A method, device, vehicle and medium for returning to original path of path tracking

Abstract

The present invention discloses a path tracking original path return method, device, vehicle and storage medium, the method comprising: obtaining a first driving parameter of a vehicle at a target position and a second driving parameter at a target position on an original path; determining a parameter deviation according to the first driving parameter and the second driving parameter; determining a preview distance according to the parameter deviation and a fuzzy control rule library; and executing the original path return according to the preview distance and the path tracking method. Through the above method, the problem of tracking failure caused by a high vehicle speed or an overly sharp turn after the original path return function of the vehicle is activated is solved, and the daily driving state in which the vehicle is not easy to exit safely after entering a dead end is realized, and the occurrence of tracking failure is reduced, and the tracking error is reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of computer technology, and in particular to a method, device, vehicle and storage medium for returning to an original path of path tracking. Background Art

[0002] The return function records the path of the vehicle when it is driving forward within a limited speed. When the reverse gear is engaged, the vehicle will reverse along the path recorded when moving forward, and complete the return to the original path when reaching the starting position.

[0003] At present, the vehicle's return function may not be compatible with certain extreme turns or higher driving speeds during the return journey. At the same time, there is a low speed limit when moving forward. After the function is activated, there will be tracking failure in the case of high speeds or sharp turns. Summary of the invention

[0004] The present invention provides a path tracking original path return method, device, vehicle and storage medium. When the vehicle is driving forward, the driver shifts into R gear and activates the original path return function of the vehicle. The vehicle starts to track the previously memorized path, so that the vehicle can safely return to the original path, solving daily driving conditions such as difficult exit after entering a dead end.

[0005] In a first aspect, an embodiment of the present invention provides a method for returning an original path of a path tracking, the method comprising:

[0006] Acquire a first driving parameter of the vehicle at the target position and a second driving parameter of the vehicle at the target position on the original path;

[0007] determining a parameter deviation based on the first driving parameter and the second driving parameter;

[0008] Determine the preview distance based on parameter deviation and fuzzy control rule base;

[0009] Return to the original path according to the preview distance and path tracking method.

[0010] In a second aspect, an embodiment of the present invention further provides an original path returning device for path tracking, the device comprising:

[0011] A parameter acquisition module, used to acquire a first driving parameter of the vehicle at a target position and a second driving parameter of the vehicle at a target position on an original path;

[0012] a deviation determination module, configured to determine a parameter deviation according to a first driving parameter and a second driving parameter;

[0013] A distance determination module, used for determining the preview distance according to the parameter deviation and the fuzzy control rule library;

[0014] The path return module is used to perform original path return according to the preview distance and the path tracking method.

[0015] In a third aspect, an embodiment of the present invention further provides a vehicle, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for returning to an original path of a path tracking method provided in an embodiment of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, an original path returning method for path tracking as provided in an embodiment of the present invention is implemented.

[0017] The present invention provides a path tracking original path return method, device, vehicle and storage medium, the method comprising: obtaining a first driving parameter of the vehicle at a target position and a second driving parameter at a target position on the original path; determining a parameter deviation according to the first driving parameter and the second driving parameter; determining a preview distance according to the parameter deviation and a fuzzy control rule library; and executing the original path return according to the path tracking method according to the preview distance. Through the above method, the preview distance is determined according to the parameter deviation and the fuzzy control rule library, the error of the preview distance is reduced, and the daily driving conditions such as the difficulty of exiting after entering a dead end are solved, and the path of the vehicle when driving forward within a limited speed is recorded. When the reverse gear is engaged, the vehicle will reverse according to the path recorded when driving forward, realizing the original path return function of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flowchart of an original path returning method of path tracking provided by an embodiment of the present invention;

[0019] Figure 2 It is a flowchart of another original path returning method of path tracking provided by an embodiment of the present invention;

[0020] Figure 3 is the membership function of each input and output provided in this embodiment;

[0021] Figure 4 is the fuzzy control rule process provided by this embodiment;

[0022] Figure 5 It is a structural schematic diagram of an original path returning device for path tracking provided by an embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0025] In addition, in the embodiments of the present invention, words such as "optional" or "exemplary" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "optional" or "exemplary" in the embodiments of the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "optional" or "exemplary" is intended to present related concepts in a specific way.

[0026] Figure 1 It is a flowchart of a method for returning to the original path of a path tracking method provided in an embodiment of the present invention; this method can be applied to a path tracking scenario of returning to the original path, and can change the aiming distance and reduce the lateral error with the forward trajectory according to different vehicle speeds, steering wheel angles, and heading angles, so as to solve the daily driving situation in which the vehicle is difficult to exit after entering a dead end. This method can be executed by a device for returning to the original path of a path tracking method provided in an embodiment of the present invention, and the device can be implemented in software and / or hardware. The following embodiments will take the device integrated in a vehicle as an example to illustrate the implementation process of the method, such as Figure 1 As shown, the method of the embodiment of the present invention may include but is not limited to the following steps:

[0027] S110. Acquire a first driving parameter of the vehicle at the target position and a second driving parameter of the vehicle at the target position on the original path.

[0028] Among them, the target position refers to the position where the vehicle reaches the destination during the process of returning to the original route; the first driving parameter refers to the parameter variable of the vehicle at the target position during the process of the vehicle moving forward within the limited speed; the second driving parameter refers to the vehicle parameter variable when the vehicle returns to the original route according to the original driving path and reaches the target position.

[0029] Specifically, based on the moment the vehicle is powered on, a sensor is carried at the center of the vehicle's rear axle to record the vehicle's current driving path. The center of the vehicle's rear axle is used as the coordinate origin, the direction of the vehicle's front is the X-axis, and the direction perpendicular to the vehicle's front is the Y-axis. The horizontal and vertical coordinates of the target position and the original driving path at each moment when the vehicle returns to the original route as well as related driving parameters are obtained.

[0030] Optionally, the first driving parameter and the second driving parameter both include vehicle speed, steering wheel angle and heading angle.

[0031] Among them, vehicle speed refers to the speed of the vehicle during driving; steering wheel angle refers to the angle of the vehicle when turning during driving; heading angle refers to the position deviation between the actual driving trajectory of the vehicle in the forward direction and the actual road. The advantage of this setting is that by recording the vehicle speed, steering wheel angle and heading angle parameters, the error between the vehicle and the original driving trajectory during the process of returning to the original path is reduced.

[0032] S120. Determine a parameter deviation according to the first driving parameter and the second driving parameter.

[0033] The parameter deviation refers to the difference between the first driving parameter and the second driving parameter during the driving of the vehicle.

[0034] Specifically, as mentioned above, since the first driving parameter and the second driving parameter both include vehicle speed, steering wheel angle and heading angle, the parameter deviation in this step can be understood as the deviation between the vehicle speed included in the first driving parameter and the vehicle speed included in the second driving parameter, the deviation between the steering wheel angle included in the first driving parameter and the steering wheel angle included in the second driving parameter, and the deviation between the heading angle included in the first driving parameter and the heading angle included in the second driving parameter.

[0035] S130, determining the preview distance according to the parameter deviation and the fuzzy control rule library.

[0036] Among them, the fuzzy control rule base fuzzifies the input variables, converts a precise variable into a fuzzy subset, and then performs fuzzy reasoning. Finally, the result of fuzzy reasoning is refined to obtain the final output variable.

[0037] Specifically, when the vehicle enters the return function, the vehicle speed deviation, steering wheel angle deviation, and heading angle deviation obtained above are used as inputs to the fuzzy control rule library to further adjust the deviation distance of the vehicle when returning to the original route, that is, to accurately determine the preview distance.

[0038] S140, returning to the original path according to the preview distance and the path tracking method.

[0039] Specifically, after the preview distance is determined, the vehicle begins to return along the original path.

[0040] The above solution is executed when the original path return function of the vehicle is turned on. Optionally, the vehicle will automatically exit the original path return function when any of the following situations occurs, for example:

[0041] During the process of returning to the original route, if the driver intervenes with the steering wheel, the system will exit the return to the original route function; when the tracking error is large during the process of returning to the original route, the system will return to the original route; when the return to the original route function button is clicked again, the system will exit the return to the original route function; when a system failure occurs, the system will exit the return to the original route function; when the original route is returned to the destination, the system will exit the return to the original route function; the system will exit the return to the original route function if the vehicle speed is too fast.

