CN117022442A - Vehicle transverse control method, device, equipment, medium and program product - Google Patents

Vehicle transverse control method, device, equipment, medium and program product Download PDF

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Publication number
CN117022442A
CN117022442A CN202311245392.3A CN202311245392A CN117022442A CN 117022442 A CN117022442 A CN 117022442A CN 202311245392 A CN202311245392 A CN 202311245392A CN 117022442 A CN117022442 A CN 117022442A
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China
Prior art keywords
point
target
feedback
feedforward
vehicle
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李林蔚
上官蓝田
冯皓
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Apollo Zhilian Beijing Technology Co Ltd
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Apollo Zhilian Beijing Technology Co Ltd
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Priority to CN202311245392.3A priority Critical patent/CN117022442A/en
Publication of CN117022442A publication Critical patent/CN117022442A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The disclosure provides a vehicle transverse control method, a device, equipment, a medium and a program product, and relates to the technical field of artificial intelligence such as unmanned driving, automatic parking and the like. One embodiment of the method comprises the following steps: determining a feedforward target point on a target track according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pretightening distance; determining a point reached by the target vehicle when the target vehicle passes through the feedback pre-aiming distance according to the current running state data of the target vehicle and the current steering wheel angle as a feedback matching point; determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point; based on a preset steering model, obtaining a target steering wheel corner according to the curvature of a feedforward target point, and a transverse error and a course error between a feedback matching point and the feedback target point; and controlling the steering wheel of the target vehicle according to the steering angle of the target steering wheel so as to transversely control the target vehicle.

Description

Vehicle transverse control method, device, equipment, medium and program product
Technical Field
The embodiment of the disclosure relates to the field of computers, in particular to the technical field of artificial intelligence such as unmanned driving, automatic parking and the like, and particularly relates to a vehicle transverse control method, device, equipment, medium and program product.
Background
Autonomous lateral parking control is one of the core technologies of unmanned, relating to unmanned safety, comfort and economy. The path tracking, namely, the autonomous steering control of the target vehicle always runs along the target track, ensures the running safety and riding comfort of the target vehicle, and is an ultimate target for unmanned driving.
At present, the transverse control of autonomous parking mainly adopts a pre-aiming control method, and the selection method of the pre-aiming point generally selects a point with a previous distance on a target track as a target point, and then the target point is compared with the state of a target vehicle to obtain control deviation, so that the tracking performance of the autonomous parking track is poor.
Disclosure of Invention
The embodiment of the disclosure provides a vehicle transverse control method, a device, equipment, a medium and a program product.
In a first aspect, an embodiment of the present disclosure proposes a vehicle lateral control method, including: determining a feedforward target point on a target track according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pretightening distance; determining a point reached by the target vehicle when the target vehicle passes through the feedback pre-aiming distance according to the current running state data of the target vehicle and the current steering wheel angle as a feedback matching point; determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point; based on a preset steering model, obtaining a target steering wheel corner according to the curvature of a feedforward target point, and a transverse error and a course error between a feedback matching point and the feedback target point; and controlling the steering wheel of the target vehicle according to the steering angle of the target steering wheel so as to transversely control the target vehicle.
In some examples, based on a preset steering model, deriving the target steering wheel angle from the curvature of the feedforward target point, and the lateral error and heading error between the feedback matching point and the feedback target point, comprising: determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of a feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between a feedback matching point and the feedback target point; based on the steering model, and the wheel steering curvature, a target steering wheel angle is obtained.
In some examples, determining the wheel steering curvature based on a preset feedforward control algorithm, a curvature of the feedforward target point, a preset feedback control algorithm, and a lateral error and a heading error between the feedback matching point and the feedback target point includes: and determining the steering curvature of the wheel according to the curvature of the feedforward target point, the feedforward gain obtained based on proportional control, the lateral error and the heading error and the feedback gain obtained based on linear quadratic regulator control.
In some examples, the lateral error and heading error are determined based on the steps of: acquiring position attribute information of a feedforward target point in a vehicle body coordinate system, and acquiring position attribute information of the feedforward target point in the vehicle body coordinate system, wherein the position attribute information comprises at least one of the following: coordinate values, heading and curvature; and determining a transverse error and a heading error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
In some examples, obtaining positional attribute information of the feedback target point in the vehicle body coordinate system includes: acquiring position attribute information of a first track point and a second track point on a target track, wherein the first track point and the second track point are a point positioned in front of a feedback target point and a point positioned behind the feedback target point respectively; and carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under the vehicle body coordinate system.
In some examples, determining the feedforward target point on the target track from the first projected point of the current location point of the target vehicle on the target track and the feedforward pretightening distance includes: determining a feedforward matching point by taking a first projection point of a current position point of a target vehicle on a target track as a starting point according to a feedforward pretightening distance; and determining a point which is a preset distance from the feedforward matching point and is on the target track as a feedforward target point.
In some examples, determining a feedback target point on the target trajectory corresponding to the feedback matching point from the feedback matching point includes: and determining a second projection point of the feedback matching point on the target track as a feedback target point.
