CN117022276A - Vehicle control method, device, electronic equipment and storage medium - Google Patents
Vehicle control method, device, electronic equipment and storage medium Download PDFInfo
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- CN117022276A CN117022276A CN202311098618.1A CN202311098618A CN117022276A CN 117022276 A CN117022276 A CN 117022276A CN 202311098618 A CN202311098618 A CN 202311098618A CN 117022276 A CN117022276 A CN 117022276A
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W30/045—Improving turning performance
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Abstract
The application discloses a vehicle control method, a vehicle control device, electronic equipment and a storage medium. The method comprises the following steps: when the definition of the lane line is detected to be smaller than the preset definition, state information between the first vehicle and the second vehicle is determined, the condition that the preset following driving condition is met between the first vehicle and the second vehicle is determined according to the state information, then the center position and the direction angle of the second vehicle are obtained, the driving track of the second vehicle is determined according to the center position and the direction angle, the position error of the first vehicle is determined according to the center coordinate and the driving track of the first vehicle, and the target rotation angle value for controlling the steering wheel of the first vehicle to rotate is determined according to the position error and the direction angle, so that the first vehicle can follow the second vehicle to drive. According to the method, the position error of the first vehicle is determined according to the driving track and the center coordinates of the second vehicle, and then the target corner value is accurately determined according to the position error and the direction angle, so that the problem that the stability of transverse driving of the vehicle cannot be ensured due to unclear lane lines is solved.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a vehicle control method, apparatus, electronic device, and storage medium.
Background
The transverse control function of the automatic lane keeping can ensure that the vehicle automatically runs along the center of the lane, and can ensure the driving safety to the greatest extent.
The existing transverse control function of the vehicle on the market controls the vehicle to run under the condition that the two-side lane lines are clear or the single-side lane line is clear, however, once the lane lines are unclear, for example, the lane lines of a road are locally unclear after being washed by rainwater for a long time, part of the lane lines are covered by dust and ice and snow, the vehicle in urban working conditions passes through the traffic light intersection without the lane lines or the front large truck just shields the lane lines on the ground, and the like, the transverse control function of the vehicle can be withdrawn, so that the safety and the comfort of intelligent driving are influenced. Therefore, it is important how to ensure stability of lateral running of the vehicle when the lane line is unclear.
Disclosure of Invention
The application provides a vehicle control method, a device, electronic equipment and a storage medium, which are used for solving the problem that the stability of transverse running of a vehicle cannot be ensured because lane lines are unclear.
According to an aspect of the present application, there is provided a vehicle control method including:
when the definition of the lane line is detected to be smaller than a preset definition, determining state information between a first vehicle and a second vehicle, wherein the state information is used for describing whether a preset following driving condition is met between the first vehicle and the second vehicle, the second vehicle is positioned in front of the first vehicle, and the preset following driving condition is that the longitudinal distance between the center of the first vehicle and the center of the second vehicle is smaller than a first preset value, the transverse distance between the center of the first vehicle and the center of the second vehicle is smaller than a second preset value and the transverse speed of the second vehicle is smaller than a preset speed; the advancing direction of the first vehicle is the longitudinal direction, and the perpendicular direction of the advancing direction of the first vehicle is the transverse direction;
determining that a preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, acquiring a center position and an orientation angle of the second vehicle, and determining a vehicle track of the second vehicle according to the center position and the orientation angle; the center position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, the longitudinal direction as a transverse axis and the transverse direction as a longitudinal axis, and the orientation angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle;
determining a position error of the first vehicle according to the central coordinate of the first vehicle and the driving track;
and determining a target rotation angle value for controlling the rotation of the steering wheel of the first vehicle according to the position error and the orientation angle so that the first vehicle follows the second vehicle.