[0042] The technical solution of this embodiment provides a method for returning to the original path of path tracking, by obtaining a first driving parameter of the vehicle at the target position and a second driving parameter at the target position on the original path; determining the parameter deviation according to the first driving parameter and the second driving parameter; then determining the preview distance according to the parameter deviation and the fuzzy control rule library; and finally executing the return to the original path according to the preview distance and the path tracking method. That is, in the embodiment of the present invention, the preview distance will be adjusted in real time according to different paths and vehicle speeds; the preview distance will be changed according to different vehicle speeds, steering wheel angles, and position deviation parameters to reduce the lateral error with the forward trajectory, realize path tracking, record the path of the vehicle when it is driving forward within the specified speed, and when the reverse gear is engaged, it will reverse according to the path recorded when driving forward, and complete the return to the original path when reaching the starting position or exceeding the threshold position of the memory path, so as to solve daily driving conditions such as difficult exit after entering a dead end.

[0043] Figure 2 This is a flow chart of another original path return method for path tracking provided by an embodiment of the present invention. This embodiment is further optimized on the basis of the above embodiment and provides a specific method for determining the preview distance based on the parameter deviation and the fuzzy control rule library. Figure 2 The specific steps of the original path return method of path tracking are as follows:

[0044] S210: Acquire a first driving parameter of the vehicle at the target position and a second driving parameter of the vehicle at the target position on the original path.

[0045] Specifically, obtaining the second driving parameter at the target position on the original path includes:

[0046] Step 1: When the forward speed of the vehicle is less than the limit value, the second driving parameter at each position on the current driving path is recorded;

[0047] The limit value refers to the upper limit of the forward speed of the vehicle. Specifically, when the vehicle is moving forward, there is a fixed limit value. If the forward speed of the vehicle is less than the fixed limit value, the second driving parameter at each position on the current driving path of the vehicle is recorded.

[0048] For example, when the limit is set to 30 km / h, if the vehicle's forward speed is 25 km / h, the current driving speed is less than the limit, so the vehicle starts recording the second driving parameter at each position on the current driving path.

[0049] Step 2: Determine whether the vehicle's forward travel distance is greater than a distance threshold. If not, continue to record the second travel parameter at each position on the current travel path. If greater than the distance threshold, determine the first distance exceeding the distance threshold and the second travel parameter at each position of the first distance.

[0050] The distance threshold refers to the safe distance for the vehicle to travel forward. Specifically, the vehicle's travel distance is recorded by the sensor on the vehicle. When the vehicle's travel distance is not greater than the set distance threshold, the vehicle continues to travel and records the second travel parameter at each position on the current travel path; when the vehicle's travel distance is greater than the set distance threshold, the portion exceeding the set distance threshold is determined, and the portion and the second travel parameter at each position are recorded at the same time.

[0051] For example, when the specific distance threshold of the vehicle's forward safe distance is set to 100m, if the vehicle has traveled 80m forward at this time, the vehicle continues to move forward and records relevant driving parameters; if the vehicle has traveled 120m forward at this time, it is greater than the set distance threshold of 80m, and exceeds the distance threshold of 20m, and the relevant driving parameters of the excess part are recorded at the same time.

[0052] Step 3: covering the second driving parameter corresponding to the earliest recorded distance that is the same as the first distance in the forward driving distance of the vehicle according to the second driving parameter at each position of the first distance;

[0053] Specifically, when the safe distance for the vehicle to travel forward is greater than a set distance threshold, the second driving parameters at each position according to the distance of the exceeding portion overwrite the second driving parameters corresponding to the earliest recorded distance of the vehicle traveling forward that is the same as the exceeding portion.

[0054] For example, when the specific distance threshold of the vehicle's forward safe distance is set to 100m, if the vehicle's forward distance is 120m at this time, it is greater than the set distance threshold of 100m, and exceeds the distance threshold of 20m. At this time, the distance interval of the vehicle's forward travel from the earliest departure position is 0 to 120m, but the set distance threshold is 100m, so the driving parameters recorded by the vehicle are equivalent to a sliding window with a distance of 100m, sliding from 0. When sliding to 120m, the driving parameters in the interval of 20 to 120m are actually recorded. When the travel exceeds 100m, the previous driving parameters are continuously overwritten, and the earliest recorded driving parameters between 0 and 20m are overwritten.

[0055] Repeat steps 1 to 3 until the vehicle stops, and then determine the second driving parameter corresponding to the position of the vehicle at the same position as the target position in the forward driving distance as the second driving parameter at the target position on the original path.

