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

Abstract

The embodiments of the present application disclose a vehicle trajectory tracking control method, device, electronic device and storage medium. The method includes: obtaining the trajectory parameters of the current point and the preview point of the vehicle respectively, and determining the lateral control amount and vehicle posture control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters; then determining the vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount; then controlling the steering wheel angle of the vehicle based on the lateral control amount, and applying braking force to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located. Based on this, the present embodiment can compensate for the deviation of the vehicle posture caused by controlling the steering wheel angle of the vehicle according to the lateral control amount by applying braking force to the wheels of the vehicle. At the same time, the accuracy of lateral control and vehicle posture control is taken into account.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automobile autonomous driving technology, and in particular to a vehicle trajectory tracking control method, device, electronic device and storage medium. Background Art

[0002] With the development of science and technology, the autonomous driving technology of automobiles is becoming more and more mature. Among them, in the field of autonomous driving, the tracking and control of driving trajectories is one of the most important components. The tracking and control of driving trajectories is mainly a process of controlling the steering system and drive system of the vehicle so that the vehicle follows the planned desired trajectory.

[0003] In the process of tracking and controlling the driving trajectory, based on the principle of vehicle dynamics, it is generally divided into three parts: longitudinal control, lateral control and vehicle posture control. For the two control targets of lateral control and vehicle posture control, they are both controlled by determining the steering wheel angle control value. When controlling these two control targets, two steering wheel angle control values ​​will be generated. When the two steering wheel angle control values ​​are different, a control conflict will occur.

[0004] At present, in order to avoid this control conflict, a balance is usually made between lateral control and vehicle posture control, such as taking an average value, which will lose the accuracy of tracking and controlling the driving trajectory and reduce the control accuracy of autonomous driving. Summary of the invention

[0005] The embodiments of the present application provide a vehicle trajectory tracking control method, device, electronic device and storage medium to avoid loss of driving trajectory tracking and control accuracy and improve the control accuracy of autonomous driving.

[0006] In a first aspect, an embodiment of the present application provides a vehicle trajectory tracking control method, the method comprising:

[0007] Obtaining trajectory parameters of the current point and the preview point of the vehicle respectively, and determining the lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters;

[0008] determining a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount;

[0009] The steering wheel angle of the vehicle is controlled based on the lateral control amount, and braking force is applied to the wheels of the vehicle based on the vehicle posture control compensation amount, so as to control the vehicle to travel according to the vehicle trajectory where the preview point is located.

[0010] In a second aspect, an embodiment of the present application further provides a vehicle trajectory tracking control device, the vehicle trajectory tracking control device comprising:

[0011] An acquisition module, used to respectively acquire trajectory parameters of a current point and a preview point of the vehicle, and determine a lateral control amount and a vehicle attitude control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters;

[0012] A determination module, configured to determine a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount;

[0013] A control module is used to control the steering wheel angle of the vehicle based on the lateral control amount, and to apply braking force to the wheels of the vehicle based on the vehicle posture control compensation amount, so as to control the vehicle to travel according to the vehicle trajectory where the preview point is located.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0015] one or more processors;

[0016] a storage device for storing one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle trajectory tracking control method provided in any embodiment of the present application.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, a vehicle trajectory tracking control method as provided in any embodiment of the present application is implemented.

[0019] The technical solution of the embodiment of the present application is to obtain the trajectory parameters of the current point and the preview point of the vehicle respectively, and determine the lateral control amount and vehicle posture control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters; then determine the vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount; then control the steering wheel angle of the vehicle based on the lateral control amount, and apply braking force to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located. Based on this, this embodiment can compensate for the deviation of the vehicle posture caused by controlling the steering wheel angle of the vehicle according to the lateral control amount by applying braking force to the wheels of the vehicle. At the same time, the accuracy of lateral control and vehicle posture control is taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flow chart of a vehicle trajectory tracking control method provided in Example 1 of the present application;

[0021] Figure 2 is a schematic diagram of trajectory parameters of a vehicle provided in Example 1 of the present application;

[0022] Figure 3 A schematic diagram of the structure of a vehicle trajectory tracking control device provided in Example 2 of the present application;

[0023] Figure 4 A schematic diagram of the structure of an electronic device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0024] The present application 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 application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0025] Embodiment 1

[0026] Figure 1 This is a flow chart of a vehicle trajectory tracking control method provided in Embodiment 1 of the present application. This embodiment is applicable to the scenario of vehicle trajectory tracking control. The method can be executed by a vehicle trajectory tracking control device. The device can be implemented in hardware and / or software and can generally be integrated in an electronic device such as a computer with data computing capabilities. Specifically, the method includes the following steps:

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

[0028] In this step, the trajectory parameters may include the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, the current attitude angle of the current point in the earth coordinate system, and the preview attitude angle of the preview point; for details, please refer to Figure 2 , Figure 2 This is a schematic diagram of the trajectory parameters of the vehicle provided in Example 1 of the present application.

