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Calculating method, device and medium for vehicle previewing distance and steering control method

A technology for previewing distance and vehicle, which is applied in the direction of automatic steering control components, steering mechanism, steering rod, etc., to achieve precise vehicle steering control, accurate preview distance, and accurate calculation.

Active Publication Date: 2017-10-20
UISEE TECH BEIJING LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] In the prior art, the calculation of the preview distance generally adopts the formula previewdistance=k*v, that is, the current vehicle speed v is multiplied by a proportional coefficient k, and certain restrictions are placed on the minimum and maximum values ​​of the preview distance

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  • Calculating method, device and medium for vehicle previewing distance and steering control method
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  • Calculating method, device and medium for vehicle previewing distance and steering control method

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Embodiment Construction

[0017] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] In the aforementioned prior art method, the following shortcomings can be found: 1) the curvature change of the desired path is not considered, such as when driving on a curve, the preview distance cannot be adjusted in time; 2) the relative position of the vehicle and the desired path is not considered If the vehicle has a certain lateral distance from the expected path or has a certain angle to the expected path, the preview distance cannot be adjusted accordingly.

[0019] The present invention considers the nonlinearity of the expected path to reflect the curvature change of the expected path, and introduces the nonlinear parameter of the expected path into the calculation of the preview distance.

[0020] figure 1 A flow chart of a met...

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Abstract

The invention discloses a calculating method, device and medium for the vehicle previewing distance and a steering control method. The method used for calculating the vehicle previewing distance comprises the steps that an expected path of a vehicle is obtained; the posture of the vehicle is obtained; according to the expected path and the posture of the vehicle, non-linear parameters of the expected path are obtained; and based on the non-linear parameters of the expected path, the previewing distance is calculated. In the calculating method, nonlinearity of the expected path is considered, the previewing distance of the vehicle can be more accurately calculated, and thus, more accurate vehicle steering control can be achieved.

Description

technical field [0001] The present application generally relates to the field of vehicle automatic control, and particularly relates to a method, device and storage medium for calculating a preview distance of a vehicle and a vehicle steering control method. Background technique [0002] With the development of vehicle intelligent technology, unmanned vehicle automatic driving technology has gradually become a hot spot in the field of vehicle research. Among them, steering control is an important part of the automatic control of unmanned vehicles. Its basic goal is to calculate the position of the preview point based on the expected path and the preview distance, and combine the current pose of the vehicle to calculate the current desired front wheel position of the vehicle. Declination to control the steering of the vehicle. [0003] In the prior art, the preview distance is generally calculated using the formula previewdistance=k*v, that is, the current vehicle speed v is...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D137/00
CPCB62D6/001B62D6/002
Inventor 赵世杰周小成
Owner UISEE TECH BEIJING LTD
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