[0056] Specifically, when the vehicle reaches a stopped state, the stopped position is the target position, the second driving parameter corresponding to the target position is recorded, and the driving distance is determined to be the second driving distance at the target position on the original path. The advantage of this arrangement is that the driving path of the vehicle is determined during the forward driving process, and the error of the vehicle in the original return process is reduced.

[0057] S220. Determine a parameter deviation according to the first driving parameter and the second driving parameter.

[0058] S230. Multiply different parameter deviations by corresponding weight values ​​to obtain deviation input values ​​corresponding to different parameter deviations.

[0059] Among them, different parameter deviations include the deviation of vehicle speed, the deviation of steering wheel angle and the deviation of heading angle. Among them, weight refers to the weighted average of different parameter deviations, which weighs different parameter deviations.

[0060] Specifically, by calculating the weight values ​​corresponding to different parameters, the corresponding deviation input value is obtained, so that the preview distance further determined is more accurate.

[0061] S240 . Determine a corresponding deviation input membership function according to different deviation input values ​​and corresponding deviation input membership ranges.

[0062] Among them, the membership range can be divided into three levels, and each input can be divided into three membership functions: small, medium and large; the membership function is also called the attribution function or the fuzzy element function, which is a generalization of the indicator function in the general set, including multiple functions, for example, it can be a Gaussian membership function, a generalized bell-shaped membership function, or it can be a trapezoidal membership function, etc., which is not limited in this embodiment.

[0063] Specifically, the relevant parameters are calculated by using the principle of minimizing ambiguity through different deviation input values ​​to obtain the corresponding deviation input membership function.

[0064] Optionally, each deviation input membership range in the corresponding deviation input membership range includes at least two membership ranges. The advantage of such a setting is that the corresponding membership function can be adjusted and determined according to different membership ranges.

[0065] S250, determining the preview distance according to the membership function and the fuzzy control rule base with different deviation inputs.

[0066] Among them, the fuzzy control rule base is to fuzzify the input variables, turn an accurate variable into a fuzzy subset, and then perform fuzzy reasoning, and finally refine the result of fuzzy reasoning to obtain the final output variable. The specific calculation rules of the fuzzy control rule base are shown in formula (1). The preview distance is determined by calculating the membership function input according to the weight values ​​corresponding to different parameters and the deviation values ​​of different parameters.

[0067] Dis=αSpd+βErr+δSteer (1)

[0068] Among them, Dis represents the preview distance, α represents the weight of the vehicle speed, Spd represents the deviation value of the vehicle speed, β represents the weight of the heading angle (position deviation), Err represents the position deviation value, δ represents the weight of the steering wheel angle, and Steer represents the deviation value of the steering wheel angle.

[0069] Specifically, it is further determined according to different deviation inputs, such as the deviation value of vehicle speed, the deviation value of steering wheel angle and the deviation value of heading angle (position deviation). For vehicle speed, three membership functions of small, medium and large are selected. If Gaussian function is selected as the membership function, the range is 0-10m / s. When the vehicle speed is faster during the return journey, that is, when the vehicle speed is greater than 10m / s, the system automatically exits; for steering wheel angle, three membership functions of small, medium and large are selected. If Gaussian function is selected as the membership function, the range is 0-480 degrees. When the vehicle angle is less than 400 degrees during the return journey, vehicle tracking failure generally does not occur; for the vehicle heading angle, that is, the vehicle position deviation, three membership functions of small, medium and large are selected. If Gaussian function is selected as the membership function, the range is 0-30cm. For dynamically adjusting the preview distance according to the position information error, the weighted calculation of parameters such as lateral distance offset, curvature offset, and heading angle deviation is mainly adopted, among which lateral offset accounts for a larger proportion and other parameters account for a smaller proportion; according to the rule that when each parameter is larger, the preview distance is farther, a fuzzy control rule library is established to further determine the preview distance. The advantage of this setting is that the preview distance is more accurate by inputting the membership function and the fuzzy control rule base according to different deviations. Figure 3 is the membership function of each input and output provided in this embodiment, such as Figure 3 As shown, the deviation of the vehicle speed, the deviation of the steering wheel angle and the deviation of the heading angle are input respectively, and Gaussian membership functions are selected for calculation for different parameter deviations. Figure 3VeshSpd is the vehicle speed, ranging from 0 to 10 m / s, StreeAngle is the steering wheel angle, ranging from 0 to 480 degrees, PosDias is the position deviation, ranging from 0 to 30 cm, and predist is the result after the fuzzy control rule. The small, medium and large membership ranges of the input are represented by mf1, mf2 and mf13 respectively. Therefore, for the position variation range of 0 to 30 cm, it can be divided into three ranges of small, medium and large. For example, the corresponding mf1 is 0 to 10 cm, the corresponding mf2 is 11 to 20 cm, and the corresponding mf3 is 21 to 30 cm. Combined with formula (1), the preview distance is determined. The preview distance is dynamically adjusted according to the steering wheel angle. The larger the steering wheel angle, the longer the preview distance; the preview distance is dynamically adjusted according to the vehicle speed. The higher the vehicle speed, the longer the preview distance; the preview distance is dynamically adjusted according to the position deviation. The larger the position deviation, the longer the preview distance. By dynamically adjusting the preview distance, the original path is returned.

