CN114906138A

CN114906138A - Vehicle control method, device, equipment and medium

Info

Publication number: CN114906138A
Application number: CN202210471282.8A
Authority: CN
Inventors: 柴嘉峰; 李超群; 陈远龙; 罗凤梅; 隋记魁; 李林丰; 李世豪
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-08-16

Abstract

The application provides a vehicle control method, device, equipment and medium. The method comprises the following steps: determining a vehicle motion state sequence in a preset time period according to the vehicle motion state and the reference motion state at the current moment; determining a control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence; and controlling the vehicle according to the control command sequence. According to the method and the device, the response delay of the actuator caused by the delay can be made up, so that conditions are provided for improving the track tracking effect.

Description

Vehicle control method, device, equipment and medium

Technical Field

The embodiment of the application relates to the technical field of vehicle control, in particular to a vehicle control method, device, equipment and medium.

Background

Because the automatic driving technology can depend on the cooperative cooperation of computer vision, radar, a monitoring device, a global positioning system and the like, the automatic driving can be realized without manual active operation, and the automatic driving technology is increasingly applied to vehicles.

Currently, an automatic driving system mainly comprises sensing, data fusion, decision making, control and the like. Among these functions, the Motion Control Module (MC) plays a role of starting and stopping, receives a planned trajectory output by the trajectory planning module (Motion Plan, MP), and calculates a desired Control command, such as a desired acceleration, a desired yaw rate, and the like, based on the planned trajectory in combination with the Motion state of the vehicle. And then, the Control instruction is issued to a Vehicle Control module (VC for short), so that the VC module converts the Control instruction into an actuator interface signal by combining Vehicle dynamics and physical parameters of the whole Vehicle, and sends the actuator interface signal to a related actuator, and the related actuator controls the Vehicle based on the Control signal. The actuator may be an Electronic Power Steering (EPS) system, an Electronic Stability Program (ESP) system, or the like.

However, when the actuator controls the vehicle based on the control signal, a large delay exists, that is, a large delay exists in the response process of the actuator, so that the problems that the response of the whole vehicle control is delayed and the track tracking effect is poor are caused.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle control medium, which can make up for actuator response delay caused by delay, so that conditions are provided for improving a track tracking effect.

In a first aspect, an embodiment of the present application provides a vehicle control method, including:

determining a vehicle motion state sequence in a preset time period according to the vehicle motion state and the reference motion state at the current moment;

determining a control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence;

and controlling the vehicle according to the control command sequence.

In a second aspect, an embodiment of the present application provides a vehicle control apparatus, including:

the first determination module is used for determining a vehicle motion state sequence in a preset time period according to the vehicle motion state at the current moment and a reference motion state;

the second determination module is used for determining a control instruction sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence;

and the control module is used for controlling the vehicle according to the control instruction sequence.

In a third aspect, an embodiment of the present application provides a vehicle control apparatus including:

a processor and a memory, the memory being used for storing a computer program, the processor being used for calling and running the computer program stored in the memory to execute the vehicle control method according to the embodiment of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium for storing a computer program, where the computer program makes a computer execute the vehicle control method in the first aspect.

In a fifth aspect, the present application provides a computer program product, which includes a computer program/instruction, when executed by a processor, to implement the vehicle control method described in the embodiment of the first aspect.

The technical scheme disclosed by the embodiment of the application has the following beneficial effects:

the method comprises the steps of determining a vehicle motion state sequence in a preset time period according to a vehicle motion state and a reference motion state at the current moment, determining a control instruction sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence, and controlling the vehicle according to the control instruction sequence. Therefore, when the vehicle is controlled based on the control instruction sequence, the corresponding control instruction can be selected according to the delay of the actuator, so that the response delay of the actuator caused by the delay is compensated, and conditions are provided for improving the track tracking effect.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart diagram of a vehicle control method provided by an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram of another vehicle control method provided by an embodiment of the present application;

FIG. 3 is a schematic flow chart diagram illustrating another vehicle control method provided by an embodiment of the present application;

FIG. 4 is a schematic block diagram of a vehicle control apparatus provided in an embodiment of the present application;

fig. 5 is a schematic block diagram of a vehicle control device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, 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 application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

When a Vehicle Control module (VC) of the automatic driving system controls a related actuator to Control a Vehicle based on a Control instruction issued by a Motion Control Module (MC), the Vehicle Control module has a larger time delay when the actuator controls the Vehicle based on the Control signal issued by the VC module, so that the whole Vehicle Control has a response lag and the track tracking effect is poor. Therefore, the method capable of compensating the actuator response delay caused by the delay is designed, and the vehicle track tracking effect is improved through the method.

