Vehicle lateral control method and system, storage medium, and electronic device

Abstract

The application relates to a vehicle transverse control method and system, a storage medium and an electronic device, which comprises the following steps: acquiring a current position point and a current heading angle of a vehicle in real time during vehicle driving; acquiring two trajectory points closest to the current position point in a planned trajectory, and determining a reference position point on the planned trajectory according to the current position point and the two trajectory points; calculating a position difference value of the current position point and the reference position point; acquiring a reference heading angle when the vehicle drives to the reference position point, and calculating an angle difference value of the current heading angle and the reference heading angle; determining a steering wheel turning angle control mode according to the type of the reference position point, determining a steering wheel turning angle value according to the position difference value, the angle difference value and the steering wheel turning angle control mode, and controlling the vehicle based on the steering wheel turning angle value; and the application can improve the comfort and stability of vehicle driving during automatic driving.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and specifically to a vehicle lateral control method and system, a storage medium, and an electronic device. Background Art

[0002] The vehicle's automatic driving system mainly includes a perception module, a decision-making and planning module, and a motion control module. The perception module is mainly used to perceive perception information such as the vehicle's surrounding environment. The decision-making and planning module is mainly used to output information such as the planned trajectory based on the perception information output by the perception module. The motion control module is the software algorithm module of the bottom module of the automatic driving system, including lateral control and longitudinal control. The longitudinal control is mainly used for vehicle speed control, and the lateral control is mainly used for vehicle steering wheel control, so that the vehicle can move correctly along the planned trajectory.

[0003] Currently, geometric tracking is commonly used for lateral vehicle control. Geometric tracking achieves tracking by deriving control variables based on the vehicle's kinematic geometry. Common geometric tracking algorithms include pure tracking algorithm (purePuresuit), front axle control (Stanley method), and rear axle control (Rear_wheel_feedback). Geometric tracking results in large lateral control deviations when the vehicle is cornering, resulting in poor vehicle comfort and stability. Summary of the Invention

[0004] The purpose of this application is to propose a vehicle lateral control method and system, a computer-readable storage medium, and an electronic device to improve the comfort and stability of the vehicle during automatic driving.

[0005] To achieve the above objectives, an embodiment of the present application provides a vehicle lateral control method, the method comprising:

[0006] Acquire a planned trajectory, where the planned trajectory includes a plurality of trajectory points;

[0007] During the vehicle's driving process, the vehicle's current position and heading angle are obtained in real time;

[0008] Determine two trajectory points on the planned trajectory that are closest to the current position point, and determine a projection of the current position point on the planned trajectory between the two trajectory points as a reference position point;

[0009] Calculating a position difference between the current position point and the reference position point;

[0010] Obtaining a reference heading angle when the vehicle travels to the reference position point, and calculating an angle difference between the current heading angle and the reference heading angle;

[0011] determining a steering wheel angle control mode according to a type of the reference position point, wherein the type of the reference position point is a straight point, a curve point, a point where a curve transitions to a straight road, or a point where a straight road transitions to a curve;

[0012] A steering wheel angle value is determined according to the position difference, the angle difference, and the steering wheel angle control mode, and the vehicle is controlled based on the steering wheel angle value.

[0013] The vehicle lateral control method provided in the embodiments of the present application can distinguish between curves, straights, and transition sections between curves and straights in the planned trajectory given by the vehicle decision-making planning module during the vehicle's autonomous driving process, and proposes corresponding steering wheel angle control schemes for curves, straights, and transition sections between curves and straights, so that the vehicle's lateral control during the vehicle's autonomous driving process can adapt to road characteristics, reduce lateral control deviations when the vehicle turns, and significantly improve the vehicle's stability and comfort during the autonomous driving process.

[0014] An embodiment of the present application further provides a vehicle lateral control system, comprising a module for executing the vehicle lateral control method as described above.

[0015] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the vehicle lateral control method as described above is implemented.

[0016] An embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle lateral control method as described above when executing the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a flow chart of a vehicle lateral control method in one embodiment of the present application.

[0019] Figure 2 This is an example diagram of trajectory point classification in one embodiment of the present application.