According to another aspect of the present application, there is provided a vehicle control apparatus including:
a state information determining module configured to determine, when it is detected that the definition of the lane line is smaller than a preset definition, state information between a first vehicle and a second vehicle, the state information being used to describe whether a preset following travel condition is satisfied between the first vehicle and the second vehicle, the second vehicle being located in front of the first vehicle, the preset following travel condition being that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is smaller than a first preset value, a lateral distance between a center of the first vehicle and a center of the second vehicle is smaller than a second preset value, and a lateral speed of the second vehicle is smaller than a preset speed; the advancing direction of the first vehicle is the longitudinal direction, and the perpendicular direction of the advancing direction of the first vehicle is the transverse direction;
the vehicle track determining module is used for determining that the preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, acquiring the central position and the facing angle of the second vehicle, and determining the vehicle track of the second vehicle according to the central position and the facing angle; the center position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, the longitudinal direction as a transverse axis and the transverse direction as a longitudinal axis, and the orientation angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle;
the position error determining module is used for determining the position error of the first vehicle according to the central coordinate of the first vehicle and the driving track;
and the target rotation angle value determining module is used for determining a target rotation angle value for controlling the rotation of the first vehicle steering wheel according to the position error and the orientation angle so as to enable the first vehicle to follow the second vehicle to run.
According to another aspect of the present application, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of the embodiments of the present application.
According to another aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle control method according to any one of the embodiments of the present application.
According to the technical scheme, when the definition of the lane line is detected to be smaller than the preset definition, state information between the first vehicle and the second vehicle is determined, if the preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, a center position and an orientation angle of the second vehicle are obtained, a running track of the second vehicle is determined according to the center position and the orientation angle, a position error of the first vehicle is determined according to the center coordinate and the running track of the first vehicle, and a target corner value for controlling the steering wheel of the first vehicle to rotate is determined according to the position error and the orientation angle, so that the first vehicle follows the second vehicle. According to the method, the position error of the first vehicle is determined according to the driving track and the center coordinates of the second vehicle, and then the target corner value is accurately determined according to the position error and the direction angle, so that the problem that the stability of transverse driving of the vehicle cannot be ensured due to unclear lane lines is solved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of a second vehicle path adapted according to an embodiment of the present application;
FIG. 3 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present application;
FIG. 4 is a schematic illustration of an angle change during a first vehicle transition from following to following, in accordance with an embodiment of the present application;
fig. 5 is a schematic structural view of a vehicle control apparatus provided according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device implementing a vehicle control method of an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present application, where the vehicle is switched from following lane to following front vehicle in the case where the lane is unclear, the method may be performed by a vehicle control device, which may be implemented in hardware and/or software, and the vehicle control device may be configured in an electronic apparatus having the vehicle control method. As shown in fig. 1, the method includes:
and S110, when the definition of the lane line is detected to be smaller than the preset definition, determining state information between the first vehicle and the second vehicle.
The state information is used for describing whether a preset following running condition is met between the first vehicle and the second vehicle, wherein the preset following running condition is that the longitudinal distance between the center of the first vehicle and the center of the second vehicle is smaller than a first preset value, the transverse distance between the center of the first vehicle and the center of the second vehicle is smaller than a second preset value and the transverse speed of the second vehicle is smaller than a preset speed; the forward direction of the first vehicle is a longitudinal direction, and the vertical direction of the forward direction of the first vehicle is a lateral direction. The second vehicle is located in front of the first vehicle for following travel by the first vehicle.
Specifically, when the definition of the lane line is detected to be smaller than the preset definition, the first vehicle exits the lane line automatic driving mode, and the state information at the moment is determined. For example, the state information is represented by 0 and 1, when the state information is 0, it indicates that the preset following condition is not satisfied between the first vehicle and the second vehicle, and when the state information is 1, it indicates that the preset following condition is satisfied between the first vehicle and the second vehicle, and the state information at this time is accurately determined, so that whether the vehicle can carry out following can be accurately determined.
S120, determining that the preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, acquiring the central position and the facing angle of the second vehicle, and determining the track of the second vehicle according to the central position and the facing angle.
The central position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, taking the longitudinal direction as a transverse axis and taking the transverse direction as a longitudinal axis, and the facing angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle, as shown in fig. 2.
