CN114643999A - Vehicle and lateral control method and device thereof and storage medium - Google Patents

Vehicle and lateral control method and device thereof and storage medium Download PDF

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Publication number
CN114643999A
CN114643999A CN202011506741.9A CN202011506741A CN114643999A CN 114643999 A CN114643999 A CN 114643999A CN 202011506741 A CN202011506741 A CN 202011506741A CN 114643999 A CN114643999 A CN 114643999A
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vehicle
region
steering
yaw rate
delta
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朱成军
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Baoneng Automobile Group Co Ltd
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Baoneng Automobile Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a vehicle and a transverse control method, a transverse control device and a storage medium thereof, wherein the transverse control method comprises the following steps: acquiring longitudinal vehicle speed v of vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL(ii) a According to the lateral acceleration a of the vehicleyDetermining a steering characteristic region in which the vehicle is steered; according to the steering characteristic area of the vehicle when the vehicle is steered, combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensorxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure DDA0002845143150000011
So as to be dependent on yaw angular velocity
Figure DDA0002845143150000012
And performing transverse control on the vehicle. The method can effectively improve the accuracy, stability and practicability of the vehicle transverse motion control, and improve the subjective safety experience of transverse control in the automatic driving technology.

Description

Vehicle and lateral control method and device thereof and storage medium
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle transverse control method, a computer-readable storage medium, a vehicle transverse control device and a vehicle.
Background
With the development of the automatic driving technology, the automatic driving technology covering a wider speed range and a more comprehensive use scene becomes a demand problem to be solved urgently. Whether the vehicle can follow a planned track given by an automatic driving system or not and automatic driving is carried out on the premise that the self motion constraint of the vehicle is met in the driving process, and whether the vehicle physical characteristics can be well expressed or not is mainly determined by a dynamic model in the vehicle control process.
The motion of the vehicle is classified according to a vehicle coordinate system and can be divided into longitudinal motion, transverse motion and vertical motion, wherein the transverse motion is related to the operation stability of the vehicle and directly shows the characteristics of the vehicle related to the safety experience of a driver in the driving process, so that the establishment of a transverse dynamic model in the transverse motion control is beneficial to the improvement of the subjective safety experience of the transverse control in the automatic driving technology.
From the aspects of accuracy, stability and practicability of the automatic driving technology to the vehicle transverse motion control, different dynamic models are established based on different conditions, and different control targets are applied according to the dynamic models, so that the automatic driving system has better comprehensive performance. For example, when the vehicle speed is low, the vehicle mainly shows the kinematics, and when the vehicle runs at a high speed, the vehicle mainly shows the dynamics, and the vehicle model established by the characteristics has more applications. Meanwhile, in the aspect of vehicle control, different control strategies are designed according to different vehicle speeds in the related technology, and different dynamic models are applied. For example, when the vehicle speed is low, a vehicle transverse control preview kinematic model is established, a preview PID feedback control law is adopted, and the vehicle speed v isxAnd when the height is higher, a vehicle transverse control dynamic model is established, and a model predictive control algorithm is adopted. The method mainly establishes different dynamic models according to the vehicle speed, but in the process of the transverse motion of the vehicle, the motion quantity mainly representing the transverse performance of the vehicle is the yaw velocity
Figure BDA0002845143130000011
Vehicle lateral velocity vyVehicle lateral acceleration ayEtc., which results in the above-described method using only the longitudinal vehicle speed v alonexThe established dynamic model is not beneficial to improving the accuracy, stability and practicability of the vehicle transverse motion control.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first objective of the present invention is to provide a method for controlling a vehicle in a lateral direction, so as to improve accuracy, stability and practicability of controlling the lateral motion of the vehicle, and improve subjective safety experience of the lateral control in the automatic driving technology.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a vehicle.