[0020] Figure 3 This is another example diagram of trajectory point classification in one embodiment of the present application.

[0021] Figure 4 Figure 1 is a diagram of PID control effect in one embodiment of the present application.

[0022] Figure 5 Figure 2 is a framework structure diagram of a vehicle lateral control system in one embodiment of the present application. DETAILED DESCRIPTION

[0023] The detailed description of the drawings is intended as an illustration of the current some embodiments of the present application, and is not intended to represent the only form in which the present application can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included within the scope of the present application.

[0024] Reference Figure 1 One embodiment of the present application provides a vehicle lateral control method, comprising the following steps:

[0025] Step S1, obtaining a planning trajectory, the planning trajectory comprising a plurality of trajectory points.

[0026] Specifically, the vehicle automatic driving system is configured with a decision planning module, which is used to plan a driving route of the vehicle when the vehicle is automatically driven, and control the vehicle to drive along the planning trajectory when automatically driving. The planning trajectory in the present embodiment refers to the planning trajectory output by the decision planning module, i.e., the driving route.

[0027] Step S2, obtaining a current position point and a current heading angle of the vehicle in real time during driving of the vehicle.

[0028] Step S3, determining two trajectory points on the planning trajectory closest to the current position point, and determining a projection of the current position point on the planning trajectory and between the two trajectory points as a reference position point.

[0029] Step S4, calculating a position difference value between the current position point and the reference position point.

[0030] Step S5, obtaining a reference heading angle when the vehicle drives to the reference position point, and calculating an angle difference value between the current heading angle and the reference heading angle.

[0031] Specifically, the reference heading angle when the vehicle drives to the reference position point can be provided by the decision planning module of the vehicle automatic driving system, and the reference heading angle is a target heading angle, which indicates that when the vehicle drives to the reference position point, the vehicle heading angle should be the reference heading angle, so as to smoothly drive along the planning trajectory.

[0032] Step S6: Determine the steering wheel angle control mode according to the type of the reference position point, wherein the type of the reference position point is a straight point, a curve point, a point where a curve transitions to a straight road, or a point where a straight road transitions to a curve.

[0033] Specifically, this embodiment predefines four types of position points: straight-line points, curve points, points where a curve transitions to a straight line, and points where a straight line transitions to a curve. Position points are differentiated by type so that in subsequent steps, when the vehicle reaches a corresponding position point, a steering wheel angle control method that matches the type of position point is invoked for lateral control. See the following steps for details.

[0034] Step S7: determining a steering wheel angle value according to the position difference, the angle difference, and the steering wheel angle control mode, and controlling the vehicle based on the steering wheel angle value.

[0035] Specifically, in this embodiment, different control methods are used, with the position difference and angle difference as control inputs, and the control output is the corresponding steering wheel angle value, which is used to control the lateral movement of the vehicle.

[0036] It should be noted that the execution order of the steps in this embodiment can be referred to Figure 1 It is found that the step numbers are not intended to limit the execution order, wherein steps S1 to S7 are looped during the vehicle's automatic driving process, continuously determining the reference position point based on the vehicle's current position, and then controlling the steering wheel angle; and, during the vehicle's automatic driving process, the decision-making planning module updates the planned trajectory based on the perception information provided by the vehicle perception module, which can be periodically updated at a preset cycle time.

[0037] The vehicle lateral control method provided in the embodiments of the present application can distinguish between curves, straights, and transition sections between curves and straights in the planned trajectory given by the vehicle decision-making planning module during the vehicle's autonomous driving process, and proposes corresponding steering wheel angle control schemes for curves, straights, and transition sections between curves and straights, so that the vehicle's lateral control during the vehicle's autonomous driving process can adapt to road characteristics, reduce lateral control deviations when the vehicle turns, and significantly improve the vehicle's stability and comfort during the autonomous driving process.