For clarity of the present application, first, the implementation principle of the vehicle control method of the present application will be described. Specifically, when the vehicle has an automatic Driving System, and the automatic Driving System is an Advanced Driving Assistance System (ADAS), since the ADAS usage scenario is simple, the motion control of the vehicle is generally divided into lateral control and longitudinal control, and the lateral control command and the longitudinal control command are calculated independently from each other. However, in practice, the transverse and longitudinal motions of the vehicle are highly coupled, the transverse and longitudinal motions can affect and restrict each other, and in a complex and variable automatic driving scene, ideal control effect cannot be achieved by decoupling control. Therefore, the present application preferably determines a control command sequence in a future period by using a lateral-longitudinal coupled motion control method, and controls the vehicle based on the control command sequence.

That is to say, this application adopts the motion control method of horizontal and vertical coupling, compares and carries out motion control in horizontal and vertical independence and can make horizontal and vertical motion control influence each other and restrict each other to accord with real vehicle motion condition more, and then can deal with complicated changeable autopilot scene.

A vehicle control method provided in an embodiment of the present application is described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present disclosure. The vehicle control method provided by the embodiment of the application can be executed by a vehicle control device so as to realize the control of the real-time control process of the vehicle. The vehicle control device may be composed of hardware and/or software, and may be integrated in a vehicle control apparatus.

As shown in fig. 1, the vehicle control method includes the steps of:

s101, determining a vehicle motion state sequence in a preset time period according to the vehicle motion state and the reference motion state at the current moment.

In this embodiment, the vehicle motion state specifically refers to an operation parameter of the vehicle in a cartesian coordinate system. The motion parameters may include: longitudinal position, lateral position, heading angle, vehicle speed, yaw rate, and the like.

The reference motion state specifically refers to obtaining a reference vehicle speed and a reference heading angle corresponding to the moment in a reference track according to the current moment.

It should be noted that the reference trajectory is a planned trajectory output by a trajectory planning module (Motion Plan, MP for short). The reference track comprises track point coordinates, a course angle, curvature, speed, acceleration information and other information corresponding to each moment.

In the present embodiment, the preset time period may be understood as a prediction time domain window, and the preset time period may be set according to the vehicle control requirement, which is not limited herein. The preset time period is considered to have great influence on the calculation result of the control instruction sequence determined subsequently. Theoretically, the longer the preset time period is, that is, the larger the prediction time domain window is, the more sampling points can be predicted correspondingly (that is, the longer the prediction distance is), so that the control instruction sequence is more accurate, and the vehicle driving track is more fit with the reference track. However, as the preset time period increases, the dimension of the matrix involved in the MC module increases correspondingly, which further causes the calculation amount to increase significantly, thereby affecting the real-time performance of the calculation and placing higher requirements on the hardware performance of the MC module.

In contrast, the present application employs a non-uniform sampling manner for the preset time period, that is, the sampling period of the first i sampling points is the same as the calling period of the MC module, and the non-uniformly increased sampling period is employed from the (i +1) th sampling point to the nth sampling point. The effect formed by adopting the mode is as follows: sampling points of the initial stage of the vehicle motion state sequence prediction are dense and then sparse gradually, so that the problem that the accuracy of a subsequently determined control instruction sequence is low due to the fact that the prediction time domain is too short can be solved, and the situation that the calculation complexity is too high due to too many sound sampling points and then the image real-time performance is caused can be avoided.

For example, the vehicle kinematic model may be used to represent the vehicle motion state at the current time. Then, the vehicle motion state at the next time is calculated based on the vehicle kinematics model in combination with the reference motion state. After the vehicle motion state at the next time is calculated, the present embodiment may determine the motion state sequence of the vehicle within the preset time period according to the vehicle motion state at the next time in a preset manner.

The preset mode is any algorithm or rule capable of determining a motion state sequence of the vehicle within a preset time period based on the motion state of the vehicle at the next time, and the algorithm or rule is not specifically limited herein.

And S102, determining a control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence.

For example, in the present embodiment, the MC module may calculate a first vehicle control command corresponding to the vehicle motion state at the current time, and calculate a second vehicle control command sequence corresponding to the vehicle motion state sequence within the preset time period. Then, a control command sequence of the vehicle is obtained based on the first vehicle control command and the second vehicle control command sequence.

