CN116215530A - Vehicle turning control method and device, heavy truck and storage medium - Google Patents
Vehicle turning control method and device, heavy truck and storage medium Download PDFInfo
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- CN116215530A CN116215530A CN202211570101.3A CN202211570101A CN116215530A CN 116215530 A CN116215530 A CN 116215530A CN 202211570101 A CN202211570101 A CN 202211570101A CN 116215530 A CN116215530 A CN 116215530A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0012—Feedforward or open loop systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to the technical field of automatic driving, and discloses a vehicle turning control method, a device, a heavy truck and a storage medium, wherein the method comprises the following steps: acquiring the current running state and planning track information of the vehicle; determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information; determining target supplementary feedforward according to the path position matched with the front axle control point; the vehicle is subjected to turning control according to the rear axle feedforward and the target supplementary feedforward; by the method, the rear axle feedforward is determined according to the current running state of the vehicle and the planned track information, the target supplementary feedforward is determined according to the path position matched with the front axle control point, and then the vehicle is controlled through the rear axle feedforward and the target supplementary feedforward during turning so as to balance the turning inner space and the turning outer space of the vehicle, so that the rationality and the accuracy of turning of the vehicle can be effectively improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle turning control method, a device, a heavy truck and a storage medium.
Background
With the continuous development of the automatic driving technology, the automatic driving technology is widely applied to different vehicles, for example, a heavy truck, an automatic driving control strategy is to select a point on a vehicle body to control, then select a certain point on a reference track as a reference point according to the point, then control according to a state error between the control point and the reference point, feedforward compensation caused by a path curvature corresponding to the reference point, and the like, while the heavy truck has the characteristic of a vehicle body length, even if the control point and the reference point always keep a small error, the whole vehicle body is difficult to ensure to be in a reasonable driving area, particularly in a large curvature road section, and in an actual control process, the control has hysteresis, overshoot, and other influences, so that the turning inner space and the turning outer space of the vehicle cannot be balanced, and the vehicle is unreasonable and has lower accuracy.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle turning control method, a device, a heavy truck and a storage medium, and aims to solve the technical problems that the prior art cannot balance the turning inner space and the turning outer space of a vehicle, so that the turning of the vehicle is unreasonable and the accuracy is low.
In order to achieve the above object, the present invention provides a vehicle turning control method including the steps of:
acquiring the current running state and planning track information of the vehicle;
determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information;
determining target supplementary feedforward according to the path position matched with the front axle control point;
and controlling the turning of the vehicle according to the rear axle feedforward and the target supplementary feedforward.
Optionally, the determining the rear axle feedforward at the rear axle control point according to the current running state and the planned track information includes:
selecting a first target point on a rear axle of the vehicle as a rear axle control point;
determining a current running track according to the current running state, and determining a planned track according to the planned track information;
determining a transverse error parameter of a vehicle track and a heading error parameter of the vehicle track according to the current running track and the planned track through a rear axle error model;
and determining rear axle feedforward at the rear axle control point according to the vehicle track transverse error parameter and the vehicle track heading error parameter.
Optionally, the determining the rear axle feedforward at the rear axle control point according to the vehicle track lateral error parameter and the vehicle track heading error parameter includes:
constructing a vehicle motion LQR according to the vehicle track transverse error parameter and the vehicle track heading error parameter;
determining an LQR total gain according to the vehicle motion LQR;
acquiring cornering stiffness of front and rear tires, distances between front and rear wheels and a mass center, wheelbase, curvature of a path reference point and vehicle parameters;
and calculating rear axle feedforward at a rear axle control point according to the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center, the wheelbase, the curvature of a path reference point and the vehicle parameters through a target rear axle feedforward algorithm.
Optionally, the determining the target supplementary feedforward according to the path position matched with the front axle control point includes:
selecting a second target point on a front axle of the vehicle as a front axle control point;
matching the current running track with the planning track to obtain a current track matching result;
determining the path position of the front axle control point according to the current track matching result;
and determining target supplementary feedforward according to the path position of the front axle control point.
Optionally, the determining the target supplemental feedforward according to the path position of the front axle control point includes:
obtaining the vehicle mass and the vehicle forward speed according to the vehicle parameters;
obtaining a corresponding curvature reciprocal according to the curvature of the path reference point;
and calculating target supplementary feedforward according to the vehicle mass, the vehicle forward speed, the curvature reciprocal, the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center and the wheelbase through a target front axle feedforward algorithm.
