CN117184063A

CN117184063A - Vehicle transverse path tracking method, device, equipment and storage medium

Info

Publication number: CN117184063A
Application number: CN202311315864.8A
Authority: CN
Inventors: 张绪胜; 余忠伟; 利航
Original assignee: Huizhou Desay SV Automotive Co Ltd
Current assignee: Huizhou Desay SV Automotive Co Ltd
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2023-12-08

Abstract

The invention discloses a vehicle transverse path tracking method, device, equipment and storage medium. The method comprises the following steps: determining a transmission parameter of the current vehicle according to the whole vehicle parameter of the current vehicle and the speed of the current vehicle; determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle; acquiring a first controller parameter and a second controller parameter; determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle; according to the technical scheme, the accuracy and the stability of the transverse path tracking of the vehicle can be improved.

Description

Vehicle transverse path tracking method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle transverse path tracking method, a device, equipment and a storage medium.

Background

In the running process of the intelligent vehicle, the transverse path tracking technology is adopted to control the vehicle to be kept in the lane, the running speed of the vehicle is generally classified into a corresponding vehicle speed interval, a calibrated torque coefficient is set for each request torque interval in each vehicle speed interval, the torque coefficient and the request torque value are transmitted to the motor, and the steering gear is further pushed, so that the vehicle is kept in the lane. However, when the vehicle is controlled to be kept in the lane line, the method completely depends on the artificial calibration torque coefficient, so that the vehicle is difficult to be ensured to be kept in the lane line smoothly and stably, the stability of the vehicle transverse path tracking is low, and the driver is panicked when serious.

Disclosure of Invention

The embodiment of the invention provides a vehicle transverse path tracking method, device, equipment and storage medium, which can solve the problems that in the prior art, the stability of vehicle transverse path tracking is low and a driver is panicked when serious because the vehicle is difficult to ensure to smoothly and stably keep on a lane line by considering a calibration torque coefficient.

According to an aspect of the present invention, there is provided a vehicle transverse path tracking method including:

acquiring a target transverse path of a current vehicle, a speed of the current vehicle, a transverse speed of the current vehicle, a pre-aiming point parameter of the current vehicle, a first transverse distance deviation between the current vehicle and the target transverse path, a whole vehicle parameter of the current vehicle and a target course angle deviation of the current vehicle, wherein the pre-aiming point parameter comprises: the pre-aiming distance and the transverse distance between the pre-aiming point and the target transverse path;

Determining a transmission parameter of the current vehicle according to the whole vehicle parameter of the current vehicle and the speed of the current vehicle;

determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle;

acquiring a first controller parameter and a second controller parameter;

determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle;

and determining a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and tracking and controlling the current vehicle according to the target steering wheel angle.

According to another aspect of the present invention, there is provided a vehicle transverse path tracking apparatus including:

the system comprises a data acquisition module, a target transverse path of a current vehicle, a speed of the current vehicle, a transverse speed of the current vehicle, a pre-aiming point parameter of the current vehicle, a first transverse distance deviation between the current vehicle and the target transverse path, a whole vehicle parameter of the current vehicle and a target course angle deviation of the current vehicle, wherein the pre-aiming point parameter comprises: the pre-aiming distance and the transverse distance between the pre-aiming point and the target transverse path;

The parameter determining module is used for determining the transmission parameters of the current vehicle according to the whole vehicle parameters of the current vehicle and the speed of the current vehicle;

the first determining module is used for determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle;

the parameter acquisition module is used for acquiring the first controller parameter and the second controller parameter;

the second determining module is used for determining a second steering wheel angle according to the first transverse distance deviation, the transverse speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle;

and the vehicle tracking module is used for determining a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle and tracking and controlling the current vehicle according to the target steering wheel angle.

According to another aspect of the present invention, 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 transverse path tracking method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method for vehicle transverse path tracking according to any one of the embodiments of the present invention.