Wherein, the driving track can be expressed as:
y＝tanθ*x+(y 0 -tanθ*x 0 )；
wherein, (x) 0 ，y 0 ) And θ is the orientation angle for the center position coordinate.
S130, determining the position error of the first vehicle according to the central coordinate and the driving track of the first vehicle.
Specifically, as shown in fig. 2, Δd is a position error of the first vehicle, which is a distance from a center coordinate of the first vehicle to a vehicle track, and is expressed by a formula:
where Δd is the position error of the first vehicle.
And S140, determining a target rotation angle value for controlling the rotation of the steering wheel of the first vehicle according to the position error and the orientation angle so that the first vehicle can follow the second vehicle to run.
Specifically, Δθ in fig. 2 is an orientation angle error of the first vehicle, but is the same as the orientation angle, so as long as the orientation angle is determined, a target angle value for controlling the rotation of the steering wheel of the first vehicle can be determined according to the position error and the orientation angle, specifically, the position error and the current orientation angle are obtained, and the position error and the current orientation angle are input into the adaptive controller to obtain the target angle value, so that the target angle value is accurately determined, so that the steering wheel of the first vehicle can accurately rotate by an angle, and stable running of the first vehicle following the second vehicle is realized.
The mathematical model of the self-adaptive controller is as follows:
wherein K is p1 As a position error scale factor coefficient, K I1 For the position error integral factor coefficient, K d1 As a coefficient of a differential factor of a position error, K p2 To be the orientation angle error scale factor coefficient, K I2 To integrate factor coefficient for angular error, K d2 Is the angular error differential factor coefficient.
According to the technical scheme, when the definition of the lane line is detected to be smaller than the preset definition, state information between the first vehicle and the second vehicle is determined, if the preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, a center position and an orientation angle of the second vehicle are obtained, a running track of the second vehicle is determined according to the center position and the orientation angle, a position error of the first vehicle is determined according to the center coordinate and the running track of the first vehicle, and a target corner value for controlling the steering wheel of the first vehicle to rotate is determined according to the position error and the orientation angle, so that the first vehicle follows the second vehicle. According to the method, the position error of the first vehicle is determined according to the driving track and the center coordinates of the second vehicle, and then the target corner value is accurately determined according to the position error and the direction angle, so that the problem that the stability of transverse driving of the vehicle cannot be ensured due to unclear lane lines is solved.
Example two
Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present application, and this embodiment is a possible embodiment based on the foregoing embodiment.
As shown in fig. 3, when the lane line of the road is clear, the first vehicle will run transversely and automatically along the lane line, during the running process, if the lane line is unclear, it is first determined whether there is a second vehicle in front of the first vehicle and whether the first vehicle and the second vehicle meet the preset following running condition, if one of the two conditions is not met, the transverse control is exited, the manual driving mode is shifted, when both conditions are met, the central position and the facing angle of the second vehicle are obtained, the running track of the second vehicle is determined according to the central position and the facing angle, then the position error of the first vehicle is determined according to the central coordinate and the running track of the first vehicle, finally, the position error and the facing angle are input into the adaptive controller (PID controller) to obtain the target turning angle value, the transverse control command for controlling the steering wheel of the first vehicle according to the target turning angle value is output, or the torque value for controlling the rotation of the first vehicle is determined according to the target turning angle value, and the transverse control command for controlling the running of the first vehicle is output, so that the first vehicle follows the first vehicle.
If the lane line is clear in the following process, the following process is switched from the following process to the following lane line process, as shown in fig. 4, and the specific process is as follows:
if the definition of the lane line is detected to be greater than or equal to the preset definition, a first target corner value of the first vehicle for driving along with the vehicle is obtained, a second target corner value of the first vehicle for driving along with the lane line is obtained, and the switching time of the first vehicle for switching to driving along with the lane line is shortened; determining target switching angles at different moments in the switching time according to the first target rotation angle value, the second target rotation angle value and the switching time; the switching method avoids the unstable situation of vehicle running caused by too large steering wheel swinging in the process of switching from vehicle following running to line following running due to too large switching angle difference, and realizes the swinging of the steering wheel of the vehicle which transversely follows the vehicle as small as possible in the process of switching the driving mode.
