CN114670834A - Reversing control method and device and storage medium - Google Patents

Reversing control method and device and storage medium Download PDF

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CN114670834A
CN114670834A CN202210293276.8A CN202210293276A CN114670834A CN 114670834 A CN114670834 A CN 114670834A CN 202210293276 A CN202210293276 A CN 202210293276A CN 114670834 A CN114670834 A CN 114670834A
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point
vehicle
target vehicle
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determining
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蔡渤
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a reversing control method, a reversing control device and a storage medium, which can realize accurate reversing of a vehicle. The method comprises the following steps: acquiring vehicle state information of a target vehicle, wherein the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle; determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information; determining an expected track point corresponding to the target vehicle; determining a tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point position corresponding to the target vehicle; calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position; determining reverse control information according to the error information and gear input information corresponding to the target vehicle; and carrying out backing control on the vehicle according to the backing control information.

Description

Reversing control method and device and storage medium
Technical Field
The invention relates to the technical field of vehicle control, in particular to a reversing control method, a reversing control device and a storage medium.
Background
Along with the development of economy, in order to promote conveying efficiency, articulated formula commercial car quantity increases gradually, compares in passenger car, adopts the king pin to connect between articulated vehicle's tractor and the trailer, and the automobile body is long, and turning radius is big, and the field of vision blind area is big, and the vehicle is stable system to the in-process vehicle that goes forward, but when backing a car, then is unstable system, and the tractor pushes away the trailer and goes backward, and the trailer has inheritance divergence, easily leads to tractor-trailer to take place to fold, vehicle unstability. Furthermore, backing a car under the scenes of long distance or narrow road and the like has high backing technical requirements on the articulated vehicle driver, and the pressure of the driver is high, especially on a novice driver.
The intelligent backing auxiliary system commonly used at present assists a driver to back based on camera shooting and sensing technologies. The system provides a novel autonomous tracking auxiliary backing device, and the device can monitor the panoramic view of a vehicle without dead angles and reasonably avoid surrounding environment and obstacles and prompt distances when a passenger vehicle performs a backing operation, so that the most reasonable angle control of the steering wheel direction is provided for a driver, and multifunctional auxiliary backing is realized.
The intelligent reversing auxiliary system and the intelligent reversing auxiliary method only provide the surrounding environment scene of the vehicle for the driver during reversing, can enhance the reversing environment perception capability and judgment of the driver, do not automatically control the vehicle to finish reversing operation, and have low automation degree.
Disclosure of Invention
The invention provides a reversing control method and related equipment, which can realize accurate reversing of a vehicle.
The invention provides a reverse control method in a first aspect, which comprises the following steps:
acquiring vehicle state information of a target vehicle, wherein the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle;
determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information;
determining an expected track point corresponding to the target vehicle;
determining a tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point position corresponding to the target vehicle;
calculating error information between the vehicle control point and the tracking point according to the tracking point and the position of the vehicle control point;
determining reverse control information according to the error information and gear input information corresponding to the target vehicle;
and carrying out backing control on the vehicle according to the backing control information.
A second aspect of the present invention provides a reverse control apparatus, including:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring vehicle state information of a target vehicle, and the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle;
the first determining unit is used for determining the vehicle control point pose corresponding to the target vehicle according to the vehicle state information;
the second determining unit is used for determining an expected track point corresponding to the target vehicle;
a third determining unit, configured to determine a tracking point corresponding to the target vehicle according to the expected track point and a vehicle control point location position corresponding to the target vehicle;
the calculation unit is used for calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position;
the fourth determining unit is used for determining reversing control information according to the error information and gear input information corresponding to the target vehicle;
and the control unit is used for carrying out backing control on the vehicle according to the backing control information.
A third aspect of the present invention provides a computer apparatus comprising: at least one connected processor, memory, and transceiver; wherein the memory is configured to store program codes, and the processor is configured to call the program codes in the memory to execute the steps of the control method of the vehicle according to the first aspect.
A fourth aspect of embodiments of the present invention provides a computer storage medium including instructions that, when executed on a computer, cause the computer to perform the steps of the control method of the vehicle according to any one of the above aspects.