When calculating the second vehicle control command sequence corresponding to the vehicle motion state sequence in the prediction time period, optionally using a quadratic programming solver to solve the vehicle motion state sequence in the prediction time period to obtain the second vehicle control command.

In this embodiment, calculating the first vehicle control instruction corresponding to the vehicle motion state at the current time by using the MC module is a conventional technique, and details thereof are not repeated here.

And S103, controlling the vehicle according to the control command sequence.

After obtaining the control command sequence, the MC module may issue the control command sequence to the VC module. After receiving the control instruction sequence, the VC module may obtain a target control instruction from the control instruction sequence according to its own call cycle and system delay, and send a control signal converted based on the target control instruction to a corresponding actuator, so that the corresponding actuator controls the vehicle according to the control signal.

For example, assume that the call period of the VC module is T, the system delay is 2T, and the call period of the MC module is 5T. And at time T, the control command sequence sent by the MC module is as follows:

where a is the desired acceleration, ω is the desired yaw rate and n is a preset time period (preset time window). Then at the time T, the VC module can obtain a control instruction [ a ] at the time 3T from the control instruction sequence U according to the system delay of 2T ₃ ,ω ₃ ]. At the time of 2T, the VC module can obtain a control instruction [ a ] at the time of 4T from the control instruction sequence U according to the system delay of 2T ₄ ,ω ₄ ]In this analogy, at the time of 5T, the VC module can obtain the control instruction [ a ] at the time of 7T from the control instruction sequence U according to the system delay of 2T ₇ ,ω ₇ ]. At time 6T, the VC module is called a second time, the control instruction sequence U is updated, and the VC module repeats the above operations again.

That is to say, based on the control instruction sequence issued by the MC module, the VC module can acquire a control instruction that is ahead of the current time by one system delay each time, so that when the actuator is controlled based on the ahead control instruction to control the vehicle, the problem of vehicle control delay caused by delay can be compensated to a considerable extent, and the vehicle can track the planned trajectory output by the MP module as much as possible.

According to the vehicle control method provided by the embodiment of the application, the vehicle motion state sequence in the preset time period is determined according to the vehicle motion state and the reference motion state at the current moment, the control instruction sequence of the vehicle is determined according to the vehicle motion state and the vehicle motion state sequence, and then the vehicle is controlled according to the control instruction sequence. Therefore, when the vehicle is controlled based on the determined control instruction sequence, the corresponding control instruction can be selected according to the delay of the actuator, so that the response delay of the actuator caused by the delay is compensated, and conditions are provided for improving the track tracking effect.

As can be seen from the above description, the embodiment of the present application controls the vehicle through the control command sequence determined according to the vehicle motion state at the current time and the vehicle motion state sequence.

On the basis of the above embodiment, the present embodiment further optimizes the determination of the vehicle motion state sequence within the preset time period according to the vehicle motion state at the current time and the reference motion state. The following describes the above optimization process of the vehicle control method provided in the embodiment of the present application with reference to fig. 2.

As shown in fig. 2, the method may include the steps of:

s201, determining the vehicle motion state at the next moment according to the vehicle motion state at the current moment and the reference motion state by using the vehicle kinematic model.

For example, the present application may first represent the vehicle motion state at the current time by using the vehicle kinematics model, and then determine the vehicle motion state at the next time based on the vehicle kinematics model and the reference motion state.

The vehicle kinematic model is used to represent the vehicle motion state at the current moment, which may be specifically expressed by the following formula (1):

wherein x is the longitudinal position of the vehicle at the current moment, y is the transverse position of the vehicle at the current moment, theta is the heading angle of the vehicle at the current moment, nu is the vehicle speed of the vehicle at the current moment and omega is the yaw speed of the vehicle at the current moment.

In the embodiment of the present application, the vehicle motion state at the next time is determined based on the vehicle kinematic model and the reference motion state, which can be specifically realized by the following formula (2):

wherein k +1 is the next moment, x (k +1) is the longitudinal position of the vehicle at the next moment, y (k +1) is the transverse position of the vehicle at the next moment, theta (k +1) is the course angle of the vehicle at the next moment, a (k +1) is the acceleration of the vehicle at the next moment, omega (k +1) is the yaw angular velocity of the vehicle at the next moment, k is the current moment, v _r (k) Is a reference vehicle speed at the present time, theta _r The reference heading angle at the current moment, T is a sampling period (calling period) of the VC module, x (k) is a vehicle longitudinal position at the current moment, y (k) is a vehicle lateral position at the current moment, θ (k) is a vehicle heading angle at the current moment, a (k) is a vehicle acceleration at the current moment and ω (k) is a vehicle yaw rate at the current moment, Δ a (k) is a desired acceleration at the current moment and Δ ω (k) is a desired yaw rate at the current moment.

