CN116331255A - Automatic driving transverse control method and device - Google Patents
Automatic driving transverse control method and device Download PDFInfo
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W30/02—Control of vehicle driving stability
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses an automatic driving transverse control method and device, relates to the technical field of automatic driving, and mainly aims to improve transverse control precision of a vehicle in an automatic driving mode and ensure driving safety in the automatic driving mode. The main technical scheme of the invention is as follows: determining the running condition of the vehicle in an automatic driving mode; performing deviation compensation on the yaw rate or steering wheel angle of the vehicle under different running conditions based on a first specified period cycle to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period; storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period into a designated directory; and performing lateral control on the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period in the designated list.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving transverse control method and device.
Background
With the development of artificial intelligence technology, the degree of autonomy of the automatic driving function of the vehicle is becoming higher and higher, wherein lateral control is an indispensable component in the automatic driving function, and yaw rate and steering angle have a great influence on the accuracy of the lateral control.
At present, in the prior art, the compensation of the yaw rate and the steering wheel angle is generally realized by the vehicle through zero offset calibration of the yaw rate and the steering wheel angle, however, the zero offset calibration is usually a fixed calibration value determined based on manual experience or repeated experiments, and cannot be applied to the actual running condition of the vehicle in real time, so that the transverse control precision of the vehicle in an automatic driving mode is easily reduced, and the driving safety in the automatic driving mode is further influenced.
Disclosure of Invention
In view of the above problems, the present invention provides an automatic driving lateral control method and apparatus, which mainly aims to improve the lateral control accuracy of a vehicle in an automatic driving mode and ensure the driving safety in the automatic driving mode.
In order to solve the technical problems, the invention provides the following scheme:
in a first aspect, the present invention provides an autopilot lateral control method, the method comprising:
determining the running condition of the vehicle in an automatic driving mode;
performing deviation compensation on the yaw rate or steering wheel angle of the vehicle under different running conditions based on a first specified period cycle to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period;
storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period into a designated directory;
and performing lateral control on the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period in the specified list, wherein the duration of the second specified period is longer than that of the first specified period.
In a second aspect, the present invention provides an automatic driving lateral control device, the device comprising:
the determining unit is used for determining the operation condition of the vehicle in the automatic driving mode;
the processing unit is used for carrying out deviation compensation on the yaw rate or the steering wheel angle of the vehicle under different operation conditions obtained by the determining unit based on a first specified period cycle so as to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period;
the storage unit is used for storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period obtained by the processing unit into a designated directory; and the execution unit is used for executing transverse control on the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period in the designated list obtained by the storage unit in a second designated period, and the duration of the second designated period is longer than that of the first designated period.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a storage medium including a stored program, wherein the apparatus in which the storage medium is controlled to execute the automatic driving lateral control method of the first aspect described above when the program runs.
In order to achieve the above object, according to a fourth aspect of the present invention, there is provided a processor for running a program, wherein the program, when run, performs the automatic driving lateral control method of the first aspect described above.
