Vehicle control method, device, electronic device and storage medium

Abstract

The embodiment of the present invention discloses a vehicle control method, wherein the method includes: determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point; determining the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point; determining the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point; determining the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and controlling the target vehicle based on the longitudinal acceleration and the target steering wheel angle. The technical solution of the embodiment of the present invention achieves the effect of improving the ride comfort of the vehicle, and the steering wheel angle is determined by a weighted method, so that the weight can be changed according to the actual control requirements of the vehicle, thereby obtaining the effect of different tracking control performance.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving control technology, and in particular, to a vehicle control method, device, electronic device and storage medium. Background Art

[0002] With the development of vehicle intelligence, autonomous driving technology is accelerating its implementation. As the core technology of autonomous driving functions, trajectory tracking control has an increasingly higher application value. There are many different methods for trajectory tracking control, among which preview control is one of the classic trajectory tracking control algorithms. It is widely used because its control principle is similar to that of human drivers and its control accuracy is good.

[0003] At present, the traditional preview control algorithm is a rule-based control, which requires the addition of fuzzy control theory to the algorithm for optimization. Although it can ensure the vehicle trajectory tracking accuracy within a certain speed range, when the longitudinal speed and road curvature fluctuate over a large range, the fuzzy rules are no longer applicable. At this time, not only will the tracking accuracy drop significantly, but the steering stability and ride comfort will also deteriorate to varying degrees. Summary of the invention

[0004] The present invention provides a vehicle control method, device, electronic equipment and storage medium to solve the problem of poor vehicle body stability during trajectory tracking.

[0005] According to one aspect of the present invention, there is provided a vehicle control method, the method comprising:

[0006] Determine the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point;

[0007] Determine a first steering wheel angle of the target vehicle based on a lateral distance between the current point and the preview point;

[0008] Determining a second steering wheel angle of the target vehicle based on a vehicle posture angle difference between the target vehicle at the current point and the preview point;

[0009] A target steering wheel angle is determined according to the first steering wheel angle and the second steering wheel angle, and the target vehicle is controlled according to the longitudinal acceleration and the target steering wheel angle.

[0010] According to another aspect of the present invention, there is provided a vehicle control device, the device comprising:

[0011] An acceleration determination module, for determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point;

[0012] A first steering wheel angle determination module, used to determine a first steering wheel angle of the target vehicle based on a lateral distance between a current point and a preview point;

[0013] A second steering wheel angle determination module, used to determine a second steering wheel angle of the target vehicle based on a vehicle attitude angle difference between the target vehicle at a current point and a preview point;

[0014] The vehicle control module is used to determine a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and to control the target vehicle according to the longitudinal acceleration and the target steering wheel angle.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention determines the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, then determines the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point, further determines the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point, determines the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and finally controls the target vehicle based on the longitudinal acceleration and the target steering wheel angle, thereby solving the problem of frequent left and right swaying of the vehicle during trajectory tracking in the prior art, and achieving the effect of improving the ride comfort of the vehicle, and, by determining the steering wheel angle in a weighted manner, achieving the effect of changing the weight according to the actual control requirements of the vehicle, thereby obtaining different tracking control performances.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a vehicle control method provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a schematic diagram of a two-degree-of-freedom vehicle dynamics model provided according to the second embodiment of the present invention;

[0026] Figure 4 is a flow chart of a vehicle control method provided according to Embodiment 3 of the present invention;

[0027] Figure 5 is a schematic diagram of a preview trajectory of a target vehicle provided according to Embodiment 3 of the present invention;

[0028] Figure 6 is a schematic diagram of the structure of a vehicle device provided according to a fourth embodiment of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of an electronic device for implementing the vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 A flow chart of a vehicle control method is provided for the first embodiment of the present invention. This embodiment is applicable to vehicle trajectory tracking. The method can be executed by a vehicle control device. The vehicle control device can be implemented in the form of hardware and / or software. The vehicle control device can be configured in a terminal and / or a server. Figure 1 As shown, the method includes:

[0034] S110: Determine the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point.

[0035] The current point may be the current position of the target vehicle. The preview point may be the position that the target vehicle is expected to reach within a unit time according to a preset driving trajectory. For example, the unit time may be 3 seconds, 5 seconds, or 10 seconds. The longitudinal distance may be the distance from the current point to the preview point along the direction of the vehicle. The longitudinal acceleration may be the acceleration along the direction of the target vehicle.

[0036] Optionally, determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point includes: determining the longitudinal speed of the target vehicle based on the longitudinal distance between the current point and the preview point; and determining the longitudinal acceleration of the target vehicle based on the longitudinal speed.

[0037] The longitudinal speed may be a speed along the direction of the target vehicle.

[0038] Specifically, first determine the longitudinal distance between the target vehicle at the current point and the preview point, calculate the longitudinal speed of the target vehicle from the current point to the preview point based on the determined lateral distance difference, and calculate the longitudinal acceleration of the target vehicle based on the longitudinal speed. The advantage of this setting is that the target vehicle can be tracked in the longitudinal distance dimension.

[0039] Exemplarily, the longitudinal acceleration of the target vehicle may be determined based on the following formula:

[0040]

[0041] Among them, a x represents the longitudinal acceleration of the target vehicle, V x represents the longitudinal speed of the target vehicle, t represents the time it takes for the target vehicle to reach the preview point from the current point, V y represents the lateral velocity of the target vehicle, θ represents the angle between the lateral velocity of the target vehicle and the Y axis of the vehicle coordinate system, Ω z Indicates the yaw rate of the target vehicle.

[0042] S120: Determine a first steering wheel angle of the target vehicle based on a lateral distance between the current point and the preview point.

[0043] The lateral distance may be the distance from the current point to the preview point along a direction perpendicular to the vehicle's travel direction. The first steering wheel angle may be the steering wheel angle used to eliminate the lateral distance when the target vehicle reaches the preview point from the current point.

[0044] Optionally, determining a first steering wheel angle of the target vehicle based on a lateral distance between a current point and a preview point includes: determining a lateral acceleration of the target vehicle based on the lateral distance between the current point and the preview point; and determining the first steering wheel angle of the target vehicle based on the lateral acceleration.

[0045] The lateral acceleration may be the acceleration in a direction perpendicular to the driving direction of the target vehicle. The lateral acceleration is the acceleration caused by the centrifugal force generated when the target vehicle is turning.

[0046] Specifically, first determine the lateral distance between the current point and the preview point of the target vehicle, determine the lateral speed of the target vehicle according to the determined lateral distance, and determine the lateral acceleration of the target vehicle according to the lateral speed. Exemplarily, the lateral acceleration of the target vehicle can be determined based on the following formula:

[0047]

[0048] Among them, a y represents the lateral acceleration of the target vehicle, V y represents the lateral speed of the target vehicle, t represents the time it takes for the target vehicle to reach the preview point from the current point, V x represents the longitudinal velocity of the target vehicle, θ represents the angle between the lateral velocity of the target vehicle and the X-axis of the vehicle coordinate system, and Ω z Indicates the yaw rate of the target vehicle.

[0049] Furthermore, a transfer function between the lateral acceleration and the first steering wheel angle is established, and the first steering wheel angle of the target vehicle is calculated based on the transfer function. The advantage of such a setting is that the trajectory of the target vehicle can be tracked in the lateral distance dimension. Exemplarily, the first steering wheel angle of the target vehicle can be determined based on the following transfer function form:

[0050]

[0051] Among them, a y represents the lateral acceleration of the target vehicle, δ1 represents the first steering wheel angle of the target vehicle, s represents the Laplace variable, represents the steady-state gain of the target vehicle’s lateral acceleration to the first steering wheel angle, T y2 , T y1 , T2, and T1 represent the coefficients of the Laplace variables in the transfer function, and · represents the product.

[0052] It should be noted that T y2 , T y1 The specific values ​​of T1, T2 and T1 can be set according to actual conditions and are not specifically limited here.

[0053] S130: Determine a second steering wheel angle of the target vehicle based on a vehicle posture angle difference between the target vehicle at the current point and the preview point.

[0054] The vehicle attitude angle difference may be the difference between the vehicle attitude angle of the target vehicle at the current point and the vehicle attitude angle at the preview point. The vehicle attitude angle may be the tangent angle of the target vehicle on the preset driving track. The vehicle attitude angle may be the yaw angle of the target vehicle. The second steering wheel angle may be the steering wheel angle of the target vehicle for eliminating the vehicle attitude angle difference.

[0055] Optionally, based on the vehicle attitude angle difference between the target vehicle at the current point and the preview point, a second steering wheel angle of the target vehicle is determined, including: based on the vehicle attitude angle difference between the target vehicle at the current point and the preview point, determining the yaw angular velocity of the target vehicle; determining the second steering wheel angle of the target vehicle according to the yaw angular velocity.

[0056] The yaw rate may be the deflection of the target vehicle around a vertical axis, and the magnitude of the yaw rate may indicate the stability of the target vehicle.

[0057] Specifically, first determine the angle difference between the yaw angle of the target vehicle at the current point and the angle between the trajectory tangent at the preview point and the X-axis of the geodetic coordinate system, use the angle difference as the vehicle attitude angle difference, calculate the yaw angular velocity of the target vehicle based on the vehicle attitude angle difference, further, establish a transfer function between the yaw angular velocity and the second steering wheel angle, and calculate the second steering wheel angle of the target vehicle based on the transfer function. The advantage of this arrangement is that the vehicle attitude angle of the target vehicle when it reaches the preview point can be made consistent with the direction of the trajectory tangent at that point, so as to avoid the phenomenon of the target vehicle yawing left and right during the trajectory tracking process. Exemplarily, the second steering wheel angle of the target vehicle can be determined based on the following transfer function form:

[0058]

[0059] Where r represents the yaw rate of the target vehicle, δ2 represents the second steering wheel angle of the target vehicle, G r represents the steady-state gain of the target vehicle’s yaw rate to the second steering wheel angle, s represents the Laplace variable, T r1 , T2, and T1 represent the coefficients of the Laplace variables in the transfer function, and · represents the product.

[0060] It should be noted that T r1 The specific values ​​of T1, T2 and T1 can be set according to actual conditions and are not specifically limited here.

[0061] S140: Determine a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and control the target vehicle according to the longitudinal acceleration and the target steering wheel angle.

[0062] The target steering wheel angle may be the angle at which the steering wheel is controlled to rotate when the target vehicle moves from the current point to the preview point.

[0063] Specifically, after determining the first steering wheel angle and the second steering wheel angle of the target vehicle, the first weight coefficient corresponding to the first steering wheel angle and the second weight coefficient corresponding to the second steering wheel angle can be determined respectively, and the first steering wheel angle is multiplied by the first weight coefficient, and similarly, the second steering wheel angle is multiplied by the second weight coefficient, and further, the multiplied results are added to obtain the target steering wheel angle. The advantage of this setting is that the steering wheel angles calculated from the lateral distance control and vehicle posture control of the target vehicle can be integrated to balance the conflict between the two, and a good balance can be obtained between trajectory tracking accuracy and vehicle yaw control, thereby improving the ride comfort of the vehicle.

[0064] Exemplarily, determining the target steering wheel angle according to the first steering wheel angle and the second steering wheel angle includes: determining the target steering wheel angle based on the following formula:

[0065] δ * =w·δ1+(1-w)·δ2, 0≤w≤1

[0066] Among them, δ * represents the target steering wheel angle, w represents the weight coefficient, δ1 represents the first steering wheel angle, δ2 represents the second steering wheel angle, and · represents the product.

[0067] It should be noted that the weight coefficient can be adaptively adjusted according to different lateral distance control and vehicle body posture control requirements to meet the control performance requirements in different situations.

[0068] Further, after determining the target steering wheel angle of the target vehicle, the target vehicle is controlled based on the target steering wheel angle in combination with the longitudinal acceleration to achieve driving trajectory tracking.

[0069] The technical solution of the embodiment of the present invention determines the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, then determines the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point, further determines the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point, determines the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and finally controls the target vehicle based on the longitudinal acceleration and the target steering wheel angle, thereby solving the problem of frequent left and right swaying of the vehicle during trajectory tracking in the prior art, and achieving the effect of improving the ride comfort of the vehicle, and, by determining the steering wheel angle in a weighted manner, achieving the effect of changing the weight according to the actual control requirements of the vehicle, thereby obtaining different tracking control performances.

[0070] Embodiment 2

[0071] Figure 2 This is a flow chart of a vehicle control method provided by the second embodiment of the present invention. This embodiment adds the feature of constructing a whole vehicle dynamics model based on the above embodiment. Figure 2 As shown, the method includes:

[0072] S210: construct a whole vehicle dynamics model of the target vehicle, and obtain driving parameters of the target vehicle at the current point and the preview point according to the whole vehicle dynamics model.