In a second aspect, an embodiment of the present disclosure proposes a vehicle lateral control device including: the first determining module is used for determining a feedforward target point on the target track according to a first projection point of the current position point of the target vehicle on the target track and a feedforward pretightening distance; the second determining module is used for determining a point reached by the target vehicle when the target vehicle passes through the feedback pre-aiming distance according to the current running state data of the target vehicle and the current steering wheel angle as a feedback matching point; the third determining module is used for determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point; the steering angle obtaining module is used for obtaining a target steering wheel steering angle according to a preset steering model, the curvature of the feedforward target point, and the transverse error and the course error between the feedback matching point and the feedback target point; and the transverse control module is used for controlling the steering wheel of the target vehicle according to the steering angle of the target steering wheel so as to transversely control the target vehicle.
In some examples, the corner derivation module includes: the curvature determining unit is used for determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of a feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between a feedback matching point and the feedback target point; and the turning angle determining unit is used for obtaining the target steering wheel turning angle based on the steering model and the steering curvature of the wheels.
In some examples, the curvature determination unit is specifically configured to: and determining the steering curvature of the wheel according to the curvature of the feedforward target point, the feedforward gain obtained based on proportional control, the lateral error and the heading error and the feedback gain obtained based on linear quadratic regulator control.
In some examples, the lateral control device further comprises: the information acquisition module is used for acquiring the position attribute information of the feedforward target point under the vehicle body coordinate system and acquiring the position attribute information of the feedforward target point under the vehicle body coordinate system, wherein the position attribute information comprises at least one of the following items: coordinate values, heading and curvature; the error determining module is used for determining a transverse error and a course error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
In some examples, the information acquisition module is specifically configured to include: acquiring position attribute information of a first track point and a second track point on a target track, wherein the first track point and the second track point are a point positioned in front of a feedback target point and a point positioned behind the feedback target point respectively; and carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under the vehicle body coordinate system.
In some examples, the first determining module is specifically configured to: determining a feedforward matching point by taking a first projection point of a current position point of a target vehicle on a target track as a starting point according to a feedforward pretightening distance; and determining the point on the target track, which is a preset distance from the feedforward matching point, as a feedforward target point.
In some examples, the third determination module is specifically configured to: and determining a second projection point of the feedback matching point on the target track as a feedback target point.
In a third aspect, an embodiment of the present disclosure provides a vehicle-mounted terminal, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the first aspect.
In a fourth aspect, an embodiment of the present disclosure proposes an unmanned vehicle including: the in-vehicle terminal as described in the third aspect.
In a fifth aspect, embodiments of the present disclosure propose a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a method as described in the first aspect.
In a sixth aspect, embodiments of the present disclosure propose a computer program product comprising a computer program which, when executed by a processor, implements a method as described in the first aspect.
The embodiment of the disclosure provides a vehicle transverse control method, a device, equipment, a medium and a program product, wherein a feedforward target point on a target track is determined according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pre-aiming distance; then, the current running state data of the target vehicle and the current steering wheel angle are used, and then the target vehicle is driven to pass through the point reached by the feedback pre-aiming distance to be determined as a feedback matching point; then, according to the feedback matching points, determining feedback target points corresponding to the feedback matching points on the target track; then, based on a preset steering model, obtaining a target steering wheel corner according to the curvature of the feedforward target point, and the transverse error and the course error between the feedback matching point and the feedback target point; finally, controlling a steering wheel of the target vehicle according to the steering angle of the target steering wheel so as to transversely control the target vehicle; the automatic parking track tracking performance can be improved based on feedforward control and feedback control; and the current steering wheel steering of the target vehicle is considered in the feedback control process, so that the phenomenon that the steering wheel with the too large curvature is driven back and forth can be avoided, and the tracking performance of the autonomous parking track is further improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is an exemplary system architecture diagram to which the present disclosure may be applied;
FIG. 2 is a flow chart of one embodiment of a vehicle lateral control method according to the present disclosure;
FIG. 3 is a flow chart of one embodiment of a vehicle lateral control method according to the present disclosure;
fig. 4 and 5 are schematic diagrams of one embodiment of an application scenario of a vehicle lateral control method according to the present disclosure;
FIG. 6 is a schematic diagram of one embodiment of a vehicle lateral control device according to the present disclosure;
fig. 7 is a block diagram of an electronic device used to implement an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 illustrates an exemplary system architecture 100 to which embodiments of the vehicle lateral control methods and apparatus of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include vehicle terminals 101, 102, a network 103, and a server 104. The network 103 is a medium for providing a communication link between the in-vehicle terminals 101, 102 and the server 104. The network 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
The in-vehicle terminals 101, 102 interact with the server 104 through the network 103 to receive or transmit messages and the like. The vehicles 101 and 102 may be provided with detection devices such as millimeter wave radar and integrated navigation system, data processing devices such as image processing chip, and communication devices for information interaction with the server 104.