[0070] Optionally, the preview distance is determined according to different deviation input membership functions and a fuzzy control rule base, including: determining a combination method corresponding to different deviation input membership functions in the fuzzy control rule base; and determining the output distance corresponding to the combination method as the preview distance.

[0071] Specifically, in the fuzzy control rule base, different deviations have membership functions in three ranges: small, medium, and large. When using formula (1) to determine the preview distance, there can be multiple combinations, such as Figure 4 As shown, Figure 4 This is the fuzzy control rule process provided by this embodiment. There are 27 combination rules for different deviations of vehicle speed, steering wheel angle and position deviation. According to different combination methods, 27 output distances are respectively corresponding to determine a more accurate preview distance. It can be understood that the above is only an exemplary presentation of the method of determining the preview distance by the fuzzy control rule library. Optionally, each parameter can also be divided into a finer range. For example, the deviation value of the vehicle speed is divided into 5 membership ranges, and the deviation of the steering wheel angle is divided into 4 membership ranges, etc. In this way, more diverse fuzzy control rules can be combined. Correspondingly, the preview distance determined based on the fuzzy control rule library is also more accurate.

[0072] S260, returning to the original path according to the preview distance and the path tracking method.

[0073] The technical solution of this embodiment provides a method for returning to the original path of path tracking, by obtaining a first driving parameter of the vehicle at the target position and a second driving parameter at the target position on the original path; determining the parameter deviation according to the first driving parameter and the second driving parameter. According to different parameter deviations multiplied by corresponding weight values, the deviation input values ​​corresponding to different parameter deviations are obtained. According to different deviation input values ​​and corresponding deviation input membership ranges, the corresponding deviation input membership function is determined. According to different deviation input membership functions and fuzzy control rule bases, the preview distance is determined. The preview distance of the vehicle during reversing is accurately calculated by the membership function and the fuzzy control rule base and the corresponding different deviations multiplied by weights. When the reverse gear is engaged, the vehicle will reverse according to the path recorded during the forward movement, and the original path return will be completed when the starting position is reached or the threshold position of the memory path is exceeded, so as to solve daily driving conditions such as difficult exit after entering a dead end.

[0074] Figure 5 is a schematic diagram of the structure of an original path returning device for path tracking provided by an embodiment of the present invention, such as Figure 5 As shown, the device specifically includes: a parameter acquisition module 510, a deviation determination module 520, a distance determination module 530 and a path return module 540. Among them,

[0075] A parameter acquisition module 510 is used to acquire a first driving parameter of the vehicle at a target position and a second driving parameter of the vehicle at a target position on an original path;

[0076] A deviation determination module 520, configured to determine a parameter deviation according to the first driving parameter and the second driving parameter;

[0077] The distance determination module 530 is used to determine the preview distance according to the parameter deviation and the fuzzy control rule library;

[0078] The path return module 540 is used to perform original path return according to the preview distance and the path tracking method.

[0079] An original path returning device for path tracking provided by an embodiment of the present invention obtains a first driving parameter of a vehicle at a target position and a second driving parameter of a vehicle at a target position on an original path; determines a parameter deviation according to the first driving parameter and the second driving parameter; determines a preview distance according to the parameter deviation and a fuzzy control rule library; performs original path returning according to the preview distance in a path tracking manner, can change the preview distance and reduce the lateral error with the forward trajectory by using different vehicle speeds, steering wheel angles, and position deviation parameters, solves daily driving conditions such as difficulty in exiting a dead end, records the path of the vehicle when it is driving forward within a limited speed, reverses according to the path recorded when driving forward after engaging the reverse gear, and completes the original path returning when reaching the starting position or exceeding the memory path threshold position.