S202, determining a motion state sequence of the vehicle within a preset time period according to the motion state of the vehicle at the next moment.

Exemplarily, determining a motion state sequence of the vehicle within a preset time period according to a motion state of the vehicle at a next time includes: determining the vehicle motion state at a new moment according to the vehicle motion state at the next moment; and determining the motion state sequence of the vehicle in the preset time period according to the motion state of the vehicle at the next moment and the motion state of the vehicle at the new moment.

The new time is preferably the last time in a preset time period, for example, the current time is the kth time, the preset time period has n times, and then the new time may be the kth + n times.

As an optional implementation manner, in this embodiment, the vehicle motion state at the new time is determined according to the vehicle motion state at the next time, and the specific implementation process is as follows:

order to

And

then, according to the formula (2) corresponding to the vehicle motion state at the next time, obtaining the vehicle motion state at the new time, that is, obtaining the vehicle motion state at the new time by transformation according to the formula (2), specifically according to the following formula (3):

after determining the vehicle motion state at a new time, the present application may optionally obtain a motion state sequence expression of the vehicle in the preset time period according to the above equations (2) and (3), specifically as shown in the following equation (4):

in order to simplify the above equation (4), the present embodiment optionally makes

Then equation (4) can be simplified as shown in equation (5) below:

X＝Φ*X(k)+Θ*ΔU……………………………(5)

wherein, X is a motion state sequence of the vehicle within a preset time period, X (k) is a motion state of the vehicle at the current time, and Δ U is a control command of the vehicle within the preset time period.

S203, determining a control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence.

And S204, controlling the vehicle according to the control command sequence.

On the basis of the above embodiment, the present embodiment further optimizes the determination of the control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence. The following describes the above optimization process of the vehicle control method provided in the embodiment of the present application with reference to fig. 3.

As shown in fig. 3, the method may include the steps of:

s301, determining a vehicle motion state sequence in a preset time period according to the vehicle motion state and the reference motion state at the current moment.

S302, determining a first vehicle control instruction corresponding to the vehicle motion state.

Optionally, in this embodiment, the MC module may be used to calculate the first vehicle control command corresponding to the vehicle motion state at the current time according to the vehicle motion state at the current time and the reference trajectory output by the MP module.

The determination of the first vehicle control command is performed by a conventional technique, which is not described in detail herein.

S303, optimizing the vehicle motion state sequence according to the first weight, the second weight and the performance parameters of the vehicle.

The first weight can be selected as the vehicle motion state variation, and the second weight can be selected as the control variation of the vehicle.

The performance parameters of the vehicle may include basic parameters and operational parameters. In the present embodiment, the basic parameters may include the maximum power, maximum torque, maximum creep gradient, maximum vehicle speed, tire size, and the like of the vehicle; the operation parameter may be a parameter corresponding to the vehicle operation, such as a current power, a current vehicle speed, a shortest braking distance corresponding to the current vehicle speed, and the like.

In order to obtain the optimal control command delta U of the vehicle in the preset time period, the deviation between the predicted vehicle motion state sequence and the reference motion state sequence is minimum, and meanwhile, the control command is prevented from frequently appearing on edges. The method and the device optimize the vehicle motion state sequence for the first time by constructing an objective function. And the reference motion state sequence is obtained according to the reference track output by the MP module.

For example, the vehicle motion state sequence may be optimized for the first time according to the first weight and the second weight, as shown in the following equation (6):

J(ΔU)＝(X-X _ref ) ^T *Q*(X-X _ref )+ΔU ^T *R*ΔU………………(6)

wherein J () is a constructed objective function, X represents a vehicle motion state sequence, and X _ref To obtain a reference motion state sequence from the reference trajectory output by the MP module, X _ref ＝[X _ref (k)X _ref (k+1)...X _ref (k+n-1)X _ref (k+n)]，() ^T For transposition, Q is a first weight, R is a second weight, and Δ U is a control command of the vehicle within a preset time period. In the embodiment of the present application, Q and R are empirical values, and may be adaptively set as needed, and are not particularly limited herein.

