Method and device for vehicle linear tracking control and vehicle

Abstract

The invention relates to the technical field of vehicle control, and discloses a method and device for vehicle linear tracking control and a vehicle. The vehicle linear tracking control method comprises the steps of obtaining first position information of a navigation receiver, a vehicle wheelbase and a first distance between the position of the navigation receiver and the center of a vehicle rear axle; determining a preview point on the target driving straight line according to the first position information of the navigation receiver and the current vehicle speed; based on a trigonometric function relationship, determining a target corner according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase and the first distance; and controlling the vehicle to run according to the target corner. According to the vehicle linear tracking control method provided by the invention, errors in linear tracking control can be reduced, and the control precision is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device and vehicle for vehicle linear tracking control. Background Art

[0002] At present, agricultural vehicles with Ackermann chassis are widely used in agricultural production operations. On this basis, the application of autonomous driving technology for linear tracking control of agricultural machinery is conducive to reducing workload and improving work results.

[0003] Linear tracking control of agricultural machinery requires calculating the vehicle's target steering angle. Methods for this include pure tracking control and LQR (Linear Quadratic Regulator) control. These methods generally require the vehicle's rear axle center as the control reference point for calculation and control. However, the actual installation location of the vehicle navigation receiver is often far from the vehicle's rear axle center, and the heading angle and coordinate position deviate from the actual vehicle's rear axle center. Therefore, geometric correction is required. However, traditional correction algorithms are affected by sensor errors, vehicle jitter during operation, and other factors, which can produce certain errors, leading to inaccurate rear axle center position and heading angle, further affecting subsequent control accuracy. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device and vehicle for vehicle linear tracking control, so as to solve the problem of large errors in the linear tracking control method in the prior art.

[0005] In order to achieve the above objectives, the present application provides, in a first aspect, a method for vehicle straight-line tracking control, comprising:

[0006] Obtaining first position information of the navigation receiver, the wheelbase of the vehicle, and a first distance between the navigation receiver and the center of the rear axle of the vehicle;

[0007] Determine a preview point on the target driving straight line according to the first position information of the navigation receiver and the current vehicle speed;

[0008] Determining a target turning angle based on a trigonometric function relationship according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance;

[0009] Control vehicle operation according to the target turning angle.

[0010] In an embodiment of the present application, determining a preview point on a target driving line according to the first position information of the navigation receiver and the current vehicle speed includes:

[0011] Determining a projection of the first position information of the navigation receiver on the target travel line to obtain a projection point;

[0012] determining a preview distance according to the current vehicle speed;

[0013] The preview point is determined according to the projection point, the preview distance and the target driving straight line.

[0014] In the embodiment of the present application, determining the preview distance according to the current vehicle speed includes:

[0015] The preview distance is determined based on the current vehicle speed and a first preset formula, wherein the first preset formula includes:

[0016] target_forward_l=L_0+Kv

[0017] Where target_forward_l represents the preview distance, L_0 represents a constant related to the wheelbase, K represents a speed coefficient constant, and v represents the current vehicle speed. The preview distance when the vehicle is moving forward is calculated in the same way as when it is reversing, but in the opposite direction.

[0018] In an embodiment of the present application, based on a trigonometric function relationship, the target turning angle is determined according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance, including:

[0019] determining a target straight line according to first position information of the navigation receiver and second position information of the preview point;

[0020] determining a turning radius of a rear axle center of the vehicle based on a length of the target line, a relative angle between the target line and a running direction at a navigation receiver of the vehicle, and the first distance;

[0021] Determine the target turning angle based on the turning radius and vehicle wheelbase.

[0022] In the embodiment of the present application, determining the turning radius of the rear axle center of the vehicle based on the length of the target straight line, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle, and the first distance includes:

[0023] The turning radius of the rear axle center of the vehicle is determined based on the first distance, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle and a second preset formula, wherein the second preset formula includes:

[0024]

[0025] Where R represents the turning radius of the vehicle's rear axle center, α represents the relative angle between the target line and the running direction at the vehicle's navigation receiver, and ld It represents the distance between the navigation receiver and the preview point, and d1 represents the first distance.