A fourth object of the present invention is to provide a vehicle lateral control apparatus.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle lateral control method, including: acquiring longitudinal vehicle speed v of vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL(ii) a According to the lateral acceleration a of the vehicleyDetermining a steering characteristic region where the vehicle is located when steering; according to the steering characteristic area when the vehicle is steered, combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensorxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure BDA0002845143130000021
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000022
And performing lateral control on the vehicle.
According to the vehicle transverse control method provided by the embodiment of the invention, the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor are combined according to the steering characteristic region where the vehicle is steeredxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle
Figure BDA0002845143130000023
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000024
The vehicle is transversely controlled, so that the accuracy, stability and practicability of the transverse motion control of the vehicle can be improved, and the subjective safety experience of the transverse control in the automatic driving technology is improved.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having a vehicle lateral control program stored thereon, the vehicle lateral control program, when executed by a processor, implementing the vehicle lateral control method described above.
According to the computer-readable storage medium of the embodiment of the invention, when the vehicle transverse control program stored on the computer-readable storage medium is executed by the processor, the accuracy, stability and practicability of the vehicle transverse motion control can be improved, and the subjective safety experience of the transverse control in the automatic driving technology can be improved.
In order to achieve the above object, a vehicle according to a third aspect of the present invention includes a memory, a processor, and a vehicle lateral control program stored in the memory and operable on the processor, wherein the processor implements the vehicle lateral control method when executing the vehicle lateral control program.
According to the vehicle disclosed by the embodiment of the invention, the vehicle transverse control program which is stored on the memory and can run on the processor is executed by the processor, so that the accuracy, stability and practicability of the vehicle transverse motion control can be improved, and the subjective safety experience of transverse control in the automatic driving technology is improved.
In order to achieve the above object, a fourth aspect of the present invention provides a vehicle lateral direction control apparatus, including: an acquisition module for acquiring the longitudinal speed v of the vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL(ii) a A determination module for determining the lateral acceleration a of the vehicleyDetermining the turn at which the vehicle is turningTo the characteristic region; a control module used for combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor according to the steering characteristic region of the vehicle when the vehicle is steeredxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure BDA0002845143130000031
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000032
And performing lateral control on the vehicle.
According to the vehicle transverse control device of the embodiment of the invention, the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor are combined according to the steering characteristic region where the vehicle is steeredxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle
Figure BDA0002845143130000033
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000034
The vehicle is transversely controlled, so that the accuracy, stability and practicability of the transverse motion control of the vehicle can be improved, and the subjective safety experience of the transverse control in the automatic driving technology is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of lateral vehicle control according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of lateral vehicle control according to one particular example of the present disclosure;
fig. 3 is a block diagram of a vehicle lateral control apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle, a lateral control method, an apparatus, and a storage medium thereof according to embodiments of the invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a vehicle lateral control method according to one embodiment of the invention. Referring to fig. 1, the method may include the steps of:
s1, acquiring the longitudinal speed v of the vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL。
Specifically, the vehicle lateral control method of the embodiment of the invention is mainly applied to a vehicle lateral control device. The vehicle transverse control device measures the longitudinal vehicle speed v by a vehicle sensorxVehicle lateral acceleration ayAnd steering wheel angle deltaLFor input, the yaw rate
Figure BDA0002845143130000035
Is output and can reflect the lateral stability and the controllability of the vehicle. The vehicle lateral control apparatus may include an acquisition module, a determination module, and a control module.
The acquisition module can be a vehicle parameter processing module; the determination module may be a vehicle tire cornering power analysis module; the control module can be a vehicle linear region yaw rate gain calculation module, a vehicle transition region yaw rate gain calculation module, a vehicle saturation region yaw rate gain calculation module and a vehicle lateral state output module. Optionally, the vehicle parameter processing module may further include a parameter calibration processing module and a sensor data input processing module.