By means of the technical scheme, when the automatic driving is required to be transversely controlled, the operation working condition of the vehicle in the automatic driving mode is firstly determined, deviation compensation is conducted on the yaw rate or the steering wheel angle of the vehicle under different operation working conditions based on the first specified period circulation, the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period is obtained, the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period is stored in a specified directory, finally the transverse control on the vehicle is conducted by utilizing the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period in the specified directory based on the second specified period circulation, and the duration of the second specified period is longer than that of the first specified period. According to the technical scheme provided by the invention, the yaw rate or steering wheel rotation angle of the vehicle can be compensated according to different periodicity of the operation conditions in the actual operation of the vehicle, such as a static condition, a straight running condition and the like, so that the compensated yaw rate or the compensated steering wheel rotation angle is obtained periodically, and the transverse control of the vehicle is performed periodically based on the latest compensated yaw rate or the compensated steering wheel rotation angle, thereby realizing the real-time dynamic compensation of the yaw rate and the steering wheel zero offset in the automatic driving process, no artificial calibration is needed, the transverse control precision of the vehicle in the automatic driving mode is improved, and the driving safety in the automatic driving mode is further ensured.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a flow chart of an automatic driving lateral control method provided by an embodiment of the invention;
FIG. 2 illustrates a flow chart of another method for automatic lateral driving control provided by an embodiment of the present invention;
FIG. 3 shows a block diagram of an autopilot lateral control arrangement provided by an embodiment of the present invention;
fig. 4 shows a block diagram of another automatic driving lateral control device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary 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 limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
At present, in the prior art, the compensation of the yaw rate and the steering wheel angle is generally realized by the vehicle through zero offset calibration of the yaw rate and the steering wheel angle, however, the zero offset calibration is usually a fixed calibration value determined based on manual experience or repeated experiments, and cannot be applied to the actual running condition of the vehicle in real time, so that the transverse control precision of the vehicle in an automatic driving mode is easily reduced, and the driving safety in the automatic driving mode is further influenced. According to the invention, deviation compensation is carried out on the yaw rate or steering wheel rotation angle of the vehicle according to different periodicity of operation conditions in actual operation of the vehicle, such as a static condition, a straight running condition and the like, so that the compensated yaw rate or the compensated steering wheel rotation angle is obtained periodically, and the transverse control of the vehicle is carried out periodically based on the latest compensated yaw rate or the compensated steering wheel rotation angle, thereby realizing real-time dynamic compensation on the yaw rate and the steering wheel zero offset in the automatic driving process, no artificial calibration is needed, the transverse control precision of the vehicle in the automatic driving mode is improved, and the driving safety in the automatic driving mode is further ensured.
Therefore, the embodiment of the invention provides an automatic driving transverse control method, by which the transverse control precision of a vehicle in an automatic driving mode can be improved, and the driving safety in the automatic driving mode is ensured, and the specific implementation steps are as shown in fig. 1, and the method comprises the following steps:
101. an operating condition of the vehicle in an autonomous mode is determined.
It should be noted that, in this embodiment, the operation conditions include, but are not limited to, a stationary condition, a straight running condition, and the like, and since the implementation is to control the vehicle in the automatic driving mode in the lateral direction, it is necessary to make compensation correction on the lateral index factor associated with the lateral stability on the premise of not having a lateral driving trend or action, that is, the compensation value calculated in the stationary condition or the straight running condition is more accurate, so that it is necessary to determine the operation condition of the vehicle in the automatic driving mode first, specifically, preset speed thresholds in different operation conditions may be preset, and obtain the vehicle speed of the vehicle, determine whether the vehicle is in the stationary condition in the automatic driving mode based on the vehicle speed, and then obtain the lateral index factor associated with the lateral stability, where the lateral index factor includes, but is not limited to, a yaw rate, a lateral acceleration, a lateral deviation distance, a lane curvature, and the like, and determine whether each lateral index factor is smaller than the corresponding index threshold to determine whether the vehicle is in the straight running condition, so as to execute the following step 102.
102. And performing deviation compensation on the yaw rate or steering wheel angle of the vehicle under different operation conditions based on the first specified period circulation to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period.
It should be noted that, in this embodiment, the first specified period may be 100ms, 200ms, or the like, which is not limited in this embodiment, because it has been determined in the foregoing step 102 that the running condition may be a stationary condition or a straight running condition, therefore, the yaw rate of the vehicle under different running conditions or the steering wheel angle under the straight running condition may be compensated for deviation based on the first specified period circulation, so as to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period, the stationary condition compensates the yaw rate, and may further improve the running safety under the straight running condition, and the stationary condition may also ensure the accuracy of compensating the yaw rate, and the straight running condition may be more suitable for compensating the steering wheel angle, so that the yaw rate of the vehicle under the stationary condition may be compensated for deviation based on the first specified period circulation, and the steering wheel angle of the vehicle under the straight running condition may be compensated for deviation based on the first specified period circulation, so as to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period, and may further calculate the yaw rate or a compensated steering wheel angle corresponding to the subsequent step after the yaw rate or the yaw rate is calculated, and the yaw rate is more than the yaw rate is required to be compensated for the subsequent step or the yaw rate is calculated, and the yaw rate is more accurate after the specified step is calculated.