The embodiment of the invention obtains a target transverse path of a current vehicle, the speed of the current vehicle, the transverse speed of the current vehicle, a pre-aiming point parameter of the current vehicle, a first transverse distance deviation between the current vehicle and the target transverse path, a whole vehicle parameter of the current vehicle and a target course angle deviation of the current vehicle, wherein the pre-aiming point parameter comprises: the pre-aiming distance and the transverse distance between the pre-aiming point and the target transverse path; determining a transmission parameter of the current vehicle according to the whole vehicle parameter of the current vehicle and the speed of the current vehicle; determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle; acquiring a first controller parameter and a second controller parameter; determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle; the target steering wheel angle is determined according to the first steering wheel angle and the second steering wheel angle, the current vehicle is tracked and controlled according to the target steering wheel angle, the problem that the stability of the vehicle transverse path tracking is low due to the fact that the vehicle is difficult to ensure to smoothly and stably keep on a lane line by means of the calibrated torque coefficient, and the driver is panicked when the stability is severe is solved, and the accuracy and the stability of the vehicle transverse path tracking can be 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 invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related 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 method of vehicle transverse path tracking in accordance with a first embodiment of the present invention;

FIG. 2 is a schematic illustration of a vehicle and target lateral path in accordance with a first embodiment of the present invention;

FIG. 3 is a schematic illustration of a vehicle transverse path tracking in accordance with a first embodiment of the invention;

FIG. 4 is a graph showing lateral displacement, lateral velocity and lateral acceleration in accordance with a first embodiment of the present invention;

fig. 5 is a schematic structural view of a vehicle transverse path tracking apparatus according to a second embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention 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 invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention 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 invention 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.

It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, usage range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.

Example 1

Fig. 1 is a flowchart of a vehicle transverse path tracking method according to a first embodiment of the present invention, where the method may be implemented by a vehicle transverse path tracking device according to an embodiment of the present invention, and the device may be implemented in software and/or hardware, as shown in fig. 1, and the method specifically includes the following steps:

s110, acquiring a target transverse path of a current vehicle, the speed of the current vehicle, the transverse speed of the current vehicle, pre-aiming point parameters of the current vehicle, a first transverse distance deviation between the current vehicle and the target transverse path, a whole vehicle parameter of the current vehicle and a target course angle deviation of the current vehicle, wherein the pre-aiming point parameters comprise: the pre-aiming distance and the lateral distance of the pre-aiming point from the target lateral path.

The target transverse path is a preset optimal transverse path which is determined according to the lane line information of the current vehicle and the motion state information of the vehicle and enables the vehicle to smoothly and stably keep in the lane line, and the target transverse path can be a Bezier curve, a fifth-order polynomial, a spline curve and the like. The pre-aiming point parameters comprise pre-aiming distance and transverse distance between the pre-aiming point and a target transverse path, and the pre-aiming distance is required to be obtained according to the calibration of the current vehicle debugging effect, and the following principle comprises: the straight road pre-aiming distance is far, the curve pre-aiming distance is near, and the curve pre-aiming distance is reduced along with the increase of the curvature of the curve; the higher the speed of the vehicle, the farther the pretightening distance is, and the lower the speed is, the nearer the pretightening distance is. The pre-aiming point may be determined by calculating according to the speed information of the current vehicle and the target transverse path, for example, the pre-aiming point may be determined by performing linear interpolation according to the target transverse path and the speed of the vehicle. The target course angle deviation of the current vehicle is the course angle deviation of the course angle of the current vehicle and the projection point of the current vehicle on the target transverse path.

Specifically, the target lateral Path of the current vehicle, the speed of the current vehicle, the lateral speed of the current vehicle, the pre-aiming point parameter of the current vehicle, the first lateral distance deviation between the current vehicle and the target lateral Path, the whole vehicle parameter of the current vehicle, and the target heading angle deviation of the current vehicle may be obtained by the whole vehicle controller of the current vehicle, for example, fig. 2 is a schematic diagram of a vehicle and the target lateral Path in the first embodiment of the present invention, as shown in fig. 2, the Desired Path is the target lateral Path of the current vehicle, and the first lateral distance deviation between the current vehicle and the target lateral Path is Δy _e The target course angle deviation of the current vehicle is delta phi, and the transverse distance between the pre-aiming point in the pre-aiming point parameter and the target transverse path is Y _L The pretightening distance is L _p 。

S120, determining the transmission parameters of the current vehicle according to the whole vehicle parameters of the current vehicle and the speed of the current vehicle.

The transmission parameters of the current vehicle are transmission relation parameters between the rotation angular rate of the vehicle and the angles of the front wheels and the steering wheel of the vehicle, wherein the whole vehicle parameters comprise: steering system transmission ratio, whole vehicle mass, front wheel cornering stiffness, rear wheel cornering stiffness, front axle length and rear axle length.