In this embodiment, as shown in fig. 2, the vehicle longitudinal direction of the measurement signal can be obtained by the sensor data input processing moduleTo the speed v of the vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL. Optionally, the vehicle parameter processing module may perform high frequency measurement noise filtering with a digital low pass filter for the acquired measurement signal, wherein the amplitude squared characteristic of a typical low pass filter is 1/(1+ (ω/ω)c)2N) Wherein the parameter N is the order of the filter, ωcω is the input signal frequency contaminated with high frequency noise for the desired passband cutoff frequency.
S2, according to the lateral acceleration a of the vehicleyA steering characteristic region in which the vehicle is steered is determined.
Wherein the steering characteristic region may include a linear region, a transition region, and a saturation region, wherein the steering characteristic region is based on the vehicle lateral acceleration ayDetermining the steering characteristic region in which the vehicle is turning may include: at | ay|≤|ay_linWhen l, the linear region where the vehicle turns is determined, wherein ay_linIs a first preset value; at | ay_lin|＜|ay|≤|ay_satWhen l, the transition region where the vehicle is turning is determined, wherein ay_satThe second preset value is set; at | ay|>|ay_satAnd when the vehicle is steered, | determining the saturation region where the vehicle is steered.
Specifically, determining the steering characteristic region in which the vehicle is turning may be performed by a vehicle tire cornering characteristic analysis module. In this embodiment, as shown in FIG. 2, the vehicle tire cornering power analysis module may analyze the cornering power according to a lateral acceleration a of the vehicleyCombined with longitudinal vehicle speed v of vehiclexAnd determining a steering characteristic region where the whole vehicle is located when the vehicle steers. It should be noted that the first preset value a can be sety_linSet to 4.0m/s2A second preset value ay_satSet to 9.5m/s2And the judgment criterion is used as the judgment criterion of the vehicle characteristic section of the tire cornering power characteristic analysis module.
S3, according to the steering characteristic area when the vehicle is steered, combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensorxVehicle lateral acceleration ayAnd steering wheel angle deltaLBy making use of a differenceCalculating yaw rate of vehicle by calculation
Figure BDA0002845143130000041
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000042
And performing transverse control on the vehicle.
In one embodiment of the present invention, the vehicle steering is in a linear region according to the yaw rate
Figure BDA0002845143130000043
Ratio of front wheel steering angle delta to vehicle longitudinal speed vxLinear relation between them, calculating the yaw rate of the vehicle in the current state
Figure BDA0002845143130000044
Wherein the front wheel steering angle delta is dependent on the steering wheel angle deltaLAnd the vehicle steering system transmission ratio i in the intrinsic physical characteristic parameterLAnd (4) calculating.
Wherein, when the vehicle is turned in a linear region, the yaw rate gain value Y of the vehicle in the linear region can be calculated according to the following formula_lin：
Figure BDA0002845143130000051
After the yaw-rate gain value of the vehicle in the linear region is calculated, the yaw-rate can be further calculated according to the following formula
Figure BDA0002845143130000052
The unit rad/s.
Wherein L is the unit m, v of the vehicle wheel basexIs the unit m/s of the longitudinal speed of the vehicle, delta is the unit rad of the front wheel steering angle,
Figure BDA0002845143130000053
wherein, C1,C2，m，L1，L2Obtained by the processing of a parameter calibration processing module C1And C2Is the unit N/rad of the lateral deflection rigidity of the front and the rear tires, m is the unit kg of the mass of the vehicle, L1And L2Is the distance unit m from the centroid to the front-to-back axis.