[0026] In an embodiment of the present application, determining the target turning angle according to the turning radius and the vehicle wheelbase includes:

[0027] The target turning angle is determined based on the vehicle wheelbase and the turning radius of the center of the vehicle rear axle according to a third preset formula, wherein the third preset formula includes:

[0028]

[0029] Wherein, δ represents the target turning angle, L represents the vehicle wheelbase, and R represents the turning radius of the center of the vehicle's rear axle.

[0030] In an embodiment of the present application, when the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is positive and the target turning angle is positive, the vehicle needs to turn left;

[0031] When the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is negative and the target turning angle is negative, the vehicle needs to turn right;

[0032] When the vehicle moves backward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is positive and the target turning angle is negative, the vehicle needs to turn left;

[0033] When the vehicle moves backward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is a negative value and the target turning angle is a positive value, the vehicle needs to turn right.

[0034] In an embodiment of the present application, at least two target driving points are determined using the receiver;

[0035] The target driving straight line is constructed according to the at least two target driving points.

[0036] A second aspect of the present application provides a device for vehicle straight-line tracking control, configured to execute any of the above-mentioned methods for vehicle straight-line tracking control.

[0037] A third aspect of the present application provides a vehicle, comprising:

[0038] Navigation receiver;

[0039] Steering wheel;

[0040] And a device for vehicle straight-line tracking control.

[0041] A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the method for vehicle straight-line tracking control in the present application.

[0042] Through the above technical solution, data such as the position information of the vehicle navigation receiver, the vehicle wheelbase, and the distance between the vehicle navigation receiver and the center of the vehicle's rear axle are used to determine the target turning angle through a series of calculations, and then the vehicle is controlled to complete tracking of the target driving straight line. This solves the problem of traditional straight line tracking algorithms causing differences in heading angle and coordinate position due to the difference between the position and posture of the vehicle navigation receiver and the actual center position of the vehicle's rear axle, which in turn leads to calculation errors. This effectively solves the problem of large errors in the straight line tracking control method in the existing technology.

[0043] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0045] Figure 1 A schematic flow chart of a method for controlling vehicle linear tracking according to an embodiment of the present application is shown;

[0046] Figure 2 A schematic diagram of a vehicle kinematic model according to an embodiment of the present application is schematically shown;

[0047] Figure 3 A schematic diagram of another vehicle kinematic model according to an embodiment of the present application is schematically shown;

[0048] Figure 4 The schematic diagram shows the structure of a vehicle linear tracking control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] Figure 1 The flowchart of a method for vehicle linear tracking control according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides a method for straight-line tracking control of a vehicle, and the control method may include the following steps S110-S140.

[0054] Step S110: Acquire first position information of the navigation receiver, the vehicle wheelbase, and a first distance between the navigation receiver and the center of the rear axle of the vehicle.

[0055] In embodiments of the present application, the method for vehicle linear tracking control provided herein is applicable to various vehicles utilizing an Ackermann chassis, such as various agricultural machinery utilizing wheel drive and front- or rear-wheel steering. The vehicle in the embodiments of the present application includes a vehicle navigation receiver and a steering wheel. As will be readily understood, the vehicle includes a front axle and a rear axle. The steering wheel is located on either the front or rear axle of the vehicle. The vehicle's wheelbase is the distance between the center of the front axle and the center of the rear axle. Specifically, the navigation receiver installed in the vehicle utilizes a fusion of Global Navigation Satellite System (GNSS) positioning and an inertial measurement unit to acquire current position and attitude data. The vehicle linear tracking control device can acquire data transmitted by the navigation receiver. The vehicle navigation receiver can obtain coordinate information of the current location, current vehicle speed, and direction of travel. The actual installation location of the navigation receiver is located on the vehicle's central axis, between the front and rear axles, and not at the actual center of the rear axle. Therefore, the first distance between the vehicle navigation receiver and the center of the rear axle is unique and fixed.

[0056] Unless otherwise specified, all location information in this application is based on the geodetic coordinate system and will not be elaborated on below.