103. And storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period into a designated directory.
It should be noted that, in this embodiment, the specified directory is a specified storage location created in advance in the vehicle-mounted terminal server, which is only used to store the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period, and the specific storage manner may be based on the total storage of the time stamps of the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period, or may also be deleted automatically by a constant amount based on the time stamps, so as to avoid occupying the resource space of the server due to excessive storage, and by setting the specified directory, the storage standby of the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period can be ensured, so that the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period is actually utilized for the subsequent, and it is emphasized that an index needs to be preset in the specified directory, so as to execute the subsequent step 104.
104. And performing lateral control of the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period in the specified list.
Wherein the duration of the second specified period is greater than the duration of the first specified period. In this embodiment, it is noted that, according to the foregoing steps, the compensated yaw rate or the compensated steering wheel angle is periodically obtained based on the first specified period and is stored in the specified directory, so, in order to ensure accuracy of lateral control of the vehicle, the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period is preferably selected to perform the lateral control of the vehicle based on the second specified period, so as to ensure real-time compensation of the yaw rate and the steering wheel angle, and improve accuracy of lateral control of the vehicle in the automatic driving mode, and the duration of the second specified period is longer than that of the first specified period, so that it is ensured that, when the vehicle is actually running in the automatic driving mode, the period of performing lateral control of the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period is not frequent, and the lateral control accuracy of the vehicle in the automatic driving mode is improved, and meanwhile, the driving experience is ensured.
Based on the implementation manner of fig. 1, it can be seen that, in the automatic driving lateral control method provided by the invention, when the automatic driving is required to be laterally controlled, firstly, the operation condition of the vehicle in the automatic driving mode is determined, then, the yaw rate or the steering wheel angle of the vehicle under different operation conditions is compensated based on the first specified period circulation, so as to obtain the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period, and finally, the lateral control of the vehicle is executed by using the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period based on the second specified period circulation, and the duration of the second specified period is longer than that of the first specified period. According to the technical scheme provided by the invention, the yaw rate or steering wheel rotation angle of the vehicle can be compensated according to different periodicity of the operation conditions in the actual operation of the vehicle, such as a static condition, a straight running condition and the like, so that the compensated yaw rate or the compensated steering wheel rotation angle is obtained periodically, and the transverse control of the vehicle is performed periodically based on the latest compensated yaw rate or the compensated steering wheel rotation angle, thereby realizing the real-time dynamic compensation of the yaw rate and the steering wheel zero offset in the automatic driving process, no artificial calibration is needed, the transverse control precision of the vehicle in the automatic driving mode is improved, and the driving safety in the automatic driving mode is further ensured.
Further, the preferred embodiment of the present invention is a detailed description of the process of automatic driving lateral control based on the above-mentioned fig. 1, and specific steps thereof are as shown in fig. 2, including:
201. an operating condition of the vehicle in an autonomous mode is determined.
