a vehicle kinematic model according to the time constant of the vehicle steering control system, the vehicle wheelbase, the steering transmission ratio of the front wheel corner of the vehicle, the actual sampling time, the reference vehicle speed and the reference front wheel corner.
3. The method of claim 2, wherein constructing a vehicle kinematics model based on the time constant of the vehicle steering control system, the vehicle wheelbase, the steering gear ratio of the vehicle front wheel steering angle, the actual sample time, the reference vehicle speed, and the reference front wheel steering angle comprises:
the vehicle motion coefficient A is determined by a first formulad：
Wherein I represents an identity matrix, vpRepresenting the reference vehicle speed, T representing the actual sampling time, deltapIndicating a reference front wheel steering angle, L indicating a vehicle wheel base, and τ indicating a time constant of a vehicle steering control system;
the steering wheel angle coefficient B is determined by the following second equationd：
Wherein isteerA steering gear ratio representing a steering angle of a front wheel of the vehicle;
determining the vehicle motion constant W by the third equationd：
According to the vehicle motion coefficient AdThe steering wheel angle coefficient BdAnd the vehicle motion constant WdAnd constructing a vehicle kinematic model:
wherein, deltak+1Candidate vehicle front wheel steering angle, e, representing the current time of the vehiclehead_k+1A candidate course angle deviation, e, representing the current time of the vehiclelat_k+1Representing the candidate lateral position deviation, delta, of the vehicle at the current timesw_cmdIndicating candidate steering wheel angle, deltakRepresenting the angle of rotation of the front wheels of the vehicle at a moment on the vehicle, ehead_kIndicating the course angle deviation at a time on the vehicle, elat_kIndicating a lateral position deviation at a time on the vehicle.
4. The method of claim 2, wherein said obtaining a reference front wheel steering angle at the reference point comprises:
obtaining a curvature at the reference point;
and determining a reference front wheel corner at the reference point according to the curvature at the reference point and the vehicle wheelbase.
5. The method of claim 1, wherein determining an actual steering wheel angle at a current time based on the candidate vehicle front wheel angle, the candidate heading angle offset, and the candidate lateral position offset comprises:
comparing the candidate vehicle front wheel corner with the vehicle front wheel corner at the last moment of the vehicle to obtain a first comparison result;
comparing the candidate course angle deviation with the course angle deviation of the vehicle at the previous moment to obtain a second comparison result;
comparing the candidate transverse position deviation with the transverse position deviation of the vehicle at the previous moment to obtain a third comparison result;
and determining the actual steering wheel angle at the current moment according to the first comparison result, the second comparison result and the third comparison result.
6. A vehicle control apparatus, characterized by comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring at least two candidate steering wheel rotating angles of a vehicle;
the second acquisition module is used for acquiring the corner of the front wheel of the vehicle at the previous moment, the course angle deviation of the vehicle at the previous moment and the transverse position deviation of the vehicle at the previous moment;
the input module is used for inputting the candidate steering wheel angle, the vehicle front wheel angle at the last moment of the vehicle, the course angle deviation at the last moment of the vehicle and the transverse position deviation at the last moment of the vehicle into a vehicle kinematic model aiming at each candidate steering wheel angle;
the output module is used for outputting a candidate vehicle front wheel corner, a candidate course angle deviation and a candidate transverse position deviation of the vehicle at the current moment, which are related to the candidate steering wheel corner, based on the vehicle kinematic model;
and the execution module is used for determining the actual steering wheel angle at the current moment according to the candidate vehicle front wheel angle, the candidate course angle deviation and the candidate transverse position deviation, generating a steering wheel steering angle command and controlling the steering of the vehicle at the next moment.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any of claims 1-5.
8. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155218.9A CN114475781B (en) | 2022-02-21 | 2022-02-21 | Vehicle control method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155218.9A CN114475781B (en) | 2022-02-21 | 2022-02-21 | Vehicle control method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114475781A true CN114475781A (en) | 2022-05-13 |
| CN114475781B CN114475781B (en) | 2023-05-12 |
Family
ID=81482453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210155218.9A Active CN114475781B (en) | 2022-02-21 | 2022-02-21 | Vehicle control method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114475781B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834529A (en) * | 2022-06-07 | 2022-08-02 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium |
| CN114954654A (en) * | 2022-06-22 | 2022-08-30 | 阿波罗智能技术(北京)有限公司 | Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device |
| CN115056847A (en) * | 2022-06-22 | 2022-09-16 | 阿波罗智能技术(北京)有限公司 | Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device |
| CN115180017A (en) * | 2022-08-18 | 2022-10-14 | 苏州轻棹科技有限公司 | Processing method for compensating steering wheel angle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170088167A1 (en) * | 2015-09-28 | 2017-03-30 | Toyota Jidosha Kabushiki Kaisha | Automated driving apparatus and automated driving system |
| CN112009489A (en) * | 2020-11-02 | 2020-12-01 | 蘑菇车联信息科技有限公司 | Method and device for processing vehicle steering parameters, electronic equipment and storage medium |
| CN112572436A (en) * | 2020-12-15 | 2021-03-30 | 北京理工大学 | Vehicle following control method and system |
| US20210237798A1 (en) * | 2020-02-05 | 2021-08-05 | Toyota Jidosha Kabushiki Kaisha | Control device, manager, method, non-transitory storage medium, and vehicle |
-
2022
- 2022-02-21 CN CN202210155218.9A patent/CN114475781B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170088167A1 (en) * | 2015-09-28 | 2017-03-30 | Toyota Jidosha Kabushiki Kaisha | Automated driving apparatus and automated driving system |
| US20210237798A1 (en) * | 2020-02-05 | 2021-08-05 | Toyota Jidosha Kabushiki Kaisha | Control device, manager, method, non-transitory storage medium, and vehicle |
| CN112009489A (en) * | 2020-11-02 | 2020-12-01 | 蘑菇车联信息科技有限公司 | Method and device for processing vehicle steering parameters, electronic equipment and storage medium |
| CN112572436A (en) * | 2020-12-15 | 2021-03-30 | 北京理工大学 | Vehicle following control method and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834529A (en) * | 2022-06-07 | 2022-08-02 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium |
| CN114954654A (en) * | 2022-06-22 | 2022-08-30 | 阿波罗智能技术(北京)有限公司 | Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device |
| CN115056847A (en) * | 2022-06-22 | 2022-09-16 | 阿波罗智能技术(北京)有限公司 | Method for calculating zero offset compensation angle of steering wheel of vehicle, control method and device |
| CN115056847B (en) * | 2022-06-22 | 2023-09-29 | 阿波罗智能技术(北京)有限公司 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
| CN114954654B (en) * | 2022-06-22 | 2023-11-28 | 阿波罗智能技术(北京)有限公司 | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle |
| CN115180017A (en) * | 2022-08-18 | 2022-10-14 | 苏州轻棹科技有限公司 | Processing method for compensating steering wheel angle |
| CN115180017B (en) * | 2022-08-18 | 2023-10-17 | 苏州轻棹科技有限公司 | Processing method for compensating steering wheel rotation angle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114475781B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114475781B (en) | Vehicle control method, device, equipment and storage medium | |
| CN111873991B (en) | Vehicle steering control method, device, terminal and storage medium | |
| JP7086111B2 (en) | Feature extraction method based on deep learning used for LIDAR positioning of autonomous vehicles | |
| US11447144B2 (en) | Methods for updating autonomous driving system, autonomous driving systems, and on-board apparatuses | |
| CN109116374B (en) | Method, device and equipment for determining distance of obstacle and storage medium | |
| CN111797780B (en) | Vehicle following track planning method, device, server and storage medium | |
| CN111796521B (en) | Foresight distance determining method, device, equipment and storage medium | |
| EP3944046A1 (en) | Method for upgrading automatic driving system, automatic driving system and vehicle-mounted device | |
| CN109870698B (en) | Ultrasonic array obstacle detection result processing method and system | |
| WO2019047639A1 (en) | Method and device for calculating curvature of vehicle trajectory | |
| CN109635861B (en) | Data fusion method and device, electronic equipment and storage medium | |
| CN113552888B (en) | Driving track control method, device, equipment and medium applied to unmanned vehicle | |
| CN113619584A (en) | Electric control rear wheel steering method and device, electronic equipment and storage medium | |
| WO2023142794A1 (en) | Vehicle control method and apparatus, and device and storage medium | |
| Nguyen et al. | Developing computationally efficient nonlinear cubature Kalman filtering for visual inertial odometry | |
| CN111572551B (en) | Course angle calculation method, device, equipment and storage medium under parking condition | |
| CN112834249A (en) | Steering parameter detection method, device, equipment and storage medium | |
| CN114021080A (en) | Trajectory prediction model training and trajectory prediction method, apparatus, device and medium | |
| CN111469781A (en) | Method and apparatus for outputting information | |
| CN114578401B (en) | Method and device for generating lane track points, electronic equipment and storage medium | |
| CN110850878A (en) | Intelligent vehicle control method, device, equipment and medium | |
| CN113619606A (en) | Obstacle determination method, apparatus, device and storage medium | |
| CN114987607A (en) | Steering control method, device and equipment of vehicle and storage medium | |
| Vörös et al. | The effects of tire dynamics on the performance of finite spectrum assignment of vehicle motion control | |
| CN110442927B (en) | Steering wheel corner determining method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |