CN115402410B - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
- Publication number
- CN115402410B CN115402410B CN202211204792.5A CN202211204792A CN115402410B CN 115402410 B CN115402410 B CN 115402410B CN 202211204792 A CN202211204792 A CN 202211204792A CN 115402410 B CN115402410 B CN 115402410B
- Authority
- CN
- China
- Prior art keywords
- controller
- longitudinal
- vehicle
- steering wheel
- compensation coefficient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims description 36
- 238000004590 computer program Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 abstract description 14
- 230000004044 response Effects 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the invention provides a vehicle control method and device and a vehicle. The method comprises the following steps: the acquired transverse control parameters are sent to a transverse controller so that the transverse controller can transversely control the vehicle according to the transverse control parameters; and generating a compensation coefficient according to the acquired longitudinal control parameter, and sending the compensation coefficient to a longitudinal controller so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment. According to the embodiment of the invention, the longitudinal control basic moment is compensated through the longitudinal control compensation moment, so that the starting speed and the advancing speed in the automatic parking process are improved, the parking experience of a user is improved, and the parking efficiency is improved.
Description
[ field of technology ]
The embodiment of the invention relates to the technical field of automatic driving, in particular to a vehicle control method and device and a vehicle.
[ background Art ]
With the popularization of intelligent automobiles, more and more automobile types are carrying automatic driving systems. The automatic parking function is used as a core function of the automatic driving system, aims at solving the parking pain point of the user, and can solve the parking trouble of the user to a great extent. However, when the automatic parking process of the vehicle includes a steering process (particularly, a steering process of a large arc), the vehicle is slow in running speed and small in acceleration during the steering process, so that the parking speed is slow, the parking experience of the user is poor, and the parking efficiency is low.
[ invention ]
In view of the above, the embodiments of the present invention provide a vehicle control method, apparatus, and vehicle, so as to solve the problems of slow parking speed, poor parking experience of a user, and low parking efficiency in the automatic parking process including the steering process in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
the acquired transverse control parameters are sent to a transverse controller so that the transverse controller can transversely control the vehicle according to the transverse control parameters;
and generating a compensation coefficient according to the acquired longitudinal control parameter, and sending the compensation coefficient to a longitudinal controller so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment.
In one possible implementation, the longitudinal control parameters include steering wheel angle and gear ratio;
the generating the compensation coefficient according to the acquired longitudinal control parameter comprises the following steps:
judging whether the vehicle turns according to the steering wheel angle;
if the steering of the vehicle is judged, generating a compensation coefficient according to the steering angle of the steering wheel and the transmission ratio;
and if the vehicle is not steered, determining that the compensation coefficient is zero.
In one possible implementation, the generating the compensation coefficient according to the steering wheel angle and the gear ratio includes:
generating a steering wheel corner according to the steering wheel corner and the transmission ratio, wherein the steering wheel corner comprises a ratio of the steering wheel corner to the transmission ratio;
and generating a compensation coefficient according to the steering wheel angle.
In one possible implementation manner, before the determining whether the vehicle turns according to the steering wheel angle, the method further includes:
based on a parking scene in which the vehicle is located, a steering wheel angle is generated.
In a second aspect, an embodiment of the present invention provides a vehicle control method, including:
the automatic parking controller sends the acquired transverse control parameters to the transverse controller;
the transverse controller transversely controls the vehicle according to the transverse control parameters;
the automatic parking controller generates a compensation coefficient according to the acquired longitudinal control parameter and sends the compensation coefficient to the longitudinal controller;
and the longitudinal controller generates longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controls the vehicle according to the longitudinal control moment.
In one possible implementation, the longitudinal controller generates a longitudinal control moment according to the generated longitudinal control base moment and the compensation coefficient, including:
the longitudinal controller generates longitudinal control compensation moment according to the generated longitudinal control basic moment and the compensation coefficient;
and the longitudinal controller carries out superposition processing on the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
In one possible implementation manner, the longitudinal control of the vehicle according to the longitudinal control moment includes:
if the vehicle is in a forward gear, the longitudinal controller determines the direction of the longitudinal control moment as a forward direction and longitudinally controls the vehicle based on the forward direction; or,
and if the vehicle is in the backward gear, the longitudinal controller determines the direction of the longitudinal control moment as the backward direction and longitudinally controls the vehicle based on the backward direction.