Specifically, when the vehicle travels at a constant velocity, the vehicle maintains a constant-velocity circumferential travel state according to a steady-state response entered under a front wheel angle step input, and the vehicle linear region yaw rate gain calculation module may use a steady-state yaw rate
Figure BDA00028451431300000510
Ratio Y to front wheel steering angle delta_linTo evaluate the steady state response. Wherein the content of the first and second substances,
Figure BDA0002845143130000054
thus, the yaw rate when the vehicle is steered in the linear region can be calculated
Figure BDA0002845143130000055
When the vehicle steering is in the transition region, calculating the yaw rate of the vehicle in the current state according to the tire characteristics of the vehicle and the cubic curve fitting relation of the ratio of the yaw rate of the transition region to the current front wheel steering angle of the vehicle in the steering transition region
Figure BDA0002845143130000056
In one embodiment of the present invention, when the vehicle steering is in the transition region, the yaw rate gain value Y of the vehicle in the transition region may be calculated according to the following formulass，
Figure BDA0002845143130000057
Wherein Y is_linIs the yaw-rate gain in the linear region in which the vehicle is turning,b is a transition interval parameter, and delta is a unit rad, delta of a front wheel steering angle1The unit rad/s is the boundary value of the steering angle of the front wheel of the linear region and the transition region.
Specifically, the vehicle transition zone yaw rate gain calculation module may calculate the vehicle transition zone yaw rate gain according to a first preset value ay_linCalculating the boundary value of the steering angle of the front wheel
Figure BDA0002845143130000058
Unit rad, then fitting the parameters of the transition region using a cubic equation
Figure BDA0002845143130000059
Obtaining the gain value of the yaw rate in the transition area
Figure BDA0002845143130000061
Wherein the parameter pYssFor external calibration values, while2Boundary value of front wheel steering angle of saturation region and transition region
Figure BDA0002845143130000062
Unit rad. Thus, the yaw rate gain value Y of the vehicle in the transition section can be calculatedss. The vehicle characteristic and yaw rate gain value Y are then determined based on the vehicle tire cornering characteristicsssAccording to the formula
Figure BDA0002845143130000063
Outputting and calculating to obtain the yaw velocity of the vehicle in the current state
Figure BDA0002845143130000064
Further, when the vehicle steering is in the saturation region, an extension fitting calculation is performed based on the tire characteristics of the vehicle, the yaw-rate gain characteristics of the vehicle in the linear region, and the yaw-rate gain characteristics of the vehicle in the transition region to obtain the yaw rate of the vehicle in the current state
Figure BDA0002845143130000065
In one embodiment of the present invention, when the vehicle is turned in the saturation region, the yaw-rate gain Y of the vehicle in the saturation region is calculated according to the following formulass'，
Figure BDA0002845143130000066
Wherein, Y_linFor the yaw-rate gain, delta, in the linear region in which the vehicle is turning2Front wheel steering angle boundary value delta of saturation region and transition region1The boundary value of the front wheel steering angle in the linear region and the transition region, delta is the front wheel steering angle of the vehicle, B is the transition region parameter, pYssIs an external calibration value. Thus, the yaw-rate gain value Y of the vehicle in the saturation region can be calculatedss', vehicle characteristics and yaw-rate gain Y which are then determined based on the vehicle tire cornering characteristicsss' in accordance with the formula
Figure BDA0002845143130000067
Outputting and calculating to obtain the yaw velocity of the vehicle in the current state
Figure BDA0002845143130000068
Alternatively, as shown in FIG. 2, the yaw rate in different states is calculated
Figure BDA0002845143130000069
Then, the yaw rate in the state in the corresponding state can be output by the vehicle lateral state output means
Figure BDA00028451431300000610
Further, the present invention also proposes a computer-readable storage medium having stored thereon a vehicle lateral control program which, when executed by a processor, implements the vehicle lateral control method described above.
According to the computer-readable storage medium of the embodiment of the invention, when the vehicle transverse control program stored on the computer-readable storage medium is executed by the processor, the accuracy, stability and practicability of the vehicle transverse motion control can be improved, and the subjective safety experience of the transverse control in the automatic driving technology can be improved.
The invention further provides a vehicle, which comprises a memory, a processor and a vehicle transverse control program stored on the memory and capable of running on the processor, wherein when the processor executes the vehicle transverse control program, the vehicle transverse control method is realized.
