CN115871713A

CN115871713A - Tracking control method and device for vehicle, electronic equipment and storage medium

Info

Publication number: CN115871713A
Application number: CN202211607779.4A
Authority: CN
Inventors: 梁钰明; 齐琪琪; 郭晓宇; 王磊
Original assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Current assignee: Weichai Power Co Ltd; Weifang Weichai Power Technology Co Ltd
Priority date: 2022-12-14
Filing date: 2022-12-14
Publication date: 2023-03-31

Abstract

The invention discloses a tracking control method and device of a vehicle, electronic equipment and a storage medium, belonging to the technical field of automatic control, wherein the control method comprises the following steps: acquiring a current position point, a current speed, a current wheel corner and an execution duration of a current control cycle of a vehicle; determining a temporary position point where the vehicle arrives based on the current position point, the current vehicle speed, the current wheel rotation angle and the execution duration; acquiring modulation parameters of a first wheel corner and a temporary position point in a previous control period of the vehicle; modulating the temporary position point based on the first wheel rotation angle, the current wheel rotation angle and the modulation parameter to obtain a modulation position point; acquiring a target position point of a vehicle; and determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controlling the vehicle to operate by using the steering wheel angle. This application is through increasing interim position point to the wheel corner that causes to special operating mode is adjusted just, can improve vehicle tracking control's precision.

Description

Tracking control method and device for vehicle, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of automatic control, in particular to a tracking control method and device of a vehicle, electronic equipment and a storage medium.

Background

At present, most unmanned tracking control algorithms are developed based on passenger vehicles, and the passenger vehicles have the advantages of medium-high speed, smooth road conditions, strong and stable sensor signals and the like, so that the current control algorithms cannot be well adapted to unmanned vehicles running under the scenes of low speed, bumpiness and bumpiness of roads, intermittent positioning signals and the like.

Tracking control algorithms adopted by unmanned vehicles at present basically adopt control algorithms of passenger vehicles, and are transplanted to the vehicles for development. The existing algorithm considers the problem that the vehicle is easy to appear in the actual operation process very rarely, for example, the deviation of the vehicle running angle caused by passing through a pit, a bump and the like in the running process can only meet the requirement that the unmanned vehicle achieves the expected control precision under the normal working condition, and under the complex working condition, the control precision can not be guaranteed.

Therefore, how to improve the control accuracy of the unmanned vehicle is urgent to solve.

Disclosure of Invention

The technical problem of how to improve the control accuracy of the unmanned vehicle is solved. The invention provides a tracking control method and device of a vehicle, electronic equipment and a storage medium.

One object of the present invention is to provide a tracking control method for a vehicle. The method is characterized in that a temporary position point is added between a current position point and a target position point, whether the wheel angle deviates due to the conditions of pits, jolts and the like is analyzed, the wheel angle is corrected, and the control precision of vehicle tracking is improved.

Another object of the present invention is to provide a tracking control device for a vehicle.

It is a further object of the invention to propose an electronic device.

It is yet another object of the present invention to provide a storage medium readable by a computer.

According to an aspect of the embodiments of the present application, there is provided a tracking control method for a vehicle, the vehicle including a controller configured to receive operating condition information of the vehicle, determine an operating parameter of the vehicle based on the operating condition information, and send a control command including the operating parameter to the vehicle, the control method including: acquiring a current position point, a current vehicle speed, a current wheel corner and an execution duration of a current control cycle of a vehicle, wherein the execution duration is the total duration from the time when the controller receives the working condition information to the time when the vehicle executes the control command; determining a temporary location point where the vehicle arrives based on the current location point, the current vehicle speed, the current wheel angle, and the execution duration; acquiring a first wheel rotation angle and modulation parameters of the temporary position point in a previous control period of the vehicle; modulating the temporary location point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated location point; acquiring a target position point of a vehicle; and determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controlling the vehicle to operate according to the steering wheel angle.

Optionally, said modulating the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point comprises: comparing the first wheel angle to the current wheel angle; and when the difference value between the first wheel rotation angle and the current wheel rotation angle is larger than a preset difference value, modulating the temporary position point to obtain a modulated position point.

Optionally, the tracking control method of the vehicle further includes: and when the difference value between the first wheel rotation angle and the current wheel rotation angle is smaller than or equal to a preset difference value, controlling the vehicle to run at the current wheel rotation angle.