The server 104 may be a server that provides various services, such as a background management server (merely an example) that provides support for the vehicle-mounted terminals 101, 102 to perform driving functions. The background management server may analyze and process the received data such as the request sent from the vehicle-mounted terminals 101 and 102, and may feed back the processing result to the vehicle-mounted terminals 101 and 102.
The server 104 may be hardware or software. When the server 104 is hardware, it may be implemented as a distributed server cluster formed by a plurality of servers, or as a single server. When server 104 is software, it may be implemented as multiple software or software modules (e.g., to provide distributed services), or as a single software or software module. The present invention is not particularly limited herein.
It should be noted that, the vehicle lateral control method provided in the embodiment of the present disclosure is generally executed by the vehicle-mounted terminals 101 and 102, and accordingly, the vehicle lateral control device is generally disposed in the vehicle-mounted terminals 101 and 102.
It should be understood that the number of in-vehicle terminals, networks, and servers in fig. 1 is merely illustrative. There may be any number of vehicle terminals, networks, and servers, as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a vehicle lateral control method according to the present disclosure is shown. The vehicle lateral control method may include the steps of:
step 201, determining a feedforward target point on a target track according to a first projection point of a current position point of a target vehicle on the target track and a feedforward pretightening distance.
In the present embodiment, the execution subject of the vehicle lateral control method (for example, the in-vehicle terminals 101, 102 shown in fig. 1) may determine the feedforward target point on the target track based on the first projected point of the current position point of the target vehicle on the target track, and the feedforward pretightening distance.
Here, the current position point of the target vehicle may be acquired by a detection device mounted on the in-vehicle terminal. The current location point may be a location point of the target vehicle on the target road. The target trajectory is a currently set trajectory that is predicted to travel on the target road.
In the embodiment, a feedforward pretightening distance is introduced in feedforward control to compensate the time delay existing between the feedforward steering instruction issuing and the instruction execution, so that the accurate steering control is achieved.
In one example, the feed-forward pretighting distance may be determined based on a current speed of the target vehicle, a feed-forward pretighting time window, and a lateral control period.
s feedforward ＝v*ts*N feedforward
Wherein s is feedforward Is feedforward pre-aiming distance, v is current speed, ts is transverse control period, N feedforward A time window is pre-targeted for the feed-forward.
And 202, determining a point reached by the target vehicle which passes through the feedback pre-aiming distance as a feedback matching point according to the current running state data of the target vehicle and the current steering wheel angle.
In this embodiment, the target vehicle drives over the point reached by the feedback pretightening distance with the current running state data and the current steering wheel angle, and determines the feedback pretightening distance as the feedback matching point.
Here, the current operation state data may include an operation direction, an operation speed, an operation acceleration, and the like. The current steering angle may be the angle at which the steering wheel of the target vehicle is at the current time.
In the embodiment, a feedback pre-aiming distance is introduced in feedback control to compensate the time delay existing between the issuing of a feedback steering instruction and the execution of the instruction, so that the accurate steering control is achieved.
In one example, the feedback pre-aiming distance may be determined based on a current speed of the target vehicle, a feed-forward pre-aiming time window, and a lateral control period.
S feedback ＝v*ts*N backforward
Wherein s is feedback For feeding back the pre-aiming distance, v is the current speed, ts is the transverse control period, N feedforward A time window is pre-targeted for feedback.
And 203, determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point.
In one example, the execution body may determine, as the feedback target point corresponding to the feedback matching point, an arbitrary point on the target trajectory along the traveling direction of the target vehicle.
Optionally, taking a point which is a preset distance away from the feedback matching point on the target track as a feedback target point; or taking the projection point of the feedback matching point on the target track as a feedback target point.
In addition, in order to make feedback control more accurate and timely, a point closest to the feedback matching point on the target track may be used as the feedback target point.
It should be noted that, the step 201 and the steps 202 to 203 may be performed simultaneously; or, firstly, executing steps 202-203, and then executing 201; or, step 201 is performed first, and then steps 202 to 203 are performed. In fig. 2, step 201 is performed first, and steps 202 to 203 are performed later.
Step 204, obtaining the target steering wheel angle according to the curvature of the feedforward target point, the lateral error and the heading error between the feedback matching point and the feedback target point based on the preset steering model.
In this embodiment, the execution body may input the curvature of the feedforward target point, the lateral error and the heading error between the feedback matching point and the feedback target point into the steering model, to obtain the target steering wheel angle.
Here, the curvature of the feedforward target point may be a rotation rate of a tangential direction angle of the feedforward target point to an arc length in the target trajectory.
Here, the steering model may be a model capable of characterizing a dynamic process of the vehicle while moving. For example, the steering model may characterize a functional relationship between lateral deviation, heading deviation, curvature, and control inputs of the vehicle.
In one example, the steering model may include an ackerman steering model.
In one example, the executing body may further obtain the target steering wheel angle according to a dynamics simulation algorithm according to a lateral deviation, a heading deviation, and a curvature.