[0073] Among them, the whole vehicle dynamics model can be a model used to describe the vehicle dynamics. The whole vehicle dynamics model is generally used to analyze the ride comfort and vehicle handling stability of the vehicle, mainly to study the stress conditions of the vehicle tires and related components. In general, according to the different vehicle parameters to be studied in the vehicle research process, the whole vehicle dynamics model can include a two-degree-of-freedom whole vehicle dynamics model, a three-degree-of-freedom whole vehicle dynamics model, a five-degree-of-freedom whole vehicle dynamics model, and a seven-degree-of-freedom whole vehicle dynamics model. In this embodiment, the whole vehicle dynamics model includes a two-degree-of-freedom whole vehicle dynamics model. The two-degree-of-freedom whole vehicle dynamics model is a model that takes the key parameters affecting the lateral motion of the vehicle, such as the position of the center of mass of the vehicle, the side characteristics of the tire, etc. as quantitative, and takes the lateral motion and yaw motion of the vehicle as the degrees of freedom. The driving parameters can be various parameters used in the whole vehicle dynamics model to describe the driving state of the vehicle. Optionally, the driving parameters include longitudinal distance, lateral distance and vehicle attitude angle.

[0074] Specifically, in order to study the dynamics of the target vehicle, a whole vehicle dynamics model of the target vehicle can be constructed, and various driving parameters of the target vehicle can be determined by analyzing the whole vehicle dynamics model, and the longitudinal and lateral control of the target vehicle can be pre-calculated based on the model.

[0075] In order to clearly introduce the specific implementation of this embodiment, specific examples can be used for illustration. For example, Figure 3 It is a two-degree-of-freedom vehicle dynamics model established based on the target vehicle, such as Figure 3 As shown, a vehicle coordinate system is established, OX and OY are the vertical axis and horizontal axis of the vehicle coordinate system, and the component of the target vehicle's center of mass velocity V on the OX axis at time t is V x , the component on the OY axis is V y Since the target vehicle is accompanied by translation and movement when turning, at time t+Δt, the magnitude and direction of the center of mass velocity in the vehicle coordinate system change, and the directions of the longitudinal and transverse axes of the vehicle coordinate system change. Consider the longitudinal velocity V x and lateral velocity V y With the random t+Δt changes of OX and OY, the kinematic equation can be determined as:

[0076] Changes with OX:

[0077] (V x +ΔV x )cosΔθ-V x -(V y +ΔV y )sinΔθ=ΔV x -V y Δθ

[0078] Changes with OY:

[0079] (V y +ΔV y )cosΔθ-V y +(V x +ΔV x )sinΔθ=ΔV y +V x Δθ

[0080] S220: Determine the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point.

[0081] S230: Determine a first steering wheel angle of the target vehicle based on a lateral distance between the current point and the preview point.

[0082] S240: Determine a second steering wheel angle of the target vehicle based on a vehicle posture angle difference between the target vehicle at the current point and the preview point.

[0083] S250: Determine a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and control the target vehicle according to the longitudinal acceleration and the target steering wheel angle.

[0084] The technical solution of the embodiment of the present invention constructs a whole vehicle dynamics model of the target vehicle, obtains the driving parameters of the target vehicle at the current point and the preview point according to the whole vehicle dynamics model, determines the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, and then determines the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point. Further, based on the vehicle posture angle difference between the target vehicle at the current point and the preview point, the second steering wheel angle of the target vehicle is determined, and the target steering wheel angle is determined according to the first steering wheel angle and the second steering wheel angle. Finally, the target vehicle is controlled according to the longitudinal acceleration and the target steering wheel angle, which solves the problem of frequent left and right swaying of the vehicle during trajectory tracking in the prior art, achieves the effect of improving the ride comfort of the vehicle, and based on the whole vehicle dynamics model, can achieve the technical effect of effectively improving the trajectory tracking accuracy of the target vehicle.