Compared with the prior art, in the embodiment provided by the invention, the reversing control device can acquire the vehicle state information of the target vehicle, wherein the vehicle state information comprises the inertial sensor signal, the wheel speed and the wheel speed direction corresponding to the target vehicle; determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information; determining an expected track point corresponding to the target vehicle; determining a tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point position corresponding to the target vehicle; calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position; determining reverse control information according to the error information and gear input information corresponding to the target vehicle; and carrying out backing control on the vehicle according to the backing control information to realize accurate backing of the vehicle.
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Fig. 1 is a schematic flow chart of a reverse control method provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system at a control point of a vehicle provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a closest point determination provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of tracking point determination provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a lateral error calculation provided by an embodiment of the present invention;
FIG. 6 is a schematic view of a course angle error calculation provided by an embodiment of the present invention;
FIG. 7a is a schematic representation of kinematics modeling of an articulated vehicle provided by an embodiment of the present invention;
FIG. 7b is another schematic illustration of kinematics modeling of an articulated vehicle provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of the positional relationship between a vehicle control point and a tracking point provided by an embodiment of the present invention;
FIG. 9 is a schematic pre-aiming view of a target vehicle according to an embodiment of the present invention;
fig. 10 is a schematic view of a virtual structure of a reverse control device according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a hardware structure of a server according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The reversing control method provided by the present invention is described below from the perspective of a reversing control device, which may be a server or a service unit in the server, and is not limited specifically.
Referring to fig. 1, a schematic diagram of an embodiment of a reverse control method according to an embodiment of the present invention includes:
101. vehicle state information of the target vehicle is acquired.
In this embodiment, the reverse control device may acquire vehicle state information of a target vehicle, where the target vehicle is an articulated vehicle, and the vehicle state information includes an inertial sensor signal, a wheel speed, and a wheel speed direction corresponding to the target vehicle, where the manner of acquiring the vehicle state information is not limited specifically, and may be acquired by different sensors, for example, other manners or as long as the vehicle state information of the target vehicle can be acquired.
102. And determining the vehicle control point pose corresponding to the target vehicle according to the vehicle state information.
In this embodiment, after the reversing control device obtains the vehicle state information, it may determine the vehicle control point pose corresponding to the target vehicle according to the vehicle state information, where the vehicle control point pose is calibrated as
Figure BDA0003561082730000041
Wherein x is the abscissa of the waypoint, y is the ordinate of the waypoint,
Figure BDA0003561082730000042
is the waypoint course angle, v is the forward speed, and ω is the yaw rate.
In one embodiment, the determining, by the reversing control device, the position of the vehicle control point corresponding to the target vehicle according to the vehicle state information includes:
constructing a coordinate system according to the vehicle control points and the vehicle body advancing direction corresponding to the target vehicle, wherein the origin of the coordinate system is the position of the target vehicle at the starting moment;
determining target coordinates of the target vehicle in a coordinate system;
and determining the target coordinates as the vehicle control point pose.
In this embodiment, the reverse control apparatus first establishes a coordinate system as shown in fig. 2 with a midpoint of a last axle of a trailer of a target vehicle as a control point O, where a vehicle body forward direction is an X-axis, determines a Y-axis according to a right-hand screw rule, determines a start time of the target vehicle as an origin of coordinates, obtains coordinates of the O-point through a dead reckoning algorithm (where a specific dead reckoning algorithm is not specifically limited), and determines the coordinates of the O-point and attribute information corresponding to the target vehicle as vehicle control points, where the attribute information includes a waypoint heading angle of the O-point, a forward vehicle speed of the target vehicle, and a yaw rate.
103. And determining the expected track point corresponding to the target vehicle.
In this embodiment, the reverse control device may receive input information corresponding to a user; judging whether the input information is a latching instruction of a user; and if so, determining the position corresponding to the starting moment of the target vehicle by the vehicle control point position and the vehicle control point position corresponding to the target vehicle within the target distance.
It should be noted that, the vehicle control point pose may be determined through steps 101 to 102, and the expected track point may be determined through step 103, however, there is no limitation on the execution sequence between steps 101 to 102 and step 103, and steps 101 to 102 may be executed first, or step 103 may be executed first, or executed at the same time, which is not limited specifically.
104. And determining the tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point pose corresponding to the target vehicle.