[0057] This application obtains the first distance between the vehicle navigation receiver position and the center of the vehicle's rear axle and incorporates it into the full-process calculation process of the vehicle's linear tracking control, so that this application avoids the calculation error caused by the position and posture change of the navigation receiver, thereby achieving a high-precision linear tracking control effect.

[0058] Step S120: determining a preview point on the target driving straight line according to the first position information of the navigation receiver and the current vehicle speed.

[0059] In this embodiment of the present application, the vehicle is expected to travel along a specific straight line. Therefore, at the initial stage of the operation, the vehicle uses a navigation receiver to determine at least two target driving points and then determines a unique target driving line based on the at least two target driving points. After determining a preview point on the target driving line, the vehicle moves toward the preview point, thereby moving to the target driving line.

[0060] In an optional implementation, step S120 includes:

[0061] Step S121: determining the projection of the first position information of the navigation receiver on the target driving line to obtain a projection point;

[0062] Step S122: Determine the preview distance based on the current vehicle speed;

[0063] Step S123: Determine the preview point according to the projection point, the preview distance, and the target driving straight line.

[0064] Based on the first position information of the navigation receiver, the projection point of the first position information of the current navigation receiver on the target driving line can be determined. Generally, the projection point can be obtained by drawing a perpendicular line from the point where the first position information of the navigation receiver is located to the target driving line.

[0065] The preview distance is determined by the current vehicle speed.

[0066] Finally, based on the projection point and combined with the preview distance, the preview point can be determined on the target driving line.

[0067] This application uses a vehicle navigation receiver to determine at least two target driving points, and then determines the target driving line to be tracked. The navigation receiver then uses the vehicle's current speed, a constant related to the wheelbase, and a speed coefficient constant to calculate the preview distance and obtain the preview point. Setting the preview point provides a reference for subsequent straight-line tracking control.

[0068] In an optional implementation, step 122 includes:

[0069] The preview distance is determined based on the current vehicle speed and a first preset formula, wherein the first preset formula includes:

[0070] target_forward_l=L_0+Kv

[0071] Where target_forward_l represents the preview distance, L_0 represents a constant related to the wheelbase, K represents the speed coefficient constant, and v represents the current vehicle speed.

[0072] In one embodiment, L_0 can be 2, and K can be 0.95. It is understood that the specific values ​​of L_0 and K can be set according to actual needs, and this embodiment of the application does not limit this.

[0073] Obviously, a vehicle operates in two states: forward and reverse. The forward and reverse preview distances are calculated using the same method, but in opposite directions. Thus, once the projection point and preview distance are determined on the target travel line, the preview point can be determined on the target travel line.

[0074] Step S130: determining a target turning angle according to a trigonometric function relationship, the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance.

[0075] In this embodiment of the present application, the preview point and its second position information are obtained according to the aforementioned steps, and the target line and its length are determined based on the first position information of the navigation receiver. Furthermore, the relative angle between the target line and the running direction at the navigation receiver and the first distance can be easily obtained and utilized to determine the turning radius at the center of the vehicle's rear axle through calculation. Finally, the target turning angle can be determined using the vehicle's already determined wheelbase and trigonometric functions.

[0076] In an optional implementation, step S130 includes:

[0077] Step S131: determining a target straight line based on the first position information of the navigation receiver and the second position information of the preview point;

[0078] Step S132: determining a turning radius of the rear axle center of the vehicle according to the length of the target straight line, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle, and the first distance;

[0079] Step S133: Determine the target turning angle according to the turning radius and the vehicle wheelbase.

[0080] In an embodiment of the present application, based on the acquired first position information of the navigation receiver and the second position information of the determined preview point, a straight line connecting the two, namely the target straight line, can be determined, and the distance between the two can also be determined of course; the navigation receiver also provides the running direction of the vehicle at the position of the navigation receiver, and its running direction is the heading angle of the navigation receiver. In the geodetic coordinate system, the target straight line angle mentioned above is determined, and the heading angle of the navigation receiver is subtracted to obtain the relative angle between the target straight line and the running direction at the vehicle's navigation receiver. Based on the first distance, the relative angle between the target straight line and the running direction at the vehicle's navigation receiver, the turning radius of the vehicle's rear axle center position can be determined. After the turning radius of the vehicle's rear axle center position has been determined, the target turning angle can be determined based on the vehicle's wheelbase.