In a third aspect, an embodiment of the present invention provides a vehicle control apparatus, including:
the transmission module is used for transmitting the acquired transverse control parameters to the transverse controller so that the transverse controller can transversely control the vehicle according to the transverse control parameters;
the transmission module is further used for generating a compensation coefficient according to the acquired longitudinal control parameter, transmitting the compensation coefficient to the longitudinal controller, so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment.
In a fourth aspect, an embodiment of the present invention provides a vehicle including an automatic parking controller, a lateral controller, and a longitudinal controller;
the automatic parking controller is used for sending the transverse control parameters to the transverse controller;
the transverse controller is used for transversely controlling the vehicle according to the transverse control parameters;
the automatic parking controller is used for generating a compensation coefficient according to the acquired longitudinal control parameter and sending the compensation coefficient to the longitudinal controller;
the longitudinal controller is used for generating longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and controlling the vehicle longitudinally according to the longitudinal control moment.
In one possible implementation, the vehicle further comprises a CAN bus;
the automatic parking controller is specifically used for sending the transverse control parameters to the transverse controller through the CAN bus;
the automatic parking controller is specifically used for sending the compensation coefficient to the longitudinal controller through the CAN bus.
In one possible implementation, the longitudinal control parameters include steering wheel angle and gear ratio;
the automatic parking controller is specifically used for judging whether the vehicle turns according to the steering wheel angle; if the steering of the vehicle is judged, generating a compensation coefficient according to the steering angle of the steering wheel and the transmission ratio; and if the vehicle is not steered, determining that the compensation coefficient is zero.
In one possible implementation manner, the longitudinal controller is specifically configured to generate a longitudinal control compensation torque according to the generated longitudinal control base torque and the compensation coefficient; and superposing the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
In a fifth aspect, an embodiment of the present invention provides an automatic parking controller, including:
one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed by the autonomous parking controller, cause the autonomous parking controller to perform the vehicle control method of the first aspect or any possible implementation of the first aspect.
In a sixth aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored program, where when the program runs, the device in which the computer readable storage medium is controlled to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect.
In a seventh aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored program, where the program when executed controls a device in which the computer readable storage medium is located to execute the vehicle control method in the second aspect or any possible implementation manner of the second aspect.
According to the technical scheme provided by the embodiment of the invention, the automatic parking controller sends the acquired transverse control parameters to the transverse controller, the transverse controller transversely controls the vehicle according to the transverse control parameters, the automatic parking controller generates the compensation coefficient according to the acquired longitudinal control parameters and sends the compensation coefficient to the longitudinal controller, and the longitudinal controller generates the longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and longitudinally controls the vehicle according to the longitudinal control moment. According to the technical scheme provided by the embodiment of the invention, the longitudinal control basic moment is compensated through the longitudinal control compensation moment, so that the starting speed and the advancing speed in the automatic parking process are improved, the parking experience of a user is improved, and the parking efficiency is improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of another vehicle control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an automatic parking controller according to an embodiment of the present invention.
[ detailed description ] of the invention
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one way of describing an association of associated objects, meaning that there may be three relationships, e.g., a and/or b, which may represent: the first and second cases exist separately, and the first and second cases exist separately. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
Fig. 1 is a schematic view of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the vehicle includes an automatic parking controller 11, a lateral controller 12, and a longitudinal controller 13, where the automatic parking controller 11 is connected to the lateral controller 12 and the longitudinal controller 13. The automatic parking controller 11 is configured to send the lateral control parameter to the lateral controller 12; the lateral controller 12 is configured to laterally control the vehicle according to the lateral control parameter; the automatic parking controller 11 is configured to generate a compensation coefficient according to the acquired longitudinal control parameter, and send the compensation coefficient to the longitudinal controller 13; the longitudinal controller 13 is configured to generate a longitudinal control moment based on the generated longitudinal control base moment and the compensation coefficient, and to control the vehicle longitudinally based on the longitudinal control moment.
In the embodiment of the invention, the vehicle further comprises a controller area network (Controller Area Network, abbreviated as CAN) bus 14, and the automatic parking controller 11 is connected with the transverse controller 12 and the longitudinal controller 13 through the CAN bus 14. The automatic parking controller 11 is specifically configured to send the lateral control parameter to the lateral controller 12 through the CAN bus 14; the autopilot controller 11 is in particular used to send the compensation factors to the longitudinal controller 13 via the CAN bus 14.
