CN115402336A - Method, device and equipment for calculating steering wheel angle and readable storage medium - Google Patents
Method, device and equipment for calculating steering wheel angle and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
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Abstract
The application provides a method, a device, equipment and a readable storage medium for calculating a steering wheel angle, wherein when the driving direction of a target vehicle moves transversely, the method for calculating the steering wheel angle provided by the embodiment of the application can determine a first steering wheel angle of the target vehicle at a control terminal of the target vehicle; after determining the first direction wheel angle, a compensation calculation may be performed on the first direction wheel angle based on a preset reverse stretch ratio to obtain a target direction wheel angle of the target vehicle. The method for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the vehicle in transverse motion and the steering wheel angle required for tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the accuracy of vehicle driving.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for calculating a steering angle of a steering wheel.
Background
With the development of scientific technology, the automatic driving technology is gradually developed. In the practical application process, the vehicle executing the automatic driving task can automatically plan an expected driving track route according to the current driving environment peripheral information, and meanwhile, the turning angle of the steering wheel can be timely adjusted by combining the current driving track route of the vehicle executing the automatic driving task, so that the current driving track route of the vehicle executing the automatic driving task does not deviate too much from the expected driving track route planned by the vehicle, and the vehicle executing the automatic driving task can be ensured to drive according to the expected driving track route planned by the vehicle. Therefore, when the current travel track route of the vehicle performing the automatic driving task deviates from the desired travel track route planned by the vehicle itself, the steering wheel of the vehicle may correct the travel direction of the vehicle by adjusting the turning angle of the steering wheel.
When the included angle between the vehicle and the reference line of the vehicle running is increased, the error of calculating the steering wheel angle of the vehicle by using the linear model is also increased, so that the error between the steering wheel angle calculated by using the linear model and the steering wheel angle required for tracking the expected running track route planned by the vehicle self becomes larger.
Disclosure of Invention
The present application is directed to solve at least one of the above technical drawbacks, and in view of the above, the present application provides a method, an apparatus, a device and a readable storage medium for calculating a steering angle of a steering wheel, which are used to solve the technical drawback of the prior art that the error of determining the steering angle of the steering wheel is large.
A method of calculating a steering wheel angle, comprising:
when the driving direction of a target vehicle moves transversely, determining a first direction wheel turning angle of the target vehicle at a control terminal of the target vehicle;
and performing compensation calculation on the first direction wheel steering angle based on a preset reverse stretching rate to obtain a target direction wheel steering angle of the target vehicle.
Preferably, the step of calculating the reverse stretching ratio comprises:
decomposing the running speed of the target vehicle at a gravity center projection point to respectively obtain a nonlinear speed component and a linear speed component at the gravity center;
the nonlinear speed component at the gravity center is simulated into a gravity center circular track, the linear speed component is simulated into a gravity center elliptical track, and the forward stretching rate of the gravity center circular track converted into the gravity center elliptical track is solved;
and obtaining the reverse stretching ratio according to the forward stretching ratio.
Preferably, the step of performing a compensation calculation for the first steering wheel angle to obtain a target steering wheel angle of the target vehicle includes:
decomposing the running speed of the target vehicle at a non-directional wheel to obtain a non-directional wheel linear speed component;
correcting the linear track represented by the non-directional wheel linear velocity component by using the reverse stretching rate, and constructing a conversion relation among the first directional wheel corner, the reverse stretching rate and a target directional wheel corner;
and calculating the target steering wheel angle of the target vehicle according to the conversion relation.
Preferably, the center of gravity projection point is a projection point of the center of gravity of the target vehicle on a road on which the target vehicle is traveling;
the linear speed component at the gravity center comprises a first speed of the running speed of the target vehicle along the tangential direction of the road and a second speed along the normal direction of the road;
and the nonlinear speed component at the gravity center comprises a third speed of the running speed of the target vehicle along the tangential direction of the road and a fourth speed along the normal direction of the road.
Preferably, the step of fitting the nonlinear velocity component at the center of gravity into a center of gravity circular trajectory and fitting the linear velocity component into a center of gravity elliptical trajectory, and solving the forward stretching ratio of the center of gravity circular trajectory transformed into the center of gravity elliptical trajectory comprises:
comparing the first rate with the third rate to obtain a first stretching ratio;
comparing the second rate with the fourth rate to obtain a second stretching ratio;
and substituting the first stretching ratio and the second stretching ratio into an elliptic curvature formula to obtain the positive stretching ratio.
Preferably, the step of determining a first steering wheel angle of the target vehicle comprises:
acquiring the real-time speed of the target vehicle;
determining the real-time rotating radius of the non-directional wheel of the target vehicle by using a preset linear model according to the real-time speed;
and calculating the turning angle of the first directional wheel by utilizing the real-time turning radius of the non-directional wheel and acquiring the distance from the midpoint of the directional wheel axis of the target vehicle to the midpoint of the non-directional wheel axis.
Preferably, the determining whether the traveling direction of the target vehicle moves laterally includes:
determining a first included angle between the body orientation of the target vehicle and the road direction;
judging whether the first included angle is larger than a preset first threshold value or not;
and if the first included angle is larger than the first threshold value, determining that the running direction of the target vehicle transversely moves.