After the vehicle motion state sequence after the first optimization is obtained, in order to better conform to the actual running condition of the vehicle, the vehicle motion state sequence after the first optimization can be optimized for the second time according to the performance parameters of the vehicle, so that kinematics or kinematic constraints are added to the Δ U.

Illustratively, according to the performance parameters of the vehicle, the vehicle motion state sequence after the first optimization is optimized for the second time, which is specifically shown in the following formula (7):

where lb is the minimum of the kinematic constraint and ub is the maximum of the kinematic constraint. In the embodiment of the present application, lb and ub are empirical values, and may be adaptively set as needed, and are not particularly limited herein.

And S304, determining the second vehicle control command sequence according to the optimized vehicle motion state sequence by using a quadratic programming solver.

After the vehicle motion state sequence is optimized twice, the second vehicle control command sequence corresponding to the optimized vehicle motion state sequence can be solved by using a quadratic programming solver.

The solving of the optimized vehicle motion state sequence by using a quadratic programming solver is a conventional technique, and is not described in detail herein.

S305, determining a control command sequence of the vehicle according to the first vehicle control command and the second vehicle control command sequence.

For example, the first vehicle control instruction sequence and the second vehicle control instruction sequence may be spliced in chronological order to obtain the vehicle control instruction sequence.

As an optional implementation manner, after the first vehicle control instruction and the second vehicle control instruction sequence are spliced according to the time sequence, the obtained vehicle control instruction sequence may be represented by the following formula (8):

U＝[U(k)U(k+1)...U(k+n-1)U(k+n)]…………………(8)

and S306, controlling the vehicle according to the control command sequence.

A vehicle control device according to an embodiment of the present application will be described with reference to fig. 4. Fig. 4 is a schematic block diagram of a vehicle control device provided in an embodiment of the present application. As shown in fig. 4, the vehicle control device 400 includes: a first determination module 410, a second determination module 420, and a control module 430.

The first determining module 410 is configured to determine a vehicle motion state sequence within a preset time period according to a vehicle motion state at a current time and a reference motion state;

a second determining module 420, configured to determine a control command sequence of the vehicle according to the vehicle motion state and the vehicle motion state sequence;

and a control module 430, configured to control the vehicle according to the control instruction sequence.

In an optional implementation manner of this embodiment of this application, the first determining module 420 includes:

a first determination unit for determining a vehicle motion state at a next time from the vehicle motion state at the current time and a reference motion state by using a vehicle kinematics model;

and the second determining unit is used for determining the motion state sequence of the vehicle in a preset time period according to the motion state of the vehicle at the next moment.

In an optional implementation manner of the embodiment of the present application, the second determining unit is specifically configured to:

determining the vehicle motion state at a new moment according to the vehicle motion state at the next moment;

and determining the motion state sequence of the vehicle within a preset time period according to the motion state of the vehicle at the next moment and the motion state of the vehicle at the new moment.

In an optional implementation manner of the embodiment of the present application, the second determining module 420 is specifically configured to:

determining a first vehicle control instruction corresponding to the vehicle motion state;

determining a second vehicle control instruction sequence according to the vehicle motion state sequence;

and determining a control command sequence of the vehicle according to the first vehicle control command and the second vehicle control command sequence.

In an optional implementation manner of the embodiment of the present application, the apparatus 400 further includes: an optimization module;

the optimization module is used for optimizing the vehicle motion state sequence according to the first weight, the second weight and the performance parameters of the vehicle.

In an optional implementation manner of the embodiment of the present application, the second determining module 420 is further configured to:

and determining the second vehicle control command sequence according to the optimized vehicle motion state sequence by utilizing a quadratic programming solver.

According to the vehicle control device, the vehicle motion state sequence in the preset time period is determined according to the vehicle motion state and the reference motion state at the current moment, the control command sequence of the vehicle is determined according to the vehicle motion state and the vehicle motion state sequence, and then the vehicle is controlled according to the control command sequence. Therefore, when the vehicle is controlled based on the determined control instruction sequence, the corresponding control instruction can be selected according to the delay of the actuator, so that the response delay of the actuator caused by the delay is compensated, and conditions are provided for improving the track tracking effect.