[0038] In some embodiments, step S7 specifically includes determining, based on the position difference, the angle difference, and the steering wheel angle control mode, performing closed-loop control and filtering according to the position difference and the angle difference to obtain a steering wheel angle value, and setting different closed-loop control modes and filtering modes, including a first closed-loop control mode, a second closed-loop control mode, a third closed-loop control mode, and a fourth closed-loop control mode, as well as a first filtering mode, a second filtering mode, a third filtering mode, and a fourth filtering mode, using different closed-loop control modes and filtering modes for lateral control in different scenarios. The first closed-loop control mode, the second closed-loop control mode, the third closed-loop control mode, and the fourth closed-loop control mode are all PID control, and the first filtering mode, the second filtering mode, the third filtering mode, and the fourth filtering mode are all low-pass filtering.

[0039] Wherein, the step S7 specifically includes:

[0040] Step S71: Determine the type of the reference position point according to the types of the two trajectory points; wherein the type of the trajectory point includes a straight point, a curve point, a point where a curve transitions to a straight line, or a point where a straight line transitions to a curve; specifically, the type of the reference position point can be determined according to the distance between the reference position point and the two trajectory points, for example, the type of a trajectory point that is closer is used as the type of the reference position point; the type of the reference position point can also be determined according to the front-to-back relationship of the two trajectory points, for example, the type of a trajectory point that appears first or later in the planned trajectory is used as the type of the reference position point.

[0041] Step S72: Obtain a rotation angle feedforward value according to the curvature of the reference position point.

[0042] Specifically, the angle feedforward value obtained according to the curvature of the reference position point can be obtained by a table lookup method, and different curvatures and angle feedforward values ​​are stored in a table in advance, and one or more curvatures correspond to one angle feedforward value; wherein, this embodiment pre-sets corresponding closed-loop control methods for different trajectory point types to adapt to lateral control of different road characteristics, and the curvature of the reference position point can be determined based on the curvature of the two trajectory points, and the curvature of the trajectory point is given by the decision planning module.

[0043] Step S73-1: When the reference position point is a straight point, closed-loop control and filtering are performed according to the position difference and a preset first closed-loop control method and a first filtering method to obtain a first feedback value; closed-loop control and filtering are performed according to the position difference and a preset second closed-loop control method and a second filtering method to obtain a second feedback value; and a turning angle feedback value is obtained according to the first feedback value and the second feedback value.

[0044] Specifically, when the reference position point is a straight line point, the first closed-loop control mode and the second closed-loop control mode are required. The PID controllers of the first closed-loop control mode and the second closed-loop control mode are the same, but the proportional parameters of the two are different. , differential parameters and integral parameters There is a difference, the proportional parameter , differential parameters and integral parameters It can be obtained by debugging the PID controller.

[0045] Based on PID control, the first feedback value can be expressed as:

[0046]

[0047]

[0048]

[0049]

[0050] in, is the first feedback value, is the proportional part feedback value of the straight line point PID control, is the integral part feedback value of the straight line point PID control, is the differential part feedback value of the straight line point PID control, is the position difference, To take the absolute value function, is the preset error value, Refers to the sign function; is the PID control proportional parameter of the first closed-loop control mode, is the PID control differential parameter of the first closed-loop control mode, It is the PID control integral parameter of the first closed-loop control mode.

[0051] For example, when driving on a straight road, the visual positioning update will cause the error to jump, resulting in frequent steering wheel swings and low comfort. It is required to minimize the visual positioning disturbance interference. Therefore, a smaller Parameters, give a smaller , so that the steering wheel changes less near 0, 、 、 、 Parameters can be debugged according to technical requirements. =0.03, the corresponding input-output relationship is as follows Figure 4 shown.

[0052] Based on PID control, the second feedback value can be expressed as:

[0053]

[0054]

[0055]

[0056]

[0057] in, is the second feedback value, is the proportional part feedback value of the straight line point PID control, is the integral part feedback value of the straight line point PID control, is the differential part feedback value of the straight line point PID control, is the angle difference, To take the absolute value function, is the preset error value, Refers to the sign function; is the PID control proportional parameter of the second closed-loop control mode, is the PID control differential parameter of the second closed-loop control mode, It is the PID control integral parameter of the second closed-loop control mode. 、 、 、 Parameters and other details can be debugged according to technical requirements.

[0058] Specifically, when the reference position point is a straight line point, the steering angle feedback value can be expressed as:

[0059]

[0060] in, is the angle feedback value, is the angle feedforward value.