In the embodiment of the present invention, the automatic parking controller 11 is specifically configured to determine whether the vehicle turns according to the steering wheel angle; if the steering of the vehicle is judged, generating a compensation coefficient according to the steering angle of the steering wheel and the transmission ratio; and if the vehicle is not steered, determining that the compensation coefficient is zero.
In the embodiment of the present invention, the automatic parking controller 11 is specifically configured to generate a steering wheel angle according to a steering wheel angle and a transmission ratio, where the steering wheel angle includes a ratio of the steering wheel angle to the transmission ratio; and generating a compensation coefficient according to the steering wheel rotation angle.
In the embodiment of the present invention, the automatic parking controller 11 is further configured to generate a steering wheel angle based on a parking scene in which the vehicle is located.
In the embodiment of the present invention, the longitudinal controller 13 is specifically configured to generate a longitudinal control compensation torque according to the generated longitudinal control base torque and the compensation coefficient; and superposing the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
In the embodiment of the present invention, the longitudinal controller 13 is specifically configured to determine, if the vehicle is in a forward gear, a direction of a longitudinal control torque as a forward direction by the longitudinal controller 13, and perform longitudinal control on the vehicle based on the forward direction; alternatively, if the vehicle is in the reverse gear, the longitudinal controller 13 determines the direction of the longitudinal control torque as the reverse direction, and longitudinally controls the vehicle based on the reverse direction.
Fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 2, where the method includes:
step 100, the automatic parking controller controls the parking start in response to a parking start operation input by a user, and performs steps 101 and 103.
In this step, the automatic parking controller enters an automatic parking mode and controls the start of parking in response to a parking start operation input by a user. For example, the parking start operation includes an operation in which the user clicks a "start parking" button on the center control display screen. Specifically, the user clicks a "start parking" button on the central control display screen, and the automatic parking controller controls the parking to be started in response to an operation of clicking the "start parking" button input by the user.
And step 101, the automatic parking controller sends the acquired transverse control parameters to the transverse controller.
In this step, the lateral control parameter includes a steering wheel angle. The automatic parking controller generates steering wheel angles in real time based on a parking scene in which the vehicle is located. If the parking scene of the vehicle is a steering scene, the automatic parking controller generates a steering wheel corner in real time based on the steering scene; if the parking scene where the vehicle is located is not a steering scene, the automatic parking controller determines that the steering wheel angle is zero.
The automatic parking controller sends the steering wheel angle to the CAN network in real time, and the transverse controller obtains the steering wheel angle from the CAN network.
The lateral controller includes an electric power steering system (Electric Power Steering, EPS for short).
Step 102, the transverse controller performs transverse control on the vehicle according to the transverse control parameters, and step 105 is executed.
And 103, the automatic parking controller generates a compensation coefficient according to the acquired longitudinal control parameter and sends the compensation coefficient to the longitudinal controller.
In this step, the longitudinal control parameters include steering wheel angle and gear ratio. The automatic parking controller sends the compensation coefficient to the CAN network, and the longitudinal controller obtains the compensation coefficient from the CAN network.
Step 104, the longitudinal controller generates a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and carries out longitudinal control on the vehicle according to the longitudinal control moment, and step 105 is executed.
Step 105, the automatic parking controller judges whether the parking is finished, and if the automatic parking controller judges that the parking is finished, the flow is ended; if it is determined that parking is not completed, step 101 is executed.
In the step, if the automatic parking controller judges that the parking is completed, the transverse controller and the longitudinal controller are not required to control the vehicle any more, and the process is ended; if the automatic parking controller determines that parking is not complete, indicating that the lateral controller and the longitudinal controller still need to control the vehicle, step 101 is performed.