Optionally, when the difference between the first wheel rotation angle and the current wheel rotation angle is greater than a preset difference, the tracking control method further includes: modulating the current wheel angle based on the difference between the first wheel angle and the current wheel angle and the modulation parameter to obtain a modulated wheel angle; the temporary position point is modulated based on the modulated wheel angle to obtain a modulated position point.

Optionally, the determining a steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point comprises: determining the arc radius of the vehicle motion track and the curvature of an arc based on the current position point, the target position point and the modulation position point; determining the steering wheel angle based on the arc radius and the curvature.

Optionally, the acquiring the target position point of the vehicle includes: determining a preview distance parameter of the vehicle based on the current vehicle speed, the preview distance parameter being in positive correlation with the current vehicle speed; and determining the target position point based on the pre-aiming distance parameter.

Optionally, the pre-aiming distance parameter is less than or equal to 10m, or the pre-aiming distance parameter is less than or equal to 4 times of the vehicle wheelbase.

According to another aspect of the embodiments of the present application, there is also provided a tracking control apparatus for a vehicle, the vehicle including a controller configured to receive operating condition information of the vehicle, determine an operating parameter of the vehicle based on the operating condition information, and send a control command including the operating parameter to the vehicle, the tracking control apparatus including: the first acquisition module is used for acquiring a current position point, a current vehicle speed, a current wheel corner and execution duration of a current control cycle of a vehicle, wherein the execution duration is the total duration from the time when the controller receives the working condition information to the time when the vehicle executes the control command; the first analysis module is used for determining a temporary position point of the vehicle based on the current position point, the current vehicle speed, the current wheel rotation angle and the execution duration; the second acquisition module is used for acquiring a first wheel rotation angle and the modulation parameter of the temporary position point in a previous control period of the vehicle; a second analysis module that modulates the temporary position point based on the first wheel rotation angle, the current wheel rotation angle, and the modulation parameter to obtain a modulated position point; the third acquisition module is used for acquiring a target position point of the vehicle; and the execution module is used for determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point and controlling the vehicle to operate according to the steering wheel angle.

According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein the memory is used for storing the computer program; a processor for performing the method steps in any of the above embodiments by running a computer program stored on the memory.

According to a further aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the method steps of any of the above embodiments when the computer program is executed.

According to the method, the temporary position points are added, the circular arc track of the running of the vehicle is determined by combining the current position points and the target position points, the steering wheel angle of the vehicle is further determined, the vehicle is controlled based on the steering wheel angle, when the preset difference value is found out in the difference value between the current wheel angle and the wheel angle calculated in the previous control period, namely the wheel angle is corrected when the wheel angle is deviated due to pits, jolts and the like in the running process of the vehicle, the temporary position points are further corrected, the circular arc track of the running of the vehicle is determined based on the corrected modulation position points, the vehicle is further controlled, and the control precision of the vehicle tracking is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

FIG. 1 is a schematic diagram of a hardware environment for an alternative method of tracking control for a vehicle according to an embodiment of the invention;

FIG. 2 is a schematic flow chart diagram illustrating an alternative method of tracking control for a vehicle according to an embodiment of the present application;

FIG. 3 is a schematic illustration of an alternative vehicle trajectory according to an embodiment of the present application;

FIG. 4 is a schematic illustration of an alternative vehicle trajectory according to an embodiment of the present application;

FIG. 5 is a block diagram of an alternative tracking control apparatus for a vehicle according to an embodiment of the present application;

fig. 6 is a block diagram of an alternative electronic device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, 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 partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

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

As described in the background art, most of the existing unmanned tracking control algorithms are developed based on passenger vehicles, and the passenger vehicles have the advantages of medium-high speed, smooth road conditions, strong and stable sensor signals and the like, so that the existing control algorithms cannot be well adapted to unmanned vehicles running in low-speed, bumpy and bumpy roads, intermittent positioning signals and other scenes.

Tracking control algorithms adopted by unmanned vehicles at present basically adopt control algorithms of passenger vehicles, and are transplanted to the vehicles for development. The existing algorithm rarely considers the problem that the vehicle is easy to appear in the actual operation, for example, the vehicle driving angle is deviated due to the fact that the vehicle passes through a pit, a grandma and the like in the driving process, the control accuracy which is expected under the normal working condition of the unmanned vehicle can only be met, and under the complex working condition, the control accuracy cannot be guaranteed.