[0029] like Figure 2 As shown, the trajectory parameter diagram is provided with a vehicle coordinate system and a geodetic coordinate system. v is the current point of the vehicle; P is the preview point of the vehicle; ΔX is the longitudinal distance difference between the current point and the preview point in the vehicle reference coordinate system; ΔY is the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system; is the vehicle attitude angle of the current point in the geodetic coordinate system (hereinafter referred to as the current attitude angle); It is the vehicle attitude angle at the preview point in the geodetic coordinate system (hereinafter referred to as the preview attitude angle).

[0030] Specifically, the lateral acceleration of the vehicle reaching the preview point per unit time can be determined based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system. It should be noted that the calculation method of the lateral acceleration can refer to related technologies and will not be repeated here.

[0031] After the lateral acceleration is obtained, the lateral acceleration can be input into a transfer function between the pre-established lateral acceleration and the lateral control amount to obtain the lateral control amount. The lateral control amount can be a steering wheel angle request value, and the transfer function between the lateral acceleration and the lateral control amount can be as follows:

[0032]

[0033] Among them, δ 1 Request value for steering wheel angle; a y is the lateral acceleration; G ay is the steady-state gain of lateral acceleration to steering wheel angle; s is the Laplace variable.

[0034] In addition, the vehicle attitude control amount may refer to the first yaw rate. When determining the vehicle attitude control amount, the vehicle attitude control amount required for the vehicle to reach the preview point within a unit time may be determined according to the current attitude angle and the preview attitude angle.

[0035] Specifically, the vehicle posture control amount can be determined according to the following formula:

[0036]

[0037] Among them, r 2 is the vehicle posture control quantity, that is, the first yaw angular velocity, and t is the unit time.

[0038] Step 102: Determine a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount.

[0039] In this step, the vehicle posture control compensation amount may refer to the compensation amount required to compensate for the deviation of the vehicle posture caused by controlling the steering wheel angle of the vehicle according to the lateral control amount. Since this embodiment is to achieve the final compensation of the vehicle posture by applying braking force to the wheels, the vehicle posture control compensation amount may be the compensation for the yaw moment that needs to be applied to the vehicle.

[0040] It should be noted that the yaw moment that needs to be applied to the vehicle for compensation can be expressed as the yaw moment difference between lateral control and vehicle posture control. Therefore, this step needs to identify the yaw moment difference. Its main purpose is to calculate the yaw moment difference required to ensure the vehicle posture on the basis of vehicle lateral control, and provide input for differential braking control.

[0041] Specifically, the predicted vehicle posture control amount corresponding to the lateral control amount can be determined based on the lateral control amount and the pre-built transfer function between the lateral control amount and the vehicle posture control amount. The transfer function can be:

[0042]

[0043] Where r is the yaw rate; δ 1 is the lateral control amount; G r is the steady-state gain of the yaw rate to the steering wheel angle, and s is the Laplace variable.

[0044] According to the transfer function, the second yaw rate corresponding to the lateral control amount can be obtained, and the second yaw rate is an accurate prediction of the vehicle posture control amount.

[0045] After obtaining the second yaw rate (i.e., the predicted vehicle attitude control amount), the vehicle attitude control amount and the predicted vehicle attitude control amount can be used to determine the vehicle attitude control compensation amount. Specifically, the yaw rate deviation r between the first yaw rate and the second yaw rate can be determined first; then, based on the preset two-degree-of-freedom vehicle model state equation after applying the yaw moment, the yaw moment corresponding to the yaw rate deviation is determined, and the yaw moment is determined as the vehicle attitude control compensation.