The automatic parking controller determining whether parking is completed may include: the automatic parking controller judges whether parking is completed by judging whether the vehicle is in a preset parking position. If the automatic parking controller judges that the vehicle is at a preset parking position, determining that parking is completed; and if the automatic parking controller judges that the vehicle is not in the preset parking position, determining that parking is not completed. According to the technical scheme provided by the embodiment of the invention, the automatic parking controller sends the acquired transverse control parameters to the transverse controller, the transverse controller transversely controls the vehicle according to the transverse control parameters, the automatic parking controller generates the compensation coefficient according to the acquired longitudinal control parameters and sends the compensation coefficient to the longitudinal controller, and the longitudinal controller generates the longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and longitudinally controls the vehicle according to the longitudinal control moment. According to the technical scheme provided by the embodiment of the invention, the longitudinal control basic moment is compensated through the longitudinal control compensation moment, so that the starting speed and the advancing speed in the automatic parking process are improved, the parking experience of a user is improved, and the parking efficiency is improved.
Fig. 3 is a flowchart of another vehicle control method according to an embodiment of the present invention, as shown in fig. 3, the method includes:
step 200, the automatic parking controller controls the parking start in response to a parking start operation input by a user, and performs steps 201 and 203.
In the embodiment of the present invention, the description of step 200 may refer to the description of step 100, and the description will not be repeated here.
Step 201, the automatic parking controller sends the acquired steering wheel angle to the transverse controller.
In the embodiment of the present invention, the description of step 201 may refer to the description of step 101, and the description is not repeated here.
Step 202, the transverse controller transversely controls the vehicle according to the steering wheel angle, and step 211 is executed.
Step 203, the automatic parking controller judges whether the vehicle turns according to the obtained steering wheel turning angle, and if the vehicle turns, the step 204 is executed; if it is determined that the vehicle is not turning, step 206 is performed.
In the step, an automatic parking controller monitors steering wheel rotation angle in real time, and if the steering of the vehicle is judged, the vehicle is required to compensate longitudinal moment, the step 204 is executed; if it is determined that the vehicle is not turning, indicating that the vehicle does not need to be compensated for longitudinal torque, step 206 is performed.
And 204, the automatic parking controller generates a steering wheel angle according to the steering wheel angle and the acquired transmission ratio.
In this step, the transmission ratio includes a transmission ratio of a steering wheel angle to a steering wheel angle. The transmission ratio is determined by the actual vehicle condition of the vehicle, and after the transmission ratio is determined, the transmission ratio is input into the automatic parking controller.
The automatic parking controller passes through the formulaAnd calculating the steering wheel angle and the transmission ratio to generate the steering wheel angle. Wherein phi represents steering wheel angle, theta represents steering wheel angle, and k represents transmission ratio.
Step 205, the automatic parking controller generates a compensation coefficient according to the steering wheel rotation angle.
In this step, the automatic parking controller passes through the formulaAnd calculating the steering wheel angle to generate a compensation coefficient. Where α represents a compensation coefficient, and Φ represents a steering wheel angle.
And 206, the automatic parking controller determines that the compensation coefficient is zero.
Step 207, the automatic parking controller sends the compensation coefficient to the longitudinal controller.
In the step, the automatic parking controller sends the compensation coefficient to the CAN network, and the longitudinal controller acquires the compensation coefficient from the CAN network.
And step 208, the longitudinal controller generates longitudinal control compensation moment according to the generated longitudinal control basic moment and the compensation coefficient.
In the step, the longitudinal controller generates a longitudinal control basic moment according to the acquired parking request distance, the parking limiting speed, the real-time speed of the vehicle and the real-time acceleration of the vehicle. The automatic parking controller sends the parking request distance and the parking limiting speed to the longitudinal controller through the CAN bus; the wheel speed sensor sends the real-time speed of the vehicle to the longitudinal sensor through the CAN bus; the longitudinal controller is internally provided with an acceleration sensor, and the acceleration sensor collects real-time acceleration of the vehicle so that the longitudinal controller generates longitudinal control basic moment according to the parking request distance, the parking limiting speed, the real-time speed of the vehicle and the real-time acceleration of the vehicle.
The longitudinal controller passes through formula T θ ＝α·T b And calculating the longitudinal control basic moment and the compensation coefficient to generate the longitudinal control compensation moment. Wherein T is θ Represents longitudinal control compensation moment, alpha represents compensation coefficient, T b Representing the longitudinal control base moment.