In this embodiment, when the reversing control device determines the tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point pose corresponding to the target vehicle, a target closest point corresponding to the target vehicle in the expected track point may be determined first; determining a target front point and a target rear point corresponding to the closest point according to the closest point of the target, the dimension corresponding to the expected track point and the condition of the closest point, wherein the target front point and the target rear point are points adjacent to the closest point of the target on the expected track point; and finally, determining a tracking point according to the pose of the vehicle control point, the closest point of the target, the front point of the target and the rear point of the target.
The following describes in detail the determination of the target closest point corresponding to the target vehicle in the desired track points by the reverse control device with reference to fig. 3:
as shown in FIG. 3, A1As a starting point, AnP waypoints are shared among the endpoints; v is the current point of the vehicle;
from the starting point A1Start calculation of A1V，A2V，…，AnV, and finding the minimum value thereof, i.e. determining the target closest point by the following formula:
ApV＝min(A1V，A2V,...,AnV)；
therefore, the waypoint p can be determined as the point closest to the vehicle in the expected track points, and is marked as PntN, namely the closest point N of the target.
The following describes in detail the target front point and the target rear point corresponding to the closest point determined by the reverse control device with reference to fig. 4:
as shown in fig. 4, after determining a point PntN closest to the vehicle in the expected track points, according to the dimension Num of the expected track point and the situation of the closest point PntN, determining a front point PntF in the forward direction of the vehicle, that is, a target front point, and a point where the point N is backward by one is called a PntR point, that is, a target back point, and the specific steps are as follows:
a1: if the closest point N is 1 or Num is 1, then Pnt is RP and PntF is Pnt (N + 1);
a2: if the nearest point N ═ Num, then PntF ═ PntN, PntR ═ Pnt (N-1);
a3: if neither the a1 nor the a2 condition is met, then PntF ═ Pnt (N + 1); PntR ═ Pnt (N-1);
after the target closest point N, the target front point F and the target rear point R are determined, a tracking point PntM is determined according to the relative relationship between the pose of the vehicle control point and the three characteristic points (the target closest point N, the target front point F and the target rear point R), and the detailed steps are as follows:
b1 if vector product
Figure BDA0003561082730000061
Indicating that the control point V of the target vehicle is between the nearest point N of the target and the point R of the rear point of the target, determining the tracking point M by adopting a linear interpolation mode at the moment, and determining the tracking point M by adopting a linear interpolation mode
Figure BDA0003561082730000062
Vector to
Figure BDA0003561082730000063
And (3) performing upward projection, and calculating an interpolation coefficient:
Figure BDA0003561082730000064
then the tracking point PntM ═ PntN (1-radio) + PntR radio;
b2 if vector product
Figure BDA0003561082730000065
Indicating that the control point V of the target vehicle is between the nearest point N of the target and the point F of the front point of the target, determining the tracking point by adopting a linear interpolation mode at the moment, and determining the tracking point by adopting a linear interpolation mode
Figure BDA0003561082730000071
Vector to
Figure BDA0003561082730000072
And (3) upward projection, calculating an interpolation coefficient:
Figure BDA0003561082730000073
then the tracking point PntM ═ PntN ═ (1-radio) + PntF · radio;
b3, if the above conditions of B1 and B2 are not satisfied, then PntM ═ PntN.
105. And calculating error information between the vehicle control point and the tracking point according to the tracking point and the pose of the vehicle control point.
In this embodiment, after determining the tracking point and the pose of the vehicle control point, the reverse control device may calculate error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point, where the error information includes: the calculation methods of the lateral error, the heading angle error and the speed error are described below with reference to fig. 5 and 6:
referring to fig. 5, it is a schematic diagram of calculating a lateral error according to an embodiment of the present invention, where V is a vehicle control point, M is a tracking point, and after determining a tracking point PntM by a reverse control device, a lateral error and a heading angle error between the two are calculated according to a pose of the vehicle control point,
Figure BDA0003561082730000074
for the pose of the tracking point, i.e. the coordinate of the tracking point is (x)M,yM) As shown in fig. 6, in this example,
Figure BDA0003561082730000075
is the included angle between the speed direction of the tracking point and the horizontal plane, namely the course angle of the tracking point,
Figure BDA0003561082730000076
as the pose of the vehicle control point, i.e. the coordinate of the vehicle control point is (x)V,yV) As shown in fig. 6, in this example,
Figure BDA0003561082730000077
the included angle between the speed direction of the vehicle control point and the horizontal plane is the course angle of the vehicle control point; as shown in fig. 5, Δ y is the difference between the ordinate of the tracking point and the ordinate of the vehicle control point, i.e., dx ═ yM-yVΔ x is the difference between the abscissa of the tracking point and the abscissa of the vehicle control point, i.e., dx is xM-xV. Defining lateral errorsThe difference is a projection distance (linear distance) from a control point of the target vehicle to a heading extension line of the tracking point, namely CV in fig. 5, as shown in fig. 5, CV is AD-BD, compared with projection to the vehicle forward direction, the projection method does not need to consider the heading of the vehicle, and the calculation is more accurate, specifically, the calculation is performed by the following formula:
1. lateral error calculation
The reverse control device can calculate the lateral error through the following formula:
Figure BDA0003561082730000081
wherein, Deltay is a transverse error,
Figure BDA0003561082730000082
is the heading angle of the tracking point.