[0046] Specifically, the state equation can be expressed as follows:

[0047] Among them, a y is the lateral acceleration; β is the sideslip angle of the center of mass; δ is the requested value of the steering wheel angle; C and D are the coefficient matrices of the state equation.

[0048] Step 103: Control the steering wheel angle of the vehicle based on the lateral control amount, and apply braking force to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel along the vehicle trajectory where the preview point is located.

[0049] In this step, the steering wheel angle of the vehicle can be controlled based on the lateral control amount. After the steering wheel angle is controlled according to the lateral control amount, the corresponding vehicle posture control will not meet expectations. Therefore, in this step, braking force can be applied to the vehicle's wheels based on the vehicle posture control compensation amount.

[0050] Specifically, the target wheel may be determined first according to the magnitude of the first yaw angular velocity and the second yaw angular velocity; then the target braking force corresponding to the vehicle posture control compensation amount may be determined according to a preset braking force algorithm, and the target braking force may be applied to the target wheel.

[0051] It should be noted that if the first yaw angular velocity is less than the second yaw angular velocity, it means that the vehicle needs to increase the oversteering tendency. At this time, the inner wheel in the steering direction can be determined as the target wheel, and the oversteering tendency can be increased by applying braking force to the inner wheel in the steering direction.

[0052] If the first yaw angular velocity is greater than the second yaw angular velocity, it means that the vehicle needs to increase the understeering tendency. At this time, the outer wheel in the steering direction can be determined as the target wheel, and braking force can be applied to the outer wheel in the steering direction to increase the understeering tendency.

[0053] Of course, this step also involves the situation where the first yaw angular velocity is equal to the second yaw angular velocity. At this time, the lateral torque obtained above is 0. No matter which wheel is set as the target wheel, it will not have any effect, and the result is that no braking is applied.

[0054] In addition, the braking force can be determined by the following formula:

[0055]

[0056] Among them, ΔM is the yaw moment required for compensation, d is the wheel track on the left and right sides, and ΔF x is the target wheel longitudinal braking force.

[0057] In this embodiment, the trajectory parameters of the current point and the preview point of the vehicle are obtained respectively, and the lateral control amount and the vehicle posture control amount required for the vehicle to move from the current point to the preview point are determined based on the trajectory parameters; then the vehicle posture control compensation amount is determined based on the lateral control amount and the vehicle posture control amount; then the steering wheel angle of the vehicle is controlled based on the lateral control amount, and the braking force is applied to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located. Based on this, this embodiment can compensate for the deviation of the vehicle posture caused by controlling the steering wheel angle of the vehicle according to the lateral control amount by applying the braking force to the wheels of the vehicle. At the same time, the accuracy of lateral control and vehicle posture control is taken into account.

[0058] Embodiment 2

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

[0060] The acquisition module is used to respectively acquire the trajectory parameters of the vehicle's current point and the preview point, and determine the lateral control amount and vehicle posture control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters;

[0061] A determination module, used to determine a vehicle posture control compensation amount based on a lateral control amount and a vehicle posture control amount;

[0062] The control module is used to control the steering wheel angle of the vehicle based on the lateral control amount, and apply braking force to the wheels of the vehicle based on the vehicle posture control compensation amount, so as to control the vehicle to travel according to the vehicle trajectory where the preview point is located.

[0063] In this embodiment, the trajectory parameters of the current point and the preview point of the vehicle are obtained respectively, and the lateral control amount and the vehicle posture control amount required for the vehicle to move from the current point to the preview point are determined based on the trajectory parameters; then the vehicle posture control compensation amount is determined based on the lateral control amount and the vehicle posture control amount; then the steering wheel angle of the vehicle is controlled based on the lateral control amount, and the braking force is applied to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located. Based on this, this embodiment can compensate for the deviation of the vehicle posture caused by controlling the steering wheel angle of the vehicle according to the lateral control amount by applying the braking force to the wheels of the vehicle. At the same time, the accuracy of lateral control and vehicle posture control is taken into account.

[0064] Furthermore, the trajectory parameters include a lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, a current attitude angle of the current point in the earth coordinate system, and a preview attitude angle of the preview point;

[0065] The acquisition modules include:

[0066] A lateral acceleration determination unit, used to determine the lateral acceleration of the vehicle reaching the preview point in a unit time based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system;

[0067] A lateral control amount determination unit is used to input the lateral acceleration into a pre-established transfer function between the lateral acceleration and the lateral control amount to obtain the lateral control amount;

[0068] The vehicle attitude control amount determination unit is used to determine the vehicle attitude control amount required for the vehicle to reach the preview point within a unit time according to the current attitude angle and the preview attitude angle.