Preferably, the value range of the preset first threshold is [0 °,20 ° ].
A steering wheel angle calculation device comprising:
the device comprises a first calculation unit, a second calculation unit and a control unit, wherein the first calculation unit is used for determining a first direction wheel turning angle of a target vehicle at a control terminal of the target vehicle when the driving direction of the target vehicle moves transversely;
and the second calculation unit is used for performing compensation calculation on the first direction wheel steering angle based on a preset reverse stretching rate to obtain a target direction wheel steering angle of the target vehicle.
A steering wheel angle calculation apparatus comprising: one or more processors, and a memory;
the memory having stored therein computer-readable instructions, wherein the computer-readable instructions, when executed by the one or more processors, implement the steps of the method for calculating a rudder angle in accordance with any one of the preceding introductions.
A readable storage medium having stored therein computer readable instructions, which, when executed by one or more processors, cause the one or more processors to carry out the steps of the method of calculating a rudder wheel angle as described in any one of the preceding introductions.
According to the technical scheme, when the driving direction of the target vehicle moves transversely, the method for calculating the steering wheel angle provided by the embodiment of the application can determine the first steering wheel angle of the target vehicle at the control terminal of the target vehicle; after determining the first steering wheel angle, a compensation calculation may be performed on the first steering wheel angle based on a preset reverse stretch ratio to obtain a target steering wheel angle of the target vehicle. The method for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the vehicle in transverse motion and the steering wheel angle required for tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the accuracy of vehicle driving.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be 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 that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram for comparing three driving effects of a vehicle performing a driving task according to an embodiment of the present application
Fig. 2 is a flowchart of a method for implementing a steering wheel angle calculation according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating an effect of analyzing an instantaneous motion trajectory of a vehicle by using a linearization method according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating an effect of analyzing an instantaneous motion trajectory of a vehicle by using a nonlinear method according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a steering wheel angle calculating apparatus according to an example of the present application;
fig. 6 is a block diagram of a hardware structure of a steering wheel angle calculation device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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.
In the practical application process, the instant running track of the vehicle executing the driving task is subjected to nonlinear analysis according to a kinematic equation to obtain the forward speed of the vehicle along the vehicle body, and the direction wheel rotation angle required by the transverse motion of the vehicle is calculated on the basis of the forward speed, but the calculation amount of the nonlinear analysis method is large, and the direction wheel rotation angle required by the transverse motion of the vehicle cannot be quickly obtained. In the practical application process, in the running process of a vehicle, the timeliness needs to be ensured because the calculation of the steering wheel angle of the vehicle which transversely moves needs to be ensured, so that the steering wheel angle which is needed by the vehicle which executes the driving task and transversely moves needs to be quickly calculated, some considers that the nonlinear analysis is approximately valued, the rotating track of the steering wheel which instantaneously moves of the vehicle is regarded as a circle, on the basis of the approximate valued processing, the kinematic linear analysis is carried out on the instantaneous movement of the vehicle, and the steering wheel angle which is needed by the vehicle to transversely move can be quickly obtained. However, the steering wheel angle of the vehicle for transverse running obtained by linear analysis is often large in error, and the vehicle is prone to deviate from a preset running track route.
For example, as shown in fig. 1 below, fig. 1 illustrates a comparison diagram of three driving effects of a vehicle performing a driving task.
In fig. 1, a rectangular frame is an obstacle that a vehicle performing a driving task needs to avoid during driving, and a dashed curve is a form trajectory route expected by the vehicle performing the driving task.
As shown in the effect diagram (b), if the direction wheel rotation angle required for the lateral movement of the vehicle obtained by the linear analysis is directly used as the direction wheel rotation angle for adjusting the driving direction of the vehicle for performing the driving task, it can be found that the vehicle gradually deviates from the expected driving path of the vehicle as the vehicle travels by following the driving path of the vehicle for performing the driving task.
As shown in the effect diagram of (c), if the steering angle of the steering wheel is adjusted as the vehicle for performing the driving task after adding a steering angle compensation angle to the steering angle of the steering wheel required for the vehicle to make the lateral motion according to the linear analysis, it can be found that the vehicle can travel according to the expected travel track route of the vehicle as the vehicle travels by following the travel track route of the vehicle for performing the driving task.
Therefore, it is necessary to calculate the wheel turning angle of the vehicle obtained by the linear analysis.
In view of the fact that most of the conventional steering wheel angle calculation schemes are difficult to adapt to complex and variable service data, the applicant researches a steering wheel angle calculation scheme, and the calculation method can obtain the steering wheel angle of the vehicle in transverse motion by performing compensation calculation on the first steering wheel angle of the target vehicle determined at the control terminal of the target vehicle, so as to be beneficial to ensuring that the vehicle can run according to a preset running track route.
The method and the device for calculating the steering wheel angle can be applied to any equipment capable of realizing the steering wheel angle calculation, and optionally, the equipment capable of realizing the steering wheel angle calculation can be a vehicle-mounted calculation terminal, and can also be a terminal with data processing capability such as a tablet personal computer and a mobile phone with strong enough calculation capability.