[0081] This application utilizes a navigation receiver to obtain first position information, determines the preview point through step S120, and determines its second position information in the geodetic coordinate system, thereby determining the target line and the distance between the two points. Furthermore, after determining the first distance and the relative angle between the target line and the direction of travel at the vehicle's navigation receiver, the turning radius of the vehicle's rear axle center can be determined using a second preset formula. Then, based on the determined vehicle wheelbase, trigonometric functions are used to determine the target turning angle. This entire process eliminates the need for the traditional geometric correction process for the navigation receiver's position information, thus avoiding interference with the correction algorithm caused by sensor errors, vehicle jitter during operation, and the like, thereby improving the control accuracy of the vehicle's straight-line tracking.

[0082] In an optional implementation, step S132 includes:

[0083] The turning radius of the rear axle center of the vehicle is determined based on the first distance, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle and a second preset formula, wherein the second preset formula includes:

[0084]

[0085] Where R represents the turning radius of the vehicle's rear axle center, α represents the relative angle between the target line and the running direction at the vehicle's navigation receiver, and l d It represents the distance between the navigation receiver and the preview point, and d1 represents the first distance between the navigation receiver position and the center of the rear axle.

[0086] In an optional implementation, step S133 includes:

[0087] The target turning angle is determined based on the vehicle wheelbase and the turning radius of the vehicle rear axle center according to a third preset formula, wherein the third preset formula includes:

[0088]

[0089] Where δ represents the target turning angle, L represents the vehicle wheelbase, and R represents the turning radius of the vehicle's rear axle center.

[0090] The following combination Figure 2 Step S130 and related steps are further explained. Figure 2 A schematic diagram of a vehicle kinematic model according to an embodiment of the present application is shown schematically. Figure 2 As shown in the figure, the motion model of the Ackermann chassis vehicle with front-wheel steering can be simplified to this figure. First, the symbols in the figure are introduced:

[0091] E is the center of the vehicle's front axle; C is the navigation receiver; B is the center of the vehicle's rear axle; the distance between points BE is the vehicle's wheelbase L; the distance d1 between points BC represents the first distance between the navigation receiver and the rear axle center; T is the preview point determined on the target driving line based on the navigation receiver's first position information and the current vehicle speed; the arc containing points CT is the expected trajectory of the vehicle's navigation receiver moving to point C; the line segment l connecting points CT is d Represents the distance between the navigation receiver and the preview point; A is the virtual center of the circle during the turning process, that is, the center of the motion trajectory passing through the vehicle navigation receiver and passing through the preview point T in this application solution; AD is perpendicular to the line segment l d; δ represents the target front wheel turning angle; R represents the turning radius of the vehicle's rear axle center B; R1 represents the virtual turning radius at the vehicle navigation receiver; α represents the relative angle between the target straight line and the running direction at the vehicle navigation receiver; β is the intermediate quantity.

[0092] according to Figure 2 The process of determining the target front wheel turning angle by the linear control tracking control method of the present application can be expressed as follows:

[0093] First, according to the relevant properties of triangles and circles, we can get that in triangle ACD we have:

[0094]

[0095] And since the running direction of the vehicle navigation receiver is the moving direction of point C, it must be tangent to the arc where points CT are located, then:

[0096]

[0097] Therefore, the virtual turning radius R1 at the vehicle navigation receiver can be calculated as:

[0098]

[0099] Furthermore, in triangle ABC, according to the Pythagorean theorem, it is easy to know that:

[0100]

[0101] Combining the above two equations, we can get the calculation method of the turning radius R of the vehicle's rear axle center B as follows:

[0102]

[0103] Finally, in triangle ABE, based on the turning radius R of the vehicle's rear axle center B and the vehicle's wheelbase L, the target front wheel turning angle δ can be determined using trigonometric functions as follows:

[0104]