Optionally, the controlling the turning of the vehicle according to the rear axle feedforward and the target supplemental feedforward includes:
acquiring a preset rear axle weight and a preset front axle weight;
calculating the actual feedforward of the rear axle according to the preset rear axle weight and the feedforward of the rear axle;
calculating the actual supplementary feedforward of the front axle according to the preset front axle weight and the target supplementary feedforward;
calculating an error feedforward parameter according to the LQR total gain, the vehicle track transverse error parameter and the vehicle track course error parameter;
determining turning parameters of the vehicle according to the actual feedforward of the rear axle and the actual supplementary feedforward of the front axle and the error feedforward parameters;
and turning control is carried out on the vehicle according to the vehicle turning parameters.
Optionally, after the vehicle is subjected to turning control according to the rear axle feedforward and the target supplemental feedforward, the method further includes:
acquiring a turning inner side space and a turning outer side space of the vehicle after control;
calculating an error between the turn inside space and the turn outside space;
and when the error between the turning inner space and the turning outer space is smaller than the turning space error threshold value and the vehicle enters other curves, turning control is performed on the vehicle again according to the mode.
In addition, in order to achieve the above object, the present invention also proposes a vehicle turning control device including:
the acquisition module is used for acquiring the current running state and planning track information of the vehicle;
the determining module is used for determining a vehicle track error and rear axle feedforward at a rear axle control point according to the current running state and the planned track information;
the determining module is also used for determining target supplementary feedforward according to the path position matched with the front axle control point;
and the control module is used for controlling the turning of the vehicle according to the vehicle track error, the rear axle feedforward and the target supplementary feedforward.
In addition, in order to achieve the above object, the present invention also provides a heavy card, which includes: a memory, a processor, and a vehicle turn control program stored on the memory and executable on the processor, the vehicle turn control program configured to implement a vehicle turn control method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle turning control program which, when executed by a processor, implements the vehicle turning control method as described above.
According to the vehicle turning control method, the current running state and the planned track information of the vehicle are obtained; determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information; determining target supplementary feedforward according to the path position matched with the front axle control point; the vehicle is subjected to turning control according to the rear axle feedforward and the target supplementary feedforward; by the method, the rear axle feedforward is determined according to the current running state of the vehicle and the planned track information, the target supplementary feedforward is determined according to the path position matched with the front axle control point, and then the vehicle is controlled through the rear axle feedforward and the target supplementary feedforward during turning so as to balance the turning inner space and the turning outer space of the vehicle, so that the rationality and the accuracy of turning of the vehicle can be effectively improved.
Drawings
FIG. 1 is a schematic diagram of the architecture of a heavy card of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a vehicle turn control method of the present invention;
FIG. 3 is a flow chart of a second embodiment of a vehicle turn control method of the present invention;
fig. 4 is a functional block diagram of a first embodiment of the vehicle turning control apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a heavy-duty card structure of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the heavy card may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the structure shown in fig. 1 is not limiting of the weight card and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a vehicle turning control program may be included in the memory 1005 as one type of storage medium.
In the heavy-duty card shown in fig. 1, the network interface 1004 is mainly used for data communication with a network integration platform workstation; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the heavy truck of the present invention may be disposed in the heavy truck, where the heavy truck invokes the vehicle turning control program stored in the memory 1005 by the processor 1001, and executes the vehicle turning control method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the vehicle turning control method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a vehicle turning control method according to a first embodiment of the present invention.
In a first embodiment, the vehicle turning control method includes the steps of:
step S10, current running state and planning track information of the vehicle are acquired.
It should be noted that, the execution body of the embodiment is a heavy card, and may be other devices that can implement the same or similar functions, such as a control module, which is not limited in this embodiment, and the control module is taken as an example in this embodiment.
It should be understood that the current driving state refers to a driving state of the vehicle when turning, including but not limited to steering wheel angle, acceleration, vehicle speed, etc., the current driving state is obtained by the control module from the upstream map module and the positioning module, the planned track information refers to track information planned by the automatic driving when the vehicle turns, including but not limited to turning curve, turning start position point, and turning vehicle speed, and steering wheel angle that should be turned, etc., the planned track information is obtained by the control module from the upstream planning module, and the vehicle refers to an unmanned vehicle having an automatic driving function.
And step S20, determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information.