The following describes a flow of a method for calculating a steering wheel angle according to an embodiment of the present application with reference to fig. 2, where the flow may include the following steps:
step S101, when the running direction of a target vehicle moves transversely, a control terminal of the target vehicle determines a first direction wheel steering angle of the target vehicle.
Specifically, during the running of the vehicle, when the running direction of the target vehicle moves laterally, the steering wheel angles required for adjusting different directions are different, so in the method provided by the embodiment of the application, the control terminal of the target vehicle determines the first steering wheel angle of the target vehicle. So that the target steering wheel angle can be determined from the first steering wheel angle.
For example, in order to ensure the calculation timeliness, the method provided by the embodiment of the application can obtain the required steering wheel angle when the vehicle performing the driving task moves transversely by utilizing the linearization analysis.
For example, a preset linear model may be used to calculate a steering wheel angle required for a vehicle performing a driving task to make a lateral motion.
And S102, performing compensation calculation on the first direction wheel steering angle based on a preset reverse stretching rate to obtain a target direction wheel steering angle of the target vehicle.
Specifically, as can be seen from the above description, the method provided in the embodiments of the present application may obtain, by using linearization analysis, a steering wheel angle required by the vehicle performing the driving task when the vehicle is moving laterally, and as can be seen from the above description, the steering wheel angle obtained by the linearization analysis when the vehicle is moving laterally is often relatively large in error, and the vehicle is likely to deviate from the predetermined driving trajectory route.
In order to reduce the error of the steering wheel angle, after the steering wheel angle required by the vehicle performing the driving task when the vehicle performs the transverse motion is obtained by utilizing the linear analysis, the angle compensation is carried out, and then the second steering wheel angle obtained after the angle compensation is used as the target steering wheel angle required by the vehicle performing the driving task when the vehicle performs the transverse motion.
The first direction wheel turning angle is calculated by the vehicle-mounted computing terminal based on the simplified computing model, and experiments show that the first direction wheel turning angle calculated by the vehicle-mounted computing terminal based on the simplified computing model has errors, and the first direction wheel turning angle needs to be corrected by a preset reverse stretching rate, so that a more accurate direction wheel turning angle can be obtained.
Therefore, in order to further determine a target steering wheel angle required for the vehicle performing the driving task to make a lateral motion, after the first steering wheel angle of the target vehicle may be determined, the compensation calculation may be further performed on the first steering wheel angle based on a preset reverse stretch ratio so that the target steering wheel angle of the target vehicle may be obtained.
According to the technical scheme, when the driving direction of the target vehicle moves transversely, the method for calculating the steering wheel angle provided by the embodiment of the application can determine the first steering wheel angle of the target vehicle at the control terminal of the target vehicle; after determining the first direction wheel angle, a compensation calculation may be performed on the first direction wheel angle based on a preset reverse stretch ratio to obtain a target direction wheel angle of the target vehicle. The method for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the vehicle in transverse motion and the steering wheel angle required for tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the accuracy of vehicle driving.
As can be seen from the above description, the method for calculating a steering wheel angle according to the embodiment of the present application may perform compensation calculation on the first steering wheel angle based on a preset reverse stretch ratio to obtain a target steering wheel angle of the target vehicle. Referring next to fig. 3 and 4, the calculation process of the preset reverse stretch ratio will be described, which may include the following steps:
step S201, decomposing the traveling speed of the target vehicle at the barycentric projection point, and obtaining a nonlinear speed component and a linear speed component at the barycentric position, respectively.
Specifically, as can be seen from the above description, the method provided by the embodiment of the present application may determine the steering wheel angle of the target vehicle by using a linearization analysis method.
In practical application, the running speed of the target vehicle can be decomposed at the projected point of the center of gravity of the vehicle on the road where the vehicle runs, and a nonlinear speed component and a linear speed component of the vehicle at the center of gravity can be obtained respectively. So that the forward stretch ratio can be solved.
Wherein,
the center of gravity projection point is a projection point of the center of gravity of the target vehicle on a driving road;
and the linear speed component at the gravity center comprises a first speed of the running speed of the target vehicle along the tangential direction of the road and a second speed along the normal direction of the road.
And the nonlinear speed component at the gravity center comprises a third speed of the running speed of the target vehicle along the tangential direction of the road and a fourth speed along the normal direction of the road.
As shown in fig. 3 and 4, fig. 3 is a schematic diagram illustrating an effect of analyzing an instantaneous motion trajectory of a vehicle by using a linearization method according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating an effect of analyzing an instantaneous motion trajectory of a vehicle by using a nonlinear method according to an embodiment of the present application;
note that the first rate is: u. of x ；
The second rate may be:
the third rate may be:
the fourth rate may be:
and S202, simulating the nonlinear speed component at the gravity center into a gravity center circular track and the linear speed component into a gravity center elliptical track, and solving the forward stretching rate of the gravity center circular track converted into the gravity center elliptical track.
Specifically, in the practical application process, when the vehicle moves transversely, all points on the vehicle move around the same center of a circle in a track manner, so that the adjustment of the direction is completed.