[0105] As mentioned above, the vehicle has two working states: forward and reverse. At the same time, the vehicle also has two operating modes: left turn and right turn. Therefore, in an optional embodiment, the vehicle's movement can be arranged into the following four states:

[0106] When the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the vehicle's navigation receiver is positive and the target front wheel turning angle is positive, the vehicle needs to turn left;

[0107] When the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the vehicle's navigation receiver is negative and the target front wheel turning angle is negative, the vehicle needs to turn right;

[0108] When the vehicle moves backward, if the relative angle between the target straight line and the running direction at the vehicle's navigation receiver is positive and the target front wheel turning angle is negative, the vehicle needs to turn left;

[0109] When the vehicle is moving backward, if the relative angle between the target straight line and the running direction at the vehicle's navigation receiver is negative and the target front wheel turning angle is positive, the vehicle needs to turn right.

[0110] Please also refer to Figure 2 and Figure 3 , Figure 3 Schematically shows a schematic diagram of another vehicle kinematic model according to an embodiment of the present application. Figure 3 As shown, Figure 2 The difference is mainly reflected in Figure 2 The figure shows the movement of a front-wheel steering vehicle with an Ackerman chassis when it is moving forward. Figure 3 shows the movement of such a vehicle when reversing.

[0111] like Figure 3 As shown, when the vehicle is moving backward, the method for determining the preview point differs from that for moving forward. In this case, the preview point is determined by projecting the first position information from the vehicle navigation receiver onto the target travel line, moving in the opposite direction of the projection of the vehicle's head direction onto the target travel line, and then combining the preview distance determined by the current vehicle speed, a constant related to the wheelbase, and a speed coefficient constant to determine the preview point on the target travel line.

[0112] After determining the preview point and the second position information, the method for determining the target front wheel steering angle δ is the same as that shown in step S130. The target front wheel steering angle δ can be further determined based on the first position information of the receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance.

[0113] But it can be noted that Figure 2 As shown in FIG, when the vehicle moves forward, the relative angle α between the target straight line and the running direction at the vehicle's navigation receiver is in the same direction as the target front wheel turning angle δ, that is, if the relative angle α is positive when the vehicle turns left, the target front wheel turning angle δ is also positive; or if the relative angle α is positive when the vehicle turns right, the target front wheel turning angle δ is also positive. Figure 3 Another case is shown, that is, when the vehicle moves backward, the relative angle α between the target straight line and the running direction at the vehicle's navigation receiver is not in the same direction as the target front wheel turning angle δ.

[0114] Therefore, even if the target front wheel turning angle δ is positive according to the formula, it should be negative when actually applied to the front wheel and steering wheel angle controller of the vehicle.

[0115] Step S140: Control the vehicle operation according to the target turning angle.

[0116] In the embodiments of the present application, specifically, an optional implementation is that the vehicle navigation receiver periodically updates the first position information, the vehicle's running direction at the navigation receiver's location, and the current vehicle speed at a frequency of 10 Hz. The navigation receiver data update period is used as the basic control period for the vehicle's linear tracking control. In each period, the vehicle linear tracking control device needs to select a real-time preview point and calculate the target angle. The target angle is then transmitted as the target control variable to the vehicle's steering wheel and steering wheel angle controller, so that the vehicle's steering wheel always runs at the target angle, ultimately achieving the purpose of vehicle linear tracking.

[0117] In summary, compared with the existing technology, the technical solution provided by this application has the following advantages:

[0118] Compared with the traditional solution of controlling the reference point at the center of the vehicle's rear axle, this application has made innovations in the algorithm without adding additional sensors. It avoids the problem that the actual installation position of the vehicle navigation receiver is often a certain distance away from the actual rear axle center of the vehicle, resulting in the navigation receiver positioning point not being at the actual rear axle center, causing inherent errors in positioning and angle measurement, and the need for algorithm correction. It can reduce errors and help improve control accuracy. At the same time, this application introduces a preview distance calculation method based on the coordinates of the projection point on the target driving line, which helps to improve the stability of the vehicle's linear tracking control. Therefore, applying autonomous driving technology on this basis to perform linear tracking control of agricultural machinery is conducive to reducing workload and improving work results.