2. Calculating course angle error;
the reverse control device can calculate the course angle error through the following formula:
Figure BDA0003561082730000083
wherein the content of the first and second substances,
Figure BDA0003561082730000084
in order to be the error of the course angle,
Figure BDA0003561082730000085
in order to track the heading angle of a point,
Figure BDA0003561082730000086
is the heading angle of the vehicle control point.
3. Calculating a longitudinal error;
the longitudinal velocity error is calculated by the following equation:
Δv＝vd-v；
where Δ v is the longitudinal velocity error, vdIs the targetA desired reverse speed of the vehicle, v being an actual speed of the target vehicle.
106. And determining the reversing control information according to the error information and the gear input information corresponding to the target vehicle.
In this embodiment, after determining error information and receiving gear input information corresponding to a target vehicle, the reverse control device may determine reverse control information according to the error information and the gear input information corresponding to the target vehicle, where the reverse control information includes a steering wheel angle and longitudinal control information corresponding to the target vehicle, and the longitudinal control information includes driving information or braking information. Specifically, the steering wheel angle corresponding to the target vehicle is calculated by the following formula:
δ＝k*θ；
wherein δ is the steering wheel angle, k is an angular transmission ratio corresponding to the target vehicle, θ is a tractor angle corresponding to the target vehicle, and θ is calculated by the following formula:
Figure BDA0003561082730000087
wherein the content of the first and second substances,
Figure BDA0003561082730000091
Figure BDA0003561082730000092
the target vehicle is the trailer yaw rate,
Figure BDA0003561082730000093
yaw rate, L, of tractor corresponding to the target vehicletIs the distance between the front and the rear axles of the tractor corresponding to the target vehicle, v is the actual speed of the target vehicle, LsThe distance between the trailer lamp effect shaft corresponding to the target vehicle and the hinge point,
Figure BDA0003561082730000094
the calculation is carried out by the following formula:
Figure BDA0003561082730000095
wherein, tpFor the preview time, Δ y is the lateral error, and Δ y is calculated by the following formula:
Δy＝yd-yv
wherein, ydIs the lateral distance, y, from the pre-pointing point to the desired trajectory pointvThe lateral distance from a vehicle control point of the target vehicle to the preview point;
on the basis, longitudinal control information corresponding to the target vehicle is calculated by adopting a PID control algorithm.
How to determine the reverse control information according to the error information and the gear input information corresponding to the target vehicle is described in detail below:
suppose that:
a. the longitudinal speed of the tractor corresponding to the target vehicle is unchanged;
b. considering only the yaw and lateral motion of the target vehicle;
c. ignoring vehicle roll and pitch effects of the target vehicle;
d. ignoring lateral load transfer of the target vehicle;
e. the front axle of the tractor follows Ackerman steering;
f. there is no sensing noise and problems.
For the sake of simplicity, the tractor and the trailer in each kinematic formula below are both the tractor corresponding to the target vehicle and the trailer corresponding to the target vehicle.
Referring to fig. 7a and 7b, fig. 7a is a schematic diagram of vehicle kinematics modeling corresponding to a target vehicle according to an embodiment of the present invention, where ft is an equivalent front axle of a tractor, rt is an equivalent rear wheel (hinge point) of the tractor, rs is an equivalent rear axle of a trailer, θ is a rotation angle of the front wheel of the tractor,
Figure BDA0003561082730000096
is the trailer yaw angle (course angle),
Figure BDA0003561082730000097
is the yaw angle (course angle) of the tractor, LtThe wheelbase of the tractor, o is the instant center of the tractor rotation, o' is the instant center of the trailer rotation, LsThe distance from the equivalent shaft of the trailer to the hinge point, R is the turning radius, and v is the actual vehicle speed.