The linear analysis method is to regard the track made by all points on the vehicle around the same center as an elliptical track when the target vehicle does transverse motion.
In the actual running process, when the vehicle moves transversely, all points on the vehicle move in a track around the same center of circle, and the formed track can be regarded as a circular track.
In the method provided by the embodiment of the application, the nonlinear speed component of the target vehicle at the center of gravity may be modeled into a center of gravity circular trajectory, the linear speed component may be modeled into a center of gravity elliptical trajectory, and after the center of gravity circular trajectory and the center of gravity elliptical trajectory are obtained, the forward stretching rate of the center of gravity circular trajectory transformed into the center of gravity elliptical trajectory may be further solved.
In order to improve the calculation efficiency, the nonlinear velocity component may be calculated by using a preset linear model, and the linearized velocity component may be calculated by using a preset nonlinear model linear model.
Step S203, obtaining the reverse stretching rate according to the forward stretching rate.
Specifically, as can be seen from the above description, the method provided in the embodiment of the present application may determine a forward stretching ratio of the barycentric circular trajectory to the barycentric elliptical trajectory, and based on the forward stretching ratio, may determine a reverse stretching ratio of the barycentric elliptical trajectory to the barycentric circular trajectory. So that it can be used to calculate the target steering wheel angle.
Wherein the forward stretching ratio and the reverse stretching ratio have the same value.
According to the technical scheme, the method provided by the embodiment of the application can solve the forward stretching rate of the barycentric circular track transformed to the barycentric elliptical track by simulating the nonlinear speed component at the barycenter into the barycentric circular track and the linear speed component into the barycentric elliptical track. The reverse stretch ratio is thus determined so as to be usable for calculating a target steering wheel angle of the vehicle. The method for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the vehicle in transverse motion and the steering wheel angle required by tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the accuracy of vehicle driving.
In practical applications, the method provided by the embodiment of the present application may perform compensation calculation on the first direction wheel rotation angle based on a preset reverse stretch ratio to obtain the target direction wheel rotation angle of the target vehicle, and then a process of performing compensation calculation on the first direction wheel rotation angle to obtain the target direction wheel rotation angle of the target vehicle is described, where the process may include the following steps:
and S301, decomposing the running speed of the target vehicle at the non-directional wheel to obtain a linear speed component of the non-directional wheel.
Specifically, as can be seen from the above description, the method provided in the embodiment of the present application may decompose the speed of the target vehicle by using a linearization analysis method, and therefore, the traveling speed of the target vehicle may be decomposed at the non-directional wheel, and thus, the non-directional wheel linear speed component may be obtained.
The non-directional wheel linear velocity component may be a velocity component calculated by using a preset linear model.
Step S302, the reverse stretching rate is utilized to correct the linear track represented by the non-directional wheel linear velocity component, and a conversion relation among the first directional wheel corner, the reverse stretching rate and the target directional wheel corner is constructed.
Specifically, after determining the non-directional wheel linear velocity component, the linear trajectory represented by the non-directional wheel linear velocity component may be corrected by the reverse stretch ratio according to the relationship between the non-linear velocity component and the linear velocity component at the center of gravity projection of the target vehicle, and a conversion relational expression of the first directional wheel rotation angle, the reverse stretch ratio, and the target directional wheel rotation angle may be constructed, so that the target directional wheel rotation angle may be calculated according to the first directional wheel rotation angle and the directional stretch ratio.
The conversion relation among the first direction wheel rotation angle, the reverse stretching ratio and the target direction wheel rotation angle may include the following:
wherein,
θ 1 may represent the first steering wheel angle;
θ 2 the target steering wheel angle may be represented.
Step S303, calculating the target steering wheel angle of the target vehicle according to the conversion relational expression.
Specifically, as is apparent from the above description, the above steps may determine the conversion relational expression of the first steering wheel angle, the reverse stretch ratio, and the target steering wheel angle, and therefore, after the first steering wheel angle is determined, the target steering wheel angle of the target vehicle may be calculated based on the conversion relational expression and the preset reverse stretch ratio.
It can be known from the above description that the method provided by the embodiment of the present application may perform compensation calculation on the first direction wheel rotation angle based on a preset reverse stretch ratio to obtain the target direction wheel rotation angle of the target vehicle, and the method for calculating the direction wheel rotation angle provided by the embodiment of the present application may help to reduce an error between the direction wheel rotation angle of the vehicle lateral movement and the direction wheel rotation angle required to track the expected travel track route planned by the vehicle itself, may effectively reduce a deviation between the current travel track route of the vehicle and the expected travel track route planned by the vehicle itself, and improve accuracy of vehicle travel.
As can be seen from the above description, the method provided in this embodiment of the present application may be used to simulate the nonlinear velocity component at the center of gravity to a center of gravity circular trajectory and the linear velocity component to a center of gravity elliptical trajectory, and solve the forward stretching ratio of the center of gravity circular trajectory to the center of gravity elliptical trajectory, and then describe the process, which may include the following steps:
step S401, comparing the first rate and the third rate to obtain a first draw ratio.