Step 205, controlling the steering wheel of the target vehicle according to the target steering wheel angle to perform lateral control on the target vehicle.
In the present embodiment, the steering wheel angle of the target vehicle is controlled by the target steering wheel angle in step 204 to laterally control the target vehicle.
According to the vehicle transverse control method provided by the embodiment of the disclosure, a feedforward target point on a target track is determined according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pretightening distance; then, the current running state data of the target vehicle and the current steering wheel angle are used, and then the target vehicle is driven to pass through the point reached by the feedback pre-aiming distance to be determined as a feedback matching point; then, according to the feedback matching points, determining feedback target points corresponding to the feedback matching points on the target track; then, based on a preset steering model, obtaining a target steering wheel corner according to the curvature of the feedforward target point, and the transverse error and the course error between the feedback matching point and the feedback target point; finally, controlling a steering wheel of the target vehicle according to the steering angle of the target steering wheel so as to transversely control the target vehicle; the automatic parking track tracking performance can be improved based on feedforward control and feedback control; and the current steering wheel steering of the target vehicle is considered in the feedback control process, so that the phenomenon that the steering wheel with the too large curvature is driven back and forth can be avoided, and the tracking performance of the autonomous parking track is further improved.
In some optional implementations of this embodiment, a first projection point of a current position point of the target vehicle on the target track is taken as a starting point, and a feedforward matching point is determined according to a feedforward pretightening distance; and determining a point which is a preset distance from the feedforward matching point and is on the target track as a feedforward target point.
In this embodiment, the executing body may determine the feedforward matching point by adding the feedforward pretightening distance to the first projection point of the current position point of the target vehicle on the target track along the running direction of the target vehicle; and then, determining the point which is at a preset distance from the feedforward matching point and is on the target track as a feedforward target point.
In one example, the above-mentioned preset distance may be a minimum distance, which may be set based on the accuracy of the lateral control; or set with a priori accuracy.
Here, the current position point of the target vehicle may be acquired by a detection device mounted on the in-vehicle terminal. The current location point may be a location point of the target vehicle on the target road. The target trajectory is a currently set trajectory that is predicted to travel on the target road.
In the embodiment, a feedforward pretightening distance is introduced in feedforward control to compensate the time delay existing between the feedforward steering instruction issuing and the instruction execution, so that the accurate steering control is achieved.
In this embodiment, a distance is preset from the feedforward matching point, and a point on the target track is used as the feedforward matching point, and the feedforward matching point on the target track is used as the tracking point, so that track tracking accuracy is improved.
In some optional implementations of the present embodiment, determining, according to the feedback matching point, a feedback target point corresponding to the feedback matching point on the target track includes:
and determining a second projection point of the feedback matching point on the target track as a feedback target point.
In one example, the execution body may determine, as the feedback target point corresponding to the feedback matching point, an arbitrary point on the target trajectory along the traveling direction of the target vehicle.
Optionally, taking a point which is a preset distance away from the feedback matching point on the target track as a feedback target point; or taking the projection point of the feedback matching point on the target track as a feedback target point.
In the implementation manner, the nearest point from the feedback matching point on the target track can be used as the feedback target point, so that the feedback control is more accurate and timely.
With further reference to fig. 3, fig. 3 illustrates a flow 300 of one embodiment of a vehicle lateral control method according to the present disclosure. The vehicle lateral control method may include the steps of:
Step 301, determining a feedforward matching point according to a feedforward pretightening distance by taking a first projection point of a current position point of a target vehicle on a target track as a starting point; and determining a point which is a preset distance away from the feedforward matching point on the target track as a feedforward target point.
In this embodiment, the executing body may determine the feedforward matching point by adding the feedforward pretightening distance to the first projection point of the current position point of the target vehicle on the target track along the running direction of the target vehicle; and then, determining a point which is a preset distance away from the feedforward matching point on the target track as a feedforward target point.
In one example, the above-mentioned preset distance may be a minimum distance, which may be set based on the accuracy of the lateral control; or set with a priori accuracy.
Here, the current position point of the target vehicle may be acquired by a detection device mounted on the in-vehicle terminal. The current location point may be a location point of the target vehicle on the target road. The target trajectory is a currently set trajectory that is predicted to travel on the target road.
In the embodiment, a feedforward pretightening distance is introduced in feedforward control to compensate the time delay existing between the feedforward steering instruction issuing and the instruction execution, so that the accurate steering control is achieved.
In one example, the feed-forward pretighting distance may be determined based on a current speed of the target vehicle, a feed-forward pretighting time window, and a lateral control period.
s feedforward ＝v*ts*N feedforward
Wherein s is feedforward Is feedforward pre-aiming distance, v is current speed, ts is transverse control period, N feedforward A time window is pre-targeted for the feed-forward.
Step 302, determining a point reached by the target vehicle driving over the feedback pre-aiming distance as a feedback matching point according to the current running state data of the target vehicle and the current steering wheel angle.
In this embodiment, the target vehicle drives over the point reached by the feedback pretightening distance with the current running state data and the current steering wheel angle, and determines the feedback pretightening distance as the feedback matching point.
Here, the current operation state data may include an operation direction, an operation speed, an operation acceleration, and the like. The current steering angle may be the angle at which the steering wheel of the target vehicle is at the current time.
In the embodiment, a feedback pre-aiming distance is introduced in feedback control to compensate the time delay existing between the issuing of a feedback steering instruction and the execution of the instruction, so that the accurate steering control is achieved.
And step 303, determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point.
In one example, the execution body may determine, as the feedback target point corresponding to the feedback matching point, an arbitrary point on the target trajectory along the traveling direction of the target vehicle.
Optionally, taking a point which is a preset distance away from the feedback matching point on the target track as a feedback target point; or taking the projection point of the feedback matching point on the target track as a feedback target point.
In addition, in order to make feedback control more accurate and timely, a point closest to the feedback matching point on the target track may be used as the feedback target point.
It should be noted that, the step 301 and the steps 302 to 303 may be performed simultaneously; or, steps 302 to 303 are executed first, and then 301 is executed; or, step 301 is performed first, and then steps 302 to 303 are performed. In fig. 3, steps 301 are performed first, and steps 302 to 303 are performed later.
Step 304, determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of a feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between a feedback matching point and the feedback target point; based on the steering model, and the wheel steering curvature, a target steering wheel angle is obtained.
In this embodiment, the executing body may input a preset feedforward control algorithm, a curvature of a feedforward target point, a preset feedback control algorithm, and a lateral error and a heading error between a feedback matching point and the feedback target point into the steering model, so as to obtain the target steering wheel angle.
Here, the steering model may be a model capable of characterizing a dynamic process of the vehicle while moving. For example, the steering model may characterize a functional relationship between lateral deviation, heading deviation, curvature, and control inputs of the vehicle.
In one example, the wheels may be front wheels and/or rear wheels.
Accordingly, in this example, the vehicle lateral control method may be applied to a single-axis steering vehicle, that is, a vehicle in which only one axis connecting front and rear wheels is steered, that is, front-rear symmetrical steering, that is, the front wheels and rear wheels are steered at angles opposite to each other. For example, the front wheel equivalent steering angle is 30 degrees to the right, and the rear wheel equivalent steering angle is certainly 30 degrees to the left.
Correspondingly, in this example, the vehicle lateral control method may be applied to a biaxial steering vehicle, enabling control of the front and rear wheel turning angles. The dual-axle steering vehicle is characterized in that the center of mass of the front wheel to the vehicle has one axle, and the center of mass of the rear wheel to the vehicle also has one axle, so that the front wheel and the rear wheel can steer at random without the relation of mutual opposite numbers, for example, the front wheel turns 30 degrees right, the rear wheel can turn 20 degrees right or turns 10 degrees left, and the dual-axle steering vehicle is applicable.
Step 305, controlling the steering wheel of the target vehicle according to the target steering wheel angle to perform lateral control on the target vehicle.
In the present embodiment, the steering angle of the steering wheel of the target vehicle is controlled by the target steering angle in step 304 to laterally control the target vehicle.
In this embodiment, the specific operations of steps 302 and 303 are described in detail in steps 202 and 203, respectively, in the embodiment shown in fig. 2, and are not described herein.
As can be seen from fig. 3, compared with the embodiment corresponding to fig. 2, the vehicle transverse control method in this embodiment highlights that the first projection point of the current position point of the target vehicle on the target track is taken as a starting point, and the feedforward matching point is determined according to the feedforward pretightening distance; determining a point which is a preset distance away from a feedforward matching point on a target track as a feedforward target point; then, determining a point reached by the target vehicle which passes through the feedback pre-aiming distance as a feedback matching point according to the current running state data of the target vehicle and the current steering wheel rotation angle; then, according to the feedback matching points, determining feedback target points corresponding to the feedback matching points on the target track; then determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of a feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between a feedback matching point and the feedback target point; obtaining a target steering wheel angle based on the steering model and the steering curvature of the wheels; finally, the steering wheel of the target vehicle is controlled according to the steering angle of the target steering wheel so as to transversely control the target vehicle. The feedforward target point on the target track can be accurately obtained based on feedforward control, and the feedback target point on the target track can be accurately obtained based on feedback control, so that the tracking performance of the autonomous parking track is improved; and the current steering wheel steering of the target vehicle is considered in the feedback control process, so that the phenomenon that the steering wheel with the too large curvature is driven back and forth can be avoided, and the tracking performance of the autonomous parking track is further improved.
In some optional implementations of this embodiment, determining the wheel steering curvature according to a preset feedforward control algorithm, a curvature of the feedforward target point, a preset feedback control algorithm, and a lateral error and a heading error between the feedback matching point and the feedback target point includes:
and determining the steering curvature of the wheel according to the curvature of the feedforward target point, the feedforward gain obtained based on proportional control, the lateral error and the heading error and the feedback gain obtained based on linear quadratic regulator control.