Therefore, according to an aspect of the embodiments of the present application, there is provided a tracking control method for a vehicle, the vehicle including a controller configured to receive operating condition information of the vehicle, determine an operating parameter of the vehicle based on the operating condition information, and send a control command including the operating parameter to the vehicle. Alternatively, in the present embodiment, the tracking control method of the vehicle may be applied to a hardware environment formed by the terminal 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the server 104 is connected to the terminal 102 through a network, which may be used to provide services for the terminal or a client installed on the terminal, may be provided with a database on the server or independent from the server, may be used to provide data storage services for the server 104, and may also be used to handle cloud services, and the network includes but is not limited to: the terminal 102 is not limited to a PC, a mobile phone, a tablet computer, etc. the terminal may be a wide area network, a metropolitan area network, or a local area network. The tracking control method of the vehicle according to the embodiment of the present application may be executed by the server 104, the terminal 102, or both the server 104 and the terminal 102. The tracking control method of the vehicle performed by the terminal 102 according to the embodiment of the present application may also be performed by a client installed thereon.

Taking the tracking control method of the vehicle in the embodiment as an example, executed by the terminal 102 and/or the server 104, fig. 2 is a schematic flowchart of an optional tracking control method of the vehicle according to the embodiment of the present application, and referring to fig. 2, the flowchart of the method may include the following steps:

s10, obtaining a current position point, a current speed, a current wheel angle and an execution duration of a current control cycle of the vehicle, wherein the execution duration is the total duration from the time when the controller receives the working condition information to the time when the vehicle executes the control command.

In this embodiment, the current location point may be obtained in real time through GPS navigation, the current vehicle speed and the current wheel rotation angle may be detected by a drive-by-wire chassis, and the execution duration may be detected in real time, or may be determined according to a total duration from when a controller receives the operating condition information to when the vehicle executes the control command, which is recorded in a history database.

And S20, determining a temporary position point of the vehicle based on the current position point, the current vehicle speed, the current wheel rotation angle and the execution duration.

In the present embodiment, the inventor has found that, since the vehicle takes time from the reception of the condition information by the controller to the execution of the control command by the vehicle, and at this time, if the vehicle speed exists, the vehicle moves within the execution time period, and the vehicle moves away from the current position point, the position point to which the vehicle will travel, that is, the temporary position point, can be predicted in advance based on the current wheel rotation angle, the current vehicle speed, and the execution time.

And S30, acquiring a first wheel rotation angle and modulation parameters of the temporary position point in the previous control period of the vehicle.

And S40, modulating the temporary position point based on the first wheel rotation angle, the current wheel rotation angle and the modulation parameter to obtain a modulation position point.

In the conventional vehicle tracking control, the vehicle is controlled to travel from a current position point to a target position point, but if special conditions such as a pit and a bump occur during the vehicle traveling, the deviation between the actual traveling angle of the vehicle and the calculated traveling angle is too large, which not only affects the control accuracy of the vehicle tracking, but also increases the rotation of the steering wheel and increases the jerk of the steering wheel during the vehicle control.

Therefore, the temporary position point predicted in advance in step S20 may have a deviation from the current wheel angle, which may result in a decrease in accuracy, and thus a decrease in control accuracy when the vehicle is controlled based on the current position point and the temporary position point, and therefore, in this embodiment, the wheel rotation angle of the previous control cycle is acquired, and after the wheel rotation angle is calculated in the normal vehicle tracking control, the controller controls the vehicle to operate at the calculated wheel rotation angle.

And S50, acquiring a target position point of the vehicle.

And S60, determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controlling the vehicle to run by using the steering wheel angle.

After a current position point, a modulation position point and a target position point are obtained, based on the principle that a circle is determined by three points, the circular arc track of a vehicle running from the current position point to the target position point can be determined, the radius and the curvature of the circle are calculated based on the circular arc track, the turning angle of a steering wheel is further calculated, the vehicle is controlled, after the current control period is completed, the control and the operation of the next control period are carried out until the vehicle reaches the target position point, and the interference of special working conditions such as pits and jolts is reduced; the temporary position point introduced by the invention can be added, so that the wheel corner deviation generated when a pit is passed can be corrected in time at the next control moment, and the frequent left and right oscillation of the vehicle can be reduced due to the existence of the adjusting parameter, so that the vehicle can be controlled and corrected at the same time in a planning way, and can finally well run along a down-sending path. Vehicle tracking control is improved. The modulation parameters can be obtained by testing in experiment and can be 0.4-0.6.