Specifically, as can be seen from the above description, the method provided in the embodiment of the present application may decompose the traveling speed of the target vehicle at the center, so as to obtain the first speed and the third speed, and thus may compare the first speed and the third speed to obtain a first stretch ratio, where the first stretch ratio may represent a track stretch ratio of the traveling speed of the target vehicle along a tangential direction of a road, that is, a stretch ratio of the circular track to the elliptical track along the tangential direction of the road.
The calculation formula of the first stretch ratio may include the following:
wherein,
a may represent the first stretch ratio;
u x may represent the first rate;
Step S402, comparing the second rate with the fourth rate to obtain a second stretching ratio.
Specifically, as can be seen from the above description, the method provided in the embodiment of the present application may decompose the traveling speed of the target vehicle at the center, so as to obtain the second speed and the fourth speed, so as to compare the second speed and the fourth speed, and obtain a second stretch ratio, where the first stretch ratio may represent a stretch ratio of a trajectory of the traveling speed of the target vehicle along a road normal direction, that is, a stretch ratio of the circular trajectory to the elliptical trajectory along the road normal direction.
The calculation formula of the first stretch ratio may include the following:
wherein,
b may represent the first stretch ratio;
And step S403, substituting the first stretching ratio and the second stretching ratio into an elliptic curvature formula to obtain the forward stretching ratio.
Specifically, as can be seen from the above-mentioned technical solutions, the method provided in the embodiments of the present application can calculate the first stretch ratio and the second stretch ratio,
and substituting the first stretching ratio and the second stretching ratio into an elliptic curvature formula to obtain the positive stretching ratio.
The calculation formula of the forward stretching ratio may include the following:
wherein,
k 1 a first curvature that may represent an instantaneous motion trajectory of the target vehicle at the center of gravity determined using a preset linear model;
k 2 a second curvature that may represent an instantaneous motion trajectory compensated for a steering wheel angle of the target vehicle at the center of gravity;
a may represent a first stretch ratio of the target vehicle in a tangential direction at the speed of the target point;
b may represent a second stretch ratio of the target vehicle in the normal direction at the speed of the target point;
t may represent the time the vehicle is traveling.
According to the technical scheme, the nonlinear speed component at the center of gravity can be simulated into a center of gravity circular track, the linear speed component can be simulated into a center of gravity elliptical track, and the forward stretching rate of the center of gravity circular track transformed into the center of gravity elliptical track is solved, so that the reverse stretching rate can be solved according to the forward stretching rate. The method for calculating the steering angle of the steering wheel can help to reduce the error between the steering angle of the steering wheel of the transverse motion of the vehicle and the steering angle of the steering wheel required for tracking the route of the expected running track planned by the vehicle, can effectively reduce the deviation between the route of the current running track of the vehicle and the route of the expected running track planned by the vehicle, and can improve the accuracy of vehicle running.
From the above description, the embodiment of the present application may determine the first steering wheel angle of the target vehicle, and then describe the process, which may include the following steps:
and step S501, acquiring the real-time speed of the target vehicle.
Specifically, in an actual application, when the vehicle moves laterally, the steering wheel angle of the vehicle is related to the real-time speed of the vehicle, and therefore, before the first steering wheel angle of the target vehicle is determined, the real-time speed of the target vehicle may be acquired, so that the first steering wheel angle may be calculated using the real-time speed of the target vehicle.
And step S502, determining the real-time rotating radius of the non-directional wheel of the target vehicle by using a preset linear model according to the real-time speed.
Specifically, as can be seen from the above description, the method provided by the embodiment of the present application may determine the real-time speed of the target vehicle, and after determining the real-time speed, may calculate the real-time turning radius of the non-directional wheel of the target vehicle using the real-time speed.
Wherein,
the real-time turning radius of the non-steering wheel can be calculated by referring to the following calculation formula:
wherein,
r may represent a non-steering wheel real-time turning radius of the target vehicle;
v may represent a real-time speed of the target vehicle;
w may represent the angular velocity of the target vehicle.
And S503, calculating the turning angle of the first directional wheel by utilizing the real-time turning radius of the non-directional wheel and acquiring the distance from the midpoint of the directional wheel axis of the target vehicle to the midpoint of the non-directional wheel axis.
Specifically, as can be seen from the above description, the method provided in the embodiment of the present application may determine the real-time turning radius of the non-directional wheel, and the steering angle of the target vehicle is related to the real-time turning radius of the non-directional wheel of the target vehicle, so that after determining the real-time turning radius of the non-directional wheel, the distance from the midpoint of the directional wheel axis of the target vehicle to the midpoint of the non-directional wheel axis may be further obtained. The first steering wheel angle may then be calculated using a preset linear model so that it may be used to calculate a target steering wheel angle of the target vehicle.
The distance from the middle point of the directional wheel axis of the target vehicle to the middle point of the non-directional wheel axis can be recorded as the wheel base of the target vehicle, and the wheel base of the target vehicle can be represented by a symbol L.
Besides, the first steering wheel angle may be obtained by any other calculation method.
For example, the first steering wheel angle may be calculated using an angle between the body of the target vehicle and the road on which the target vehicle is currently traveling.