The tractor equivalent front axle kinematic equation is as follows:
Figure BDA0003561082730000101
Figure BDA0003561082730000102
wherein the content of the first and second substances,
Figure BDA0003561082730000103
is the abscissa of the equivalent front axle of the tractor,
Figure BDA0003561082730000104
is the ordinate of the equivalent front axle of the tractor.
The tractor equivalent rear axle kinematic equation is as follows:
vrt＝vcosθ
Figure BDA0003561082730000105
Figure BDA0003561082730000106
vrtthe speed of the tractor is equivalent to the speed of the rear wheel (hinged point),
Figure BDA0003561082730000107
for the equivalent rear wheel (hinge point) of the tractorThe coordinates of the position of the object to be imaged,
Figure BDA0003561082730000108
is the ordinate of the equivalent rear wheel (hinge point) of the tractor.
Trailer equivalent axle kinematic equation:
Figure BDA0003561082730000109
Figure BDA00035610827300001010
Figure BDA00035610827300001011
vrsin order to speed the equivalent rear axle of the trailer,
Figure BDA00035610827300001012
is the abscissa of the equivalent rear axle of the trailer,
Figure BDA00035610827300001013
is the ordinate of the equivalent rear axle of the trailer.
From this, the following relationship can be determined from the relationship of the instant centers of rotation of the tractor and trailer:
Figure BDA00035610827300001014
Figure BDA00035610827300001015
Figure BDA00035610827300001016
Figure BDA00035610827300001017
wherein R isft-oThe distance R from the equivalent front axle of the tractor to the instant center of rotation of the tractorrt-oThe distance from the equivalent rear wheel (hinged point) of the tractor to the instant center of rotation of the tractor, Rrt-o′The distance R from the equivalent rear wheel (hinged point) of the tractor to the instant center of rotation of the trailerrs-o′The distance from the equivalent rear axle of the trailer to the instant center of rotation of the trailer.
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003561082730000111
can be calculated by the following formula:
Figure BDA0003561082730000112
wherein the content of the first and second substances,
Figure BDA0003561082730000113
and
Figure BDA0003561082730000114
the calculation can be made by the following formula:
Figure BDA0003561082730000115
Figure BDA0003561082730000116
Figure BDA0003561082730000117
the angular velocity of the heading of the tractor is,
Figure BDA0003561082730000118
is the trailer course angular velocity.
The relation between the difference between the tractor course angular velocity and the trailer course angular velocity and the rotation angle and the vehicle speed of the tractor can be obtained according to the formula:
Figure BDA0003561082730000119
as shown in fig. 8, in the process of backing up the target vehicle, the intermediate trailer axle corresponding to the target vehicle is used as a vehicle control point, and the tracking point of the target vehicle is determined, and the vehicle control point and the tracking point are completely overlapped in the control target.
Because the speed of the target vehicle is very low in the process of backing the target vehicle, the trailer needs to do large yaw movement from the vehicle control point to the tracking point to reach the tracking point in the process of backing the vehicle, namely the expected yaw velocity of the trailer in the distance from the vehicle control point to the tracking point is obtained according to the relative pose relation of the vehicle paths
Figure BDA00035610827300001110
Referring to fig. 9, fig. 9 is a pre-address schematic diagram corresponding to a target vehicle according to an embodiment of the present invention, in a vehicle body coordinate system, an origin O is a camera mounting point, a forward direction of an x-axis is a vehicle forward direction, and a forward direction of a y-axis is as shown in fig. 9 according to a right-hand rule.
Based on the assumption of constant longitudinal speed and horizontal uniform acceleration/deceleration motion, the preview time tpThe coordinates of the target vehicle are then:
Figure BDA0003561082730000121
wherein the content of the first and second substances,
Figure BDA0003561082730000122
is the abscissa of the pre-aiming point,
Figure BDA0003561082730000123
is the ordinate of the preview point, ayIs the lateral acceleration.