[0061] In some embodiments, step S7 further includes:

[0062] Step S73-2: When the type of the reference position point is a curve point, closed-loop control and filtering are performed according to the position difference and the preset third closed-loop control method and third filtering method to obtain a third feedback value; closed-loop control and filtering are performed according to the position difference and the preset fourth closed-loop control method and fourth filtering method to obtain a fourth feedback value; and a turning angle feedback value is obtained according to the third feedback value and the fourth feedback value.

[0063] Among them, the proportional parameter of the third closed-loop control method is greater than the proportional parameter of the first closed-loop control method, the proportional parameter of the fourth closed-loop control method is greater than the proportional parameter of the second closed-loop control method, the filtering coefficient of the third filtering method is greater than the filtering coefficient of the first filtering method, and the filtering coefficient of the fourth filtering method is greater than the filtering coefficient of the second filtering method.

[0064] Specifically, when the reference position point is a curve point, the third closed-loop control mode and the fourth closed-loop control mode are required. The PID controllers of the third closed-loop control mode and the fourth closed-loop control mode are the same, but the proportional parameters of the two are different. , differential parameters and integral parameters There is a difference, the proportional parameter , differential parameters and integral parameters It can be obtained by debugging the PID controller.

[0065] Based on PID control, the third feedback value can be expressed as:

[0066]

[0067]

[0068]

[0069]

[0070] in, is the third feedback value, is the proportional part feedback value of the PID control at the corner point, is the integral part feedback value of the curve point PID control, is the differential feedback value of the PID control at the curve point, is the position difference, is the preset error value, Refers to the sign function; is the PID control proportional parameter of the third closed-loop control mode, is the PID control differential parameter of the third closed-loop control mode, It is the PID control integral parameter of the third closed-loop control mode. 、 、 Parameters can be debugged according to technical requirements. It should be noted that when driving on a curve, the steering wheel is required to track quickly, so a larger Parameters and increasing the filter coefficient can achieve better results.

[0071] Based on PID control, the fourth feedback value can be expressed as:

[0072]

[0073]

[0074]

[0075]

[0076] in, is the fourth feedback value, is the proportional part feedback value of the straight line point PID control, is the integral part feedback value of the straight line point PID control, is the differential part feedback value of the straight line point PID control, is the angle difference, Refers to the sign function; is the PID control proportional parameter of the fourth closed-loop control mode, is the PID control differential parameter of the fourth closed-loop control mode, It is the PID control integral parameter of the fourth closed-loop control mode. 、 、 Parameters and other details can be debugged according to technical requirements.

[0077] In this embodiment, when the reference position point is a curve point, the steering angle feedback value can be expressed as:

[0078]

[0079] in, is the angle feedback value, is the angle feedforward value.

[0080] It should be noted that, since the curve requires the steering wheel to track quickly, the following settings are set in this embodiment: Greater than , Greater than The filtering coefficient of the third filtering method is greater than the filtering coefficient of the first filtering method, and the filtering coefficient of the fourth filtering method is greater than the filtering coefficient of the second filtering method, ensuring rapid steering wheel tracking.

[0081] It should be noted that, since the curve requires the steering wheel to track quickly, the following settings are set in this embodiment: Greater than , Greater than The filter coefficient of the third filter mode is greater than the filter coefficient of the first filter mode, and the filter coefficient of the fourth filter mode is greater than the filter coefficient of the second filter mode, so as to ensure that the steering wheel tracking is rapid.

[0082] In some embodiments, the step S7 further comprises:

[0083] In step S73-31, when the type of the reference position point is a point of transition from a curve to a straight, the time t1 at which the vehicle enters the straight and the current time t are obtained.

[0084] In step S73-32, a first feedback value is obtained according to the position difference, the preset first closed-loop control mode and the first filter mode, a third feedback value is obtained according to the position difference, the preset third closed-loop control mode and the third filter mode, and a fifth feedback value is obtained according to the first feedback value, the third feedback value, the time t1, the time t and T1. T1 is a preset time of the process of transition from a curve to a straight.

[0085] Specifically, the fifth steering angle feedback value can be expressed as:

[0086]

[0087] It should be noted that the calculation of the first feedback value and the third feedback value has been described in detail in the foregoing, and can be obtained by referring to the foregoing content, and thus will not be described here.

[0088] In step S73-33, a second feedback value is obtained according to the position difference, the preset second closed-loop control mode and the second filter mode, a fourth feedback value is obtained according to the angle difference, the preset fourth closed-loop control mode and the fourth filter mode, and a sixth feedback value is obtained according to the second feedback value, the fourth feedback value, the time t1, the time t and T1.

[0089] Specifically, the sixth steering angle feedback value can be expressed as:

[0090] It should be noted that the calculation of the second feedback value and the fourth feedback value has been described in detail in the foregoing, and can be obtained by referring to the foregoing content, and thus will not be described here.

[0091] In step S73-34, a steering angle feedback value is obtained according to the steering angle feedforward value, the fifth feedback value and the sixth feedback value.

[0092] Specifically, when the type of the reference position point is a point of transition from a straight to a curve, the steering angle feedback value can be expressed as:

[0093]

[0094] in, is the angle feedback value, is the angle feedforward value.

[0095] In some embodiments, step S7 further includes:

[0096] Step S73-41: When the reference position point is a point where a straight road transitions to a curve, the time t2 when the vehicle enters the curve and the current time t are obtained.

[0097] Step S73-42: Perform closed-loop control and filtering based on the position difference and a preset first closed-loop control mode and first filtering mode to obtain a first feedback value; perform closed-loop control and filtering based on the position difference and a preset third closed-loop control mode and third filtering mode to obtain a third feedback value; and obtain a seventh feedback value based on the first feedback value, the third feedback value, time t1, time t, and T2. T2 is the preset time for transitioning from a straight road to a curve.

[0098] Specifically, the seventh corner feedback value can be expressed as:

[0099]

[0100] It should be noted that the calculation of the first feedback value and the third feedback value has been described in detail in the previous article, and can be obtained by referring to the previous content, so it will not be repeated here.

[0101] Step S73-43, perform closed-loop control and filtering according to the position difference and the preset second closed-loop control method and second filtering method to obtain a second feedback value, perform closed-loop control and filtering according to the angle difference and the preset fourth closed-loop control method and fourth filtering method to obtain a fourth feedback value, and obtain an eighth feedback value according to the second feedback value, the fourth feedback value, time t2, time t and T2.

[0102] Specifically, the eighth corner feedback value can be expressed as:

[0103] It should be noted that the calculation of the second feedback value and the fourth feedback value has been described in detail in the previous text, and can be obtained by referring to the previous content, so it will not be repeated here.

[0104] Step S73-44: Obtain a rotation angle feedback value according to the rotation angle feedforward value, the seventh feedback value, and the eighth feedback value.

[0105] Specifically, when the reference position point is a transition point from a straight road to a curve, the steering angle feedback value can be expressed as:

[0106]

[0107] in, is the angle feedback value, is the angle feedforward value.

[0108] In some embodiments, the type of a track point is determined as follows:

[0109] Comparing the curvature of each trajectory point with a preset curvature threshold value in sequence along the direction of the planned trajectory;

[0110] If there are multiple consecutive trajectory points with curvature greater than a preset curvature threshold in the planned trajectory, and the number of the multiple consecutive trajectory points with curvature greater than the preset curvature threshold is greater than the preset threshold, then the multiple consecutive trajectory points with curvature greater than the preset curvature threshold are all determined as curve points, and several trajectory points after the multiple consecutive trajectory points with curvature greater than the preset curvature threshold are determined as points where the curve transitions to a straight line;

[0111] If there are multiple consecutive trajectory points with curvature less than or equal to a preset curvature threshold in the planned trajectory, and the number of the multiple consecutive trajectory points with curvature less than or equal to the preset curvature threshold is greater than the preset threshold, then m trajectory points among the multiple consecutive trajectory points with curvature less than or equal to the preset curvature threshold are determined as points where the straight road transitions to the curved road, and the remaining trajectory points are determined as straight road points; m is a preset constant;

[0112] Otherwise, the trajectory points in the planned trajectory whose curvature is greater than the preset curvature threshold are determined as curve points, and the trajectory points whose curvature is less than or equal to the preset curvature threshold are determined as straight points.