The instantaneous turning radius of the target vehicle may be calculated according to a preset non-linear model, and the first steering wheel angle may be further calculated.
For example, the calculation formula of the first steering wheel angle may be as follows:
wherein,
θ may represent the first steering wheel angle;
l may represent the wheelbase of the target vehicle;
r may represent a non-steering wheel real-time turning radius of the target vehicle.
As can be seen from the above-mentioned technical solutions, the method provided by the embodiment of the present application may determine the initial steering wheel angle of the vehicle through the real-time turning radius of the non-steering wheel of the vehicle or the instantaneous turning radius of the vehicle or the real-time speed of the vehicle, so that the target steering wheel angle of the vehicle may be determined by performing a compensation calculation according to the initial steering wheel angle of the vehicle. The method for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the vehicle in transverse motion and the steering wheel angle required for tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the accuracy of vehicle driving.
In practical applications, when the angle of the lateral movement of the driving direction of the target vehicle is not large, it is possible that the vehicle slightly adjusts the current driving direction, not to perform the lateral movement. And at the control terminal of the target vehicle, the determined error of the first direction wheel rotation angle of the target vehicle is not large, the current running direction does not need to be transversely adjusted, and the target vehicle can directly adjust the transverse movement direction according to the first direction wheel rotation angle without deviating from the expected running track route. When the angle of the lateral movement of the driving direction of the target vehicle exceeds a certain angle, at the control terminal of the target vehicle, the error of the determined first direction wheel rotation angle of the target vehicle is larger, and at this time, the vehicle may need to change the current driving direction and turn to make the lateral movement direction, and next, how to judge whether the driving direction of the target vehicle has the lateral movement is described, the process may include the following steps:
step S601, determining a first included angle between the body orientation of the target vehicle and the road direction.
Specifically, when the form of the vehicle is moved laterally. The error of the preset steering wheel angle is used to be related to the included angle between the vehicle body orientation of the vehicle and the road direction.
Therefore, if the vehicle needs to move laterally, it is necessary to know whether the vehicle needs to move laterally. A first angle between the body orientation of the target vehicle and the road direction may be determined. So that whether the vehicle needs to change the current driving direction to move transversely can be determined by analyzing the size of the first included angle.
Step S602, determining whether the first included angle is greater than a preset first threshold.
Specifically, as can be seen from the above description, the magnitude of the first included angle determines the magnitude of the error of the first steering wheel rotation angle, so that after the first included angle is determined, it can be determined whether the first included angle is greater than a preset first threshold value.
And determining whether the vehicle needs to adjust the current driving direction to move transversely by judging the relation between the size of the first included angle and the preset first threshold value.
Wherein, the value range of the preset first threshold value can be set as [0 degree, 20 degrees ].
It can be found through experiments that when the preset first threshold value is 15 °, the error of the determined first direction wheel rotation angle of the target vehicle is gradually displayed at the control terminal of the target vehicle, which indicates that the vehicle is about to make a lateral movement.
And step S603, determining that the running direction of the target vehicle transversely moves.
Specifically, as can be seen from the above description, the method provided in this embodiment may determine a relationship between the first included angle and the preset first threshold, and if the first included angle is greater than the preset first threshold, it indicates that, at the control terminal of the target vehicle, an error of the determined first direction wheel rotation angle of the target vehicle may be relatively large, and it is necessary to perform compensation calculation on the determined first direction wheel rotation angle, and at the same time, it indicates that the traveling direction of the target vehicle has a lateral movement.
According to the technical scheme, whether the vehicle moves transversely or not is judged by analyzing the relation between the first included angle and the preset first threshold. So that it can be determined whether the steering wheel angle of the vehicle needs to be calculated.
The following describes a steering wheel angle calculation device provided in an embodiment of the present application, and the steering wheel angle calculation device described below and the steering wheel angle calculation method described above may be referred to in correspondence with each other.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a steering wheel angle calculating device disclosed in the embodiment of the present application.
As shown in fig. 5, the steering wheel angle calculation means may include:
a first calculation unit 101, configured to determine, at a control terminal of a target vehicle, a first direction wheel turning angle of the target vehicle when a traveling direction of the target vehicle moves laterally;
a second calculating unit 102, configured to perform compensation calculation on the first steering wheel angle based on a preset reverse stretch ratio, so as to obtain a target steering wheel angle of the target vehicle.
As can be seen from the above-described technical solutions, when the traveling direction of the target vehicle moves laterally, the steering wheel angle calculation apparatus according to the embodiment of the present application may determine, at the control terminal of the target vehicle, a first steering wheel angle of the target vehicle by using the first calculation unit 101; after determining the first steering wheel angle, the second calculating unit 102 may be utilized to perform compensation calculation on the first steering wheel angle based on a preset reverse stretch ratio to obtain a target steering wheel angle of the target vehicle. The device for calculating the steering wheel angle provided by the embodiment of the application can help to reduce the error between the steering wheel angle of the transverse motion of the vehicle and the steering wheel angle required by tracking the expected driving track route planned by the vehicle, can effectively reduce the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle, and improves the driving accuracy of the vehicle.