It is understood that the rear axle feed-forward refers to a feed-forward based on the rear axle of the vehicle, which is used for turning assistance of the vehicle, and the rear axle control point may be the center point of the rear axle of the vehicle.
Further, step S20 includes: selecting a first target point on a rear axle of the vehicle as a rear axle control point; determining a current running track according to the current running state, and determining a planned track according to the planned track information; determining a transverse error parameter of a vehicle track and a heading error parameter of the vehicle track according to the current running track and the planned track through a rear axle error model; and determining rear axle feedforward at the rear axle control point according to the vehicle track transverse error parameter and the vehicle track heading error parameter.
It should be understood that the first target point may be a center point of a rear axle of the vehicle, the current driving track refers to a track of the vehicle driving under actual conditions, the planned track refers to a track planned by automatic driving, then the current driving track and the planned track are input into a rear axle error model, and a vehicle track lateral error parameter and a vehicle track heading error parameter are output through the rear axle error model, wherein the vehicle track lateral error parameter includes a vehicle track lateral error and a vehicle track lateral error change rate, and the vehicle track heading error parameter includes a vehicle track heading error and a vehicle track heading error change rate.
Further, the determining the rear axle feedforward at the rear axle control point according to the vehicle track lateral error parameter and the vehicle track heading error parameter includes: constructing a vehicle motion LQR according to the vehicle track transverse error parameter and the vehicle track heading error parameter; determining an LQR total gain according to the vehicle motion LQR; acquiring cornering stiffness of front and rear tires, distances between front and rear wheels and a mass center, wheelbase, curvature of a path reference point and vehicle parameters; and calculating rear axle feedforward at a rear axle control point according to the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center, the wheelbase, the curvature of a path reference point and the vehicle parameters through a target rear axle feedforward algorithm.
It can be understood that when the vehicle track lateral error parameter and the vehicle track heading error parameter are obtained, the vehicle motion LQR is constructed according to the error parameters, and then the total gain of the LQR is solved by constructing an algebraic Li-Card equation, specifically:
X(k+1)＝AX(k)+Bδ(k)
P＝A T PA-A T PB(R+B T PB) -1 B T PA+Q
K＝(R+B T PB) -1 B T PA
wherein K is LQR total gain, Q is a state weight matrix, R is a control weight matrix, A, B and C are state matrices, X (K) is a vehicle track transverse error parameter and a vehicle track course error parameter discretized at K moment, delta (K) is a K moment control quantity ([ u, a ]), u is a steering wheel corner, and a is acceleration.
It should be appreciated that after determining the LQR total gain, the rear axle feedforward is calculated according to the above parameters, specifically:
wherein delta ff For rear axle feedforward, L is the wheelbase, R is the reciprocal corresponding to the curvature of the path reference pointM is the mass of the vehicle, V x K is the front and rear wheel coefficient, C f 、C r Respectively the cornering stiffness of the front and the rear tires, L f 、L r The distances between the front and rear wheels and the center of mass are respectively.
And step S30, determining target supplementary feedforward according to the path position matched with the front axle control point.
It should be understood that the target supplemental feedforward refers to supplemental feedforward based on the front axle of the vehicle, which is also used for turning assistance of the vehicle, and the front axle control point may be the center point of the front axle of the vehicle.
Further, step S30 includes: selecting a second target point on a front axle of the vehicle as a front axle control point; matching the current running track with the planning track to obtain a current track matching result; determining the path position of the front axle control point according to the current track matching result; and determining target supplementary feedforward according to the path position of the front axle control point.
It can be understood that the second target point may be a center point of a front axle of the vehicle, after the second target point is selected, the second target point is taken as a front axle control point, then a current running track of the vehicle is matched with a planned track, a successfully matched track is extracted from a current track matching result, and a path position containing the front axle control point is determined in the successfully matched track.
Further, the determining the target supplementary feedforward according to the path position of the front axle control point includes: obtaining the vehicle mass and the vehicle forward speed according to the vehicle parameters; obtaining a corresponding curvature reciprocal according to the curvature of the path reference point; and calculating target supplementary feedforward according to the vehicle mass, the vehicle forward speed, the curvature reciprocal, the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center and the wheelbase through a target front axle feedforward algorithm.