[0113] Specifically, two conditions are preset in this embodiment: (1) multiple trajectory points with curvature greater than a preset curvature threshold appear in the planned trajectory, and the number of these multiple trajectory points with curvature greater than the preset curvature threshold is n1, and n1 is greater than the preset threshold a; (2) multiple trajectory points with curvature less than or equal to the preset curvature threshold appear in the planned trajectory, and the number of these multiple trajectory points with curvature less than or equal to the preset curvature threshold is n3, and n3 is greater than the preset threshold a;

[0114] When condition (1) is met, the n1 trajectory points are determined as curve points, and the n2 trajectory points after the n1 trajectory points are all determined as points where the curve transitions to the straight road, such as Figure 2 As shown;

[0115] When condition (2) is met, the last m trajectory points of the n3 trajectory points are determined as the transition points from the straight road to the curve, and the remaining trajectory points of the n3 points except the m trajectory points are determined as straight road points, such as Figure 2 As shown;

[0116] When the above (1) and (2) are not satisfied, the trajectory points with a curvature greater than a preset curvature threshold in the planned trajectory are determined as curve points, and the trajectory points with a curvature less than or equal to the preset curvature threshold are determined as straight points, such as Figure 3 As shown, at this time, there is no need to construct the transition point from the straight road to the curve or the transition point from the curve to the straight road;

[0117] Among them, a, n2, and m are all preset constants, which can be calibrated according to actual technical requirements; n1 and n3 are dynamic values, which are determined based on the comparison results between the trajectory point and the preset curvature threshold.

[0118] In some embodiments, determining a reference position point based on the two trajectory points includes:

[0119] A reference position point is obtained by interpolation based on the positional relationship between the current position point and the two trajectory points.

[0120] Calculate the distance between each trajectory point of the planned trajectory and the current position point, and determine the trajectory point P with the smallest distance to the current position point. n ; Based on point P n Expand forward 1 point or expand backward 1 point to get point P m , so that the current position point is at point P n and point P m According to the current position point at point P n and point P m The reference position point is obtained by interpolating the position relationship between them.

[0121] Specifically, the current position point is at point P n and point P m The reference position point is obtained by interpolating the position relationship between them, as shown below:

[0122] ratio =| |

[0123] P t = P n + ratio . .

[0124] Corresponding to the vehicle lateral control method of the above embodiment, another embodiment of the present application provides a vehicle lateral control system, including a module for executing the method described in the above embodiment. The system of this embodiment includes:

[0125] A trajectory acquisition module 1 is used to acquire a planned trajectory, where the planned trajectory includes a plurality of trajectory points;

[0126] The real-time information acquisition module 2 is used to obtain the current position and heading angle of the vehicle in real time during the vehicle's driving process;

[0127] A reference point acquisition module 3 is configured to acquire two trajectory points in the planned trajectory that are closest to the current position point, and determine a reference position point on the planned trajectory based on the current position point and the two trajectory points; wherein the reference position point is a projection of the current position point on the planned trajectory and between the two trajectory points;

[0128] A position difference calculation module 4 is used to calculate the position difference between the current position point and the reference position point;

[0129] Angle difference calculation module 5, used to obtain the reference heading angle when the vehicle travels to the reference position point, and calculate the angle difference between the current heading angle and the reference heading angle;

[0130] a control mode determining module 6, configured to determine a steering wheel angle control mode according to a type of the reference position point, wherein the type of the reference position point is a straight road point, a curve point, a point where a curve transitions to a straight road, or a point where a straight road transitions to a curve;

[0131] The control module 7 is configured to determine a steering wheel angle value according to the position difference, the angle difference, and the steering wheel angle control mode, and control the vehicle based on the steering wheel angle value.

[0132] The vehicle lateral control system described in the above embodiments is merely illustrative. The modules described as separate components may or may not be physically separate, and the components of the modules may or may not be physical modules, i.e., they may be located in a single location or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the purpose of the vehicle lateral control system of the embodiments.