It should be understood that vehicle control apparatus embodiments and vehicle control method embodiments may correspond to one another and similar descriptions may be made with reference to method embodiments. To avoid repetition, further description is omitted here. Specifically, the vehicle control device 400 shown in fig. 4 may execute the method embodiment corresponding to fig. 1, and the foregoing and other operations and/or functions of the modules in the vehicle control device 400 are respectively for implementing the corresponding flows in the methods in fig. 1, and are not repeated herein for brevity.

The vehicle control apparatus 400 of the embodiment of the present application is described above from the perspective of the functional modules in conjunction with the drawings. It should be understood that the functional modules may be implemented by hardware, by instructions in software, or by a combination of hardware and software modules. Specifically, the steps of the vehicle control method in the embodiment of the present application may be completed through an integrated logic circuit of hardware in the processor and/or instructions in the form of software, and the steps of the vehicle control method disclosed in the embodiment of the present application may be directly implemented as a hardware decoding processor, or may be implemented by a combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in random access memory, flash memory, read only memory, programmable read only memory, electrically erasable programmable memory, registers, and the like, as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps in the above method embodiments in combination with hardware thereof.

As shown in fig. 5, the vehicle control apparatus 500 may include:

a memory 510 and a processor 520, the memory 510 being configured to store a computer program and to transfer the program code to the processor 520. In other words, the processor 520 may call and run a computer program from the memory 510 to implement the vehicle control method in the embodiment of the present application.

For example, the processor 520 may be configured to execute the vehicle control method embodiments described above according to instructions in the computer program.

In some embodiments of the present application, the processor 520 may include, but is not limited to:

general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like.

In some embodiments of the present application, the memory 510 includes, but is not limited to:

volatile memory and/or non-volatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (Synchronous link DRAM), and Direct Rambus RAM (DR RAM).

In some embodiments of the present application, the computer program may be partitioned into one or more modules, which are stored in the memory 510 and executed by the processor 520 to perform the methods provided herein. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, the instruction segments describing the execution of the computer program in the vehicle control device.

As shown in fig. 5, the vehicle control apparatus 500 may further include:

a transceiver 530, the transceiver 530 being connectable to the processor 520 or the memory 510.

The processor 520 may control the transceiver 530 to communicate with other devices, and in particular, may transmit information or data to the other devices or receive information or data transmitted by the other devices. The transceiver 530 may include a transmitter and a receiver. The transceiver 530 may further include one or more antennas.

It should be understood that the various components in the vehicle control device 500 are connected by a bus system that includes a power bus, a control bus, and a status signal bus in addition to a data bus.

The present application also provides a computer storage medium having stored thereon a computer program that, when executed by a computer, enables the computer to execute the vehicle control method of the above-described embodiment. In other words, the present application also provides a computer program product containing instructions, which when executed by a computer, cause the computer to execute the method of the above method embodiments.

When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application occur, in whole or in part, when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the module is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. For example, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by comprising:

and controlling the vehicle according to the control command sequence.

2. The method according to claim 1, wherein determining the vehicle motion state sequence within the preset time period according to the vehicle motion state at the current time and the reference motion state comprises:

determining the vehicle motion state at the next moment according to the vehicle motion state at the current moment and the reference motion state by using the vehicle kinematics model;

and determining the motion state sequence of the vehicle within a preset time period according to the motion state of the vehicle at the next moment.

3. The method of claim 2, wherein determining the sequence of motion states of the vehicle within a preset time period according to the motion state of the vehicle at the next time comprises:

4. The method of claim 1, wherein determining a sequence of control commands for a vehicle based on the vehicle motion state and the sequence of vehicle motion states comprises:

5. The method of claim 4, further comprising:

and optimizing the vehicle motion state sequence according to the first weight, the second weight and the performance parameters of the vehicle.

6. The method of claim 5, wherein determining a second sequence of vehicle control commands based on the sequence of vehicle motion states comprises:

7. A vehicle control apparatus characterized by comprising:

the first determining module is used for determining a vehicle motion state sequence in a preset time period according to the vehicle motion state at the current moment and a reference motion state;

8. A vehicle control apparatus characterized by comprising:

a processor and a memory for storing a computer program, the processor for calling and executing the computer program stored in the memory to perform the vehicle control method of any one of claims 1 to 6.

9. A computer-readable storage medium characterized by storing a computer program for causing a computer to execute the vehicle control method according to any one of claims 1 to 6.

10. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement a vehicle control method according to any one of claims 1 to 6.