Wherein, the target switching angle is expressed as:
δ t ＝δ 2 *(Δt-t)/Δt+δ 1 *t/Δt；
wherein delta t For the target switching angle, delta 1 For the second target rotation angle value, delta 2 And t is the switching time, and deltat is the switching coefficient. The switching coefficient and the switching time are set according to the actual driving process, and no specific setting is made here.
In the running process of the vehicle, when a preset exit condition is met between the first vehicle and the second vehicle, the first vehicle does not run along with the second vehicle, namely exits the transverse control function, and is converted into an artificial driving mode; the preset exit condition is that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is greater than or equal to a first preset value, a lateral distance between centers of the first vehicle and a center of the second vehicle is greater than or equal to a second preset value, a lateral speed of the second vehicle is greater than or equal to a preset speed, or a time for the first vehicle to follow the second vehicle exceeds a preset time.
According to the technical scheme, when the definition of the lane line is detected to be smaller than the preset definition, the state information between the first vehicle and the second vehicle is determined, the condition that the first vehicle and the second vehicle meet the preset following running condition is determined according to the state information, the center position and the direction angle of the second vehicle are obtained, the running track of the second vehicle is determined according to the center position and the direction angle, the position error of the first vehicle is determined according to the center coordinate and the running track of the first vehicle, and the target corner value for controlling the steering wheel of the first vehicle to rotate is determined according to the position error and the direction angle, so that the first vehicle can run along with the second vehicle, and the problem that the stability of transverse running of the vehicle cannot be ensured due to unclear lane line is solved. In addition, the method for determining the target switching angles at different moments in the switching time according to the first target turning angle value, the second target turning angle value and the switching time avoids the situation that the vehicle running is unstable due to too large steering wheel swinging caused by too large switching angle difference in the process of switching from the following running to the following running, and realizes the swinging of the steering wheel of the transverse following running vehicle as small as possible in the process of switching the driving mode.
Example III
Fig. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. As shown in fig. 5, the apparatus includes:
a state information determining module 210 configured to determine, when the definition of the lane line is detected to be smaller than a preset definition, state information between a first vehicle and a second vehicle, the state information describing whether a preset following travel condition is satisfied between the first vehicle and the second vehicle, the second vehicle being located in front of the first vehicle, the preset following travel condition being that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is smaller than a first preset value, a lateral distance between the center of the first vehicle and the center of the second vehicle is smaller than a second preset value, and a lateral speed of the second vehicle is smaller than a preset speed; the advancing direction of the first vehicle is the longitudinal direction, and the perpendicular direction of the advancing direction of the first vehicle is the transverse direction;
the vehicle track determining module 220 is configured to determine, according to the state information, that a preset following vehicle running condition is satisfied between the first vehicle and the second vehicle, obtain a center position and an orientation angle of the second vehicle, and determine a vehicle track of the second vehicle according to the center position and the orientation angle; the center position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, the longitudinal direction as a transverse axis and the transverse direction as a longitudinal axis, and the orientation angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle;
a position error determining module 230, configured to determine a position error of the first vehicle according to the center coordinates of the first vehicle and the vehicle track;
a target rotation angle value determining module 240, configured to determine a target rotation angle value for controlling rotation of the first vehicle steering wheel according to the position error and the orientation angle, so that the first vehicle follows the second vehicle.
Wherein, the driving track is expressed as:
y＝tanθ*x+(y 0 -tanθ*x 0 )；
wherein, (x) 0 ，y 0 ) And θ is the orientation angle for the center position coordinate.
Optionally, the position error determining module is configured to:
the position error of the first vehicle is the distance from the central coordinate of the first vehicle to the driving track, and the distance is expressed as follows by a formula:
where Δd is the position error of the first vehicle.