[0069] Furthermore, the lateral control variable is a steering wheel angle request value, and the vehicle posture control variable is a first yaw angular velocity.

[0070] Furthermore, the determination module includes:

[0071] A predicted vehicle posture control amount determination unit, used to determine a predicted vehicle posture control amount corresponding to the lateral control amount according to the lateral control amount and a pre-constructed transfer function between the lateral control amount and the vehicle posture control amount;

[0072] The vehicle posture control compensation amount determining unit is used to determine the vehicle posture control compensation amount by using the vehicle posture control amount and the predicted vehicle posture control amount.

[0073] Further, the vehicle posture control amount is a first yaw angular velocity, and the predicted vehicle posture control amount is a second yaw angular velocity;

[0074] The vehicle posture control compensation amount determination unit includes:

[0075] a deviation subunit, configured to determine a yaw rate deviation between the first yaw rate and the second yaw rate;

[0076] The compensation determination subunit is used to determine the yaw moment corresponding to the yaw angular velocity deviation based on a preset two-degree-of-freedom vehicle model state equation after applying the yaw moment, and determine the yaw moment as the vehicle posture control compensation.

[0077] Furthermore, the control module includes:

[0078] a target wheel determination unit, configured to determine the target wheel according to the magnitudes of the first yaw angular velocity and the second yaw angular velocity;

[0079] The applying unit is used to determine the target braking force corresponding to the vehicle posture control compensation amount according to a preset braking force algorithm, and apply the target braking force to the target wheel.

[0080] Further, the target wheel determination unit includes:

[0081] a first determining subunit, configured to determine the inner wheel in the steering direction as the target wheel if the first yaw angular velocity is less than the second yaw angular velocity;

[0082] The second determining subunit is configured to determine the outer wheel in the steering direction as the target wheel if the first yaw angular velocity is greater than the second yaw angular velocity.

[0083] Embodiment 3

[0084] Figure 4 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present application is shown in FIG. Figure 4 As shown, the electronic device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processor 410 in the electronic device can be one or more. Figure 4A processor 410 is taken as an example; the processor 410, the memory 420, the input device 430 and the output device 440 in the electronic device can be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0085] The memory 420, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the vehicle trajectory tracking control method in the embodiment of the present application (for example, the acquisition module 301, the determination module 302, and the control module 303 in the vehicle trajectory tracking control device). The processor 410 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 420, that is, realizing the above-mentioned vehicle trajectory tracking control method.

[0086] That is, the trajectory parameters of the current point and the preview point of the vehicle are obtained respectively, and the lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point are determined based on the trajectory parameters;

[0087] Determining a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount;

[0088] The steering wheel angle of the vehicle is controlled based on the lateral control amount, and braking force is applied to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located.

[0089] Furthermore, the trajectory parameters include a lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, a current attitude angle of the current point in the earth coordinate system, and a preview attitude angle of the preview point;

[0090] The lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point are determined based on the trajectory parameters, including:

[0091] Determine the lateral acceleration of the vehicle reaching the preview point per unit time based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system;

[0092] The lateral acceleration is input into a transfer function between the lateral acceleration and the lateral control amount established in advance to obtain the lateral control amount;

[0093] According to the current attitude angle and the preview attitude angle, the vehicle attitude control amount required for the vehicle to reach the preview point per unit time is determined.

[0094] Furthermore, the lateral control variable is a steering wheel angle request value, and the vehicle posture control variable is a first yaw angular velocity.

[0095] Further, determining the vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount includes:

[0096] Determining a predicted vehicle posture control amount corresponding to the lateral control amount according to the lateral control amount and a pre-constructed transfer function between the lateral control amount and the vehicle posture control amount;

[0097] The vehicle posture control compensation amount is determined using the vehicle posture control amount and the predicted vehicle posture control amount.

[0098] Further, the vehicle posture control amount is a first yaw angular velocity, and the predicted vehicle posture control amount is a second yaw angular velocity;

[0099] The vehicle posture control amount and the predicted vehicle posture control amount are used to determine the vehicle posture control compensation amount, including:

[0100] determining a yaw rate deviation between the first yaw rate and the second yaw rate;

[0101] Based on the preset two-degree-of-freedom vehicle model state equation after applying the yaw moment, the yaw moment corresponding to the yaw angular velocity deviation is determined, and the yaw moment is determined as the vehicle posture control compensation amount.