As an exemplary embodiment, said modulating said temporary position point based on said first wheel angle, said current wheel angle and said modulation parameter to obtain a modulated position point comprises: comparing the first wheel angle to the current wheel angle; and when the difference value between the first wheel rotation angle and the current wheel rotation angle is larger than a preset difference value, modulating the temporary position point to obtain a modulated position point.

In this embodiment, when the temporary position point is predicted by the current wheel rotation angle, the progress of the current wheel rotation angle needs to be guaranteed as much as possible, if the wheel rotation angle is deviated when the vehicle passes through a pit in the process of moving to the current position point from another previous position point, the error also occurs in the temporary position point predicted based on the current wheel rotation angle, therefore, the current wheel rotation angle needs to be compared with the first wheel rotation angle calculated in the previous control period, and when the difference value between the first wheel rotation angle and the current wheel rotation angle is greater than the preset difference value, it is considered that the current wheel rotation angle is deviated due to a special working condition, the current wheel rotation angle needs to be corrected, and the temporary position point needs to be corrected, so as to obtain a modulation position point, thereby improving the accuracy of the vehicle running track determined based on the current position point, the target position point and the modulation position point, and improving the control accuracy of the vehicle tracking.

As an optional embodiment, when the difference between the first wheel rotation angle and the current wheel rotation angle is smaller than the preset difference, the influence on the overall tracking control of the vehicle is small, and the temporary position point may not be corrected; in order to improve the control accuracy of the vehicle tracking, even if the difference between the first wheel rotation angle and the current wheel rotation angle is smaller than the preset difference, the current wheel rotation angle may still be corrected, so as to further improve the control accuracy of the vehicle tracking.

As an exemplary embodiment, when a difference between the first wheel rotation angle and the current wheel rotation angle is larger than a preset difference, the tracking control method further includes: modulating the current wheel angle based on the difference between the first wheel angle and the current wheel angle and the modulation parameter to obtain a modulated wheel angle; modulating the temporary position point based on the modulated wheel angle to obtain a modulated position point.

In this embodiment, the accuracy of the current wheel rotation angle is affected by the vehicle passing through the pit, and may be that the current wheel rotation angle is smaller than the calculated theoretical wheel rotation angle, or may be that the current wheel rotation angle is larger than the calculated theoretical wheel rotation angle, so when the current wheel rotation angle is modulated, if the current wheel rotation angle is smaller than the theoretical wheel rotation angle, the difference between the first wheel rotation angle and the current wheel rotation angle is multiplied by the modulation parameter, and the result and the current wheel rotation angle are summed up, and the temporary position point is modulated based on the summed wheel rotation angle, so as to obtain a modulated position point; and if the current wheel corner is larger than the theoretical wheel corner, multiplying a modulation parameter by the difference value of the first wheel corner and the current wheel corner, calculating the difference between the result and the current wheel corner, modulating a temporary position point based on the calculated wheel corner to obtain a modulation position point, determining the running track of the vehicle by combining the current position point and a target position point, further determining the arc radius and the curvature of the track to calculate the steering wheel corner, controlling the vehicle and improving the control precision of vehicle tracking.

As an exemplary embodiment, referring to fig. 3, the acquiring the target location point of the vehicle includes: determining a pre-aiming distance parameter of the vehicle based on the current vehicle speed, wherein the pre-aiming distance parameter is positively correlated with the current vehicle speed; determining the target location point based on the pre-aiming distance parameter. The pre-aiming distance parameter is less than or equal to 10m, or the pre-aiming distance parameter is less than or equal to 4 times of the vehicle wheelbase. In this embodiment, L is a preview distance parameter, and when the vehicle travels to the current position point, the preview distance parameter is determined based on the current vehicle speed, and the target position point is determined based on the preview distance parameter. One end of a line segment L in fig. 3 is located at the current position point, the other end of the line segment L is located at the target position point, the pre-aiming distance parameter needs to be obtained through repeated tests, the control precision is improved when the pre-aiming distance parameter is small, the calculation amount control times are improved, and the jitter rate of the steering wheel is further improved; a larger preview distance parameter reduces the jitter rate of the steering wheel but reduces the control accuracy.