Optionally, the target rotation angle value determining module is configured to:
and acquiring the position error and the current orientation angle, and inputting the position error and the current orientation angle into an adaptive controller to acquire the target rotation angle value.
The mathematical model of the adaptive controller is as follows:
wherein K is p1 As a position error scale factor coefficient, K I1 For the position error integral factor coefficient, K d1 As a coefficient of a differential factor of a position error, K p2 To be the orientation angle error scale factor coefficient, K I2 To integrate factor coefficient for angular error, K d2 Is the angular error differential factor coefficient.
Optionally, after the first vehicle follows the second vehicle, the apparatus is further configured to:
when a preset exit condition is met between the first vehicle and the second vehicle, the first vehicle does not follow the second vehicle to run; the preset exit condition is that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is greater than or equal to a first preset value, a lateral distance between a center of the first vehicle and a center of the second vehicle is greater than or equal to a second preset value, a lateral speed of the second vehicle is greater than or equal to a preset speed, or a time for the first vehicle to follow the second vehicle exceeds a preset time.
Optionally, after the first vehicle follows the second vehicle, the apparatus further includes:
the detection unit is used for acquiring a first target corner value of the first vehicle for driving along with the vehicle if the definition of the lane line is detected to be greater than or equal to the preset definition, a second target corner value of the first vehicle for driving along with the lane line and switching time for switching the first vehicle into driving along with the lane line;
the target switching angle determining unit is used for determining target switching angles at different moments in the switching time according to the first target rotation angle value, the second target rotation angle value and the switching time;
wherein the target switching angle is formulated as:
δ t ＝δ 2 *(Δt-t)/Δt+δ 1 *t/Δt；
wherein delta t For the target switching angle, delta 1 For the second target rotation angle value, delta 2 And t is the switching time, and delta t is the switching coefficient for the first target rotation angle value.
The vehicle control device provided by the embodiment of the application can execute the vehicle control method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 6 shows a schematic structural diagram of an electronic device that can be used to implement the vehicle control method of the embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle control method.
In some embodiments, the vehicle control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
1. A vehicle control method characterized by comprising:
when the definition of the lane line is detected to be smaller than a preset definition, determining state information between a first vehicle and a second vehicle, wherein the state information is used for describing whether a preset following driving condition is met between the first vehicle and the second vehicle, the second vehicle is positioned in front of the first vehicle, and the preset following driving condition is that the longitudinal distance between the center of the first vehicle and the center of the second vehicle is smaller than a first preset value, the transverse distance between the center of the first vehicle and the center of the second vehicle is smaller than a second preset value and the transverse speed of the second vehicle is smaller than a preset speed; the advancing direction of the first vehicle is the longitudinal direction, and the perpendicular direction of the advancing direction of the first vehicle is the transverse direction;
determining that a preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, acquiring a center position and an orientation angle of the second vehicle, and determining a vehicle track of the second vehicle according to the center position and the orientation angle; the center position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, the longitudinal direction as a transverse axis and the transverse direction as a longitudinal axis, and the orientation angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle;
determining a position error of the first vehicle according to the central coordinate of the first vehicle and the driving track;
and determining a target rotation angle value for controlling the rotation of the steering wheel of the first vehicle according to the position error and the orientation angle so that the first vehicle follows the second vehicle.
2. The method of claim 1, wherein the wheel path is represented as:
y＝tanθ*x+(y 0 -tanθ*x 0 )；
wherein, (x) 0 ，y 0 ) And θ is the orientation angle for the center position coordinate.
3. The method of claim 1, wherein determining a position error of the first vehicle from the center coordinates of the first vehicle and the trajectory comprises:
the position error of the first vehicle is the distance from the central coordinate of the first vehicle to the driving track, and the distance is expressed as follows by a formula:
where Δd is the position error of the first vehicle.
4. The method of claim 1, wherein determining a target angle value for controlling rotation of the first vehicle steering wheel as a function of the position error and the heading angle comprises:
and acquiring the position error and the current orientation angle, and inputting the position error and the current orientation angle into an adaptive controller to acquire the target rotation angle value.