[0102] Further, applying braking force to the wheels of the vehicle based on the vehicle posture control compensation amount includes:

[0103] determining a target wheel according to the magnitude of the first yaw angular velocity and the second yaw angular velocity;

[0104] The target braking force corresponding to the vehicle posture control compensation amount is determined according to a preset braking force algorithm, and the target braking force is applied to the target wheel.

[0105] Further, determining the target wheel according to the magnitude of the first yaw angular velocity and the second yaw angular velocity includes:

[0106] If the first yaw angular velocity is less than the second yaw angular velocity, determining the inner wheel in the steering direction as the target wheel;

[0107] If the first yaw angular velocity is greater than the second yaw angular velocity, the outer wheel in the steering direction is determined as the target wheel.

[0108] The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 420 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 420 may further include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the electronic device 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.

[0109] The input device 430 may be used to receive input power construction drawings and generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include display devices such as display screens.

[0110] Embodiment 4

[0111] Embodiment 4 of the present application further provides a storage medium containing computer executable instructions, and when the computer executable instructions are executed by a computer processor, they are used to execute a vehicle trajectory tracking control method, the method comprising:

[0112] Obtaining trajectory parameters of the vehicle's current point and preview point respectively, and determining the lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters;

[0113] Determining a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount;

[0114] The steering wheel angle of the vehicle is controlled based on the lateral control amount, and braking force is applied to the wheels of the vehicle based on the vehicle posture control compensation amount to control the vehicle to travel according to the vehicle trajectory where the preview point is located.

[0115] Furthermore, the trajectory parameters include a lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, a current attitude angle of the current point in the earth coordinate system, and a preview attitude angle of the preview point;

[0116] The lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point are determined based on the trajectory parameters, including:

[0117] Determine the lateral acceleration of the vehicle reaching the preview point per unit time based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system;

[0118] The lateral acceleration is input into a transfer function between the lateral acceleration and the lateral control amount established in advance to obtain the lateral control amount;

[0119] According to the current attitude angle and the preview attitude angle, the vehicle attitude control amount required for the vehicle to reach the preview point per unit time is determined.

[0120] Furthermore, the lateral control variable is a steering wheel angle request value, and the vehicle posture control variable is a first yaw angular velocity.

[0121] Further, determining the vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount includes:

[0122] Determining a predicted vehicle posture control amount corresponding to the lateral control amount according to the lateral control amount and a pre-constructed transfer function between the lateral control amount and the vehicle posture control amount;

[0123] The vehicle posture control compensation amount is determined using the vehicle posture control amount and the predicted vehicle posture control amount.

[0124] Further, the vehicle posture control amount is a first yaw angular velocity, and the predicted vehicle posture control amount is a second yaw angular velocity;

[0125] The vehicle posture control amount and the predicted vehicle posture control amount are used to determine the vehicle posture control compensation amount, including:

[0126] determining a yaw rate deviation between the first yaw rate and the second yaw rate;

[0127] Based on the preset two-degree-of-freedom vehicle model state equation after applying the yaw moment, the yaw moment corresponding to the yaw angular velocity deviation is determined, and the yaw moment is determined as the vehicle posture control compensation amount.

[0128] Further, applying braking force to the wheels of the vehicle based on the vehicle posture control compensation amount includes:

[0129] determining a target wheel according to the magnitude of the first yaw angular velocity and the second yaw angular velocity;

[0130] The target braking force corresponding to the vehicle posture control compensation amount is determined according to a preset braking force algorithm, and the target braking force is applied to the target wheel.

[0131] Further, determining the target wheel according to the magnitude of the first yaw angular velocity and the second yaw angular velocity includes:

[0132] If the first yaw angular velocity is less than the second yaw angular velocity, determining the inner wheel in the steering direction as the target wheel;

[0133] If the first yaw angular velocity is greater than the second yaw angular velocity, the outer wheel in the steering direction is determined as the target wheel.

[0134] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above method operations, can also execute related operations in the vehicle trajectory tracking control method provided in any embodiment of the present application.