And 209, the longitudinal controller performs superposition processing on the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
In this step, the direction of the longitudinal control base moment and the direction of the longitudinal control compensation moment are the same direction. If the vehicle is in a forward gear, the direction of the longitudinal control basic moment is the forward direction, the direction of the longitudinal control compensation moment is the forward direction, and the longitudinal controller carries out superposition processing on the longitudinal control compensation moment and the longitudinal control basic moment based on the forward direction to generate a longitudinal control moment; or if the vehicle is in a reverse gear, the direction of the longitudinal control basic torque is a reverse direction, the direction of the longitudinal control compensation torque is a reverse direction, and the longitudinal controller performs superposition processing on the longitudinal control compensation torque and the longitudinal control basic torque based on the reverse direction to generate the longitudinal control torque. For example, the magnitude of the longitudinal control base moment is 200n·m, and the direction of the longitudinal control base moment is the advancing direction; and the longitudinal control compensation moment is 20 N.m, the direction of the longitudinal control compensation moment is the advancing direction, and the longitudinal controller carries out superposition processing on the longitudinal control basic moment and the longitudinal control compensation moment based on the advancing direction to generate the longitudinal control moment. Wherein the magnitude of the longitudinal control moment is 220 N.m, and the direction of the longitudinal control moment is the advancing direction.
Step 210, the longitudinal controller performs longitudinal control on the vehicle according to the longitudinal control moment, and performs step 211.
In this step, the longitudinal controller includes a control unit and an execution unit, and the execution unit includes a longitudinal control execution mechanism. The control unit sends the longitudinal control moment to the longitudinal control executing mechanism, and the longitudinal control executing mechanism carries out longitudinal control on the vehicle according to the longitudinal control moment. Specifically, if the vehicle is in a forward gear, the direction of the longitudinal control moment is a forward direction, and the longitudinal control executing mechanism longitudinally controls the vehicle based on the forward direction; or if the vehicle is in the reverse gear, the direction of the longitudinal control torque is the reverse direction, and the longitudinal control actuator longitudinally controls the vehicle based on the reverse direction.
Step 211, the automatic parking controller judges whether parking is completed or not, if yes, the flow is ended; if not, go to step 200.
In the embodiment of the present invention, the description of step 211 may refer to the description of step 105, and the description is not repeated here.
According to the technical scheme provided by the embodiment of the invention, the automatic parking controller sends the acquired transverse control parameters to the transverse controller, the transverse controller transversely controls the vehicle according to the transverse control parameters, the automatic parking controller generates the compensation coefficient according to the acquired longitudinal control parameters and sends the compensation coefficient to the longitudinal controller, and the longitudinal controller generates the longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and longitudinally controls the vehicle according to the longitudinal control moment. According to the technical scheme provided by the embodiment of the invention, the longitudinal control basic moment is compensated through the longitudinal control compensation moment, so that the starting speed and the advancing speed in the automatic parking process are improved, the parking experience of a user is improved, and the parking efficiency is improved.
Fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention, and as shown in fig. 4, the device includes a transmitting module 21.
The sending module 21 is configured to send the acquired lateral control parameter to a lateral controller, so that the lateral controller performs lateral control on the vehicle according to the lateral control parameter; and generating a compensation coefficient according to the acquired longitudinal control parameter, and sending the compensation coefficient to a longitudinal controller so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment.
In the embodiment of the present invention, the transmitting module 21 includes a judging unit 211, a first generating unit 212, and a determining unit 213, and the judging unit 211 is connected to the first generating unit 212 and the determining unit 213. The judging unit 211 is used for judging whether the vehicle turns according to the steering wheel angle; the first generating unit 212 is configured to generate a compensation coefficient according to the steering wheel angle and the transmission ratio if the judging unit 211 judges that the vehicle turns; the determining unit 213 is configured to determine that the compensation coefficient is zero if the determining unit 211 determines that the vehicle is not turning.
In the embodiment of the present invention, the first generating unit 212 is specifically configured to generate a steering wheel angle according to the steering wheel angle and the transmission ratio, where the steering wheel angle includes a ratio of the steering wheel angle to the transmission ratio; and generating a compensation coefficient according to the steering wheel angle.
In the embodiment of the present invention, the sending module 21 further includes a second generating unit 214, where the second generating unit 214 is connected to the judging unit 211. The second generation unit 214 is configured to generate a steering wheel angle based on a parking scene in which the vehicle is located.