This step is described in conjunction with step 101 in the above method, and the same contents are not repeated here. It should be noted that, in this embodiment, the specific execution procedure for determining the operation condition of the vehicle in the automatic driving mode is as follows: when the speed of the vehicle is continuously lower than a first preset speed threshold value, determining that the vehicle is in a stationary working condition; when the speed of the vehicle is continuously higher than a second preset speed threshold, judging whether the transverse index factors of the vehicle are smaller than the corresponding preset index thresholds; if yes, determining that the vehicle is in a straight running working condition; if not, determining that the vehicle is in a non-stationary and non-straight running working condition. The first preset speed threshold may be 0.1km/h, 0.2km/h, etc., where the embodiment is not limited, and it is only necessary to ensure that the speed of the vehicle approaches 0, and the running condition of the vehicle may be determined to be a stationary condition, while the second preset speed threshold may be 30km/h, 40km/h, etc., where the embodiment is not limited, and the judgment of the straight-going condition may obtain a transverse index factor, which includes a yaw angle speed, a transverse acceleration, a transverse deviation distance, and a lane curvature, and determine that the vehicle is in a straight-going condition or in a non-stationary and non-straight-going condition by judging whether the transverse index factors of the vehicle are all less than the preset index thresholds corresponding to each other, where "continuous" may refer to a continuous period of time, or may refer to a continuous number of times, where the embodiment is not limited.
202. And performing deviation compensation on the yaw rate or steering wheel angle of the vehicle under different operation conditions based on the first specified period circulation to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period.
This step is described in conjunction with step 102 in the above method, and the same contents are not repeated here. It should be noted that, in this embodiment, since the running condition of the vehicle, i.e., the stationary condition or the straight running condition, has been determined in step 202, the deviation compensation may be performed on the yaw rate or the steering wheel angle of the vehicle in the stationary condition or the straight running condition, specifically, in the following two cases:
case one: if the operation working condition is in the static working condition, circularly acquiring the yaw rate of the vehicle based on a first specified period, wherein each first specified period comprises a plurality of yaw rates; calculating an average value of a plurality of yaw rates in each first specified period, and taking the average value of the plurality of yaw rates in each first specified period as a yaw rate compensation value of the vehicle corresponding to each first specified period; and performing deviation compensation on the current yaw rate of the vehicle based on the yaw rate compensation value of the vehicle in each first specified period to obtain a compensated yaw rate corresponding to each first specified period.
And a second case: if the operation working condition is in the straight-going working condition, circularly acquiring steering wheel corners of the vehicle based on a first specified period, wherein each first specified period comprises a plurality of steering wheel corners; calculating an average value of a plurality of steering wheel angles, and taking the average value of the plurality of steering wheel angles as a steering wheel angle compensation value of the vehicle; and performing deviation compensation on the current steering wheel angle of the vehicle based on the steering wheel angle compensation value of the vehicle in each first specified period to obtain a compensated yaw rate corresponding to each first specified period.
For the two cases, it should be noted that, the first specified periods may be 100ms, 200ms, etc., which is not limited in this embodiment, and each first specified period includes a plurality of yaw rates or a plurality of steering angles, so that the yaw rate or the steering angle may be obtained once every 10ms or every 20ms, so as to ensure that the first specified period includes a plurality of yaw rates or steering angles, and after obtaining a plurality of yaw rates or steering angles, an average calculation may be performed on the first specified period, so that each first specified period corresponds to a more accurate yaw rate compensation value or steering angle compensation value, and further, deviation compensation is performed on the current yaw rate or the current steering angle of the vehicle based on the yaw rate compensation value of the vehicle in each first specified period, so as to obtain a compensated yaw rate or a compensated steering angle corresponding to each first specified period.
203. And storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period into a designated directory.
This step is described in conjunction with step 103 in the above method, and the same contents are not repeated here.
Further, in order to avoid occupying the resource space of the vehicle terminal server due to the excessive number of compensated yaw rates or compensated steering wheel angles corresponding to each first designated period being stored, and also in order to ensure the validity of the compensated yaw rates or compensated steering wheel angles corresponding to each first designated period, specifically, after storing the compensated yaw rates or compensated steering wheel angles corresponding to each first designated period in the designated directory, the method further includes: and when the compensated yaw rate or the number of the compensated steering wheel angles corresponding to the first designated period in the designated list exceeds a preset number threshold, automatically updating the designated list based on the compensated yaw rate or the time stamp of the compensated steering wheel angle corresponding to each first designated period. The preset number of thresholds may be 10 or 20, which is not limited in this embodiment, and only needs to ensure that the updated specified directory is reserved with the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period obtained recently based on the current time.
