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Vehicle trajectory tracking control method and device, electronic equipment and storage medium

A vehicle trajectory and tracking control technology is applied in the fields of electronic equipment and storage media, devices, and vehicle trajectory tracking control methods. , the effect of compensating the deviation

Pending Publication Date: 2022-07-29
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, in order to avoid this control conflict, a balance is usually made between lateral control and vehicle attitude control, such as calculating the average value, which will lose the tracking and control accuracy of the driving trajectory, and reduce the control accuracy of automatic driving

Method used

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  • Vehicle trajectory tracking control method and device, electronic equipment and storage medium
  • Vehicle trajectory tracking control method and device, electronic equipment and storage medium
  • Vehicle trajectory tracking control method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] figure 1 A schematic flowchart of the vehicle trajectory tracking control method provided in Embodiment 1 of this application. This embodiment is applicable to the scenario of vehicle trajectory tracking control. The method can be executed by a vehicle trajectory tracking control device, which can use hardware and / or It can be realized in the form of software, and can generally be integrated in electronic equipment such as computers with data computing capabilities, which specifically includes the following steps:

[0027] Step 101: Obtain the trajectory parameters of the current point and the preview point of the vehicle respectively, and determine the lateral control amount and the vehicle attitude control amount required by the vehicle from the current point to the preview point based on the trajectory parameters.

[0028] In this step, the trajectory parameters may include the lateral distance difference between the current point and the preview point in the vehicle...

Embodiment 2

[0059] see image 3 , image 3 This is a schematic structural diagram of a vehicle trajectory tracking control device provided in Embodiment 2 of the present application. The vehicle trajectory tracking control device provided in the embodiment of the present application can execute the vehicle trajectory tracking control method provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method. The device can be implemented in software and / or hardware, such as image 3 As shown, the vehicle trajectory tracking control device specifically includes: an acquisition module 301 , a determination module 302 , and a control module 303 .

[0060] Wherein, the obtaining module is used to obtain the trajectory parameters of the current point and the preview point of the vehicle respectively, and determine the lateral control amount and the vehicle attitude control amount required by the vehicle from the curre...

Embodiment 3

[0084] Figure 4 A schematic structural diagram of an electronic device provided in Embodiment 3 of the present application, such as Figure 4 As shown, the electronic device includes a processor 410, a memory 420, an input device 430 and an output device 440; the number of processors 410 in the electronic device may be one or more, Figure 4 Take a processor 410 as an example in the above; the processor 410, the memory 420, the input device 430 and the output device 440 in the electronic device can be connected by a bus or other means, Figure 4 Take the connection through the bus as an example.

[0085] As a computer-readable storage medium, the memory 420 can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the vehicle trajectory tracking control method in the embodiments of the present application (for example, a vehicle trajectory tracking control device). The acquisition module 301, the...

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Abstract

The embodiment of the invention discloses a vehicle trajectory tracking control method and device, electronic equipment and a storage medium. The method comprises the following steps: respectively acquiring track parameters of a current point and a preview point of a vehicle, and determining a transverse control quantity and a vehicle attitude control quantity required by the vehicle from the current point to the preview point based on the track parameters; determining a vehicle attitude control compensation amount based on the transverse control amount and the vehicle attitude control amount; and controlling a steering wheel angle of the vehicle based on the transverse control quantity, and applying braking force to wheels of the vehicle based on the vehicle attitude control compensation quantity so as to control the vehicle to run according to a vehicle track where the preview point is located. Therefore, according to the embodiment, the braking force can be applied to the wheels of the vehicle, so that the deviation of the posture of the vehicle caused by controlling the steering angle of the steering wheel of the vehicle according to the transverse control quantity is compensated. And meanwhile, the precision of transverse control and vehicle attitude control is considered.

Description

technical field [0001] The embodiments of the present application relate to the technical field of automotive automatic driving, and in particular, to a vehicle trajectory tracking control method, device, electronic device, and storage medium. Background technique [0002] With the development of science and technology, the autonomous driving technology of automobiles is becoming more and more mature. Among them, in the field of automatic driving, the tracking and control of driving trajectory is one of the most important components. The tracking and control of the driving trajectory is mainly a process of making the vehicle follow the planned desired trajectory by controlling the steering system and driving system of the vehicle. [0003] In the tracking and control process of the driving trajectory, based on the principle of vehicle dynamics, it is generally classified into three parts: longitudinal control, lateral control and vehicle attitude control. For the two contro...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W40/10B60W10/18
CPCB60W60/0011B60W40/10B60W10/18B60W2710/18
Inventor 张正龙刘涛吴振昕赵朋刚彭亮迟霆赵思佳周忠贺杨渊泽李颖
Owner CHINA FIRST AUTOMOBILE
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