In the technical scheme provided by the embodiment of the invention, the vehicle control device sends the acquired transverse control parameters to the transverse controller, the transverse controller transversely controls the vehicle according to the transverse control parameters, the vehicle control device generates the compensation coefficient according to the acquired longitudinal control parameters and sends the compensation coefficient to the longitudinal controller, and the longitudinal controller generates the longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and longitudinally controls the vehicle according to the longitudinal control moment. According to the technical scheme provided by the embodiment of the invention, the vehicle control device compensates the longitudinal control basic moment through the longitudinal control compensation moment, so that the starting speed and the advancing speed in the automatic parking process are improved, the parking experience of a user is improved, and the parking efficiency is improved.
The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is located to execute the embodiment of the vehicle control method.
Fig. 5 is a schematic diagram of an automatic parking controller according to an embodiment of the present invention, including: the automatic parking controller 3 of this embodiment includes: the processor 31, the memory 32, and the computer program 33 stored in the memory 32 and executable on the processor 31, the computer program 33 when executed by the processor 31 implements the vehicle control method in the embodiment, and is not described herein in detail to avoid repetition.
The automatic parking controller 3 includes, but is not limited to, a processor 31, a memory 32. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the autopilot controller 3 and is not meant to be limiting of the autopilot controller 3, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a network device may also include an input-output device, a network access device, a bus, etc.
The processor 31 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 32 may be an internal storage unit of the automatic parking controller 3, such as a hard disk or a memory of the automatic parking controller 3. The memory 32 may also be an external storage device of the automatic parking controller 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the automatic parking controller 3. Further, the memory 32 may also include both an internal memory unit and an external memory device of the automatic parking controller 3. The memory 32 is used to store computer programs and other programs and data required by the network device. The memory 32 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (10)
1. A vehicle control method, characterized in that the method comprises:
the acquired transverse control parameters are sent to a transverse controller so that the transverse controller can transversely control the vehicle according to the transverse control parameters;
generating a compensation coefficient according to the acquired longitudinal control parameters, and sending the compensation coefficient to a longitudinal controller so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment;
the longitudinal control parameters comprise steering wheel angle and transmission ratio;
the generating the compensation coefficient according to the acquired longitudinal control parameter comprises the following steps:
judging whether the vehicle turns according to the steering wheel angle;
if the steering of the vehicle is judged, generating a compensation coefficient according to the steering angle of the steering wheel and the transmission ratio;
if the vehicle is not steered, determining that the compensation coefficient is zero;
the generating the compensation coefficient according to the steering wheel angle and the transmission ratio comprises the following steps:
generating a steering wheel corner according to the steering wheel corner and the transmission ratio, wherein the steering wheel corner comprises a ratio of the steering wheel corner to the transmission ratio;
generating a compensation coefficient according to the steering wheel angle;
before judging whether the vehicle turns according to the steering wheel angle, the method further comprises the following steps:
based on a parking scene in which the vehicle is located, a steering wheel angle is generated.
2. A vehicle control method, characterized in that the method comprises:
the automatic parking controller sends the acquired transverse control parameters to the transverse controller;
the transverse controller transversely controls the vehicle according to the transverse control parameters;
the automatic parking controller generates a compensation coefficient according to the acquired longitudinal control parameter and sends the compensation coefficient to the longitudinal controller;
the longitudinal controller generates longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controls the vehicle according to the longitudinal control moment;
the longitudinal control parameters comprise steering wheel angle and transmission ratio;
the automatic parking controller generates a compensation coefficient according to the acquired longitudinal control parameter, and the automatic parking controller comprises the following steps:
the automatic parking controller judges whether the vehicle turns according to the acquired steering wheel turning angle, if the vehicle turns, the automatic parking controller generates a steering wheel turning angle according to the steering wheel turning angle and the acquired transmission ratio, and generates a compensation coefficient according to the steering wheel turning angle; and if the vehicle is not steered, determining that the compensation coefficient is zero.