[0133] It should be noted that the vehicle lateral control system of the above-mentioned embodiment corresponds to the vehicle lateral control method of the above-mentioned embodiment. Therefore, the parts of the vehicle lateral control system of the above-mentioned embodiment that are not described in detail can be obtained by referring to the contents of the vehicle lateral control method of the above-mentioned embodiment. That is, the specific steps recorded in the vehicle lateral control method of the above-mentioned embodiment can be understood as the functions that can be achieved by the vehicle lateral control system of the above-mentioned embodiment, and will not be repeated here.

[0134] Furthermore, if the vehicle lateral control system of the above embodiment is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0135] Another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the vehicle lateral control method as described in the above embodiment is implemented.

[0136] Specifically, the computer-readable storage medium may include: any entity or recording medium that can carry the computer program instructions, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0137] Another embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle lateral control method described in the above embodiment when executing the computer program.

[0138] The electronic device may also include a bus that connects different components (including memory and a processor). The memory may include computer-readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The memory may also include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present application. The electronic device may also communicate with one or more external devices (e.g., a keyboard, a pointing device, a display, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., a network card). Such communication may be performed through an input / output (I / O) interface. In addition, the electronic device may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter.

[0139] While various embodiments of the present application have been described above, the above descriptions are illustrative, non-exhaustive, and not intended to be limiting of the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle lateral control method, characterized in that: The method comprises: Acquire a planned trajectory, where the planned trajectory includes a plurality of trajectory points; During the vehicle's driving process, the vehicle's current position and heading angle are obtained in real time; Determine two trajectory points on the planned trajectory that are closest to the current position point, and determine a projection of the current position point on the planned trajectory between the two trajectory points as a reference position point; Calculating a position difference between the current position point and the reference position point; Obtaining a reference heading angle when the vehicle travels to the reference position point, and calculating an angle difference between the current heading angle and the reference heading angle; Determining the type of the reference position point according to the types of the two trajectory points; determining a steering wheel angle control mode according to a type of the reference position point, wherein the type of the reference position point is a straight point, a curve point, a point where a curve transitions to a straight road, or a point where a straight road transitions to a curve; A steering wheel angle value is determined according to the position difference, the angle difference, and the steering wheel angle control mode, and the vehicle is controlled based on the steering wheel angle value.

2. The vehicle lateral control method according to claim 1, characterized in that: The determining of the steering wheel angle value according to the position difference, the angle difference and the steering wheel angle control mode includes: Obtaining a rotation angle feedforward value according to the curvature of the reference position point; When the reference position point is a straight point, closed-loop control and filtering are performed according to the position difference and a preset first closed-loop control method and a first filtering method to obtain a first feedback value. Closed-loop control and filtering are performed according to the position difference and a preset second closed-loop control method and a second filtering method to obtain a second feedback value. A turning angle feedback value is obtained according to the first feedback value and the second feedback value.

3. The vehicle lateral control method according to claim 2, characterized in that: The determining of the steering wheel angle value according to the position difference, the angle difference and the steering wheel angle control mode includes: When the reference position point is a curve point, performing closed-loop control and filtering according to the position difference and a preset third closed-loop control mode and a third filtering mode to obtain a third feedback value, performing closed-loop control and filtering according to the position difference and a preset fourth closed-loop control mode and a fourth filtering mode to obtain a fourth feedback value, and obtaining a steering angle feedback value according to the third feedback value and the fourth feedback value; Among them, the proportional parameter of the third closed-loop control method is greater than the proportional parameter of the first closed-loop control method, the proportional parameter of the fourth closed-loop control method is greater than the proportional parameter of the second closed-loop control method, the filtering coefficient of the third filtering method is greater than the filtering coefficient of the first filtering method, and the filtering coefficient of the fourth filtering method is greater than the filtering coefficient of the second filtering method.