It should be understood that the curvature of the path reference point refers to the curvature of a parameter point on the running path of the vehicle, for example, the curvature of the path reference point is 1/R, the inverse curvature is R, and then the target supplemental feedforward is calculated according to the above parameter, specifically:
wherein delta bb Supplementing feedforward for target, C f 、C r Respectively the cornering stiffness of the front and the rear tires, L f 、L r The distances between the front wheel and the rear wheel and the mass center are respectively, M is the mass of the vehicle, I z For moment of inertia of the vehicle about the Z-axis, V x For the forward speed of the vehicle, L is the wheelbase and R is the reciprocal of the curvature of the path reference point.
And step S40, turning control is carried out on the vehicle according to the rear axle feedforward and the target supplementary feedforward.
It will be appreciated that after the rear axle feedforward and the target supplemental feedforward are obtained, the turning of the vehicle is controlled in a laterally controlled manner in accordance with the rear axle feedforward and the target supplemental feedforward.
Further, after step S40, the method further includes: acquiring a turning inner side space and a turning outer side space of the vehicle after control; calculating an error between the turn inside space and the turn outside space; and when the error between the turning inner space and the turning outer space is smaller than the turning space error threshold value and the vehicle enters other curves, turning control is performed on the vehicle again according to the mode.
It should be understood that the turning inside space refers to an inside space when the vehicle makes a turn, the turning inside space is located on the main driving side when the vehicle makes a left turn, the turning inside space is located on the sub driving side when the vehicle makes a right turn, the turning outside space refers to a side opposite to the turning inside space, the turning outside space is located on the sub driving side when the vehicle makes a left turn, the turning outside space is located on the main driving side when the vehicle makes a right turn, after controlling the vehicle to make a turn, the turning inside space and the turning outside space when the vehicle makes a turn are obtained, then it is judged whether an error between the turning inside space and the turning outside space is smaller than a turning space error threshold value, if so, it is indicated that the turning inside space and the turning outside space have been balanced, and at this time, the vehicle can be controlled when entering other curves by the above manner.
The method comprises the steps of obtaining the current running state and planning track information of a vehicle; determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information; determining target supplementary feedforward according to the path position matched with the front axle control point; the vehicle is subjected to turning control according to the rear axle feedforward and the target supplementary feedforward; by the method, the rear axle feedforward is determined according to the current running state of the vehicle and the planned track information, the target supplementary feedforward is determined according to the path position matched with the front axle control point, and then the vehicle is controlled through the rear axle feedforward and the target supplementary feedforward during turning so as to balance the turning inner space and the turning outer space of the vehicle, so that the rationality and the accuracy of turning of the vehicle can be effectively improved.
In an embodiment, as shown in fig. 3, a second embodiment of the vehicle turning control method according to the present invention is provided based on the first embodiment, and the step S40 includes:
step S401, obtaining a preset rear axle weight and a preset front axle weight.
It should be understood that the preset rear axle weight refers to a weight of the rear axle that is feedforward-assisted in turning of the vehicle, and likewise, the front axle weight refers to a weight of the target supplemental feedforward-assisted in turning of the vehicle, and both the preset rear axle weight and the preset front axle weight are preset through experimental data.
And step S402, calculating the actual feedforward of the rear axle according to the preset weight of the rear axle and the feedforward of the rear axle.
It will be appreciated that the actual feed-forward of the rear axle refers to the actual feed-forward of the rear axle side assisting the vehicle in turning, e.g. presetting the rear axle weight to a and the rear axle feed-forward to δ ff The actual feedforward of the rear axle is adelta ff 。
Step S403, calculating the actual supplementary feedforward of the front axle according to the preset front axle weight and the target supplementary feedforward.
It should be understood that the front axle actual supplemental feedforward refers to the front axle side actual supplemental feedforward that assists the vehicle in turning, for example, the preset front axle weight is b, and the target supplemental feedforward is δ bb The front axle is actually supplementedThe charge feedforward is bdelta bb 。
Step S404, calculating error feedforward parameters according to the LQR total gain, the vehicle track lateral error parameters and the vehicle track heading error parameters.
It is understood that the error feedforward parameter refers to a feedforward parameter determined in consideration of a vehicle track error parameter including a vehicle track lateral error and a vehicle track lateral error rate of change, and the vehicle track heading error parameter includes a vehicle track heading error and a vehicle track heading error rate of change, for example, the vehicle track lateral error is e y The change rate of the transverse error of the vehicle track is' e y The course error of the vehicle track is
The change rate of the course error of the track of the vehicle is +.>
X (k) is used to represent the discretized vehicle track lateral error parameter and the discretized vehicle track heading error parameter at time k, where T represents time k, < >>
And the LQR total gain is K, the error feedforward parameter is KX (K).