[0085] Embodiment 3

[0086] Figure 4 This is a flow chart of a vehicle control method provided by Embodiment 3 of the present invention. This embodiment of the present invention is a preferred embodiment of the above-mentioned embodiments of the invention. Figure 4 As shown, the embodiment of the present invention may include the following steps:

[0087] 1. Construct the vehicle dynamics model of the target vehicle;

[0088] 2. Calculate the longitudinal distance in the longitudinal control initial parameters, the lateral distance in the lateral control initial parameters, and the vehicle attitude angle in the attitude control initial parameters based on the constructed model;

[0089] 3. Calculate the longitudinal acceleration of the target vehicle based on the longitudinal distance;

[0090] 4. Calculate the lateral acceleration of the target vehicle according to the lateral distance, and determine the steering wheel angle δ1 of the target vehicle by constructing a transfer function between the lateral acceleration and the steering wheel angle;

[0091] 5. Calculate the yaw rate of the target vehicle according to the vehicle attitude angle, and determine the steering wheel angle δ2 of the target vehicle by constructing a transfer function between the yaw rate and the steering wheel angle;

[0092] 6. The comprehensive steering wheel angle δ of the target vehicle is obtained by weighted summing the steering wheel angle δ1 and the steering wheel angle δ2. * ;

[0093] 7. Control the target vehicle based on the longitudinal acceleration and integrated steering wheel angle to achieve vehicle trajectory tracking.

[0094] Figure 5 A schematic diagram of a preview trajectory of a target vehicle provided in the third embodiment of the present invention is shown in FIG. Figure 5 As shown, oxy represents the vehicle coordinate system, OXY represents the earth coordinate system, and O v represents the current point of the target vehicle, P represents the preview point of the target vehicle, ΔX represents the longitudinal distance difference between the current point and the preview point in the vehicle coordinate system, ΔY represents the lateral distance difference between the current point and the preview point in the vehicle coordinate system, Indicates the vehicle attitude angle at the current point in the geodetic coordinate system. Indicates the vehicle attitude angle at the preview point in the geodetic coordinate system.

[0095] The technical solution of the embodiment of the present invention determines the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, then determines the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point, further determines the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point, determines the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and finally controls the target vehicle based on the longitudinal acceleration and the target steering wheel angle, thereby solving the problem of frequent left and right swaying of the vehicle during trajectory tracking in the prior art, and achieving the effect of improving the ride comfort of the vehicle, and, by determining the steering wheel angle in a weighted manner, achieving the effect of changing the weight according to the actual control requirements of the vehicle, thereby obtaining different tracking control performances.

[0096] Embodiment 4

[0097] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided by Embodiment 4 of the present invention. Figure 6 As shown, the device includes: an acceleration determination module 310 , a first steering wheel angle determination module 320 , a second steering wheel angle determination module 330 and a vehicle control module 340 .

[0098] Among them, the acceleration determination module 310 is used to determine the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point; the first steering wheel angle determination module 320 is used to determine the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point; the second steering wheel angle determination module 330 is used to determine the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point; the vehicle control module 340 is used to determine the target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and control the target vehicle according to the longitudinal acceleration and the target steering wheel angle.

[0099] The technical solution of the embodiment of the present invention determines the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, then determines the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point, further determines the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point, determines the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and finally controls the target vehicle based on the longitudinal acceleration and the target steering wheel angle, thereby solving the problem of frequent left and right swaying of the vehicle during trajectory tracking in the prior art, and achieving the effect of improving the ride comfort of the vehicle, and, by determining the steering wheel angle in a weighted manner, achieving the effect of changing the weight according to the actual control requirements of the vehicle, thereby obtaining different tracking control performances.

[0100] Optionally, the acceleration determination module 310 is further configured to determine the longitudinal speed of the target vehicle based on the longitudinal distance between the current point and the preview point; and determine the longitudinal acceleration of the target vehicle according to the longitudinal speed.

[0101] Optionally, the first steering wheel angle determination module 320 is further used to determine the lateral acceleration of the target vehicle based on the lateral distance between the current point and the preview point; and determine the first steering wheel angle of the target vehicle according to the lateral acceleration.

[0102] Optionally, the second steering wheel angle determination module 330 is further used to determine the yaw angular velocity of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point; and determine the second steering wheel angle of the target vehicle according to the yaw angular velocity.

[0103] Optionally, the vehicle control module 340 is further configured to determine the target steering wheel angle based on the following formula:

[0104] δ * =w·δ1+(1-w)·δ2, 0≤w≤1

[0105] Among them, δ * represents the target steering wheel angle, w represents the weight coefficient, δ1 represents the first steering wheel angle, δ2 represents the second steering wheel angle, and · represents the product.