When the driver selects the pre-aiming distance, the principle of minimum error is preferably followed, namely the transverse error delta y between the pre-aiming distance and the expected track point is minimum, namely the index function J is minimum:
j ═ min Δ y, and it can be determined
Figure BDA0003561082730000124
With reference to fig. 9, it can be determined that Δ y ═ yd-yvAnd further according to rigid body kinematics relationship
Figure BDA0003561082730000125
It can be determined that:
Figure BDA0003561082730000126
wherein, tpIn order to predict the time of the sighting,
Figure BDA0003561082730000127
is the desired trailer heading angle.
That is, the target vehicle is to be driven at the desired trailer heading angle during the course from the current position of the target vehicle to the home position
Figure BDA0003561082730000128
The rotation can ensure the minimum transverse error. In obtaining
Figure BDA0003561082730000129
Then, based on the kinematic formula, the front wheel corner of the tractor can be obtained:
Figure BDA00035610827300001210
Figure BDA00035610827300001211
obtained through the calculation of the pre-aiming,
Figure BDA00035610827300001212
the yaw rate of the tractor CAN be read from the CAN of the target vehicle, v, Lt, Ls,
Figure BDA0003561082730000131
As is known, by solving the trigonometric function equation, the tractor steering angle corresponding to the target vehicle can be obtained.
Figure BDA0003561082730000132
And theta is the tractor corner corresponding to the target vehicle.
It should be noted that, for the sake of simplicity of description, the following description will be made
Figure BDA0003561082730000139
Is set to c; will be provided with
Figure BDA0003561082730000134
Is set as a; will be provided with
Figure BDA0003561082730000135
Set to b, this can result in:
c＝asinθ-bcosθ
Figure BDA0003561082730000136
(c-asinθ)2＝b2(1-(sinθ)2)
(a2+b2)(sinθ)2-2acsinθ+(c2-b2)＝0
Figure BDA0003561082730000137
further steering wheel angle:
δ＝k*θ；
where k is the angular transmission ratio, a vehicle design parameter.
As described above with respect to the calculation manner of the steering wheel angle, PID control may be employed as a manner of drive control and brake control for the target vehicle during reversing:
Figure BDA0003561082730000138
wherein Δ v is the longitudinal velocity error and kp is the P coefficient (scaling factor) of the PID controller; kd is the D coefficient (differential coefficient) of the PID controller; ki is an I coefficient (integral coefficient) of the PID controller, when Ctrl _ Lng is greater than 0, the target vehicle is in a driving state, and the Ctrl _ Lng is driving information; and when Ctrl _ Lng is less than 0, the target vehicle is in a braking state, and the Ctrl _ Lng is braking information.
That is, when the vehicle speed of the target vehicle is lower than the desired value, the throttle opening is increased; when the vehicle speed of the target vehicle is higher than the desired value, the brake pressure is increased.
107. And carrying out backing control on the target vehicle according to the backing control information.
In this embodiment, after determining the reverse control information, the reverse control device may send the reverse control information, that is, the steering wheel angle, the throttle opening, and the brake pressure to the drive-by-wire actuator corresponding to the target vehicle, and the drive-by-wire actuator performs response, so that the control point of the vehicle and the tracking point on the desired trajectory are finally made to coincide as much as possible, thereby implementing high-precision trajectory following
In summary, it can be seen that the reverse control apparatus may obtain vehicle state information of a target vehicle, where the vehicle state information includes an inertial sensor signal, a wheel speed, and a wheel speed direction corresponding to the target vehicle; determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information; determining an expected track point corresponding to the target vehicle; determining a tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point position corresponding to the target vehicle; calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position; determining reverse control information according to the error information and gear input information corresponding to the target vehicle; and carrying out backing control on the vehicle according to the backing control information to realize accurate backing of the vehicle.
The embodiment of the present invention is explained above from the perspective of a reverse control method, and the embodiment of the present invention is explained below from the perspective of a reverse control device.
Referring to fig. 10, fig. 10 is a schematic view of a virtual structure of a reverse control device according to an embodiment of the present invention, where the reverse control device 1000 includes:
an obtaining unit 1001 configured to obtain vehicle state information of a target vehicle, where the vehicle state information includes an inertial sensor signal, a wheel speed, and a wheel speed direction corresponding to the target vehicle;
a first determining unit 1002, configured to determine, according to the vehicle state information, a vehicle control point pose corresponding to the target vehicle;
a second determining unit 1003, configured to determine an expected track point corresponding to the target vehicle;
a third determining unit 1004, configured to determine a tracking point corresponding to the target vehicle according to the expected track point and a vehicle control point location position corresponding to the target vehicle;
a calculating unit 1005, configured to calculate error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point location;
the fourth determining unit 1006 is configured to determine reverse control information according to the error information and gear input information corresponding to the target vehicle;
and the control unit 1007 is used for controlling the vehicle to back according to the back control information.