5. The method of claim 4, wherein the mathematical model of the adaptive controller is:
wherein K is p1 As a position error scale factor coefficient, K I1 For the position error integral factor coefficient, K d1 As a coefficient of a differential factor of a position error, K p2 To be the orientation angle error scale factor coefficient, K I2 To integrate factor coefficient for angular error, K d2 Is the angular error differential factor coefficient.
6. The method of claim 1, wherein after causing the first vehicle to follow the second vehicle, the method further comprises:
when a preset exit condition is met between the first vehicle and the second vehicle, the first vehicle does not follow the second vehicle to run; the preset exit condition is that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is greater than or equal to a first preset value, a lateral distance between a center of the first vehicle and a center of the second vehicle is greater than or equal to a second preset value, a lateral speed of the second vehicle is greater than or equal to a preset speed, or a time for the first vehicle to follow the second vehicle exceeds a preset time.
7. The method of claim 1, wherein after causing the first vehicle to follow the second vehicle, the method further comprises:
if the definition of the lane line is detected to be greater than or equal to the preset definition, acquiring a first target corner value of the first vehicle driving along with the vehicle, a second target corner value of the first vehicle driving along with the lane line and switching time when the first vehicle is switched to the lane line driving;
determining target switching angles at different moments in the switching time according to the first target rotation angle value, the second target rotation angle value and the switching time;
wherein the target switching angle is formulated as:
δ t ＝δ 2 *(Δt-t)/Δt+δ 1 *t/Δt；
wherein delta t For the target switching angle, delta 1 For the second target rotation angle value, delta 2 And t is the switching time, and delta t is the switching coefficient for the first target rotation angle value.
8. A vehicle control apparatus characterized by comprising:
a state information determining module configured to determine, when it is detected that the definition of the lane line is smaller than a preset definition, state information between a first vehicle and a second vehicle, the state information being used to describe whether a preset following travel condition is satisfied between the first vehicle and the second vehicle, the second vehicle being located in front of the first vehicle, the preset following travel condition being that a longitudinal distance between a center of the first vehicle and a center of the second vehicle is smaller than a first preset value, a lateral distance between a center of the first vehicle and a center of the second vehicle is smaller than a second preset value, and a lateral speed of the second vehicle is smaller than a preset speed; the advancing direction of the first vehicle is the longitudinal direction, and the perpendicular direction of the advancing direction of the first vehicle is the transverse direction;
the vehicle track determining module is used for determining that the preset following vehicle running condition is met between the first vehicle and the second vehicle according to the state information, acquiring the central position and the facing angle of the second vehicle, and determining the vehicle track of the second vehicle according to the central position and the facing angle; the center position is a coordinate position determined in a coordinate system established by taking the center of the first vehicle as an origin of coordinates, the longitudinal direction as a transverse axis and the transverse direction as a longitudinal axis, and the orientation angle is an included angle between the advancing direction of the second vehicle and the advancing direction of the first vehicle;
the position error determining module is used for determining the position error of the first vehicle according to the central coordinate of the first vehicle and the driving track;
and the target rotation angle value determining module is used for determining a target rotation angle value for controlling the rotation of the first vehicle steering wheel according to the position error and the orientation angle so as to enable the first vehicle to follow the second vehicle to run.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the vehicle control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311098618.1A CN117022276A (en) | 2023-08-29 | 2023-08-29 | Vehicle control method, device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311098618.1A CN117022276A (en) | 2023-08-29 | 2023-08-29 | Vehicle control method, device, electronic equipment and storage medium |
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| CN117022276A true CN117022276A (en) | 2023-11-10 |
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| CN202311098618.1A Pending CN117022276A (en) | 2023-08-29 | 2023-08-29 | Vehicle control method, device, electronic equipment and storage medium |
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| Country | Link |
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| CN (1) | CN117022276A (en) |
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- 2023-08-29 CN CN202311098618.1A patent/CN117022276A/en active Pending
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