[0080] Optionally, the parameter acquisition module can be used to perform the following process:

[0081] Step 1: When the forward speed of the vehicle is less than the limit value, the second driving parameter at each position on the current driving path is recorded;

[0082] Step 2: Determine whether the vehicle's forward travel distance is greater than a distance threshold. If not, continue to record the second travel parameter at each position on the current travel path. If greater than the distance threshold, determine the first distance exceeding the distance threshold and the second travel parameter at each position of the first distance.

[0083] Step 3: covering the second driving parameter corresponding to the earliest recorded distance that is the same as the first distance in the forward driving distance of the vehicle according to the second driving parameter at each position of the first distance;

[0084] Repeat steps 1 to 3 until the vehicle stops, and then determine the second driving parameter corresponding to the position of the vehicle at the same position as the target position in the forward driving distance as the second driving parameter at the target position on the original path.

[0085] Optionally, the first driving parameter and the second driving parameter both include vehicle speed, steering wheel angle and heading angle.

[0086] Optionally, a distance determination module includes:

[0087] An input value determination unit, used to obtain deviation input values ​​corresponding to different parameter deviations by multiplying different parameter deviations by corresponding weight values;

[0088] The preview distance determination unit is used to determine the preview distance according to the deviation input value and the fuzzy control rule library; wherein the different parameter deviations include the deviation of the vehicle speed, the deviation of the steering wheel angle and the deviation of the heading angle.

[0089] Optionally, a preview distance determination unit comprises:

[0090] A function determination subunit, used to determine a corresponding deviation input membership function according to different deviation input values ​​and corresponding deviation input membership ranges;

[0091] The function determines the distance subunit, which is used to determine the preview distance according to the membership function and the fuzzy control rule base with different deviation inputs.

[0092] Optionally, the function determines the distance subunit, used for:

[0093] Determine the combination mode corresponding to the membership function of different deviation inputs in the fuzzy control rule base;

[0094] The output distance corresponding to the combination method is determined as the preview distance.

[0095] An original path returning device for path tracking provided by an embodiment of the present invention can execute an original path returning method for path tracking provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0096] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present invention, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for returning to the original path of a path tracking method provided in any of the above embodiments is implemented.

[0097] refer to Figure 6 , which shows a schematic structural diagram of a vehicle suitable for implementing an embodiment of the present invention. Figure 6 The vehicle shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0098] like Figure 6 As shown, the vehicle includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the vehicle can be one or more. Figure 6 A processor 610 is taken as an example; the processor 610, the memory 620, the input device 630 and the output device 640 in the vehicle can be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0099] The memory 620, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to a method for returning to the original path of a path tracking in an embodiment of the present invention (for example, the parameter acquisition module 510, the deviation determination module 520, the distance determination module 530 and the path return module 540 in the device for returning to the original path of the path tracking). The processor 610 executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory 620, that is, realizing the above-mentioned method for returning to the original path of a path tracking.

[0100] The memory 620 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 620 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 620 may further include a memory remotely arranged relative to the processor 610, and these remote memories may be connected to the vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The input device 630 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the vehicle. The output device 640 may include a display device such as a display screen.

[0102] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a method for returning to an original path of path tracking provided by an embodiment of the present invention is implemented. The method includes:

[0103] Acquire a first driving parameter of the vehicle at the target position and a second driving parameter of the vehicle at the target position on the original path;

[0104] determining a parameter deviation based on the first driving parameter and the second driving parameter;

[0105] Determine the preview distance based on parameter deviation and fuzzy control rule base;

[0106] Return to the original path according to the preview distance and path tracking method.

[0107] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided by an embodiment of the present invention are not limited to the method operations described above, and can also execute related operations in the original path returning method of path tracking provided by any embodiment of the present invention.

[0108] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a vehicle (which can be a personal computer, server, or network equipment, etc.) to execute the personnel assessment method described in each embodiment of the present invention.