204. And extracting the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period from the designated list according to the compensated yaw rate or the time stamp of the compensated steering wheel angle corresponding to each first designated period.
In this embodiment, since the time stamp information is generated when the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period is obtained or when the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period is stored in the specified directory, in order to ensure that the lateral control of the vehicle is performed based on the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period more accurately and effectively, the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period may be extracted based on the time stamp so as to perform the subsequent step 105.
205. And performing lateral control of the vehicle based on the second specified period by cyclically using the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period.
It should be noted that, in this embodiment, the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period is obtained when the vehicle is in a stationary condition or a straight running condition, but in the actual driving process, based on the difference of road conditions, there is a situation that the vehicle is switched from the stationary condition or the straight running condition to the non-straight running condition or the non-stationary condition at any time, and the switching time is uncertain, and because the cycle of the second specified period occurs in the automatic driving mode, the switching time of the current switching condition can be recorded once the vehicle is switched from the stationary condition or the straight running condition to the non-straight running condition or the non-stationary condition, and is determined based on the switching time of the vehicle from the stationary condition or the straight running condition once the vehicle is switched to the non-straight running condition or the non-stationary condition and the difference of the compensated yaw rate or the time stamp of the compensated steering wheel angle corresponding to the first specified period stored in the specified list, the shortest time interval is the last time, so that the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period is recycled based on the second designated period to execute the transverse control on the vehicle, the transverse control on the vehicle is further ensured to be executed based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period obtained under the static working condition or the straight working condition even if the vehicle is not in straight running or in the non-static working condition, and the compensated yaw rate or the compensated steering wheel angle corresponding to the first designated period is updated again when the vehicle is in the static working condition or the straight working condition next time, and the compensation instantaneity on the yaw rate and the steering wheel angle can be improved based on the recycling, thereby improving the accuracy of lateral control of the vehicle in the automatic driving mode.
Further, as an implementation of the method embodiments shown in fig. 1-2, an embodiment of the present invention provides an automatic driving lateral control device, which is used for improving the lateral control precision of a vehicle in an automatic driving mode and ensuring the driving safety in the automatic driving mode. The embodiment of the device corresponds to the foregoing method embodiment, and for convenience of reading, details of the foregoing method embodiment are not described one by one in this embodiment, but it should be clear that the device in this embodiment can correspondingly implement all the details of the foregoing method embodiment. As shown in fig. 3, the device includes:
a determining unit 31 for determining an operation condition of the vehicle in the automatic driving mode;
a processing unit 32, configured to perform bias compensation on the yaw rate or the steering wheel angle of the vehicle under different operation conditions obtained by the determining unit 31 based on a first specified period cycle, so as to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each of the first specified periods;
a storage unit 33, configured to store the compensated yaw rate or the compensated steering wheel angle corresponding to each of the first specified periods obtained by the processing unit 32 into a specified directory; and an execution unit 34 configured to execute lateral control of the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last time of the first specified period in the specified list obtained by the storage unit 33, where a duration of the second specified period is longer than a duration of the first specified period.
Further, as shown in fig. 4, the determining unit 31 includes:
a first determining module 311, configured to determine that the vehicle is in a stationary condition when a vehicle speed of the vehicle is continuously lower than a first preset speed threshold;
a judging module 312, configured to judge whether the lateral index factors of the vehicle are all smaller than the corresponding preset index thresholds when the speed of the vehicle is continuously higher than the second preset speed threshold;
a second determining module 313, configured to determine that the vehicle is in a straight running condition if the judging module 312 judges that the lateral index factors of the vehicle are all smaller than the corresponding preset index thresholds;
the second determining module 313 is configured to determine that the vehicle is in a non-stationary or non-straight running condition if the judging module 312 judges that the lateral index factors of the vehicle are not all smaller than the corresponding preset index thresholds.