Further optionally, the step of calculating the reverse stretching ratio may include:
decomposing the running speed of the target vehicle at a gravity center projection point to respectively obtain a nonlinear speed component and a linear speed component at the gravity center;
the nonlinear speed component at the gravity center is simulated into a gravity center circular track, the linear speed component is simulated into a gravity center elliptical track, and the forward stretching rate of the gravity center circular track converted into the gravity center elliptical track is solved;
obtaining the reverse stretching rate according to the forward stretching rate;
wherein the center of gravity projection point is a projection point of the center of gravity of the target vehicle on a road on which the target vehicle is traveling;
the linear speed component at the gravity center comprises a first speed of the running speed of the target vehicle along the tangential direction of the road and a second speed along the normal direction of the road;
and the nonlinear speed component at the gravity center comprises a third speed of the running speed of the target vehicle along the tangential direction of the road and a fourth speed along the normal direction of the road.
Further optionally, the second computing unit 102 may include:
the speed component acquisition unit is used for decomposing the running speed of the target vehicle at a non-directional wheel to obtain a non-directional wheel linear speed component;
the conversion relation obtaining unit is used for correcting the linear track represented by the non-directional wheel linear velocity component by using the reverse stretching rate, and constructing a conversion relation among the first directional wheel corner, the reverse stretching rate and a target directional wheel corner;
and the target direction wheel steering angle calculating unit is used for calculating the target direction wheel steering angle of the target vehicle according to the conversion relation.
Further optionally, the performing the forward stretching ratio of the centroid circular trajectory to the centroid elliptical trajectory by fitting the nonlinear velocity component at the centroid as the centroid circular trajectory and fitting the linear velocity component as the centroid elliptical trajectory may include:
comparing the first rate with the third rate to obtain a first stretching ratio;
comparing the second rate with the fourth rate to obtain a second stretching ratio;
and substituting the first stretching ratio and the second stretching ratio into an elliptic curvature formula to obtain the forward stretching ratio.
Further optionally, the performing of determining the first steering wheel angle of the target vehicle may include:
acquiring the real-time speed of the target vehicle;
determining the real-time rotation radius of the non-directional wheel of the target vehicle by using a preset linear model according to the real-time speed;
and calculating the turning angle of the first directional wheel by utilizing the real-time turning radius of the non-directional wheel and acquiring the distance from the midpoint of the directional wheel axis of the target vehicle to the midpoint of the non-directional wheel axis.
Further optionally, the apparatus may further include:
a judging unit for judging whether the running direction of the target vehicle moves transversely;
wherein the judging unit may include:
the first included angle determining unit is used for determining a first included angle between the body orientation of the target vehicle and the road direction;
the judging subunit is used for judging whether the first included angle is larger than a preset first threshold value or not;
and the direction movement determining unit is used for determining that the running direction of the target vehicle transversely moves when the execution result of the judging subunit is that the first included angle is larger than the first threshold value.
Further optionally, the value range of the preset first threshold may be [0 °,20 ° ].
The specific processing flow of each unit included in the above-mentioned steering wheel angle calculation device may refer to the related description of the steering wheel angle calculation method, and is not described herein again.
The device for calculating the steering wheel angle provided by the embodiment of the application can be applied to steering wheel angle calculating equipment, such as a terminal: vehicle-mounted computing terminals, mobile phones, computers, and the like. Alternatively, fig. 6 is a block diagram showing a hardware configuration of the steering wheel angle calculation device, and referring to fig. 6, the hardware configuration of the steering wheel angle calculation device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4.
In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 complete mutual communication through the communication bus 4.
The processor 1 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement the embodiments of the present Application, etc.;
the memory 3 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory stores a program and the processor can call the program stored in the memory, the program for: and realizing each processing flow in the terminal direction wheel rotation angle calculation scheme.
Embodiments of the present application further provide a readable storage medium, where the storage medium may store a program adapted to be executed by a processor, where the program is configured to: and realizing each processing flow of the terminal in the steering wheel angle calculation scheme.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. The various embodiments may be combined with each other. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A method of calculating a rudder angle, comprising:
when the driving direction of a target vehicle moves transversely, determining a first direction wheel turning angle of the target vehicle at a control terminal of the target vehicle;
and performing compensation calculation on the first direction wheel steering angle based on a preset reverse stretching rate to obtain a target direction wheel steering angle of the target vehicle.
2. The method according to claim 1, wherein the step of calculating the reverse stretch ratio comprises:
decomposing the running speed of the target vehicle at a gravity center projection point to respectively obtain a nonlinear speed component and a linear speed component at the gravity center;
the nonlinear speed component at the gravity center is simulated into a gravity center circular track, the linear speed component is simulated into a gravity center elliptical track, and the forward stretching rate of the gravity center circular track converted into the gravity center elliptical track is solved;
and obtaining the reverse stretching rate according to the forward stretching rate.
3. The method according to claim 2, wherein the step of performing a compensation calculation for the first steering wheel angle to obtain a target steering wheel angle of the target vehicle includes:
decomposing the running speed of the target vehicle at a non-directional wheel to obtain a non-directional wheel linear speed component;
correcting the linear track represented by the non-directional wheel linear velocity component by using the reverse stretching rate, and constructing a conversion relation among the first directional wheel corner, the reverse stretching rate and a target directional wheel corner;
and calculating the target steering wheel angle of the target vehicle according to the conversion relation.