[0106] Optionally, before determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, the device also includes: a model construction module, used to construct a whole vehicle dynamics model of the target vehicle, and obtain the driving parameters of the target vehicle at the current point and the preview point according to the whole vehicle dynamics model, wherein the driving parameters include the longitudinal distance, the lateral distance and the vehicle attitude angle.

[0107] Optionally, the whole vehicle dynamics model includes a two-degree-of-freedom whole vehicle dynamics model.

[0108] The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the vehicle control method.

[0109] Embodiment 5

[0110] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement the fifth embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0111] like Figure 7As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0113] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle control method.

[0114] In some embodiments, the vehicle control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the smart door control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0115] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0117] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0120] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0121] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0122] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Determine the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point; Determining a first steering wheel angle of the target vehicle based on a lateral distance between the current point and the preview point; Determining a second steering wheel angle of the target vehicle based on a vehicle posture angle difference between the target vehicle at the current point and the preview point; determining a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and controlling the target vehicle according to the longitudinal acceleration and the target steering wheel angle; Wherein, determining the first steering wheel angle of the target vehicle based on the lateral distance between the current point and the preview point includes: Determining a lateral acceleration of the target vehicle based on a lateral distance between the current point and the preview point; determining a first steering wheel angle of the target vehicle according to the lateral acceleration; Wherein, determining the second steering wheel angle of the target vehicle based on the vehicle posture angle difference between the target vehicle at the current point and the preview point includes: Determine the yaw rate of the target vehicle based on the vehicle attitude angle difference between the current point and the preview point of the target vehicle; determining a second steering wheel angle of the target vehicle according to the yaw angular velocity; Wherein, determining a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle comprises: The target steering wheel angle is determined based on the following formula: d * =w·δ1+(1-w)δ2,0≤w≤1 Among them, δ * represents the target steering wheel angle, w represents the weight coefficient, δ1 represents the first steering wheel angle, δ2 represents the second steering wheel angle, and · represents the product.

2. The method according to claim 1, characterized in that Determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point includes: Determining the longitudinal speed of the target vehicle based on the longitudinal distance between the current point and the preview point; A longitudinal acceleration of the target vehicle is determined based on the longitudinal velocity.

3. The method according to claim 1, characterized in that Before determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point, the method further includes: A whole vehicle dynamics model of the target vehicle is constructed, and driving parameters of the target vehicle at a current point and a preview point are obtained according to the whole vehicle dynamics model, wherein the driving parameters include a longitudinal distance, a lateral distance and a vehicle attitude angle.

4. The method according to claim 3, characterized in that The whole vehicle dynamics model includes a two-degree-of-freedom whole vehicle dynamics model.

5. A vehicle control device, characterized in that: include: An acceleration determination module, for determining the longitudinal acceleration of the target vehicle based on the longitudinal distance between the current point and the preview point; A first steering wheel angle determination module, used to determine a first steering wheel angle of the target vehicle based on a lateral distance between the current point and the preview point; A second steering wheel angle determination module, used to determine a second steering wheel angle of the target vehicle based on a vehicle attitude angle difference between the target vehicle at the current point and the preview point; a vehicle control module, configured to determine a target steering wheel angle according to the first steering wheel angle and the second steering wheel angle, and to control the target vehicle according to the longitudinal acceleration and the target steering wheel angle; Wherein, the first steering wheel angle determination module is further used for: Determining a lateral acceleration of the target vehicle based on a lateral distance between the current point and the preview point; determining a first steering wheel angle of the target vehicle according to the lateral acceleration; Wherein, the second steering wheel angle determination module is further used for: Determine the yaw rate of the target vehicle based on the vehicle attitude angle difference between the current point and the preview point of the target vehicle; determining a second steering wheel angle of the target vehicle according to the yaw angular velocity; Wherein, the vehicle control module is also used for: The target steering wheel angle is determined based on the following formula: d * =w·δ1+(1-w)δ2,0≤w≤1 Among them, δ * represents the target steering wheel angle, w represents the weight coefficient, δ1 represents the first steering wheel angle, δ2 represents the second steering wheel angle, and · represents the product.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle control method as described in any one of claims 1 to 4 is implemented.

Images