3. The method of claim 2, wherein the longitudinal controller generating a longitudinal control moment from the generated longitudinal control base moment and the compensation coefficient comprises:
the longitudinal controller generates longitudinal control compensation moment according to the generated longitudinal control basic moment and the compensation coefficient;
and the longitudinal controller carries out superposition processing on the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
4. The method of claim 2, wherein said longitudinally controlling the vehicle in accordance with said longitudinal control torque comprises:
if the vehicle is in a forward gear, the longitudinal controller determines the direction of the longitudinal control moment as a forward direction and longitudinally controls the vehicle based on the forward direction; or,
and if the vehicle is in the backward gear, the longitudinal controller determines the direction of the longitudinal control moment as the backward direction and longitudinally controls the vehicle based on the backward direction.
5. A vehicle control apparatus, characterized in that the apparatus comprises:
the transmission module is used for transmitting the acquired transverse control parameters to the transverse controller so that the transverse controller can transversely control the vehicle according to the transverse control parameters; generating a compensation coefficient according to the acquired longitudinal control parameters, and sending the compensation coefficient to a longitudinal controller so that the longitudinal controller can generate a longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient, and longitudinally controlling the vehicle according to the longitudinal control moment;
the longitudinal control parameters comprise steering wheel angle and transmission ratio;
the sending module comprises a judging unit, a first generating unit and a determining unit, wherein the judging unit is used for judging whether the vehicle turns according to the steering wheel angle; the first generation unit is used for generating a compensation coefficient according to the steering wheel angle and the transmission ratio if the judgment unit judges that the vehicle turns; the determining unit is used for determining that the compensation coefficient is zero if the judging unit judges that the vehicle does not turn;
the first generation unit is specifically configured to generate a steering wheel angle according to the steering wheel angle and the transmission ratio, where the steering wheel angle includes a ratio of the steering wheel angle to the transmission ratio; generating a compensation coefficient according to the steering wheel angle;
the sending module further comprises a second generating unit, wherein the second generating unit is used for generating a steering wheel corner based on a parking scene where the vehicle is located.
6. A vehicle, the vehicle comprising an auto park controller, a lateral controller, and a longitudinal controller;
the automatic parking controller is used for sending the transverse control parameters to the transverse controller;
the transverse controller is used for transversely controlling the vehicle according to the transverse control parameters;
the automatic parking controller is used for generating a compensation coefficient according to the acquired longitudinal control parameter and sending the compensation coefficient to the longitudinal controller;
the longitudinal controller is used for generating longitudinal control moment according to the generated longitudinal control basic moment and the compensation coefficient and longitudinally controlling the vehicle according to the longitudinal control moment;
the longitudinal control parameters comprise steering wheel angle and transmission ratio;
the automatic parking controller is specifically used for judging whether the vehicle turns according to the steering wheel angle; if the steering of the vehicle is judged, generating a compensation coefficient according to the steering angle of the steering wheel and the transmission ratio; if the vehicle is not steered, determining that the compensation coefficient is zero;
the automatic parking controller is specifically used for generating a steering wheel corner according to a steering wheel corner and a transmission ratio, wherein the steering wheel corner comprises a ratio of the steering wheel corner to the transmission ratio; generating a compensation coefficient according to the steering wheel rotation angle;
the automatic parking controller is also used for generating steering wheel rotation angles based on a parking scene where the vehicle is located.
7. The vehicle of claim 6, further comprising a CAN bus;
the automatic parking controller is specifically used for sending the transverse control parameters to the transverse controller through the CAN bus;
the automatic parking controller is specifically used for sending the compensation coefficient to the longitudinal controller through the CAN bus.
8. The vehicle of claim 6, wherein the vehicle is further characterized by,
the longitudinal controller is specifically used for generating longitudinal control compensation moment according to the generated longitudinal control basic moment and the compensation coefficient; and superposing the longitudinal control compensation moment and the longitudinal control basic moment to generate a longitudinal control moment.