In summary, compared with the prior art, in the embodiment provided by the invention, the pose of the vehicle control point is determined according to the vehicle state information, the expected track point is determined according to the pose of the vehicle control point and the input information, the tracking point on the expected track is determined according to the expected track point and the control point corresponding to the vehicle, the error information between the vehicle control point and the tracking point is calculated according to the tracking point on the expected track and the pose of the vehicle control point, the reversing control information is determined according to the error information and the activation signal, and the vehicle is controlled to reverse according to the reversing control information, so that the accurate reversing of the vehicle is realized.
It should be noted that the principle and technical effect of the reversing control device 1000 implementing the present invention are similar to those of the reversing control method shown in fig. 1, which has already been described in detail above, and are not described herein again in detail.
Fig. 11 is a schematic structural diagram of the server according to the present invention, and as shown in fig. 11, the server 1100 of this embodiment includes at least one processor 1101, at least one network interface 1104 or other user interface 1103, a memory 1105, and at least one communication bus 1102. The server 1100 optionally contains a user interface 1103 including a display, keyboard or pointing device. Memory 1105 may comprise high speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory). The memory 1105 stores execution instructions, and when the server 1100 runs, the processor 1101 communicates with the memory 1105, and the processor 1101 calls the instructions stored in the memory 1105 to execute the above-described push method of the product comment data. Operating system 1106, contains various programs for implementing various basic services and for handling hardware-based tasks.
In the server provided by the embodiment of the present invention, the processor 1101 may execute the operations executed by the reversing control device to implement the reversing control method, which has similar implementation principles and technical effects and is not described herein again in detail.
The embodiment of the present invention further provides a computer-readable medium, which includes a computer execution instruction, where the computer execution instruction can enable a server to execute the car-backing control method described in the foregoing embodiment, and the implementation principle and the technical effect are similar, and are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of controlling reverse, comprising:
acquiring vehicle state information of a target vehicle, wherein the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle;
determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information;
determining an expected track point corresponding to the target vehicle;
determining a tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point position corresponding to the target vehicle;
calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position;
determining reverse control information according to the error information and gear input information corresponding to the target vehicle;
and carrying out backing control on the target vehicle according to the backing control information.
2. The reversing control method according to claim 1, wherein the determining the position of the vehicle control point corresponding to the target vehicle according to the vehicle state information comprises:
constructing a coordinate system according to the vehicle control points and the advancing direction of the vehicle body corresponding to the target vehicle, wherein the origin of the coordinate system is the position of the target vehicle at the starting moment;
determining target coordinates of the target vehicle in the coordinate system;
and determining the target coordinates and the attribute information corresponding to the target vehicle as the vehicle control point pose.
3. The reversing control method according to claim 1, wherein the determining the desired track point corresponding to the target vehicle comprises:
determining a starting position corresponding to the target vehicle;
and determining an expected track point corresponding to the target vehicle based on the starting position and a preset recording interval.
4. The reversing control method according to claim 1, wherein the determining the tracking point corresponding to the target vehicle according to the expected track point and the vehicle control point gesture corresponding to the target vehicle comprises:
determining a target closest point corresponding to the target vehicle in the expected track points;
determining a target front point and a target rear point corresponding to the closest point according to the target closest point, the number of the expected track points and the corresponding traveling direction of the target vehicle, wherein the target front point and the target rear point are points adjacent to the target closest point on the expected track points;
and determining the tracking point according to the vehicle control point pose, the target closest point, the target front point and the target rear point.
5. The method of claim 4, wherein the determining a target closest point of the desired trajectory points that corresponds to the target vehicle comprises:
determining the target closest point by the formula:
ApV＝min(A1V，A2V,...,AnV)；
wherein A is1For the starting point in the desired track point, AnAnd the expected track point is a terminal point in the expected track points, the expected track points comprise p waypoints, and V is the waypoint where the target vehicle is located currently.