In this implementation, the wheel steering curvature may be determined based on the curvature of the feedforward matching point and the feedforward gain based on proportional control, as well as the lateral error and heading error and the feedback gain based on linear quadratic regulator control.
In one example, proportional control is employed to obtain the feedforward gain FF gain ，f feedforward ＝FF gain *κ ref Wherein f feedforward Kappa is the feedforward control algorithm ref Is a curvature;
control with LQR (linear quadratic regulator ) to obtain feedback gain K lqr ，f feedback ＝K lqr * E, wherein f feedback A feedback control algorithm;
in one example, the above proportional control may be PID (proportion).
In this implementation, the feedforward gain may be a control calibration parameter, and the feedforward gain may be set according to the accuracy of the lateral control; or set according to road conditions.
In the present implementation, the steering curvature of the wheel can be accurately determined by the feedforward gain and the curvature of the feedforward target point, and the feedback gain and the lateral error and heading error.
In some alternative implementations of the present embodiment, the lateral error and heading error are determined based on the steps of:
acquiring position attribute information of a feedforward target point in a vehicle body coordinate system, and acquiring position attribute information of the feedforward target point in the vehicle body coordinate system, wherein the position attribute information comprises at least one of the following: coordinate values, heading and curvature;
and determining a transverse error and a heading error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
In this implementation manner, the execution body may convert the feedforward matching point and the feedforward target point into points under the vehicle body coordinate system; and then, determining a transverse error and a heading error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
In one example, the target vehicle has a wheelbase of l, a steering gear ratio of K, delta 0 At the current steering wheel angle, the turning radius of the target vehicleThe coordinates of the feedforward target point in the vehicle body coordinate system are
s is the coordinates of the feedback target point on the frenet coordinate system (i.e., the vehicle body coordinate system).
According toAnd s determining a lateral error and a heading error.
In the implementation mode, the feedforward matching point and the feedforward target point can be converted into coordinates of points under the same vehicle body coordinate system; then, based on the converted coordinates, a lateral error and a heading error are accurately determined.
In some optional implementations of the present embodiment, obtaining the positional attribute information of the feedback target point in the vehicle body coordinate system includes:
acquiring position attribute information of a first track point and a second track point on a target track, wherein the first track point and the second track point are a point before a feedback target point and a point after the feedback target point respectively;
and carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under the vehicle body coordinate system.
In this implementation manner, the execution body may first acquire the position attribute information of the first track point located before the feedback target point and the point located after the feedback target point on the target track; and then, carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under the vehicle body coordinate system.
Here, the position attribute information may be information related to coordinates in a vehicle body coordinate system, for example, a value of an abscissa, a value of an ordinate, a heading, a curvature, and the like.
In one example, the position attribute information of the feedback target point is determined by linear interpolation of the front and rear trajectories of the feedback target point
Wherein s is the coordinate of the feedback target point on the target track frenet coordinate system, w is the angular velocity, and x tar ，y tar Respectively representing the value of the abscissa and the value of the ordinate of the feedback target point in the vehicle body coordinate system, θ tar For feeding back the heading of the target point, κ tar Curvature for feedback target point; position attribute information s of a first track point located before the feedback target point 0 X is the coordinate of the first track point on the vehicle body coordinate system 0 ,y 0 Respectively representing the value of the abscissa and the value of the ordinate of the first track point in the vehicle body coordinate system, theta 0 For the heading of the first track point, κ 0 The curvature of the first track point is the position attribute information of the second track point positioned behind the feedback target point; s is(s) 1 Is the coordinate of the second track point on the vehicle body coordinate system, x 1 ,y 1 Respectively representing the value of the abscissa and the value of the ordinate of the second track point in the vehicle body coordinate system, theta 1 For heading of the second track point, k 1 Is the curvature of the second locus of points.
At this time, the lateral error and heading error between the feedback matching point and the feedback target point are:
in the present implementation, the position attribute information of the feedback target point in the vehicle body coordinate system is determined by performing interpolation processing on a first track point located before the feedback target point and a second track point located after the feedback target point on the target track.