And step S405, determining the turning parameters of the vehicle according to the actual feedforward of the rear axle and the actual supplementary feedforward of the front axle and the error feedforward parameters.
It should be understood that vehicle turning parameters refer to control parameters that assist in turning a vehicle including, but not limited to, acceleration, steering wheel angle, for example, the rear axle is actually feed forward as aδ ff The actual supplementary feedforward of the front axle is bdelta bb The error feedforward parameter is an error feedforward parameter, and then a parameter for controlling the vehicle to turn is determined according to the error feedforward parameter.
And step S406, turning control is carried out on the vehicle according to the turning parameters of the vehicle.
The embodiment obtains the preset rear axle weight and the preset front axle weight; calculating the actual feedforward of the rear axle according to the preset rear axle weight and the feedforward of the rear axle; calculating the actual supplementary feedforward of the front axle according to the preset front axle weight and the target supplementary feedforward; calculating an error feedforward parameter according to the LQR total gain, the vehicle track transverse error parameter and the vehicle track course error parameter; determining turning parameters of the vehicle according to the actual feedforward of the rear axle and the actual supplementary feedforward of the front axle and the error feedforward parameters; turning control is carried out on the vehicle according to the vehicle turning parameters; through the mode, the actual feedforward of the rear axle, the actual supplementary feedforward of the front axle and the error feedforward parameters are calculated respectively, then the turning parameters of the vehicle are determined according to the actual feedforward of the rear axle, the actual supplementary feedforward of the front axle and the error feedforward parameters, and the vehicle is controlled to turn through the turning parameters of the vehicle, so that the accuracy of controlling the turning of the vehicle can be effectively improved.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a vehicle turning control program, and the vehicle turning control program realizes the steps of the vehicle turning control method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
In addition, referring to fig. 4, an embodiment of the present invention also proposes a vehicle turning control device, including:
the acquiring module 10 is configured to acquire current running state and planned track information of the vehicle.
And the determining module 20 is used for determining a vehicle track error and rear axle feedforward at a rear axle control point according to the current running state and the planned track information.
The determining module 20 is further configured to determine a target supplemental feedforward according to the path position matched by the front axle control point.
A control module 30 for controlling the turning of the vehicle based on the vehicle trajectory error, rear axle feedforward, and target supplemental feedforward.
The method comprises the steps of obtaining the current running state and planning track information of a vehicle; determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information; determining target supplementary feedforward according to the path position matched with the front axle control point; the vehicle is subjected to turning control according to the rear axle feedforward and the target supplementary feedforward; by the method, the rear axle feedforward is determined according to the current running state of the vehicle and the planned track information, the target supplementary feedforward is determined according to the path position matched with the front axle control point, and then the vehicle is controlled through the rear axle feedforward and the target supplementary feedforward during turning so as to balance the turning inner space and the turning outer space of the vehicle, so that the rationality and the accuracy of turning of the vehicle can be effectively improved.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the vehicle turning control method provided in any embodiment of the present invention, and are not described herein.
Other embodiments of the vehicle turning control device or the implementation method thereof according to the present invention may refer to the above-mentioned embodiments of the method, and are not repeated here.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A vehicle turning control method, characterized by comprising the steps of:
acquiring the current running state and planning track information of the vehicle;
determining rear axle feedforward at a rear axle control point according to the current running state and the planned track information;
determining target supplementary feedforward according to the path position matched with the front axle control point;
and controlling the turning of the vehicle according to the rear axle feedforward and the target supplementary feedforward.
2. The vehicle turning control method according to claim 1, characterized in that the determining the rear axle feed-forward at the rear axle control point based on the current running state and the planned trajectory information includes:
selecting a first target point on a rear axle of the vehicle as a rear axle control point;
determining a current running track according to the current running state, and determining a planned track according to the planned track information;
determining a transverse error parameter of a vehicle track and a heading error parameter of the vehicle track according to the current running track and the planned track through a rear axle error model;
and determining rear axle feedforward at the rear axle control point according to the vehicle track transverse error parameter and the vehicle track heading error parameter.