Specifically, the calculation mode for determining the transmission parameters of the current vehicle according to the whole vehicle parameters of the current vehicle and the speed of the current vehicle may be as follows:

wherein Steerratio is the transmission ratio of a steering system, m is the mass of the whole vehicle, and C _f C is the cornering stiffness of the front wheel _r For the cornering stiffness of the rear wheels, l _f For the front axle length l _r For rear axle length, gain is the current vehicle transmission parameter.

S130, determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle.

Wherein the first steering wheel angle may be a steering wheel angle based on the influence of road curvature.

Specifically, the transverse distance deviation caused by the road curvature is calculated and determined according to the first transverse distance deviation, the pre-aiming point parameter and the target course angle deviation of the current vehicle, the angular rate caused by the road curvature is further determined according to the speed of the current vehicle, the transverse distance deviation caused by the road curvature and the pre-aiming point parameter, and the first steering wheel corner is determined according to the angular rate caused by the road curvature and the transmission parameter of the current vehicle.

S140, acquiring a first controller parameter and a second controller parameter.

Wherein the first controller and the second controller may be PID controllers. Specifically, the first controller parameter and the second controller parameter are calibrated according to the current vehicle debugging.

S150, determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle.

Wherein the second steering wheel angle may be a steering wheel angle that eliminates a lateral distance deviation of the current vehicle from the target lateral path.

Specifically, the first lateral distance deviation passes through a first controller, the target lateral speed is determined through a first controller parameter, the lateral speed difference is calculated and determined through the target lateral speed and the lateral speed of the current vehicle, the lateral speed difference is input to a second controller, the target lateral acceleration is determined through a second controller parameter, the angular rate corresponding to the lateral distance deviation from the current vehicle to the target lateral path is further determined and eliminated according to the target lateral acceleration and the speed of the current vehicle, and the second steering wheel corner is determined according to the angular rate and the transmission parameter of the current vehicle.

S160, determining a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and tracking and controlling the current vehicle according to the target steering wheel angle.

Wherein the target steering wheel angle is the sum of the first steering wheel angle and the second steering wheel angle.

Specifically, the sum of the first steering wheel angle and the second steering wheel angle is determined as a target steering wheel angle, and the autonomous steering control of the steering wheel of the vehicle is controlled according to the target steering wheel angle, so that the current vehicle tracks the target transverse path.

Determining a transmission parameter of the current vehicle according to the whole vehicle parameter of the current vehicle and the speed of the current vehicle by acquiring a target transverse path of the current vehicle, the speed of the current vehicle, the transverse speed of the current vehicle, a pre-aiming point parameter of the current vehicle, a first transverse distance deviation between the current vehicle and the target transverse path, a whole vehicle parameter of the current vehicle and a target course angle deviation of the current vehicle; determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle; acquiring a first controller parameter and a second controller parameter; determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle; the target steering wheel angle is determined according to the first steering wheel angle and the second steering wheel angle, and tracking control is performed on the current vehicle according to the target steering wheel angle, so that the vehicle transverse path tracking is more accurate, and the vehicle control stability is higher.

Optionally, determining the first steering wheel angle according to the first lateral distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle includes:

determining a target transverse distance deviation according to the first transverse distance deviation, the pre-aiming point parameter and the target course angle deviation of the current vehicle;

determining a first angular rate according to the speed of the current vehicle, the target transverse distance deviation and the pre-aiming point parameter;

a first steering wheel angle is determined based on the first angular rate and a current vehicle transfer parameter.

Wherein the target lateral distance deviation may be ΔY in FIG. 2 _c . The first angular rate is an angular rate caused by a curvature of the road and the first steering wheel angle may be a steering wheel angle based on an influence of the curvature of the road.

Specifically, the calculation method for determining the target lateral distance deviation according to the first lateral distance deviation, the pre-aiming point parameter and the target course angle deviation of the current vehicle may be as follows:

ΔY _c ＝Y _L -ΔY _e -ΔY _ψ ＝Y _L -ΔY _e -L _p *sin(Δψ)；

wherein Y is _L For the lateral distance of the pretightening point in the pretightening point parameter from the target lateral path, deltaY _e For the first lateral distance deviation of the current vehicle from the target lateral path, Δψ is the target heading angle deviation of the current vehicle, L _p For the pretighting distance, ΔY, in the pretighting point parameters _ψ For the lateral distance traveled by the current vehicle at the yaw and heading angles ΔY _c Is the target lateral distance deviation.

Specifically, the calculation manner of determining the first angular rate according to the speed of the current vehicle, the target lateral distance deviation and the pretightening point parameter may be:

wherein,at a first angular rate, V is the speed of the current vehicle, ΔY _c For target lateral distance deviation, L _p Is the pretightening distance in the pretightening point parameter.

Specifically, the calculation method for determining the rotation angle of the first steering wheel according to the first angular rate and the transmission parameter of the current vehicle may be:

where PinionAngle1 is the first steering wheel angle, gain is the current vehicle transmission parameter,is a first angular rate.

Determining a target lateral distance deviation according to the first lateral distance deviation, the pre-aiming point parameter and the target course angle deviation of the current vehicle; determining a first angular rate according to the speed of the current vehicle, the target transverse distance deviation and the pre-aiming point parameter; the first steering wheel corner is determined according to the first angular velocity and the transmission parameters of the current vehicle, so that the problem of swing during vehicle transverse path tracking can be avoided, and the vehicle transverse path tracking stability is higher.

Optionally, determining the second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle, and the transmission parameter of the current vehicle includes:

determining a target lateral speed of the current vehicle based on the first controller parameter and the first lateral distance deviation;

determining a lateral speed difference of the current vehicle according to the target lateral speed of the current vehicle and the lateral speed of the current vehicle;

determining a target lateral acceleration of the current vehicle according to the second controller parameter and the lateral speed difference of the current vehicle;

determining a second angular rate based on the target lateral acceleration of the current vehicle and the speed of the current vehicle;

and determining a second steering wheel angle according to the second angular rate and the transmission parameters of the current vehicle.

Wherein the second angular rate is an angular rate that eliminates a lateral distance deviation of the current vehicle from the target lateral path, and the second steering wheel angle may be a steering wheel angle that eliminates a lateral distance deviation of the current vehicle from the target lateral path.

Specifically, the manner of determining the target lateral speed of the current vehicle according to the first controller parameter and the first lateral distance deviation may be: according to the parameters of the first controller and the first lateral distance deviation, mapping the target lateral speed of the current vehicle through gain, wherein the calculation mode can be as follows:

V _{y_tar} ＝K _p1 *ΔY _e ；

Wherein V is _{y_tar} K is the target lateral speed of the current vehicle _p1 For the first controller parameter ΔY _e Is the first lateral distance deviation.

Specifically, the manner of determining the lateral speed difference of the current vehicle according to the target lateral speed of the current vehicle and the lateral speed of the current vehicle may be: the difference between the target lateral speed of the current vehicle and the fed-back lateral speed of the current vehicle is determined as the lateral speed difference of the current vehicle.

Specifically, the manner of determining the target lateral acceleration of the current vehicle according to the second controller parameter and the lateral speed difference of the current vehicle may be: the second controller parameter may include K _p2 、K _i And K _d May also include T _i Wherein T is _i The running period of the control algorithm of the second controller can be set according to actual requirements, for example, can be set to be 20ms. Communicating the lateral speed of the current vehicleThe second controller algorithm determines the target lateral acceleration of the current vehicle by the following calculation method:

wherein a is _{y_tar} For the target lateral acceleration of the current vehicle, V _{y_err} K is the transverse speed difference of the current vehicle _p2 、K _i 、K _d T is as follows _i Is a second controller parameter.

Specifically, the calculation manner of determining the second angular rate according to the target lateral acceleration of the current vehicle and the speed of the current vehicle may be:

YawRate_Add＝a _{y_tar} /V；

Wherein Yawrate_Add is the second angular rate, a _{y_tar} The target lateral acceleration of the current vehicle is set, and V is the speed of the current vehicle.

Specifically, the calculation method for determining the second steering wheel angle according to the second angular rate and the transmission parameter of the current vehicle may be:

PinionAngle2＝Gain*YawRate_Add；

wherein PinionAngle is a second steering wheel angle, gain is a transmission parameter of the current vehicle, and yawrate_add is a second angular rate.

In a specific example, fig. 3 is a schematic diagram of a vehicle transverse path tracking in accordance with the first embodiment of the present invention, as shown in fig. 3, where the actuator in fig. 3 may be an actuator for controlling a steering wheel angle of a vehicle during the vehicle transverse path tracking, y_tar is a target transverse path, y_act is a position actually fed back by the current vehicle, and the first transverse distance deviation Δy may be obtained according to the position actually fed back by the current vehicle and the target transverse path _e The target lateral velocity V can be mapped by gain through the first PID controller _{y_tar} ，V _{y_act} The actual lateral speed of the current vehicle is fed back by the actuator and is obtained according to the target lateral speed V _{y_tar} And actual transverse velocity V _{y_act} The difference can obtain the transverse velocity difference V _{y_err} Controlled by a second PIDParameter calculation in the system to obtain target lateral acceleration a _{y_ta} By target lateral acceleration a _{y_tar} And the vehicle speed V can obtain a second angular rate Yawrate_Add, and meanwhile, the target lateral distance deviation delta Y fed back by the actuator _c Obtaining a first angular rate through calculation of a pretightening distance and a vehicle speedLet first angular rate->And the second angular rate YawRate_Add is combined with the transmission parameters of the current vehicle to carry out multiplication calculation, so that a target steering wheel angle Pinion angle can be obtained, and after filtering, an actuator controls the vehicle to run according to the target steering wheel angle.

Determining a target lateral speed of the current vehicle by determining a first lateral distance deviation from the first controller parameter; determining a lateral speed difference of the current vehicle according to the target lateral speed of the current vehicle and the lateral speed of the current vehicle; determining a target lateral acceleration of the current vehicle according to the second controller parameter and the lateral speed difference of the current vehicle; determining a second angular rate based on the target lateral acceleration of the current vehicle and the speed of the current vehicle; and determining the second steering wheel angle according to the second angular rate and the transmission parameters of the current vehicle, so that the accuracy and the self-adaptability of vehicle control can be improved, the steering wheel angle can be determined more accurately, and the accuracy and the stability of vehicle transverse path tracking are further improved.

Optionally, acquiring the target lateral path of the current vehicle includes:

acquiring state parameters of an initial control point and state parameters of a target control point of a current vehicle;

determining the state parameters of the intermediate control point and the target running duration of the current vehicle according to the state parameters of the initial control point and the state parameters of the target control point;

determining a control point set according to the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the target control point and the target driving duration, wherein the control point set comprises: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point;

and generating a target transverse path of the current vehicle according to the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the target control point, the state parameters of each control point in the control point set and the target running time.

The initial control point of the vehicle is a starting point of the vehicle, and the target control point is an ideal end point of the current vehicle when the lane keeping auxiliary system exits. The state parameters of the initial control point include an initial lateral acceleration, and may include an initial lateral velocity, and the state parameters of the target control point include a final lateral acceleration, and may include a final lateral velocity. The state parameter of the middle control point of the current vehicle is the transverse acceleration of the middle control point, the transverse acceleration of the middle control point is the maximum value of the transverse acceleration in the process of predicting the target transverse path, and it is required to be noted that the running duration of the current vehicle from the initial control point to the middle control point is consistent with the running duration of the middle control point to the target control point. The target travel time length is a vehicle travel time length from the initial control point to the target control point in an ideal state.

Specifically, the mode of acquiring the state parameter of the initial control point and the state parameter of the target control point of the current vehicle may be: the state parameters of the initial control point can be acquired through the whole vehicle controller of the vehicle, and the ideal lateral acceleration in the state parameters of the target control point is ay_end=0.

Specifically, the method for determining the state parameter and the target driving duration of the intermediate control point of the current vehicle according to the state parameter of the initial control point and the state parameter of the target control point may be: and establishing a simultaneous equation according to the state parameters of the initial control point and the state parameters of the target control point, and directly obtaining the state parameters of the intermediate control point and the target running duration of the current vehicle.

Specifically, the manner of determining the control point set according to the state parameter of the initial control point, the state parameter of the intermediate control point, the state parameter of the target control point, and the target driving duration may be: the method comprises the steps of determining a state parameter of a first control point and a state parameter of a second control point according to the state parameter of an initial control point and the state parameter of an intermediate control point, determining a state parameter of a third control point and a state parameter of a fourth control point according to the state parameter of the intermediate control point and the state parameter of a target control point, wherein the running time from the initial control point to the first control point is equal to the running time from the second control point to the intermediate control point, the running time from the intermediate control point to the third control point is equal to the running time from the fourth control point to the target control point, the initial transverse acceleration of the initial control point is equal to the transverse acceleration of the first control point, the transverse acceleration of the second control point, the transverse acceleration of the intermediate control point and the transverse acceleration of the third control point are equal, and the transverse acceleration of the fourth control point is equal to the transverse acceleration of the target control point. For example, if the coordinates of the initial control point are set to P0 (0, ay_start), where ay_start is the initial lateral acceleration, the coordinates of the first control point are P1 (t/4, ay_start), where t is the target travel duration, the coordinates of the second control point are P2 (t/4, ay_max), where ay_max is the maximum value of the lateral acceleration in the predicted target lateral path, the coordinates of the intermediate control point are P3 (t/2, ay_max), the coordinates of the third control point are P4 (3*t/4, ay_max), the coordinates of the fourth control point are P5 (3*t/4, ay_end), and the coordinates of the target control point are P6 (t, ay_end), where ay_end is the lateral acceleration of the target control point.

Specifically, the method for generating the target transverse path of the current vehicle according to the state parameter of the initial control point, the state parameter of the intermediate control point, the state parameter of the target control point, the state parameter of each control point in the control point set and the target driving duration may be as follows: obtaining a first segment of Bezier curve by adopting the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the first control point in the control point set, the state parameters of the second control point and the target running time, obtaining a second segment of Bezier curve according to the state parameters of the middle control point, the state parameters of the third control point in the control point set, the state parameters of the fourth control point, the state parameters of the target control point and the target running time, and obtaining the target transverse path of the current vehicle according to the first segment of Bezier curve and the second segment of Bezier curve.

Acquiring state parameters of an initial control point and state parameters of a target control point of a current vehicle; determining the state parameters of the intermediate control point and the target running duration of the current vehicle according to the state parameters of the initial control point and the state parameters of the target control point; determining a control point set according to the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the target control point and the target driving duration, wherein the control point set comprises: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point; and generating a target transverse path of the current vehicle according to the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, the state parameters of each control point in the control point set and the target running time length, so that the transverse path which is smooth in path and easy to track and control by the vehicle can be obtained.

Optionally, determining the state parameter and the target driving duration of the intermediate control point of the current vehicle according to the state parameter of the initial control point and the state parameter of the target control point includes:

determining the lateral speed variation and the lateral displacement variation of the current vehicle based on the state parameters of the initial control point and the state parameters of the target control point;

inquiring a data table according to the state parameters of the initial control points to obtain target displacement deviation between the initial control points corresponding to the state parameters of the initial control points and the target control points, wherein the data table comprises: the state parameters of the control points and the displacement deviation corresponding to the state parameters of the control points;

and determining the state parameter and the target running duration of the middle control point of the current vehicle according to the transverse speed variation, the transverse displacement variation and the target displacement deviation of the current vehicle.

Wherein, the state parameter of the control point in the data table and the displacement deviation corresponding to the state parameter of the control point are obtained according to the data of the historical vehicle. The target displacement deviation is the displacement deviation corresponding to the state parameter of the initial control point of the current vehicle in the data table.

Before acquiring the lateral speed change amount and the lateral displacement change amount of the current vehicle, definition of the bessel point needs to be clarified, wherein the bessel point is defined as:

Wherein:

wherein B is _x,n (s) is called a Bernstein basis function, and s has a value of 0 to 1. If the lateral acceleration curve is defined as Bezier curve, if P0, P1, P2, P3 are set as control points of the first-stage third-order Bezier curve, the first-stage lateral acceleration curveThe method comprises the following steps:

wherein,when t1At [0, t/2 ]]When the interval changes, the value of s1 is 0 to 1. If P3, P4, P5, P6 are set as the control points of the second-stage third-order Bezier curve, the second-stage lateral acceleration curve +.>The method comprises the following steps:

wherein,when t2 is at [ t/2, t]When the interval changes, the value of s2 is 0 to 1.

Specifically, the manner of determining the lateral speed variation and the lateral displacement variation of the current vehicle based on the state parameter of the initial control point and the state parameter of the target control point may be:

the lateral speed variation of the first segment bezier curve of the current vehicle can be calculated as:

the lateral speed variation of the second segment bezier curve of the current vehicle can be calculated as:

the lateral speed of the initial control point is vy_start, and can be acquired through the vehicle controller, and the lateral speed of the initial control point can also be regarded as a state parameter of the initial control point. Ideal lateral velocity of target control pointFor 0, a first formula is obtained:

The lateral displacement variation of the first segment bezier curve of the current vehicle can be calculated as:

the lateral displacement variation of the second segment bezier curve of the current vehicle can be calculated as:

thus, from the above formula it follows that:

specifically, the calculation method for obtaining the target displacement deviation between the initial control point corresponding to the state parameter of the initial control point and the target control point according to the state parameter query data table of the initial control point may be as follows:

according to the state parameter query data table of the initial control point of the current vehicle when the correction auxiliary function is activated, the target displacement deviation deltap between the initial control point and the target control point corresponding to different state parameters can be obtained, so that a second formula is provided:

specifically, the manner of determining the state parameter and the target driving duration of the intermediate control point of the current vehicle according to the lateral speed variation, the lateral displacement variation and the target displacement deviation of the current vehicle may be: the first formula and the second formula can be combined to solve the maximum value of the target running duration and the lateral acceleration in the process of acquiring the target lateral path, namely, the state parameter of the middle control point of the current vehicle. It may for example be that,fig. 4 is a graph showing a lateral displacement, a lateral velocity and a lateral acceleration according to a first embodiment of the present invention, wherein if the initial lateral velocity of the current vehicle is vy_start=0.5 m/s, the initial lateral acceleration ay_start=0.1 m/s ² Target displacement deviation Δp=0.7m, final lateral velocity of target control pointThe final lateral acceleration is ay_end=0, and the curves of the lateral displacement, the lateral speed, and the lateral acceleration of the current vehicle in this case are shown in fig. 4.

The state parameter and the target running duration of the intermediate control point of the current vehicle are determined according to the state parameter, the transverse displacement variation and the target displacement variation of the current vehicle, and the state parameter and the target running duration of the intermediate control point can be obtained more quickly and accurately.

Optionally, generating the target transverse path of the current vehicle according to the state parameter of the initial control point, the state parameter of the intermediate control point, the state parameter of the target control point, the state parameter of each control point in the control point set and the target driving duration includes:

generating a first transverse path of the current vehicle according to the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the first control point, the state parameters of the second control point and the target running duration;

Generating a second transverse path of the current vehicle according to the state parameters of the intermediate control point, the state parameters of the third control point, the state parameters of the fourth control point, the state parameters of the target control point and the target running duration;

a target transverse path of the current vehicle is generated from the first transverse path and the second transverse path.

The first transverse path of the current vehicle is a first segment of Bezier curve, and the second transverse path of the current vehicle is a second segment of Bezier curve.

Specifically, the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the first control point and the state parameters of the second control point are input into a first section of transverse acceleration Bezier curve formula to obtain a corresponding first transverse acceleration curve, and the first transverse acceleration curve is subjected to integral calculation according to half of the target running duration to obtain a first transverse path.

Specifically, the state parameters of the intermediate control point, the state parameters of the third control point, the state parameters of the fourth control point and the state parameters of the target control point are input into a second section of transverse acceleration Bezier curve formula to obtain a corresponding second transverse acceleration curve, and the second transverse acceleration curve is subjected to integral calculation according to half of the target running duration to obtain a second transverse path.

Specifically, the first transverse path and the second transverse path are aggregated to generate a target transverse path. Or, the state parameter of the initial control point, the state parameter of the intermediate control point, the state parameter of the first control point and the state parameter of the second control point are input into a first section of transverse acceleration Bezier curve formula to obtain a corresponding first transverse acceleration curve, the state parameter of the intermediate control point, the state parameter of the third control point, the state parameter of the fourth control point and the state parameter of the target control point are input into a second section of transverse acceleration Bezier curve formula to obtain a corresponding second transverse acceleration curve, the first transverse acceleration curve and the second transverse acceleration curve are aggregated to obtain a third transverse acceleration curve, and the third transverse acceleration curve is obtained by integral calculation according to the target running duration.

Generating a first transverse path of the current vehicle according to the state parameters of the initial control point, the state parameters of the middle control point, the state parameters of the first control point, the state parameters of the second control point and the target running duration; generating a second transverse path of the current vehicle according to the state parameters of the intermediate control point, the state parameters of the third control point, the state parameters of the fourth control point, the state parameters of the target control point and the target running duration; the target transverse path of the current vehicle is generated according to the first transverse path and the second transverse path, so that a continuous and smooth target transverse path can be obtained, the calculated amount is small, and the real-time performance is high.

According to the technical scheme, a target transverse path of a current vehicle, the speed of the current vehicle, the transverse speed of the current vehicle, pre-aiming point parameters of the current vehicle, first transverse distance deviation between the current vehicle and the target transverse path, whole vehicle parameters of the current vehicle and target course angle deviation of the current vehicle are obtained, wherein the pre-aiming point parameters comprise: the pre-aiming distance and the transverse distance between the pre-aiming point and the target transverse path; determining a transmission parameter of the current vehicle according to the whole vehicle parameter of the current vehicle and the speed of the current vehicle; determining a first steering wheel corner according to the first transverse distance deviation, the pre-aiming point parameter, the target course angle deviation of the current vehicle, the speed of the current vehicle and the transmission parameter of the current vehicle; acquiring a first controller parameter and a second controller parameter; determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle; the target steering wheel angle is determined according to the first steering wheel angle and the second steering wheel angle, the current vehicle is tracked and controlled according to the target steering wheel angle, the problem that the stability of the vehicle transverse path tracking is low due to the fact that the vehicle is difficult to ensure to smoothly and stably keep on a lane line by means of the calibrated torque coefficient, and the driver is panicked when the stability is severe is solved, and the accuracy and the stability of the vehicle transverse path tracking can be improved.