With further reference to fig. 4 and 5, fig. 4 and 5 show schematic diagrams of one embodiment of an application scenario of the vehicle lateral control method according to the present disclosure. In the application scenario, the vehicle transverse control method comprises the following steps:
the first step: acquiring a first projection point of a target vehicle (namely, a self vehicle) on a target track;
step two, selecting the distance between the target vehicle and the first projection point as a feedforward pretightening distance s according to the running direction of the target vehicle feedforward ＝v*ts*N feedforward Is a feedforward matching point, where v is the current speed of the target vehicle, ts is the control calculation period, N feedforward Pre-aiming a time window for feed-forward;
thirdly, selecting the point closest to the feedforward matching point on the target track as a feedforward target point, wherein the curvature of the feedforward target point is k ref ；
Fourth, the current running state data of the target vehicle is used as the current steering wheel angle delta 0 Walk s feedback ＝v*ts*N backforward The point reached by the (feedback pre-aiming distance) is a feedback matching point;
wherein N is feedforward For feeding back the pre-aiming time window, assuming that the axle distance of the target vehicle is l and the steering transmission ratio is K, the turning radius of the target vehicle is equal to the momentThe coordinates in the vehicle body coordinate system are
Fifthly, taking a projection point of the feedback matching point on the target track as a feedback target point;
step six, determining a transverse error and a heading error according to the feedback matching point and the feedback target point;
calculating the position attribute information of the feedback target point through linear interpolation of the front track and the rear track of the feedback target point:
wherein s is the coordinate of the feedback target point on the target track frenet (vehicle body) coordinate system, s 0 ,x 0 ,y 0 ,θ 0 ,κ 0 S is the position attribute information of the first track point positioned in front of the feedback target point 1 ,x 1 ,y 1 ,θ 1 ,κ 1 For the position attribute information of the second track point located behind the feedback target point, the lateral error and heading error of the feedback matching point and the feedback target point are as follows:
seventh, the final wheel steering curvature is kappa=f feedforward (κ ref )+f feedback (e lateral ,e heading )；
Wherein f feedback The FF is obtained by proportional control for a feedforward control algorithm gain ；f feedforward ＝FF gain *κ ref ；f feedback Feedback control algorithm, and LQR control is adopted to obtain full-state feedback gain K lqr F is then feedback ＝K lqr * E, wherein, the E is the same as the E,
eighth, the wheel steering curvature is converted into a target steering wheel angle δ=arctan (l×κ) ×k by an ackerman steering model.
With further reference to fig. 6, as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of a vehicle lateral control apparatus, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various electronic devices.
As shown in fig. 6, the vehicle transverse direction control apparatus 600 of the present embodiment may include: a first determination module 601, a second determination module 602, a third determination module 603, a rotation angle obtaining module 604, and a lateral control module 605. The first determining module 601 is configured to determine a feedforward target point on the target track according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pretightening distance; a second determining module 602, configured to determine, as a feedback matching point, a point reached by the target vehicle driving over the feedback pre-aiming distance according to the current running state data of the target vehicle and the current steering wheel angle; a third determining module 603, configured to determine, according to the feedback matching point, a feedback target point corresponding to the feedback matching point on the target track; the steering angle obtaining module 604 is configured to obtain a target steering wheel steering angle according to a curvature of the feedforward target point, and a lateral error and a heading error between the feedback matching point and the feedback target point, based on a preset steering model; the lateral control module 605 is configured to control a steering wheel of the target vehicle according to the target steering wheel angle, so as to perform lateral control on the target vehicle.
In the present embodiment, in the vehicle lateral control device 600: specific processing of the first determining module 601, the second determining module 602, the third determining module 603, the rotation angle obtaining module 604 and the lateral control module 605 and technical effects thereof may refer to the relevant descriptions of steps 201 to 205 in the corresponding embodiment of fig. 2, and are not repeated herein. Alternatively, the first determining module, the second determining module, and the third determining module may be the same module or different modules.
In some alternative implementations of the present embodiment, the corner obtaining module 604 includes: the curvature determining unit is used for determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of a feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between a feedback matching point and the feedback target point; and the turning angle determining unit is used for obtaining the target steering wheel turning angle based on the steering model and the steering curvature of the wheels.
In some optional implementations of the present embodiment, the curvature determining unit is specifically configured to: and determining the steering curvature of the wheel according to the curvature of the feedforward target point, the feedforward gain obtained based on proportional control, the lateral error and the heading error and the feedback gain obtained based on linear quadratic regulator control.
In some optional implementations of this embodiment, the lateral control device further includes: the information acquisition module is used for acquiring the position attribute information of the feedforward target point under the vehicle body coordinate system and acquiring the position attribute information of the feedforward target point under the vehicle body coordinate system, wherein the position attribute information comprises at least one of the following items: coordinate values, heading and curvature; the error determining module is used for determining a transverse error and a course error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
In some optional implementations of this embodiment, the information obtaining module is specifically configured to include: acquiring position attribute information of a first track point and a second track point on a target track, wherein the first track point and the second track point are a point positioned in front of a feedback target point and a point positioned behind the feedback target point respectively; and carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under the vehicle body coordinate system.
In some optional implementations of this embodiment, the first determining module 601 is specifically configured to: determining a feedforward matching point by taking a first projection point of a current position point of a target vehicle on a target track as a starting point according to a feedforward pretightening distance; and determining a point which is a preset distance from the feedforward matching point and is on the target track as a feedforward target point.
In some optional implementations of this embodiment, the third determining module 603 is specifically configured to: and determining a second projection point of the feedback matching point on the target track as a feedback target point.
According to embodiments of the present disclosure, the present disclosure also provides an in-vehicle terminal, a readable storage medium, and a computer program product.
In an embodiment of the present disclosure, the present disclosure further provides an unmanned vehicle including an in-vehicle terminal.
Fig. 7 illustrates a schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure. 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. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, 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 disclosure described and/or claimed herein.