3. The vehicle turning control method according to claim 2, wherein said determining a rear axle feed-forward at the rear axle control point based on the vehicle track lateral error parameter and the vehicle track heading error parameter comprises:
constructing a vehicle motion LQR according to the vehicle track transverse error parameter and the vehicle track heading error parameter;
determining an LQR total gain according to the vehicle motion LQR;
acquiring cornering stiffness of front and rear tires, distances between front and rear wheels and a mass center, wheelbase, curvature of a path reference point and vehicle parameters;
and calculating rear axle feedforward at a rear axle control point according to the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center, the wheelbase, the curvature of a path reference point and the vehicle parameters through a target rear axle feedforward algorithm.
4. The vehicle turning control method according to claim 1, wherein the determining the target supplemental feedforward based on the path position of the front axle control point match includes:
selecting a second target point on a front axle of the vehicle as a front axle control point;
matching the current running track with the planning track to obtain a current track matching result;
determining the path position of the front axle control point according to the current track matching result;
and determining target supplementary feedforward according to the path position of the front axle control point.
5. The vehicle turning control method according to claim 4, characterized in that the determining a target supplemental feedforward according to the path position of the front axle control point includes:
obtaining the vehicle mass and the vehicle forward speed according to the vehicle parameters;
obtaining a corresponding curvature reciprocal according to the curvature of the path reference point;
and calculating target supplementary feedforward according to the vehicle mass, the vehicle forward speed, the curvature reciprocal, the LQR total gain, the cornering stiffness of the front and rear tires, the distance between the front and rear wheels and the mass center and the wheelbase through a target front axle feedforward algorithm.
6. The vehicle turning control method according to claim 1, characterized in that the turning control of the vehicle according to the rear axle feedforward and the target supplemental feedforward includes:
acquiring a preset rear axle weight and a preset front axle weight;
calculating the actual feedforward of the rear axle according to the preset rear axle weight and the feedforward of the rear axle;
calculating the actual supplementary feedforward of the front axle according to the preset front axle weight and the target supplementary feedforward;
calculating an error feedforward parameter according to the LQR total gain, the vehicle track transverse error parameter and the vehicle track course error parameter;
determining turning parameters of the vehicle according to the actual feedforward of the rear axle and the actual supplementary feedforward of the front axle and the error feedforward parameters;
and turning control is carried out on the vehicle according to the vehicle turning parameters.
7. The vehicle turning control method according to any one of claims 1 to 6, characterized in that after the vehicle is turned according to the rear axle feedforward and the target supplemental feedforward, further comprising:
acquiring a turning inner side space and a turning outer side space of the vehicle after control;
calculating an error between the turn inside space and the turn outside space;
and when the error between the turning inner space and the turning outer space is smaller than the turning space error threshold value and the vehicle enters other curves, turning control is performed on the vehicle again according to the mode.
8. A vehicle turning control device, characterized by comprising:
the acquisition module is used for acquiring the current running state and planning track information of the vehicle;
the determining module is used for determining a vehicle track error and rear axle feedforward at a rear axle control point according to the current running state and the planned track information;
the determining module is also used for determining target supplementary feedforward according to the path position matched with the front axle control point;
and the control module is used for controlling the turning of the vehicle according to the vehicle track error, the rear axle feedforward and the target supplementary feedforward.
9. A heavy duty card, the heavy duty card comprising: a memory, a processor, and a vehicle turning control program stored on the memory and operable on the processor, the vehicle turning control program being configured to implement the vehicle turning control method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a vehicle turning control program which, when executed by a processor, implements the vehicle turning control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211570101.3A CN116215530A (en) | 2022-12-08 | 2022-12-08 | Vehicle turning control method and device, heavy truck and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211570101.3A CN116215530A (en) | 2022-12-08 | 2022-12-08 | Vehicle turning control method and device, heavy truck and storage medium |
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| CN116215530A true CN116215530A (en) | 2023-06-06 |
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| CN202211570101.3A Pending CN116215530A (en) | 2022-12-08 | 2022-12-08 | Vehicle turning control method and device, heavy truck and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116797004A (en) * | 2023-08-25 | 2023-09-22 | 深圳市金泰谊电子有限公司 | Industrial traffic management method, device, equipment and medium based on 5G communication |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116797004A (en) * | 2023-08-25 | 2023-09-22 | 深圳市金泰谊电子有限公司 | Industrial traffic management method, device, equipment and medium based on 5G communication |
| CN116797004B (en) * | 2023-08-25 | 2023-12-08 | 深圳市金泰谊电子有限公司 | Industrial traffic management method, device, equipment and medium based on 5G communication |
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