9. An automatic parking controller, comprising: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed by the automated parking controller, cause the automated parking controller to perform the method of claim 1.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of claim 1, or any one of claims 2 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211204792.5A CN115402410B (en) | 2022-09-29 | 2022-09-29 | Vehicle control method and device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211204792.5A CN115402410B (en) | 2022-09-29 | 2022-09-29 | Vehicle control method and device and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115402410A CN115402410A (en) | 2022-11-29 |
| CN115402410B true CN115402410B (en) | 2023-11-28 |
Family
ID=84167017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211204792.5A Active CN115402410B (en) | 2022-09-29 | 2022-09-29 | Vehicle control method and device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115402410B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106696957A (en) * | 2015-11-18 | 2017-05-24 | 上海航天汽车机电股份有限公司 | Automatic parking control method for vehicle and system thereof |
| CN111114536A (en) * | 2020-01-21 | 2020-05-08 | 北京四维智联科技有限公司 | Automatic parking control method and device for vehicle |
| WO2020187259A1 (en) * | 2019-03-18 | 2020-09-24 | 长城汽车股份有限公司 | Safety monitoring method and system for autonomous vehicle, and motion control system |
| CN111731274A (en) * | 2020-06-28 | 2020-10-02 | 中国第一汽车股份有限公司 | Parking torque determination method, device, equipment and medium |
| CN113442907A (en) * | 2020-03-24 | 2021-09-28 | 广州汽车集团股份有限公司 | Method and device for controlling vehicle speed under low-speed working condition |
| CN115092122A (en) * | 2022-06-24 | 2022-09-23 | 东风柳州汽车有限公司 | Longitudinal control and automatic parking method and device based on ESC control |
-
2022
- 2022-09-29 CN CN202211204792.5A patent/CN115402410B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106696957A (en) * | 2015-11-18 | 2017-05-24 | 上海航天汽车机电股份有限公司 | Automatic parking control method for vehicle and system thereof |
| WO2020187259A1 (en) * | 2019-03-18 | 2020-09-24 | 长城汽车股份有限公司 | Safety monitoring method and system for autonomous vehicle, and motion control system |
| CN111114536A (en) * | 2020-01-21 | 2020-05-08 | 北京四维智联科技有限公司 | Automatic parking control method and device for vehicle |
| CN113442907A (en) * | 2020-03-24 | 2021-09-28 | 广州汽车集团股份有限公司 | Method and device for controlling vehicle speed under low-speed working condition |
| CN111731274A (en) * | 2020-06-28 | 2020-10-02 | 中国第一汽车股份有限公司 | Parking torque determination method, device, equipment and medium |
| CN115092122A (en) * | 2022-06-24 | 2022-09-23 | 东风柳州汽车有限公司 | Longitudinal control and automatic parking method and device based on ESC control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115402410A (en) | 2022-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10082402B2 (en) | Parking path generation device, system including the same, and method thereof | |
| CN106938660B (en) | Vehicular turn conditioning unit and method and vehicle operating coordinate system | |
| CN111762145B (en) | Intermediary agent device, electric control vehicle driving system and operation method thereof | |
| EP2116439A1 (en) | Vehicle travel support device and method | |
| CN111469917B (en) | Vehicle steering control method and device | |
| CN111547128A (en) | Neutral position self-learning method and device for electric steering system and storage medium | |
| CN113655788B (en) | Vehicle remote control parking method, system, terminal equipment and readable storage medium | |
| CN110091872B (en) | Dual-mode control method of unmanned vehicle and unmanned vehicle | |
| CN111422250A (en) | Rear wheel steering control method, device and system and computer storage medium | |
| JP7075273B2 (en) | Parking support device | |
| CN115402410B (en) | Vehicle control method and device and vehicle | |
| CN113260553A (en) | Steering control device and steering control method | |
| CN113665585B (en) | Automatic driving assistance system, method and readable storage medium for vehicle | |
| CN113492856A (en) | Cruise following parking waiting time control method and system, vehicle and storage medium | |
| CN111873988B (en) | Parking control method and device, vehicle and storage medium | |
| CN116495008A (en) | Vehicle control method and device and terminal equipment | |
| CN109625079A (en) | The control method and controller of automobile electric booster steering system (EPS) | |
| CN113602250A (en) | Automatic parking method and device for electric automobile, vehicle and storage medium | |
| CN114620127A (en) | Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium | |
| US20210109526A1 (en) | Processing sensor data in a motor vehicle | |
| CN111731382B (en) | Vehicle lateral control method, system, vehicle and storage medium | |
| CN114475611A (en) | Vehicle anti-shake control method and device, storage medium and equipment | |
| CN111538322A (en) | Sensor data selection method and device for automatic driving vehicle and vehicle-mounted equipment | |
| CN114056426A (en) | Real-time steering display method, device and system | |
| CN115158294B (en) | Vehicle reversing tracking method device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |