CN115991235B

CN115991235B - Vehicle steering control method, apparatus, electronic device, and computer-readable medium

Info

Publication number: CN115991235B
Application number: CN202310282835.XA
Authority: CN
Inventors: 张磊; 孙宝年
Original assignee: HoloMatic Technology Beijing Co Ltd
Current assignee: Heduo Technology Guangzhou Co ltd
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-05-26
Anticipated expiration: 2043-03-22
Also published as: CN115991235A

Abstract

Embodiments of the present disclosure disclose a vehicle steering control method, apparatus, electronic device, and computer-readable medium. One embodiment of the method comprises the following steps: acquiring target vehicle parameters, initial positioning calibration parameters and an initial track information set; screening the initial track information set to obtain a target track information set and a track sampling radius set; updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters; determining a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set; and sending the target positioning calibration parameters and the vehicle steering ratio set to a control terminal to control the target vehicle to steer. This embodiment improves the accuracy of the vehicle steering control.

Description

Vehicle steering control method, apparatus, electronic device, and computer-readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a vehicle steering control method, apparatus, electronic device, and computer readable medium.

Background

During the running of the vehicle, the control terminal of the vehicle needs to accurately control the steering of the vehicle. At present, when steering control of a vehicle is performed, the following methods are generally adopted: the driving track is calibrated through a map, then the driving radius of the vehicle is manually measured or is determined through image recognition, the steering ratio of the vehicle is determined according to the driving radius of the vehicle, and then the control terminal controls the steering of the vehicle according to the steering ratio of the vehicle.

However, the inventors found that when the steering of the vehicle is controlled in the above manner, there are often the following technical problems:

firstly, by manually measuring the running radius of the vehicle, errors exist in the manually measured running radius, which can cause the accuracy of the obtained running radius of the vehicle to be reduced, so that the accuracy of the obtained steering ratio of the vehicle is reduced, and further, the accuracy of controlling the steering of the vehicle is reduced;

second, in a manner of obtaining a running radius of a vehicle by image recognition, it is necessary to rely on an external device (for example, a camera), and when a related parameter of the external device (for example, a resolution of the camera) is reduced, definition of an acquired image is reduced, resulting in a reduction in accuracy of the obtained running radius of the vehicle, and thus a reduction in accuracy of a steering ratio of the obtained vehicle, and further, a reduction in accuracy of controlling steering of the vehicle.

The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.

Disclosure of Invention

The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a vehicle steering control method, apparatus, electronic device, and computer-readable medium to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a vehicle steering control method, the method comprising: acquiring target vehicle parameters, initial positioning calibration parameters and an initial track information set; screening the initial track information set to obtain a target track information set and a track sampling radius set; updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters; determining a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set; and sending the target positioning calibration parameters and the vehicle steering ratio set to a control terminal to control the target vehicle to steer.

In a second aspect, some embodiments of the present disclosure provide a vehicle steering control apparatus, the apparatus comprising: an acquisition unit configured to acquire a target vehicle parameter, an initial positioning calibration parameter, and an initial trajectory information set; the screening unit is configured to screen the initial track information set to obtain a target track information set and a track sampling radius set; the updating unit is configured to update the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters; a determining unit configured to determine a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameter, and obtain a vehicle steering ratio set; and the sending unit is configured to send the target positioning calibration parameter and the vehicle steering ratio set to the control terminal so as to control the target vehicle to steer.

In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

The above embodiments of the present disclosure have the following advantageous effects: by the vehicle steering control method of some embodiments of the present disclosure, the accuracy of controlling the steering of the vehicle can be improved. Specifically, the decrease in accuracy of controlling the steering of the vehicle is caused by: by manually measuring the running radius of the vehicle, errors may occur in the manually measured running radius, which may result in a decrease in accuracy of the obtained running radius of the vehicle, thereby resulting in a decrease in accuracy of the steering ratio of the vehicle, and further, in a decrease in accuracy of controlling the steering of the vehicle. Based on this, the vehicle steering control method of some embodiments of the present disclosure first acquires the target vehicle parameter, the initial positioning calibration parameter, and the initial trajectory information set. And secondly, screening the initial track information set to obtain a target track information set and a track sampling radius set. Therefore, abnormal track information in the initial track information set can be screened out from the initial track information set, and the running radius with higher accuracy can be obtained. And then, updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters. Therefore, the accuracy of positioning calibration parameters can be improved, and the accuracy of controlling the steering of the vehicle can be further improved. And then, determining the vehicle steering ratio corresponding to each piece of target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set. Thus, the steering ratio of the vehicle can be determined from the screened trajectory information. And finally, the target positioning calibration parameters and the vehicle steering ratio set are sent to a control terminal to control the target vehicle to steer. Therefore, the control terminal can control the vehicle steering according to the target positioning calibration parameter and the vehicle steering ratio set. Therefore, according to the vehicle steering control method, the steering ratio of the vehicle can be determined through the track information set after screening, the accuracy of the obtained steering ratio of the vehicle is improved, meanwhile, the positioning calibration parameters can be updated in time, and the accuracy of vehicle steering control is improved.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a flow chart of some embodiments of a vehicle steering control method according to the present disclosure;

FIG. 2 is a schematic structural view of some embodiments of a vehicle steering control device according to the present disclosure;

fig. 3 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates a flow 100 of some embodiments of a vehicle steering control method according to the present disclosure. The vehicle steering control method includes the steps of:

And 101, acquiring target vehicle parameters, initial positioning calibration parameters and an initial track information set.

In some embodiments, the execution subject of the vehicle steering control method may acquire the target vehicle parameter, the initial positioning calibration parameter, and the initial trajectory information set from the control terminal of the target vehicle by means of a wired connection or a wireless connection.

The target vehicle may be a vehicle that is turning. The target vehicle parameters may include, but are not limited to, at least one of: vehicle wheelbase value, number of wheel pulses, and wheel diameter. Here, the vehicle wheelbase value may be a value that characterizes the wheelbase of the target vehicle. The number of wheel pulses may be indicative of the number of pulses received by the control terminal when the wheel of the target vehicle makes one revolution. The initial positioning calibration parameter may be a parameter of a preset positioning system. The initial trajectory information in the initial trajectory information set may include, but is not limited to, at least one of: an initial set of track coordinates, a wheel angle value, a set of wheel revolutions value, and a rear wheel average revolution value. The initial track coordinate set may represent coordinates of each point in the track corresponding to the initial track information under a coordinate system corresponding to the preset positioning system. The wheel angle value may be an average value of deflection angle values of the respective wheels when the target vehicle travels through a track corresponding to the initial track information. The wheel rotation number value in the wheel rotation number value set may represent the number of wheels rotated by one wheel of the target vehicle. The rear wheel average rotation value may be an average value of two wheel rotation values respectively corresponding to a left rear wheel and a right rear wheel of the target vehicle in the wheel revolution value set.

As an example, the above-mentioned preset positioning system may be an RTK (Real-time kinematic) positioning system.

It should be noted that the wireless connection may include, but is not limited to, 3G/4G connections, wiFi connections, bluetooth connections, wiMAX connections, zigbee connections, UWB (ultra wideband) connections, and other now known or later developed wireless connection means.

And 102, screening the initial track information set to obtain a target track information set and a track sampling radius set.

In some embodiments, the execution body may perform a filtering process on the initial track information set to obtain a target track information set and a track sampling radius set.

Optionally, before the initial track information set is screened to obtain the target track information set and the track sampling radius set, the executing body may further send the initial track information set to a display terminal for a worker to perform abnormal screening, and receive the initial track information set screened by the worker.

In some optional implementations of some embodiments, the performing body performs filtering processing on the initial track information set to obtain a target track information set and a track sampling radius set, and may include the following steps:

First, determining a sampling radius corresponding to an initial track coordinate set included in each initial track information in the initial track information sets, and obtaining a sampling radius set. Wherein, the initial track information in the initial track information set corresponds to the sampling radius in the sampling radius set one by one.

And a second step of determining a positioning radius group corresponding to the initial track coordinate set included in each initial track information in the initial track information sets to obtain a positioning radius group set. Wherein the initial track information in the initial track information set corresponds to the positioning radius groups in the positioning radius groups one by one.

And thirdly, generating a radius error value group set based on the sampling radius set and the positioning radius group set. The sampling radius in the sampling radius set and each positioning radius in the positioning radius set corresponding to the sampling radius in the positioning radius set may be combined into a target radius set, so as to obtain a target radius set. Then, based on each of the set of target radius groups, each of the set of radius error values may be determined by the following formula:

。

Wherein, the liquid crystal display device comprises a liquid crystal display device,

representing the error value. />

Representing the radius error value. />

And->

And the number indicating the target radius in the target radius group. />

Representing the radius. />

Representing the +.f in the above-mentioned target radius group>

A target radius. />

Representing the +.f in the above-mentioned target radius group>

A target radius.

And step four, performing an anomaly detection process on each initial track information in the initial track information set based on the radius error value set to generate an anomaly detection result, thereby obtaining an anomaly detection result set. And generating an abnormal test result representing no abnormality when each radius error value in the radius error value group corresponding to the initial track information in the radius error value group is smaller than the first target error value. For example, the anomaly detection result may be: "initial trajectory information is not abnormal". When the radius error value in the radius error value group corresponding to the initial track information in the radius error value group is greater than or equal to the first target error value, an abnormality test result indicating abnormality can be generated. For example, the anomaly detection result may be: "initial trajectory information is abnormal".

As an example, the first target error value may be 0.01.

And fifthly, for each abnormal test result in the abnormal test result set, deleting initial track information corresponding to the abnormal test result in the initial track information set from the initial track information set in response to determining that the abnormal test result meets a preset abnormal condition, and obtaining the target track information set. The preset abnormal condition may be that the abnormal test result is "abnormal".

And sixthly, determining the sampling radius corresponding to each piece of target track information in the target track information set in the sampling radius set as a track sampling radius to obtain the track sampling radius set.

In some optional implementations of some embodiments, the executing body determining a sampling radius corresponding to an initial track coordinate set included in each of the initial track information sets may include:

the first step, sampling the initial track coordinate set included in the initial track information to obtain a sampling coordinate set. The sampling coordinate set can be obtained by a random sampling method.

As an example, the number of sampling coordinates in the above-described sampling coordinate set may be 3.

And secondly, verifying the sampling coordinate set to obtain a verification result. Wherein a set of sample verification values corresponding to the set of sample coordinates may be determined. Then, when each of the sampling verification values in the sampling verification value set is greater than the second target error value, it may be determined that "is an acute triangle" as a verification result. When the sampling verification value set has the sampling verification value equal to or smaller than the second target error value, the "non-acute triangle" may be determined as the verification result. Here, the sample verification value in the sample verification value set described above may be determined by the following formula:

。

representing the sample verification value described above. />

And represents the abscissa. />

Representing the ordinate. />

、/>

And->

The numbers of the sampling coordinates in the sampling coordinate set are indicated. />

Representing the +.>

The abscissa of the sample coordinates. />

Representing the +.>

The abscissa of the sample coordinates. />

Representing the +.>

The abscissa of the sample coordinates. />

Representing the +.>

The ordinate of the sample coordinates. />

Representing the +.>

The ordinate of the sample coordinates. />

Representing the +.>

The ordinate of the sample coordinates.

As an example, the second target error value may be 0.

And thirdly, generating sampling center coordinates corresponding to the sampling coordinate set in response to determining that the verification result meets a preset verification condition. The preset verification condition may be that the verification result is "acute triangle". First, the abscissa of the sampling center coordinates corresponding to the above-described sampling coordinate set can be generated by the following formula:

。

and the abscissa representing the first sample coordinate in the sample coordinate set. />

And the abscissa representing the second sample coordinate in the sample coordinate set. />

And the abscissa representing the third sampling coordinate in the above-mentioned sampling coordinate set.

Representing the ordinate of the first sample coordinate in the set of sample coordinates. />

Representing the ordinate of the second sample coordinate in the set of sample coordinates. />

And the ordinate representing the third sample coordinate in the sample coordinate set. />

Representing a first cotangent value. />

Representing a second cotangent value. />

And an abscissa intermediate value representing the first sampling coordinate and the second sampling coordinate. />

And an abscissa intermediate value representing the second sampling coordinate and the third sampling coordinate.

An ordinate intermediate value representing the first sampling coordinate and the second sampling coordinate. />

And an intermediate value representing the ordinate of the second sample coordinate and the third sample coordinate. />

And the abscissa representing the center coordinates of the sampling circle.

Then, in response to determining that the difference between the ordinate of the first one of the set of sample coordinates and the ordinate of the second one of the set of sample coordinates is greater than the difference between the ordinate of the second one of the set of sample coordinates and the ordinate of the third one of the set of sample coordinates, the ordinate of the center of sample coordinate corresponding to the set of sample coordinates may be generated by:

。

and the ordinate representing the center coordinates of the sampling center.

Then, in response to determining that the difference between the ordinate of the first one of the sample coordinate sets and the ordinate of the second one of the sample coordinate sets is equal to or less than the difference between the ordinate of the second one of the sample coordinate sets and the ordinate of the third one of the sample coordinate sets, the ordinate of the sampling center coordinate corresponding to the sample coordinate set may be generated by the following formula:

。

And a fourth step of generating a sampling radius based on the sampling coordinate set and the sampling center coordinates. The sampling radius may be generated by the following formula:

。

representing the sampling radius.

In some optional implementations of some embodiments, the executing body determining the positioning radius group corresponding to the initial track coordinate set included in each of the initial track information sets may include the steps of:

the first step, determining the abscissa distance value and the ordinate distance value of any two initial track coordinates in the initial track coordinate set included in the initial track information as a positioning transverse distance value and a positioning longitudinal distance value respectively, and obtaining a positioning transverse distance value set and a positioning longitudinal distance value set. The difference between the abscissa of any two initial track coordinates in the initial track coordinate set included in the initial track information may be determined as the abscissa distance value, and the difference between the ordinate of any two initial track coordinates in the initial track coordinate set included in the initial track information may be determined as the ordinate distance value.

And secondly, determining the ratio of the largest transverse distance value in the positioning transverse distance value set to the positioning preset value as a first positioning radius.

As an example, the above-described positioning preset value may be 2.

And thirdly, determining the ratio of the maximum longitudinal distance value in the positioning longitudinal distance value set to the positioning preset value as a second positioning radius.

And thirdly, carrying out fusion processing on the first positioning radius and the second positioning radius to obtain the positioning radius group. Wherein the first positioning radius and the second positioning radius may be determined as a first positioning radius and a second positioning radius included in the positioning radius group.

Optionally, before updating the initial positioning calibration parameter based on the target vehicle parameter, the target track information set, and the track sampling radius set to obtain a target positioning calibration parameter, the executing body may further execute the following steps for each target track information in the target track information set:

the first step, all initial track coordinates in the initial track coordinate set included in the target track information are ordered, and an initial track coordinate sequence is obtained. The initial track coordinates in the initial track coordinate set may be ordered according to the order of the acquisition time of the initial track coordinates in the initial track coordinate set from small to large.

And secondly, determining the first initial track coordinate and the last initial track coordinate in the initial track coordinate sequence as initial track start point coordinates and initial track end point coordinates respectively.

And thirdly, determining the distance value between each initial track coordinate except the initial track starting point coordinate in the initial track coordinate sequence and the initial track starting point coordinate as a track distance value set. The distance value between each initial track coordinate except the initial track start point coordinate in the initial track coordinate sequence and the initial track start point coordinate can be determined through a Euclidean distance formula.

Fourth, generating a track circulation value based on the track distance value set. When the track distance value is smaller than the target distance threshold value, the first preset circulation value can be determined to be the track circulation value. When each track distance value in the track distance value set is equal to or greater than the target distance threshold, a second preset circulation value may be determined as a track circulation value.

As an example, the target distance threshold may be 0.05. The first preset loop value may be 1. The second preset loop value may be 0.

And fifthly, generating an initial track circle center angle value based on the initial track start point coordinate, the initial track end point coordinate and the sampling circle center coordinate corresponding to the target track information. The initial track circle center angle value can be generated by the following formula:

。

representing the distance value. />

Representing the center distance value. />

Representing the starting point distance value. />

Indicating the endpoint distance value. />

And the abscissa representing the initial trajectory start point coordinates. />

Representing the ordinate of the initial trajectory start pointCoordinates.

And the abscissa indicating the initial trajectory end point coordinates. />

And the ordinate representing the initial trajectory end point coordinates. />

Representing the cosine value of the central angle of the track. />

And the circle center angle value of the initial track is represented.

And sixthly, updating the initial track circle center angle value based on the track circulation value to obtain a track circle center angle value. When the track circulation value is the first preset circulation value, the sum of the initial track circle center angle value and the preset angle value can be determined to be the track circle center angle value. When the track circulation value is the second preset circulation value, a difference between the initial track center angle value and the preset angle value can be determined as a track center angle value.

As an example, the preset angle value may be 360.

And seventh, adding the track center angle value into the target track information. The track center angle value may be determined as the track center angle value included in the target track information.

Optionally, the executing body may further acquire a track center angle value included in the initial track information set from a control terminal of the target vehicle. The track center angle value can be manually measured by a worker and sent to the control terminal.

And 103, updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain the target positioning calibration parameters.

In some embodiments, the executing body may update the initial positioning calibration parameter based on the target vehicle parameter, the target track information set, and the track sampling radius set to obtain a target positioning calibration parameter.

In some optional implementations of some embodiments, the performing body updates the initial positioning calibration parameter based on the target vehicle parameter, the target track information set, and the track sampling radius set to obtain a target positioning calibration parameter, and may include the following steps:

The first step, based on the track sampling radius set, determining a track length value corresponding to each piece of target track information in the target track information set, and obtaining a track length value set. The product of the track center angle value included in the target track information and each track sampling radius in the track sampling radius set may be determined as the track length value.

And a second step of generating a rear wheel track length value corresponding to each target track information in the target track information set based on the target vehicle parameters to obtain a rear wheel track length value set. The rear wheel track length value corresponding to each target track information in the target track information set can be generated by the following formula:

。

representing the rear wheel track length value. />

Representing the wheel diameter included in the target vehicle parameter.

Indicating the number of wheel pulses included in the target vehicle parameter. />

And representing the average rotation value of the rear wheels included in the target track information.

And thirdly, determining a positioning error value set corresponding to each track length value in the track length value set based on the track length value set of the rear wheel. Wherein, the positioning error value in the positioning error value set can be determined by the following formula:

。

representing the above-mentioned positioning error value.

And step four, in response to determining that the positioning error value in the positioning error value set is greater than a target threshold, updating the initial positioning calibration parameter to obtain the target positioning calibration parameter. The initial positioning calibration parameters can be updated through a preset parameter correction algorithm.

As an example, the target threshold may be 0.01. The preset parameter correction algorithm may be, but is not limited to, at least one of the following: a regional correction parameter method or a primary and secondary station error correction method.

Step 104, determining a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameters, and obtaining a vehicle steering ratio set.

In some embodiments, the executing body may determine a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameter, to obtain a vehicle steering ratio set.

In some optional implementations of some embodiments, the executing body determines, based on the target vehicle parameter, a vehicle steering ratio corresponding to each target track information in the target track information set, to obtain a vehicle steering ratio set, and may include the following steps:

The first step, track center coordinates corresponding to a target track coordinate set included in each target track information in the target track information set are determined, and a track center coordinate set is obtained.

And a second step of determining a target track radius corresponding to each track center coordinate in the track center coordinate set based on the target track information set to obtain a target track radius set.

And thirdly, determining a track corner value corresponding to each target track radius in the target track radius set based on the target vehicle parameters to obtain a track corner value set. The track corner value corresponding to each target track radius in the target track radius set can be determined by the following formula:

。

the track rotation angle value is indicated. />

And representing a vehicle wheelbase value included in the target vehicle parameter. />

Representing the target track radius.

And a fourth step of determining, for each track corner value in the track corner value set, a ratio of a wheel angle value to the track corner value, which is included in the target track information set and corresponds to the track corner value, as a vehicle steering ratio, thereby obtaining the vehicle steering ratio set.

In some optional implementations of some embodiments, the executing body determining the track center coordinates corresponding to the target track coordinate set included in each of the target track information sets may include the following steps:

the first step, sampling the target track coordinate set included in the target track information to obtain a target sampling coordinate set. The target sampling coordinate set can be obtained by a random sampling method.

As an example, the number of target sampling coordinate sets in the set of target sampling coordinate sets described above may be 100.

And secondly, determining a target center coordinate set corresponding to each target sampling coordinate set in the target sampling coordinate set. The specific implementation manner and the technical effects of determining the target center coordinate set corresponding to each target sampling coordinate set in the target sampling coordinate set may refer to step 102 in the foregoing embodiment, which is not described herein again.

And thirdly, determining the sum of the distance values of the target center coordinates and the other target center coordinates in the target center coordinate set as a target center coordinate difference value for each target center coordinate in the target center coordinate set, and obtaining a target center coordinate difference value set.

And fourthly, determining the target center coordinates corresponding to the target center coordinate difference value with the largest target center coordinate difference value in the target center coordinate set as track center coordinates.

In some optional implementations of some embodiments, the executing body may determine, based on the target track information set, a target track radius corresponding to each track center coordinate in the track center coordinate set, and may include the following steps:

and determining the distance value between each target track coordinate in the target track coordinate set included in the target track information and the track center coordinate as a track center distance value set.

And secondly, determining the average value of the track center distance values in the track center distance value set as the track radius.

And thirdly, determining a track radius error value set corresponding to each track center distance value in the track center distance value sets based on the track radius. The track radius error value set corresponding to each track center distance value in the track center distance value set can be determined through the following formula:

。

and a number indicating the center distance value in the center distance value set. / >

Represents the +.>

And (3) circle center distance values. />

Representing the +.f in the above-mentioned track radius error value set>

And track radius error values.

Representing the radius of the track.

And a fourth step of deleting, for each track radius error value in the track radius error value set, a target track coordinate set included in the target track information, a target track coordinate corresponding to the track radius error value, and a target track coordinate set included in the target track information from the target track coordinate set included in the target track information in response to determining that the track radius error value is greater than a preset error value, thereby obtaining a screening target track coordinate set.

As an example, the preset error value may be 0.01.

And fifthly, determining the average value of the distance values between each screening target track and the track center coordinates in the screening target track coordinate set as the target track radius.

The related matter of step 104 is an invention point of the embodiment of the present disclosure, and solves the second technical problem mentioned in the background art, namely "the accuracy of controlling the steering of the vehicle is reduced". Among them, factors that cause a decrease in accuracy of controlling the steering of the vehicle tend to be as follows: in the manner of obtaining the running radius of the vehicle by image recognition, it is necessary to rely on an external device (for example, a camera), and when a related parameter of the external device (for example, resolution of the camera) is reduced, definition of the acquired image is reduced, resulting in a reduction in accuracy of the obtained running radius of the vehicle, and thus a reduction in accuracy of the obtained steering ratio of the vehicle. If the above factors are solved, the effect of improving the accuracy of the vehicle steering control can be achieved. In order to achieve the effect, the circle center coordinates of the track corresponding to the track information can be determined in a sampling mode, abnormal track coordinate points, which are in the track coordinate set and have a distance to the circle center coordinates of the track greater than a certain value, are screened out from the track information, the average value of the distance values of the track coordinates in the screened track coordinate set and the circle center coordinates of the track can be determined to be the track radius in an average value mode, and finally the turning angle value of the track can be determined through the geometric relationship between the target vehicle driving track and the target vehicle wheelbase so as to determine the steering ratio of the track. Through the above-described various determination steps, it is possible to determine the steering ratio without depending on an external device (e.g., a camera), thereby improving the accuracy of the vehicle steering ratio and, in turn, the accuracy of the vehicle steering control.

And 105, transmitting the target positioning calibration parameters and the vehicle steering ratio set to a control terminal to control the target vehicle to steer.

In some embodiments, the executing body may send the target positioning calibration parameter and the vehicle steering ratio set to a control terminal to control the target vehicle to steer.

In practice, the vehicle steering ratio set may be input to a preset track prediction model to obtain a vehicle prediction track set, and the vehicle prediction track set may be sent to a control terminal to control the target vehicle to steer.

As an example, the above-mentioned preset trajectory prediction model may be an Ackermann (Ackermann) function model. The above embodiments of the present disclosure have the following advantageous effects: by the vehicle steering control method of some embodiments of the present disclosure, the accuracy of controlling the steering of the vehicle can be improved. Specifically, the decrease in accuracy of controlling the steering of the vehicle is caused by: by manually measuring the running radius of the vehicle, errors may occur in the manually measured running radius, which may result in a decrease in accuracy of the obtained running radius of the vehicle, thereby resulting in a decrease in accuracy of the steering ratio of the vehicle, and further, in a decrease in accuracy of controlling the steering of the vehicle. Based on this, the vehicle steering control method of some embodiments of the present disclosure first acquires the target vehicle parameter, the initial positioning calibration parameter, and the initial trajectory information set. And secondly, screening the initial track information set to obtain a target track information set and a track sampling radius set. Therefore, abnormal track information in the initial track information set can be screened out from the initial track information set, and the running radius with higher accuracy can be obtained. And then, updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters. Therefore, the accuracy of positioning calibration parameters can be improved, and the accuracy of controlling the steering of the vehicle can be further improved. And then, determining the vehicle steering ratio corresponding to each piece of target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set. Thus, the steering ratio of the vehicle can be determined from the screened trajectory information. And finally, the target positioning calibration parameters and the vehicle steering ratio set are sent to a control terminal to control the target vehicle to steer. Therefore, the control terminal can control the vehicle steering according to the target positioning calibration parameter and the vehicle steering ratio set. Therefore, according to the vehicle steering control method, the steering ratio of the vehicle can be determined through the track information set after screening, the accuracy of the obtained steering ratio of the vehicle is improved, meanwhile, the positioning calibration parameters can be updated in time, and the accuracy of vehicle steering control is improved.

With further reference to fig. 2, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a vehicle steering control apparatus, which correspond to those method embodiments shown in fig. 1, and which are particularly applicable to various electronic devices.