6. The method of any one of claims 1 to 4, wherein the error information includes a lateral error, a heading angle error, and a longitudinal velocity error, and wherein calculating the error information between the vehicle control point and the tracking point from the tracking point and the vehicle control point pose comprises:
the lateral error is calculated by the following formula:
Figure FDA0003561082720000021
wherein dy is yM-yV，dx＝xM-xVThe coordinate of the tracking point is (x)M,yM) The coordinates of the vehicle control point are (x)V,yV) And deltay is the lateral error,
Figure FDA0003561082720000022
the waypoint course angle is the tracking point;
calculating the course angle error by the following formula:
Figure FDA0003561082720000023
wherein the content of the first and second substances,
Figure FDA0003561082720000024
for the said course angle error, the angular error of the heading,
Figure FDA0003561082720000025
is the waypoint heading angle for the tracking point,
Figure FDA0003561082720000026
the waypoint course angle is the vehicle control point;
the longitudinal velocity error is calculated by the following equation:
Δv＝vd-v；
where Δ v is the longitudinal velocity error, vdIs the desired reverse speed of the target vehicle, and v is the actual speed of the target vehicle.
7. The method of claim 6, wherein the reverse control information comprises steering wheel angle and longitudinal control information corresponding to the target vehicle, the longitudinal control information comprises driving information or braking information, and determining the reverse control information according to the error information and gear input information corresponding to the target vehicle comprises:
calculating a steering wheel angle corresponding to the target vehicle by the following formula:
δ＝k*θ；
wherein δ is the steering wheel angle, k is an angular transmission ratio corresponding to the target vehicle, θ is a tractor angle corresponding to the target vehicle, and θ is calculated by the following formula:
Figure FDA0003561082720000031
wherein the content of the first and second substances,
Figure FDA0003561082720000032
Figure FDA0003561082720000033
the target vehicle is the trailer yaw rate,
Figure FDA0003561082720000034
yaw rate, L, of tractor corresponding to the target vehicletTo the order ofThe distance between the front and the rear axles of the tractor corresponding to the target vehicle, v is the actual speed of the target vehicle, and LsThe distance between the trailer lamp effect shaft corresponding to the target vehicle and the hinge point,
Figure FDA0003561082720000035
the calculation is carried out by the following formula:
Figure FDA0003561082720000036
where Δ y is the lateral error, tpIs the preview time;
and calculating the longitudinal control information corresponding to the target vehicle through the following formula.
Figure FDA0003561082720000037
Where Δ v is the longitudinal velocity error and kp is the P coefficient (scaling factor) of the PID controller; kd is the D coefficient (differential coefficient) of the PID controller; ki is an I coefficient (integral coefficient) of the PID controller, when Ctrl _ Lng is greater than 0>0, the target vehicle is in a driving state, and the Ctrl _ Lng is driving information; and when Ctrl _ Lng is less than 0 and less than 0, the target vehicle is in a braking state, and the Ctrl _ Lng is braking information.
8. A reverse control apparatus, comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring vehicle state information of a target vehicle, and the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle;
the first determining unit is used for determining the vehicle control point pose corresponding to the target vehicle according to the vehicle state information;
the second determining unit is used for determining an expected track point corresponding to the target vehicle;
a third determining unit, configured to determine a tracking point corresponding to the target vehicle according to the expected track point and a vehicle control point location position corresponding to the target vehicle;
the calculation unit is used for calculating error information between the vehicle control point and the tracking point according to the tracking point and the vehicle control point position;
the fourth determining unit is used for determining reversing control information according to the error information and gear input information corresponding to the target vehicle;
and the control unit is used for carrying out backing control on the vehicle according to the backing control information.
9. A computer device, comprising:
at least one connected processor, memory, and transceiver;
wherein the memory is configured to store program code and the processor is configured to call the program code in the memory to perform the steps of the reverse control method according to any one of claims 1 to 7.
10. A computer storage medium, comprising:
instructions which, when run on a computer, cause the computer to perform the steps of the reverse control method of any one of claims 1 to 7.
CN202210293276.8A 2022-03-23 2022-03-23 Reversing control method and device and storage medium Pending CN114670834A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115431980A (en) * 2022-09-05 2022-12-06 北京主线科技有限公司 Automatic vehicle driving method, device, equipment and medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115431980A (en) * 2022-09-05 2022-12-06 北京主线科技有限公司 Automatic vehicle driving method, device, equipment and medium

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