4. The vehicle lateral control method according to claim 3, characterized in that: The determining of the steering wheel angle value according to the position difference, the angle difference and the steering wheel angle control mode includes: When the reference position point is a transition point from a curve to a straight road, the time t1 when the vehicle enters the straight road and the current time t are obtained; performing closed-loop control and filtering according to the position difference and the preset first closed-loop control mode and first filtering mode to obtain a first feedback value, performing closed-loop control and filtering according to the position difference and the preset third closed-loop control mode and third filtering mode to obtain a third feedback value, and obtaining a fifth feedback value according to the first feedback value, the third feedback value, time t1, time t, and T1; performing closed-loop control and filtering according to the position difference and a preset second closed-loop control mode and a second filtering mode to obtain a second feedback value, performing closed-loop control and filtering according to the angle difference and a preset fourth closed-loop control mode and a fourth filtering mode to obtain a fourth feedback value, and obtaining a sixth feedback value according to the second feedback value, the fourth feedback value, time t1, time t, and T1; Obtaining a rotation angle feedback value according to the rotation angle feedforward value, the fifth feedback value, and the sixth feedback value; T1 is the preset time for the transition from the curve to the straight road.

5. The vehicle lateral control method according to claim 3, characterized in that: The determining of the steering wheel angle value according to the position difference, the angle difference and the steering wheel angle control mode includes: When the reference position point is a point where a straight road transitions to a curve, obtaining the time t2 when the vehicle enters the curve and the current time t; performing closed-loop control and filtering according to the position difference and a preset first closed-loop control mode and a first filtering mode to obtain a first feedback value, performing closed-loop control and filtering according to the position difference and a preset third closed-loop control mode and a third filtering mode to obtain a third feedback value, and obtaining a seventh feedback value according to the first feedback value, the third feedback value, time t1, time t, and T2; performing closed-loop control and filtering according to the position difference and a preset second closed-loop control mode and a second filtering mode to obtain a second feedback value, performing closed-loop control and filtering according to the angle difference and a preset fourth closed-loop control mode and a fourth filtering mode to obtain a fourth feedback value, and obtaining an eighth feedback value according to the second feedback value, the fourth feedback value, time t2, time t, and T2; Obtaining a rotation angle feedback value according to the rotation angle feedforward value, the seventh feedback value, and the eighth feedback value; T2 is the preset time for transition from a straight road to a curve.

6. The vehicle lateral control method according to any one of claims 2 to 5, characterized in that: in, The type of track point is determined as follows: Comparing the curvature of each trajectory point with a preset curvature threshold value in sequence along the direction of the planned trajectory; If there are multiple consecutive trajectory points with curvature greater than a preset curvature threshold in the planned trajectory, and the number of the multiple consecutive trajectory points with curvature greater than the preset curvature threshold is greater than the preset threshold, then the multiple consecutive trajectory points with curvature greater than the preset curvature threshold are all determined as curve points, and several trajectory points after the multiple consecutive trajectory points with curvature greater than the preset curvature threshold are determined as points where the curve transitions to a straight line; If there are multiple consecutive trajectory points with curvature less than or equal to a preset curvature threshold in the planned trajectory, and the number of the multiple consecutive trajectory points with curvature less than or equal to the preset curvature threshold is greater than the preset threshold, then m trajectory points among the multiple consecutive trajectory points with curvature less than or equal to the preset curvature threshold are determined as points where the straight road transitions to the curved road, and the remaining trajectory points are determined as straight road points; m is a preset constant; Otherwise, the trajectory points in the planned trajectory whose curvature is greater than the preset curvature threshold are determined as curve points, and the trajectory points whose curvature is less than or equal to the preset curvature threshold are determined as straight points.

7. The vehicle lateral control method according to any one of claims 1 to 5, characterized in that: The determining of the reference position point according to the two trajectory points includes: A reference position point is obtained by interpolation based on the positional relationship between the current position point and the two trajectory points.

8. The vehicle lateral control method according to any one of claims 3 to 5, characterized in that: The first closed-loop control mode, the second closed-loop control mode, the third closed-loop control mode, and the fourth closed-loop control mode are all PID control.

9. A vehicle lateral control system, characterized in that: The method comprises a module for executing the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle lateral control method according to any one of claims 1 to 8 is implemented.

11. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the vehicle lateral control method according to any one of claims 1 to 8 is implemented.

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