4. The method of claim 2,
the center of gravity projection point is a projection point of the center of gravity of the target vehicle on a driving road;
the linear speed component at the gravity center comprises a first speed of the running speed of the target vehicle along the tangential direction of the road and a second speed along the normal direction of the road;
and the nonlinear speed component at the gravity center comprises a third speed of the running speed of the target vehicle along the tangential direction of the road and a fourth speed along the normal direction of the road.
5. The method according to claim 4, wherein the step of fitting the nonlinear velocity component at the center of gravity to a center of gravity circular trajectory and the linear velocity component to a center of gravity elliptical trajectory, and solving the forward stretching ratio of the center of gravity circular trajectory to the center of gravity elliptical trajectory comprises:
comparing the first rate with the third rate to obtain a first stretching ratio;
comparing the second rate with the fourth rate to obtain a second stretching ratio;
and substituting the first stretching ratio and the second stretching ratio into an elliptic curvature formula to obtain the positive stretching ratio.
6. The method according to any one of claims 1-5, wherein the step of determining a first steering wheel angle of the target vehicle comprises:
acquiring the real-time speed of the target vehicle;
determining the real-time rotation radius of the non-directional wheel of the target vehicle by using a preset linear model according to the real-time speed;
and calculating the turning angle of the first directional wheel by utilizing the real-time turning radius of the non-directional wheel and acquiring the distance from the midpoint of the directional wheel axis of the target vehicle to the midpoint of the non-directional wheel axis.
7. The method according to any one of claims 1-5, wherein determining whether the direction of travel of the target vehicle has moved laterally comprises:
determining a first included angle between the body orientation of the target vehicle and the road direction;
judging whether the first included angle is larger than a preset first threshold value or not;
and if the first included angle is larger than the first threshold value, determining that the running direction of the target vehicle transversely moves.
8. The method according to claim 7, wherein the preset first threshold value is in a range of [0 °,20 ° ].
9. A steering wheel angle calculation apparatus, comprising:
the device comprises a first calculation unit, a second calculation unit and a control unit, wherein the first calculation unit is used for determining a first direction wheel turning angle of a target vehicle at a control terminal of the target vehicle when the driving direction of the target vehicle moves transversely;
and the second calculation unit is used for performing compensation calculation on the first direction wheel steering angle based on a preset reverse stretching rate to obtain a target direction wheel steering angle of the target vehicle.
10. A steering wheel angle calculating apparatus, comprising: one or more processors, and a memory;
the memory having stored therein computer-readable instructions, wherein the computer-readable instructions, when executed by the one or more processors, implement the steps of the method of calculating a rudder angle according to any one of claims 1 to 8.
11. A readable storage medium, characterized by: the readable storage medium having stored therein computer readable instructions, which, when executed by one or more processors, cause the one or more processors to carry out the steps of the method of calculating a rudder angle according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211064593.9A CN115402336A (en) | 2022-09-01 | 2022-09-01 | Method, device and equipment for calculating steering wheel angle and readable storage medium |
| PCT/CN2022/134510 WO2024045373A1 (en) | 2022-09-01 | 2022-11-25 | Steering wheel rotation angle calculation method, apparatus and device, and readable storage medium |
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| CN202211064593.9A CN115402336A (en) | 2022-09-01 | 2022-09-01 | Method, device and equipment for calculating steering wheel angle and readable storage medium |
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| FR2845656B1 (en) * | 2002-10-14 | 2005-08-05 | Delphi Tech Inc | METHOD FOR REDUCING THE OVERVIEW AND UNDERWAY OF A MOTOR VEHICLE; ASSOCIATED PROGRAM DEVICE; VEHICLE EQUIPPED WITH SUCH A DEVICE |
| IT201600109633A1 (en) * | 2016-10-31 | 2018-05-01 | Magneti Marelli Spa | Process and adaptive control system in a land vehicle for tracking a route, particularly in an autonomous driving scenario. |
| CN207328574U (en) * | 2017-05-08 | 2018-05-08 | 江苏大学 | A kind of intelligent automobile Trajectory Tracking Control System based on active safety |
| CN110979305B (en) * | 2019-03-18 | 2021-06-22 | 毫末智行科技有限公司 | Vehicle abnormal lane change control method, device and system |
| EP3730384B1 (en) * | 2019-04-24 | 2022-10-26 | Aptiv Technologies Limited | System and method for trajectory estimation |
| CN110262509B (en) * | 2019-07-10 | 2022-06-28 | 百度在线网络技术（北京）有限公司 | Automatic vehicle driving method and device |
| JP7327223B2 (en) * | 2020-03-12 | 2023-08-16 | いすゞ自動車株式会社 | Automatic steering control device, automatic steering control method, and automatic steering program |
| CN112835292B (en) * | 2020-12-31 | 2024-03-08 | 天津大学 | Transverse control method of automatic driving electric vehicle on rugged road |
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