The complete description of the vehicle tracking control method in the application is as follows: referring to fig. 4, first, a current vehicle speed, a current wheel corner and an execution time length are obtained based on a drive-by-wire chassis, a current position point is obtained based on GPS positioning, a temporary position point is predicted by using the current position point, the current vehicle speed, the current wheel corner and the execution time length, after the temporary position point is predicted, whether the determined temporary position point is accurate needs to be determined, a first wheel corner and a modulation parameter of a previous control period are obtained, whether a difference between the first wheel corner and the current wheel corner is greater than a preset difference is compared, when the difference between the first wheel corner and the current wheel corner is greater than the preset difference, the difference between the first wheel corner and the current wheel corner is multiplied by the modulation parameter to correct the current wheel corner, and the temporary position point is corrected based on the corrected wheel corner to obtain a modulation position point, then an arc radius and a curvature of a vehicle running track are determined by using the modulation position point, the current position point and a target position point, a steering wheel corner is determined based on the arc radius and the curvature, and the steering wheel corner is controlled to run. After the current control period is finished, the target position point is maintained unchanged, the real-time position point of the vehicle, the vehicle speed and the wheel rotation angle of the vehicle at the real-time position point are obtained, a new temporary position point is predicted, whether the temporary position point needs to be corrected or not is judged, and the process is circulated in sequence until the vehicle runs to the target position point.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, an optical disk) and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the methods of the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided a tracking control apparatus of a vehicle for implementing the tracking control method of the vehicle described above. FIG. 5 is a schematic diagram of an alternative tracking control apparatus for a vehicle according to an embodiment of the present application, as shown in FIG. 5, the apparatus may include:

a first obtaining module 501, configured to obtain a current position point, a current vehicle speed, a current wheel angle, and an execution duration of a current control cycle of a vehicle, where the execution duration is a total duration from when the controller receives the operating condition information to when the vehicle executes the control instruction;

a first analysis module 502, which determines a temporary location point where the vehicle arrives based on the current location point, the current vehicle speed, the current wheel rotation angle and the execution duration;

a second obtaining module 503, configured to obtain a first wheel rotation angle and a modulation parameter of the temporary position point in a previous control cycle of the vehicle;

a second analysis module 504 for modulating the temporary location point based on the first wheel angle, the current wheel angle and the modulation parameter to obtain a modulated location point;

a third obtaining module 505, configured to obtain a target location point of a vehicle;

and an executing module 506, which determines the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controls the vehicle to operate according to the steering wheel angle.

It should be noted that the first obtaining module 501 in this embodiment may be configured to execute the step S10, the first analyzing module 502 in this embodiment may be configured to execute the step S20, the second obtaining module 503 in this embodiment may be configured to execute the step S30, the second analyzing module 504 in this embodiment may be configured to execute the step S40, the third obtaining module 505 in this embodiment may be configured to execute the step S50, and the executing module 506 in this embodiment may be configured to execute the step S60.

It should be noted that the modules described above are the same as examples and application scenarios realized by corresponding steps, but are not limited to what is disclosed in the foregoing embodiments. It should be noted that the modules described above as a part of the apparatus may be operated in a hardware environment as shown in fig. 1, and may be implemented by software, or may be implemented by hardware, where the hardware environment includes a network environment.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the tracking control method of the vehicle, which may be a server, a terminal, or a combination thereof.

Fig. 6 is a block diagram of an alternative electronic device according to an embodiment of the present application, as shown in fig. 6, including a processor 602, a communication interface 604, a memory 606, and a communication bus 608, where the processor 602, the communication interface 604, and the memory 606 communicate with each other through the communication bus 608, where,

a memory 606 for storing computer programs;

the processor 602, when executing the computer program stored in the memory 606, implements the following steps:

acquiring a current position point, a current speed, a current wheel angle and an execution duration of a current control cycle of a vehicle, wherein the execution duration is the total duration from the time when the controller receives the working condition information to the time when the vehicle executes the control command;

determining a temporary position point where the vehicle arrives based on the current position point, the current vehicle speed, the current wheel rotation angle and the execution duration;

acquiring a first wheel rotation angle and modulation parameters of the temporary position point in a previous control period of the vehicle;

modulating the temporary location point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated location point;

acquiring a target position point of a vehicle;

and determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controlling the vehicle to operate according to the steering wheel angle.

Alternatively, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The memory may include RAM, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Alternatively, the memory may be at least one memory device located remotely from the processor.

As an example, as shown in fig. 6, the memory 606 may include, but is not limited to, a first obtaining module 501, a first analyzing module 502, a second obtaining module 503, a second analyzing module 504, a third obtaining module 505, and an executing module 506 of the tracking control device of the vehicle. In addition, other module units in the tracking control device of the vehicle may also be included, but are not limited to these, and are not described in detail in this example.