According to the vehicle disclosed by the embodiment of the invention, the vehicle transverse control program which is stored on the memory and can run on the processor is executed by the processor, so that the accuracy, stability and practicability of the vehicle transverse motion control can be improved, and the subjective safety experience of transverse control in the automatic driving technology is improved.
Fig. 3 is a block diagram of a vehicle lateral control apparatus according to an embodiment of the present invention. Referring to fig. 3, the vehicle lateral control apparatus 100 may include an acquisition module 101, a determination module 102, and a control module 103.
The obtaining module 101 is used for obtaining the longitudinal speed v of the vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaLThe determining module 102 is used for determining the lateral acceleration a of the vehicleyThe control module 103 is used for combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor according to the steering characteristic region when the vehicle turnsxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure BDA0002845143130000071
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000072
And performing transverse control on the vehicle.
Specifically, the obtaining module 101 obtains the vehicle longitudinal speed vxVehicle lateral acceleration ayAnd steering wheel angle deltaLThereafter, the determination module 102 determines the vehicle lateral acceleration ayThe control module 103 judges the steering characteristic region where the vehicle is steered, and then combines the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor according to the steering characteristic region where the vehicle is steered determined by the determination module 102xVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure BDA0002845143130000073
Then according to the yaw angular velocity
Figure BDA0002845143130000074
And performing transverse control on the vehicle in the current state.
It should be noted that, for the specific implementation of the vehicle lateral control device according to the embodiment of the present invention, reference is made to the specific implementation of the vehicle lateral control method described above, and details are not described herein.
According to the vehicle transverse control device of the embodiment of the invention, the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v of the vehicle are combined according to the steering characteristic region where the vehicle is steeredxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle
Figure BDA0002845143130000075
So as to be dependent on yaw angular velocity
Figure BDA0002845143130000076
The vehicle is transversely controlled, so that the accuracy, stability and practicability of the transverse motion control of the vehicle can be improved, and the subjective safety experience of the transverse control in the automatic driving technology is improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A vehicle lateral control method, characterized by comprising:
acquiring longitudinal vehicle speed v of vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL；
According to the vehicle lateral acceleration ayDetermining a steering characteristic region in which the vehicle is steered;
according to the steering characteristic area where the vehicle is steered, combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by a vehicle sensorxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure FDA0002845143120000011
So as to be dependent on the yaw rate
Figure FDA0002845143120000012
And performing transverse control on the vehicle.
2. The vehicle lateral control method according to claim 1, characterized in that the steering characteristic region includes a linear region, a transition region, and a saturation region, wherein a is a function of the vehicle lateral acceleration ayDetermining a steering characteristic region in which the vehicle is steered, including:
at | ay|≤|ay_linWhen l, the linear region where the vehicle turns is determined, wherein ay_linIs a first preset value;
at | ay_lin|＜|ay|≤|ay_satWhen l, the transition region where the vehicle is turning is determined, wherein ay_satThe second preset value is set;
at | ay|>|ay_satAnd when the vehicle is steered, | determining the saturation region where the vehicle is steered.
3. The vehicle lateral control method according to claim 2,
according to the yaw rate in the linear region where the vehicle is turning
Figure FDA0002845143120000013
And the ratio of the front wheel steering angle delta to the longitudinal vehicle speed v of the vehiclexLinear relation between them, calculating the yaw rate of the vehicle in the current state
Figure FDA0002845143120000014
Wherein the front wheel steering angle delta is dependent on the steering wheel angle deltaLAnd the vehicle steering system transmission ratio i in the intrinsic physical characteristic parameterLCalculating to obtain;
when the vehicle is in a transition region during steering, calculating the yaw rate of the vehicle in the current state according to the tire characteristics of the vehicle and the cubic curve fitting relation of the ratio of the yaw rate of the transition region to the current front wheel steering angle of the vehicle in the steering transition region
Figure FDA0002845143120000015
When the vehicle is in a saturation region when turning, extension fitting calculation is carried out according to the tire characteristics of the vehicle, the yaw rate gain characteristics of the vehicle in a linear region and the yaw rate gain characteristics of the vehicle in a transition region to obtain the yaw rate of the vehicle in the current state
Figure FDA0002845143120000016
4. A vehicle lateral control method according to claim 3, wherein, at a time of a linear region in which the vehicle turns, a yaw rate gain value Y of the vehicle in the linear region is calculated according to the following formula_linAnd then calculating to obtain the yaw velocity of the vehicle in the current state
Figure FDA0002845143120000021
The unit rad/s is,
Figure FDA0002845143120000022
wherein L is the unit m, v of the vehicle wheel basexIs the unit m/s of the longitudinal speed of the vehicle, delta is the unit rad of the front wheel steering angle,
Figure FDA0002845143120000023
wherein, C1,C2Is the unit N/rad of the lateral deflection rigidity of the front and the rear tires, m is the unit kg of the mass of the vehicle, L1，L2Is the distance unit m from the centroid to the front-to-back axis.