As shown in fig. 7, the apparatus 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 may also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in device 700 are connected to I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 701 executes the respective methods and processes described above, such as the vehicle lateral control method. For example, in some embodiments, the vehicle lateral control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM 702 and/or communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the vehicle lateral control method described above may be executed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the vehicle lateral control method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may 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), load 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.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code 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 this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable 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. 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 a computer 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 pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. 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), and the internet.
The computer system may include a client and a server. 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.
Artificial intelligence is the discipline of studying computers to simulate certain mental processes and intelligent behaviors (e.g., learning, reasoning, thinking, planning, etc.) of humans, both hardware-level and software-level techniques. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural voice processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.
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 recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions mentioned in the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. 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 disclosure are intended to be included within the scope of the present disclosure.

Claims (12)

1. A vehicle lateral control method, comprising:
determining a feedforward target point on a target track according to a first projection point of a current position point of the target vehicle on the target track and a feedforward pretightening distance;
determining a point reached by the target vehicle when the target vehicle passes through the feedback pre-aiming distance according to the current running state data of the target vehicle and the current steering wheel angle as a feedback matching point;
Determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point;
based on a preset steering model, obtaining a target steering wheel corner according to the curvature of the feedforward target point, and the transverse error and heading error between the feedback matching point and the feedback target point;
and controlling a steering wheel of the target vehicle according to the target steering wheel angle so as to transversely control the target vehicle.
2. The method of claim 1, wherein the obtaining a target steering wheel angle based on a preset steering model based on a curvature of the feedforward target point, and a lateral error and a heading error between the feedback matching point and the feedback target point, comprises:
determining the steering curvature of the wheel according to a preset feedforward control algorithm, the curvature of the feedforward target point, a preset feedback control algorithm, and a transverse error and a course error between the feedback matching point and the feedback target point;
and obtaining the steering wheel angle of the target vehicle based on the steering model and the steering curvature of the wheels.
3. The method of claim 2, wherein the determining the wheel steering curvature based on a preset feedforward control algorithm, a curvature of the feedforward target point, a preset feedback control algorithm, and a lateral error and a heading error between the feedback matching point and the feedback target point comprises:
And determining the steering curvature of the wheels according to the curvature of the feedforward target point, the feedforward gain obtained based on proportional control, the lateral error and heading error and the feedback gain obtained based on linear quadratic regulator control.
4. A method according to claim 2 or 3, wherein the lateral error and heading error are determined based on the steps of:
acquiring position attribute information of the feedforward target point under a vehicle body coordinate system, and acquiring position attribute information of the feedforward target point under the vehicle body coordinate system, wherein the position attribute information comprises at least one of the following: coordinate values, heading and curvature;
and determining the transverse error and the course error according to the position attribute information of the feedforward target point under the vehicle body coordinate system and the position attribute information of the feedforward target point under the vehicle body coordinate system.
5. The method according to claim 4, wherein the acquiring the positional attribute information of the feedback target point in a vehicle body coordinate system includes:
acquiring position attribute information of a first track point and a second track point on the target track, wherein the first track point and the second track point are respectively a point positioned in front of the feedback target point and a point positioned behind the feedback target point;
And carrying out interpolation processing on the position attribute information of the first track point and the second track point to obtain the position attribute information of the feedback target point under a vehicle body coordinate system.
6. The method of claim 1, wherein the determining a feedforward target point on the target track based on a first projected point of a current location point of the target vehicle on the target track and a feedforward pretightening distance comprises:
determining a feedforward matching point by taking a first projection point of the current position point of the target vehicle on a target track as a starting point according to the feedforward pretightening distance;
and determining a point which is a preset distance from the feedforward matching point and is on the target track as a feedforward target point.
7. The method according to claim 1 or 6, wherein the determining, on the target trajectory, a feedback target point corresponding to the feedback matching point according to the feedback matching point comprises:
and determining a second projection point of the feedback matching point on the target track as the feedback target point.
8. A vehicle lateral control device comprising:
the first determining module is used for determining a feedforward target point on the target track according to a first projection point of the current position point of the target vehicle on the target track and a feedforward pretightening distance;
The second determining module is used for determining a point reached by the target vehicle which passes through the feedback pre-aiming distance as a feedback matching point according to the current running state data of the target vehicle and the current steering wheel angle;
the third determining module is used for determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point;
the steering angle obtaining module is used for obtaining a target steering wheel steering angle according to the curvature of the feedforward target point, the transverse error and the course error between the feedback matching point and the feedback target point based on a preset steering model;
and the transverse control module is used for controlling the steering wheel of the target vehicle according to the target steering wheel angle so as to transversely control the target vehicle.
9. An in-vehicle terminal, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. An unmanned vehicle comprising: the in-vehicle terminal of claim 9.
11. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
12. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.
CN202311245392.3A 2023-09-25 2023-09-25 Vehicle transverse control method, device, equipment, medium and program product Pending CN117022442A (en)

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