Further, as shown in fig. 4, the lateral index factors include yaw rate, lateral acceleration, lateral deviation distance, and lane curvature.
Further, as shown in fig. 4, the processing unit 32 includes:
an obtaining module 321, configured to obtain, if the operation condition is in the stationary condition, a yaw rate of the vehicle based on the first specified period cycle, where each first specified period includes a plurality of yaw rates;
a processing module 322 configured to calculate an average value of the yaw rates in each of the first specified periods obtained by the obtaining module 321, and use the average value of the yaw rates in each of the first specified periods as a yaw rate compensation value of the vehicle corresponding to each of the first specified periods;
and a compensation module 323, configured to perform bias compensation on the current yaw rate of the vehicle based on the yaw rate compensation value of the vehicle in each of the first specified periods obtained by the processing module 322, so as to obtain a compensated yaw rate corresponding to each of the first specified periods.
Further, as shown in fig. 4, the processing unit 32 includes:
the obtaining module 321 is configured to obtain, if the operation condition is in the straight running condition, steering wheel angles of the vehicle based on the first specified periods in a circulating manner, where each of the first specified periods includes a plurality of steering wheel angles;
the processing module 322 is configured to calculate an average value of the steering wheel angles in each of the first specified periods obtained by the obtaining module 321, and use the average value of the steering wheel angles in each of the first specified periods as a steering wheel angle compensation value of the vehicle;
the compensation module 323 is configured to perform bias compensation on a current steering wheel angle of the vehicle based on the steering wheel angle compensation value of the vehicle in each first specified period obtained by the processing module 322, so as to obtain a compensated yaw rate corresponding to each first specified period.
Further, as shown in fig. 4, the execution unit 34 includes:
an extracting module 341, configured to extract, in the specified directory, the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period last time according to a timestamp of the compensated yaw rate or the compensated steering wheel angle corresponding to each first specified period;
an execution module 342 for executing lateral control of the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last time the first specified period obtained by the extraction module 341 is recycled.
Further, as shown in fig. 4, the apparatus further includes:
an updating unit 35, configured to automatically update the specified table based on the time stamp of the compensated yaw rate or the compensated steering angle corresponding to each of the first specified periods when the compensated yaw rate or the number of compensated steering angles corresponding to the first specified periods in the specified table exceeds a preset number threshold after the storing unit 33.
Further, an embodiment of the present invention further provides a storage medium, where the storage medium is configured to store a computer program, where the computer program controls a device where the storage medium is located to execute the above-described lateral autopilot control method in fig. 1-2 when running.
Further, an embodiment of the present invention further provides a processor, where the processor is configured to execute a program, where the program executes the automatic driving lateral control method described in fig. 1-2.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the methods and apparatus described above may be referenced to one another. In addition, the "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent the merits and merits of the embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
Furthermore, the memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), in a computer readable medium, the memory including at least one memory chip.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. An autopilot lateral control method, the method comprising:
determining the running condition of the vehicle in an automatic driving mode;
performing deviation compensation on the yaw rate or steering wheel angle of the vehicle under different running conditions based on a first specified period cycle to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period;
storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period into a designated directory;
and performing lateral control on the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first specified period in the specified list, wherein the duration of the second specified period is longer than that of the first specified period.
2. The method of claim 1, wherein determining an operating condition of the vehicle in the autonomous mode comprises:
when the speed of the vehicle is continuously lower than a first preset speed threshold value, determining that the vehicle is in a stationary working condition;
when the speed of the vehicle is continuously higher than a second preset speed threshold, judging whether the transverse index factors of the vehicle are smaller than the corresponding preset index thresholds;
if yes, determining that the vehicle is in a straight running working condition;
if not, determining that the vehicle is in a non-stationary and non-straight running working condition.
3. The method of claim 2, wherein the lateral index factors include yaw rate, lateral acceleration, lateral departure distance, and lane curvature.