[0135] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present application 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 application can be 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 computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0136] It is worth noting that in the embodiment of the above-mentioned search 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 this application.

[0137] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments 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 application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A vehicle trajectory tracking control method, characterized in that: The method comprises: Acquire trajectory parameters of the current point and the preview point of the vehicle respectively, and determine the lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters; wherein the trajectory parameters include the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, the current attitude angle of the current point in the geodetic coordinate system, and the preview attitude angle of the preview point; determining a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount; Controlling the steering wheel angle of the vehicle based on the lateral control amount, and applying braking force to the wheels of the vehicle based on the vehicle posture control compensation amount, so as to control the vehicle to travel according to the vehicle trajectory where the preview point is located; Wherein, the determining of the lateral control amount and vehicle posture control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters includes: Determine the lateral acceleration of the vehicle reaching the preview point per unit time based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system; Inputting the lateral acceleration into a pre-established transfer function between the lateral acceleration and the lateral control amount to obtain the lateral control amount; The vehicle attitude control amount required for the vehicle to reach the preview point within a unit time is determined according to the current attitude angle and the preview attitude angle.

2. The method according to claim 1, characterized in that The lateral control variable is a steering wheel angle request value, and the vehicle posture control variable is a first yaw angular velocity.

3. The method according to claim 1, characterized in that The determining of the vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount comprises: Determining a predicted vehicle posture control amount corresponding to the lateral control amount according to the lateral control amount and a pre-constructed transfer function between the lateral control amount and the vehicle posture control amount; A vehicle posture control compensation amount is determined using the vehicle posture control amount and the predicted vehicle posture control amount.

4. The method according to claim 3, characterized in that The vehicle posture control amount is a first yaw rate, and the predicted vehicle posture control amount is a second yaw rate; The determining of the vehicle posture control compensation amount by using the vehicle posture control amount and the predicted vehicle posture control amount includes: determining a yaw rate deviation between the first yaw rate and the second yaw rate; Based on a preset two-degree-of-freedom vehicle model state equation after applying a yaw moment, a yaw moment corresponding to the yaw angular velocity deviation is determined, and the yaw moment is determined as a vehicle posture control compensation amount.

5. The method according to claim 4, characterized in that The applying a braking force to the wheels of the vehicle based on the vehicle posture control compensation amount includes: determining a target wheel according to the magnitudes of the first yaw angular velocity and the second yaw angular velocity; A target braking force corresponding to the vehicle posture control compensation amount is determined according to a preset braking force algorithm, and the target braking force is applied to the target wheel.

6. The method according to claim 5, characterized in that The determining the target wheel according to the magnitudes of the first yaw angular velocity and the second yaw angular velocity includes: If the first yaw angular velocity is less than the second yaw angular velocity, determining the inner wheel in the steering direction as the target wheel; If the first yaw angular velocity is greater than the second yaw angular velocity, the outer wheel in the steering direction is determined as the target wheel.

7. A vehicle trajectory tracking control device, characterized in that: The device comprises: An acquisition module is used to respectively acquire trajectory parameters of the current point and the preview point of the vehicle, and determine the lateral control amount and vehicle attitude control amount required for the vehicle to move from the current point to the preview point based on the trajectory parameters; wherein the trajectory parameters include the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system, the current attitude angle of the current point in the geodetic coordinate system, and the preview attitude angle of the preview point; A determination module, configured to determine a vehicle posture control compensation amount based on the lateral control amount and the vehicle posture control amount; A control module, configured to control a steering wheel angle of the vehicle based on the lateral control amount, and apply a braking force to the wheels of the vehicle based on the vehicle posture control compensation amount, so as to control the vehicle to travel according to the vehicle trajectory where the preview point is located; The acquisition module includes: A lateral acceleration determination unit, used to determine the lateral acceleration of the vehicle reaching the preview point in a unit time based on the lateral distance difference between the current point and the preview point in the vehicle reference coordinate system; A lateral control amount determination unit is used to input the lateral acceleration into a pre-established transfer function between the lateral acceleration and the lateral control amount to obtain the lateral control amount; The vehicle attitude control amount determination unit is used to determine the vehicle attitude control amount required for the vehicle to reach the preview point within a unit time according to the current attitude angle and the preview attitude angle.

8. 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 trajectory tracking control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle trajectory tracking control method as described in any one of claims 1-6 is implemented.

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