The processor may be a general-purpose processor, and may include but is not limited to: a CPU (Central Processing Unit), NP (Network Processor), and the like; but also a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.

It can be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration, and the device implementing the tracking control method of the vehicle may be a terminal device, and the terminal device may be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, and the like. Fig. 6 is a diagram illustrating the structure of the electronic device. For example, the terminal device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, and the like.

According to yet another aspect of embodiments of the present application, there is also provided a computer-readable storage medium. Alternatively, in the present embodiment, the storage medium may be a program code for executing a tracking control method of a vehicle.

Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.

Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

acquiring a target position point of a vehicle;

Optionally, for a specific example in this embodiment, reference may be made to the example described in the foregoing embodiment, and details of this are not described again in this embodiment.

Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, a ROM, a RAM, a removable hard disk, a magnetic disk, or an optical disk.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method of the embodiments of the present application.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, and may also be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A tracking control method of a vehicle, wherein the vehicle comprises a controller for receiving operating condition information of the vehicle, determining an operating parameter of the vehicle based on the operating condition information, and sending a control command containing the operating parameter to the vehicle, and the control method comprises the following steps:

determining a temporary location point where the vehicle arrives based on the current location point, the current vehicle speed, the current wheel angle, and the execution duration;

acquiring a target position point of a vehicle;

2. The tracking control method of a vehicle according to claim 1, wherein said modulating the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point includes:

comparing the first wheel angle with the current wheel angle;

and when the difference value between the first wheel rotation angle and the current wheel rotation angle is larger than a preset difference value, modulating the temporary position point to obtain a modulated position point.

3. The tracking control method of a vehicle according to claim 2, characterized by further comprising:

and when the difference value between the first wheel rotation angle and the current wheel rotation angle is smaller than or equal to a preset difference value, controlling the vehicle to run at the current wheel rotation angle.

4. The tracking control method of a vehicle according to claim 2, wherein when a difference between the first wheel angle and the current wheel angle is larger than a preset difference, the tracking control method further comprises:

modulating the current wheel angle based on the difference between the first wheel angle and the current wheel angle and the modulation parameter to obtain a modulated wheel angle;

modulating the temporary position point based on the modulated wheel angle to obtain a modulated position point.

5. The tracking control method of a vehicle according to claim 1, wherein said determining a steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point includes:

determining the arc radius and the curvature of an arc of a vehicle motion track based on the current position point, the target position point and the modulation position point;

determining the steering wheel angle based on the arc radius and the curvature.

6. The tracking control method of a vehicle according to claim 1, wherein said acquiring a target position point of the vehicle includes:

determining a pre-aiming distance parameter of the vehicle based on the current vehicle speed, wherein the pre-aiming distance parameter is positively correlated with the current vehicle speed;

and determining the target position point based on the pre-aiming distance parameter.

7. The tracking control method of a vehicle according to claim 6, wherein the pre-aiming distance parameter is 10m or less, or the pre-aiming distance parameter is 4 times or less of the vehicle wheel base.

8. A tracking control apparatus for a vehicle, the vehicle including a controller configured to receive operating condition information of the vehicle, determine an operating parameter of the vehicle based on the operating condition information, and send a control command including the operating parameter to the vehicle, the tracking control apparatus comprising:

the first acquisition module is used for acquiring a current position point, a current vehicle speed, a current wheel corner and execution duration of a current control cycle of a vehicle, wherein the execution duration is the total duration from the time when the controller receives the working condition information to the time when the vehicle executes the control command;

the first analysis module is used for determining a temporary position point of the vehicle based on the current position point, the current vehicle speed, the current wheel rotation angle and the execution duration;

the second acquisition module is used for acquiring a first wheel rotation angle and the modulation parameter of the temporary position point in a previous control period of the vehicle;

a second analysis module that modulates the temporary position point based on the first wheel rotation angle, the current wheel rotation angle, and the modulation parameter to obtain a modulated position point;

the third acquisition module is used for acquiring a target position point of the vehicle;

and the execution module is used for determining the steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point and controlling the vehicle to operate according to the steering wheel angle.

9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein said processor, said communication interface and said memory communicate with each other via said communication bus,

the memory for storing a computer program;

the processor for performing the steps of the tracking control method of the vehicle of any one of claims 1-7 by running the computer program stored on the memory.

10. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to carry out the steps of the tracking control method of a vehicle according to any one of claims 1 to 7 when executed.