5. The vehicle lateral control method according to claim 3, characterized in that, at the time of a transition region where the vehicle turns, the yaw-rate gain value Y of the vehicle in the transition zone is calculated according to the following formulassAnd then calculating to obtain the yaw velocity of the vehicle in the current state
Figure FDA0002845143120000024
The unit rad/s is,
Figure FDA0002845143120000025
wherein, Y_linFor steering vehiclesYaw rate gain in time of linear region, B is transition region parameter, and delta is front wheel steering angle unit rad, delta1The front wheel steering angle cutoff value for the linear region and the transition region is in units of rad.
6. The vehicle lateral control method according to claim 3, characterized in that, at a saturation region where the vehicle is turning, the yaw rate gain value Y of the vehicle in the saturation region is calculated according to the following formulass' and then calculating to obtain the yaw rate of the vehicle in the current state
Figure FDA0002845143120000026
The unit rad/s is,
Figure FDA0002845143120000027
wherein, Y_linFor the yaw-rate gain, delta, in the linear region in which the vehicle is turning2Front wheel steering angle boundary value delta of saturation region and transition region1The boundary value of the front wheel steering angle in the linear region and the transition region, delta is the front wheel steering angle of the vehicle, B is the transition region parameter, pYssIs an external calibration value.
7. The vehicle lateral control method according to claim 2, wherein the first preset value ay_linIs 4.0m/s2Second preset value ay_satIs 9.5m/s2。
8. A computer-readable storage medium, characterized in that a vehicle lateral control program is stored thereon, which when executed by a processor implements the vehicle lateral control method according to any one of claims 1 to 7.
9. A vehicle comprising a memory, a processor, and a vehicle lateral control program stored on the memory and executable on the processor, the processor implementing the vehicle lateral control method of any one of claims 1-7 when executing the vehicle lateral control program.
10. A vehicle lateral control apparatus, characterized by comprising:
an acquisition module for acquiring the longitudinal speed v of the vehiclexVehicle lateral acceleration ayAnd steering wheel angle deltaL；
A determination module for determining the vehicle lateral acceleration ayDetermining a steering characteristic region in which the vehicle is steered;
a control module for combining the inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed v measured by the vehicle sensor according to the steering characteristic region where the vehicle is steeredxVehicle lateral acceleration ayAnd steering wheel angle deltaLCalculating the yaw rate of the vehicle by different calculation methods
Figure FDA0002845143120000031
So as to be dependent on the yaw rate
Figure FDA0002845143120000032
And performing transverse control on the vehicle.
CN202011506741.9A 2020-12-18 2020-12-18 Vehicle and lateral control method and device thereof and storage medium Pending CN114643999A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115384490A (en) * 2022-10-28 2022-11-25 北京集度科技有限公司 Vehicle transverse control method and device, electronic equipment and computer program product

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115384490A (en) * 2022-10-28 2022-11-25 北京集度科技有限公司 Vehicle transverse control method and device, electronic equipment and computer program product

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