Example two

Fig. 5 is a schematic structural view of a vehicle transverse path tracking apparatus in a second embodiment of the present invention. The present embodiment may be applicable to the case of vehicle transverse path tracking, and the apparatus may be implemented in software and/or hardware, and may be integrated in any apparatus that provides a vehicle transverse path tracking function, as shown in fig. 5, where the vehicle transverse path tracking apparatus specifically includes: a data acquisition module 210, a parameter determination module 220, a first determination module 230, a parameter acquisition module 240, a second determination module 250, and a vehicle tracking module 260.

The data obtaining module 210 is configured to obtain a target lateral path of the current vehicle, a speed of the current vehicle, a lateral speed of the current vehicle, a pre-aiming point parameter of the current vehicle, a first lateral distance deviation between the current vehicle and the target lateral path, a whole vehicle parameter of the current vehicle, and a target heading angle deviation of the current vehicle, where the pre-aiming point parameter includes: the pre-aiming distance and the transverse distance between the pre-aiming point and the target transverse path;

a parameter determining module 220, configured to determine a transmission parameter of the current vehicle according to the vehicle parameter of the current vehicle and the speed of the current vehicle;

A first determining module 230, configured to determine a first steering wheel angle according to the first lateral distance deviation, the pre-aiming point parameter, the target heading angle deviation of the current vehicle, the speed of the current vehicle, and the transmission parameter of the current vehicle;

a parameter obtaining module 240, configured to obtain a first controller parameter and a second controller parameter;

a second determining module 250 for determining a second steering wheel angle based on the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle, and the transmission parameter of the current vehicle;

the vehicle tracking module 260 is configured to determine a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and perform tracking control on the current vehicle according to the target steering wheel angle.

Optionally, the first determining module is specifically configured to:

Optionally, the second determining module is specifically configured to:

Optionally, the data acquisition module is specifically configured to:

Optionally, the running time length from the initial control point to the first control point is equal to the running time length from the second control point to the middle control point, and the running time length from the middle control point to the third control point is equal to the running time length from the fourth control point to the target control point.

The product can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example III

Fig. 6 is a schematic structural diagram of an electronic device in a third embodiment of the present invention. 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 inventions 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 the vehicle transverse path tracking method.

In some embodiments, the vehicle transverse path tracking 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 transverse path tracking method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle transverse path tracking method in any other suitable manner (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.

A computer program for carrying out methods of the present invention 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 invention, 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 invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. 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 invention should be included in the scope of the present invention.

Claims

1. A vehicle transverse path tracking method, characterized by comprising:

acquiring a first controller parameter and a second controller parameter;

2. The method of claim 1, wherein determining the first steering wheel angle based on the first lateral distance deviation, the pretighted point parameter, the target heading angle deviation of the current vehicle, the speed of the current vehicle, and the transfer parameter of the current vehicle comprises:

3. The method of claim 1, wherein determining the second steering wheel angle based on the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle, and the transmission parameter of the current vehicle comprises:

4. The method of claim 1, wherein obtaining a target lateral path for a current vehicle comprises:

5. The method of claim 4, wherein determining the state parameter and the target travel duration of the intermediate control point of the current vehicle based on the state parameter of the initial control point and the state parameter of the target control point comprises:

6. The method of claim 4, wherein generating the target lateral path of the current vehicle based on the state parameter of the initial control point, the state parameter of the intermediate control point, the state parameter of the target control point, the state parameter of each control point in the set of control points, and the target travel time length comprises:

7. The method of claim 4, wherein the initial control point to first control point travel time is equal to the second control point to intermediate control point travel time, and wherein the intermediate control point to third control point travel time is equal to the fourth control point to target control point travel time.

8. A vehicle transverse path tracking apparatus, characterized by comprising:

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 transverse path tracking method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle transverse path tracking method of any one of claims 1-7.