As shown in fig. 2, the vehicle steering control apparatus 200 of some embodiments includes: an acquisition unit 201, a screening unit 202, an updating unit 203, a determination unit 204, and a transmission unit 205. Wherein the acquiring unit 200 is configured to acquire a target vehicle parameter, an initial positioning calibration parameter and an initial track information set; a screening unit 201 configured to perform screening processing on the initial track information set to obtain a target track information set and a track sampling radius set; an updating unit 202 configured to update the initial positioning calibration parameter based on the target vehicle parameter, the target track information set, and the track sampling radius set, to obtain a target positioning calibration parameter; a determining unit 203 configured to determine a vehicle steering ratio value corresponding to each target track information in the target track information set based on the target vehicle parameter, to obtain a vehicle steering ratio value set; and the sending unit 204 is configured to send the target positioning calibration parameter and the vehicle steering ratio set to a control terminal so as to control the target vehicle to steer.

It is understood that the units described in this vehicle steering control apparatus 200 correspond to the respective steps in the vehicle steering control method described with reference to fig. 1. Thus, the operations, features, and advantages described above with respect to the vehicle steering control method are equally applicable to the vehicle steering control device 200 and the units contained therein, and are not described here again.

Referring now to fig. 3, a schematic diagram of an electronic device 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic devices in some embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, as well as stationary terminals such as digital TVs, desktop computers, and the like. The terminal device shown in fig. 3 is only one example and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.

As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.

In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 308 including, for example, magnetic tape, hard disk, etc.; and communication means 309. The communication means 309 may allow the electronic device 300 to communicate with other devices wirelessly or by wire to exchange data. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 3 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 309, or from storage device 308, or from ROM 302. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 301.

It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring target vehicle parameters, initial positioning calibration parameters and an initial track information set; screening the initial track information set to obtain a target track information set and a track sampling radius set; updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters; determining a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set; and sending the target positioning calibration parameters and the vehicle steering ratio set to a control terminal to control the target vehicle to steer.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes an acquisition unit, a screening unit, an updating unit, a determination unit, and a transmission unit. The names of these units do not constitute a limitation on the unit itself in some cases, and the acquisition unit may also be described as "a unit that acquires the target vehicle parameters, the initial positioning calibration parameters, and the initial trajectory information set", for example.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A vehicle steering control method, comprising:

obtaining a target vehicle parameter, an initial positioning calibration parameter and an initial track information set, wherein each initial track information set comprises: an initial set of trajectory coordinates;

screening the initial track information set to obtain a target track information set and a track sampling radius set;

updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters;

determining a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameters to obtain a vehicle steering ratio set;

the target positioning calibration parameters and the vehicle steering ratio set are sent to a control terminal to control a target vehicle to steer;

the step of screening the initial track information set to obtain a target track information set and a track sampling radius set includes:

determining a sampling radius corresponding to an initial track coordinate set included in each initial track information in the initial track information sets to obtain a sampling radius set;

Determining a positioning radius group corresponding to an initial track coordinate set included in each initial track information in the initial track information sets to obtain a positioning radius group set;

generating a set of radius error values based on the set of sampling radii and the set of positioning radii;

based on the radius error value group set, performing an anomaly detection process on each initial track information in the initial track information set to generate an anomaly detection result, and obtaining an anomaly detection result set;

for each abnormal test result in the abnormal test result set, deleting initial track information corresponding to the abnormal test result in the initial track information set from the initial track information set in response to determining that the abnormal test result meets a preset abnormal condition, and obtaining the target track information set;

and determining the sampling radius corresponding to each piece of target track information in the target track information set in the sampling radius set as a track sampling radius to obtain the track sampling radius set.

2. The method of claim 1, wherein the determining a sampling radius corresponding to an initial set of track coordinates included in each of the initial set of track information comprises:

Sampling the initial track coordinate set included in the initial track information to obtain a sampling coordinate set;

performing verification processing on the sampling coordinate set to obtain a verification result;

generating sampling circle center coordinates corresponding to the sampling coordinate set in response to determining that the verification result meets a preset verification condition;

and generating a sampling radius based on the sampling coordinate set and the sampling circle center coordinate.