[0109] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0110] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A path tracking original path return method, applied to the original path return function enabled scenario, characterized in that: include: Acquire a first driving parameter of the vehicle at a target position and a second driving parameter of the vehicle at the target position on an original path; The first driving parameter and the second driving parameter both include vehicle speed, steering wheel angle and heading angle; determining a parameter deviation according to the first driving parameter and the second driving parameter; The preview distance is determined according to the parameter deviation and the fuzzy control rule base; the calculation rule of the fuzzy control rule base is: Dis=αSpd+βErr+δSteer, wherein Dis represents the preview distance, α represents the weight of the vehicle speed, Spd represents the deviation value of the vehicle speed, β represents the weight of the heading angle, Err represents the position deviation value, δ represents the weight of the steering wheel angle, and Steer represents the deviation value of the steering wheel angle; Returning to the original path according to the preview distance and the path tracking method; Wherein, obtaining the second driving parameter at the target position on the original path includes: Step 1: When the forward speed of the vehicle is less than the limit value, the second driving parameter at each position on the current driving path is recorded; Step 2: determining whether the vehicle's forward travel distance is greater than a distance threshold; if not, continuing to record the second travel parameter at each position on the current travel path; if greater than the distance threshold, determining the first distance exceeding the distance threshold and the second travel parameter at each position of the first distance; Step 3: covering the second driving parameter corresponding to the earliest recorded distance that is the same as the first distance in the forward driving distance of the vehicle according to the second driving parameter at each position of the first distance; Repeat steps 1 to 3 until the vehicle stops, and then determine the second driving parameter corresponding to the position of the vehicle at the same position as the target position in the forward driving distance as the second driving parameter at the target position on the original path.

2. The method according to claim 1, characterized in that Determining the preview distance according to the parameter deviation and the fuzzy control rule base includes: According to multiplying different parameter deviations by corresponding weight values, the deviation input values ​​corresponding to different parameter deviations are obtained; Determine the preview distance according to the deviation input value and the fuzzy control rule base; The different parameter deviations include the deviation of vehicle speed, the deviation of steering wheel angle and the deviation of heading angle.

3. The method according to claim 2, characterized in that Determining the preview distance according to the deviation input value and the fuzzy control rule base includes: Determine the corresponding deviation input membership function according to different deviation input values ​​and corresponding deviation input membership ranges; The preview distance is determined according to the membership function input with different deviations and the fuzzy control rule base.

4. The method according to claim 3, characterized in that Each of the corresponding deviation input membership ranges includes at least two membership ranges.

5. The method according to claim 3 or 4, characterized in that: Determining the preview distance according to the membership function input with different deviations and the fuzzy control rule base includes: Determining the combination mode corresponding to the membership functions of the different deviation inputs in the fuzzy control rule base; The output distance corresponding to the combination is determined as the preview distance.

6. A path tracking original path return device, applied to the scene where the original path return function is turned on, characterized in that: include: A parameter acquisition module, used to acquire a first driving parameter of the vehicle at a target position and a second driving parameter at the target position on an original path; The first driving parameter and the second driving parameter both include vehicle speed, steering wheel angle and heading angle; a deviation determining module, configured to determine a parameter deviation according to the first driving parameter and the second driving parameter; A distance determination module is used to determine the preview distance according to the parameter deviation and the fuzzy control rule base; the calculation rule of the fuzzy control rule base is: Dis=αSpd+βErr+δSteer, wherein Dis represents the preview distance, α represents the weight of the vehicle speed, Spd represents the deviation value of the vehicle speed, β represents the weight of the heading angle, Err represents the position deviation value, δ represents the weight of the steering wheel angle, and Steer represents the deviation value of the steering wheel angle; A path return module, used to perform original path return according to the preview distance and path tracking mode; The parameter acquisition module is used to perform the following process: Step 1: When the forward speed of the vehicle is less than the limit value, the second driving parameter at each position on the current driving path is recorded; Step 2: determining whether the vehicle's forward travel distance is greater than a distance threshold; if not, continuing to record the second travel parameter at each position on the current travel path; if greater than the distance threshold, determining the first distance exceeding the distance threshold and the second travel parameter at each position of the first distance; Step 3: covering the second driving parameter corresponding to the earliest recorded distance that is the same as the first distance in the forward driving distance of the vehicle according to the second driving parameter at each position of the first distance; Repeat steps 1 to 3 until the vehicle stops, and then determine the second driving parameter corresponding to the position of the vehicle at the same position as the target position in the forward driving distance as the second driving parameter at the target position on the original path.

7. A vehicle, comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the processor executes the computer program, the original path returning method of path tracking according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the original path returning method of path tracking according to any one of claims 1 to 5 is implemented.

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