4. A method according to any one of claims 1-3, wherein offset compensating the yaw rate or steering wheel angle of the vehicle under different ones of the operating conditions based on a first specified period cycle to obtain a compensated yaw rate or compensated steering wheel angle for each of the first specified periods comprises:
if the operation condition is in the static condition, circularly acquiring the yaw rate of the vehicle based on the first specified period, wherein each first specified period comprises a plurality of yaw rates;
calculating an average value of a plurality of yaw rates in each first specified period, and taking the average value of the yaw rates in each first specified period as a yaw rate compensation value of the vehicle corresponding to each first specified period;
and performing deviation compensation on the current yaw rate of the vehicle based on the yaw rate compensation value of the vehicle in each first specified period to obtain a compensated yaw rate corresponding to each first specified period.
5. A method according to any one of claims 1-3, wherein offset compensating the yaw rate or steering wheel angle of the vehicle under different ones of the operating conditions based on a first specified period cycle to obtain a compensated yaw rate or compensated steering wheel angle for each of the first specified periods comprises:
if the running condition is in the straight running condition, circularly acquiring steering wheel corners of the vehicle based on the first specified period, wherein each first specified period comprises a plurality of steering wheel corners;
calculating an average value of a plurality of steering wheel angles, and taking the average value of the steering wheel angles as a steering wheel angle compensation value of the vehicle;
and performing deviation compensation on the current steering wheel angle of the vehicle based on the steering wheel angle compensation value of the vehicle in each first specified period to obtain a compensated yaw rate corresponding to each first specified period.
6. The method of claim 1, wherein performing lateral control of the vehicle based on recycling the compensated yaw rate or the compensated steering wheel angle corresponding to the last time the first specified period in the specified list based on a second specified period, comprises:
extracting the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period in the specified directory according to the compensated yaw rate or the time stamp of the compensated steering wheel angle corresponding to each first specified period;
and performing lateral control of the vehicle based on the second specified period by cyclically using the compensated yaw rate or the compensated steering wheel angle corresponding to the first specified period last time.
7. The method of claim 1, wherein after storing the compensated yaw rate or the compensated steering wheel angle corresponding to each of the first specified periods in a specified directory, the method further comprises:
and when the compensated yaw rate or the number of the compensated steering wheel angles corresponding to the first designated period in the designated list exceeds a preset number threshold, automatically updating the designated list based on the time stamp of the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period.
8. An autopilot lateral control apparatus, the apparatus comprising:
the determining unit is used for determining the operation condition of the vehicle in the automatic driving mode;
the processing unit is used for carrying out deviation compensation on the yaw rate or the steering wheel angle of the vehicle under different operation conditions obtained by the determining unit based on a first specified period cycle so as to obtain a compensated yaw rate or a compensated steering wheel angle corresponding to each first specified period;
the storage unit is used for storing the compensated yaw rate or the compensated steering wheel angle corresponding to each first designated period obtained by the processing unit into a designated directory; and the execution unit is used for executing transverse control on the vehicle based on the compensated yaw rate or the compensated steering wheel angle corresponding to the last first designated period in the designated list obtained by the storage unit in a second designated period, and the duration of the second designated period is longer than that of the first designated period.
9. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to execute the automatic lateral driving control method according to any one of claims 1 to 7.
10. A processor for running a program, wherein the program when run performs the automatic lateral driving control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310223081.0A CN116331255A (en) | 2023-03-02 | 2023-03-02 | Automatic driving transverse control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310223081.0A CN116331255A (en) | 2023-03-02 | 2023-03-02 | Automatic driving transverse control method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116331255A true CN116331255A (en) | 2023-06-27 |
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ID=86879965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310223081.0A Pending CN116331255A (en) | 2023-03-02 | 2023-03-02 | Automatic driving transverse control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116331255A (en) |
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2023
- 2023-03-02 CN CN202310223081.0A patent/CN116331255A/en active Pending
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