3. The method of claim 1, wherein the determining a set of positioning radii corresponding to an initial set of track coordinates included in each of the initial set of track information comprises:

respectively determining an abscissa distance value and an ordinate distance value of any two initial track coordinates in the initial track coordinate set included in the initial track information as a positioning transverse distance value and a positioning longitudinal distance value to obtain a positioning transverse distance value set and a positioning longitudinal distance value set;

determining the ratio of the largest transverse distance value in the positioning transverse distance value set to a positioning preset value as a first positioning radius;

determining the ratio of the maximum longitudinal distance value in the positioning longitudinal distance value set to the positioning preset value as a second positioning radius;

And carrying out fusion processing on the first positioning radius and the second positioning radius to obtain the positioning radius group.

4. The method of claim 1, wherein the updating the initial positioning calibration parameters based on the target vehicle parameters, the target track information set, and the track sampling radius set to obtain target positioning calibration parameters comprises:

determining a track length value corresponding to each piece of target track information in the target track information set based on the track sampling radius set to obtain a track length value set;

generating a rear wheel track length value set corresponding to each target track information in the target track information set based on the target vehicle parameters;

determining a positioning error value set corresponding to each track length value in the track length value set based on the rear wheel track length value set;

and in response to determining that the positioning error value in the positioning error value set is greater than a target threshold, updating the initial positioning calibration parameter to obtain the target positioning calibration parameter.

5. The method of claim 1, wherein each target track information in the set of target track information comprises: a target track coordinate set and a wheel angle value; and

The determining, based on the target vehicle parameters, a vehicle steering ratio corresponding to each target track information in the target track information set, to obtain a vehicle steering ratio set, includes:

determining track center coordinates corresponding to a target track coordinate set included in each piece of target track information in the target track information sets to obtain a track center coordinate set;

determining a target track radius corresponding to each track center coordinate in the track center coordinate set based on the target track information set to obtain a target track radius set;

determining a track corner value corresponding to each target track radius in the target track radius set based on the target vehicle parameters to obtain a track corner value set;

and for each track corner value in the track corner value set, determining the ratio of the wheel angle value and the track corner value, which are included in the target track information set and are corresponding to the track corner value, as a vehicle steering ratio, and obtaining the vehicle steering ratio set.

6. The method of claim 5, wherein the determining the track center coordinates corresponding to the target track coordinate set included in each of the target track information sets includes:

Sampling the target track coordinate set included in the target track information to obtain a target sampling coordinate set;

determining a target center coordinate set corresponding to each target sampling coordinate set in the target sampling coordinate set;

for each target center coordinate in the target center coordinate set, determining the sum of the distance values of the target center coordinate and the other target center coordinates in the target center coordinate set as a target center coordinate difference value, and obtaining a target center coordinate difference value set;

and determining the target center coordinates corresponding to the target center coordinate difference value with the largest target center coordinate difference value in the target center coordinate set as track center coordinates.

7. The method of claim 5, wherein the determining, based on the set of target trajectory information, a target trajectory radius for each trajectory center coordinate in the set of trajectory center coordinates comprises:

determining the distance value between each target track coordinate in the target track coordinate set included in the target track information and the track circle center coordinate as a track circle center distance value set;

determining the average value of the track center distance values in the track center distance value set as the track radius;

Determining a track radius error value set corresponding to each track center distance value in the track center distance value sets based on the track radius;

for each track radius error value in the track radius error value set, deleting a target track coordinate set, which is included in the target track information, a target track coordinate corresponding to the track radius error value and a target track coordinate set which is included in the target track information from the target track coordinate set, so as to obtain a screening target track coordinate set, in response to determining that the track radius error value is larger than a preset error value;

and determining the average value of the distance values of each screening target track in the screening target track coordinate set and the track circle center coordinate as the target track radius.

8. A vehicle steering control apparatus comprising:

an acquisition unit configured to acquire a target vehicle parameter, an initial positioning calibration parameter, and an initial trajectory information set, wherein each initial trajectory information in the initial trajectory information set includes: an initial set of trajectory coordinates;

the screening unit is configured to screen the initial track information set to obtain a target track information set and a track sampling radius set;

The updating unit is configured to update the initial positioning calibration parameters based on the target vehicle parameters, the target track information set and the track sampling radius set to obtain target positioning calibration parameters;

a determining unit configured to determine a vehicle steering ratio corresponding to each target track information in the target track information set based on the target vehicle parameter, to obtain a vehicle steering ratio set;

the transmitting unit is configured to transmit the target positioning calibration parameter and the vehicle steering ratio set to a control terminal so as to control a target vehicle to steer;

the step of screening the initial track information set to obtain a target track information set and a track sampling radius set comprises the following steps:

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.