[0119] Figure 4 The following schematically shows a structural block diagram of a vehicle linear tracking control device according to an embodiment of the present application. Figure 4 As shown, the embodiment of the present application further provides a vehicle straight-line tracking control device, which may include:

[0120] Memory 410 , configured to store instructions;

[0121] The processor 420 is configured to call instructions from the memory 410 and implement the above-mentioned vehicle straight-line tracking control method when executing the instructions.

[0122] The present application also provides a vehicle, including:

[0123] Navigation receiver;

[0124] Steering wheel;

[0125] And the above-mentioned vehicle straight-line tracking control device.

[0126] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned vehicle straight-line tracking control method.

[0127] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0131] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0132] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0133] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0135] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for vehicle linear tracking control, characterized in that: include: Obtaining first position information of the navigation receiver, the wheelbase of the vehicle, and a first distance between the navigation receiver and the center of the rear axle of the vehicle; Determining a preview point on a target travel line according to the first position information of the navigation receiver and the current vehicle speed; Determining a target turning angle based on a trigonometric function relationship according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance; Control vehicle operation according to the target turning angle.

2. The method according to claim 1, characterized in that Determining a preview point on a target driving straight line according to the first position information of the navigation receiver and the current vehicle speed includes: determining a projection of the first position information of the navigation receiver on the target driving straight line to obtain a projection point; determining a preview distance according to the current vehicle speed; The preview point is determined according to the projection point, the preview distance and the target driving straight line.

3. The method according to claim 2, characterized in that Determining the preview distance according to the current vehicle speed includes: The preview distance is determined according to the current vehicle speed based on a first preset formula, wherein the first preset formula includes: target_forward_l=L_0+Kv Wherein, target_forward_l represents the preview distance, L_0 represents a constant related to the wheelbase, K represents a speed coefficient constant, and v represents the current vehicle speed.

4. The method according to claim 1, wherein The determining of the target turning angle based on the trigonometric function relationship according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase, and the first distance includes: determining a target straight line according to the first position information of the navigation receiver and the second position information of the preview point; determining a turning radius of a rear axle center of the vehicle based on a length of the target straight line, a relative angle between the target straight line and a running direction at a navigation receiver of the vehicle, and the first distance; The target turning angle is determined according to the turning radius and the vehicle wheelbase.

5. The method according to claim 4, characterized in that Determining the turning radius of the rear axle center of the vehicle according to the length of the target straight line, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle, and the first distance includes: The turning radius of the rear axle center of the vehicle is determined based on a second preset formula according to the first distance, the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle, wherein the second preset formula includes: Where R represents the turning radius of the rear axle center of the vehicle, α represents the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle, and l d represents the distance between the navigation receiver and the preview point, and d1 represents the first distance.

6. The method according to claim 4, characterized in that The determining the target turning angle according to the turning radius and the vehicle wheelbase includes: The target turning angle is determined based on the vehicle wheelbase and the turning radius of the center of the vehicle rear axle according to a third preset formula, wherein the third preset formula includes: Wherein, δ represents the target turning angle, L represents the vehicle wheelbase, and R represents the turning radius of the center of the vehicle's rear axle.

7. The method according to claim 4, characterized in that: When the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is positive and the target turning angle is positive, the vehicle needs to turn left; When the vehicle is moving forward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is negative and the target turning angle is negative, the vehicle needs to turn right; When the vehicle moves backward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is positive and the target turning angle is negative, the vehicle needs to turn left; When the vehicle moves backward, if the relative angle between the target straight line and the running direction at the navigation receiver of the vehicle is a negative value and the target turning angle is a positive value, the vehicle needs to turn right.

8. A vehicle linear tracking control device, characterized in that: The method is configured to execute the method for vehicle straight-line tracking control according to any one of claims 1 to 7.

9. A vehicle, characterized in that: include: Navigation receiver; Steering wheel; The vehicle straight-line tracking control device according to claim 8.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the vehicle straight-line tracking control method according to any one of claims 1 to 7.

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