Vehicle lateral control method, system and vehicle

Abstract

The present invention relates to the field of vehicle control technology and provides a vehicle lateral control method, system, and vehicle. The method comprises: obtaining a real-time lateral position deviation and a real-time lateral direction deviation of the vehicle; determining a lateral direction deviation compensation value for the vehicle based on the real-time lateral position deviation and a preset desired lateral position deviation; determining a lateral control amount for the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; and performing lateral control of the vehicle based on the lateral control amount. The cascade control method achieves lateral control of the vehicle, enhancing the interference resistance and stability of the control process and resolving the prior art issue of high reliance on high-performance computing resources for implementing vehicle lateral control using intelligent control algorithms.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle lateral control method, system and vehicle. Background Art

[0002] With the continuous development of intelligent driving technology, the intelligence level of vehicles is becoming higher and higher, and the issue of vehicle driving safety is becoming increasingly prominent. The lateral control accuracy of the vehicle is one of the important factors affecting vehicle driving safety.

[0003] Existing vehicle lateral control methods often utilize intelligent control algorithms, such as MPC (Model Predictive Control) and LQR (Linear Quadratic Regulator). However, these algorithms are complex, computationally demanding, and time-consuming, requiring high-performance hardware. Consequently, these algorithms are difficult to apply to vehicle control applications where computing resources are limited and rapid dynamic adjustments are required. Summary of the Invention

[0004] The present invention provides a vehicle lateral control method, system and vehicle, which are used to solve the problem in the prior art that intelligent control algorithms have a high dependence on high-performance computing resources when implementing vehicle lateral control, and ensure the vehicle lateral control accuracy and driving stability with the smallest possible computing cost.

[0005] In a first aspect, the present invention provides a vehicle lateral control method, the method comprising:

[0006] Obtain the real-time lateral position deviation and real-time lateral direction deviation of the vehicle;

[0007] Determining a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0008] determining a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0009] The vehicle is laterally controlled based on the lateral control amount.

[0010] According to the vehicle lateral control method provided by the present invention, obtaining the real-time lateral direction deviation of the vehicle includes:

[0011] Obtaining the angle between the center line of the vehicle and the tangent direction of the target trajectory point and the real-time speed of the vehicle;

[0012] Based on the included angle and the real-time vehicle speed, a real-time lateral speed of the vehicle is determined, and the real-time lateral speed is used as the real-time lateral direction deviation.

[0013] According to the vehicle lateral control method provided by the present invention, obtaining the real-time lateral direction deviation of the vehicle includes:

[0014] An angle between the center line of the vehicle and a tangent direction of the target trajectory point is obtained, and the angle is used as the real-time lateral direction deviation.

[0015] According to the vehicle lateral control method provided by the present invention, determining the lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation includes:

[0016] determining a lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0017] Based on the lateral acceleration compensation value, a wheel angle compensation value of the vehicle is determined, and the wheel angle compensation value is used as the lateral control amount.

[0018] According to the vehicle lateral control method provided by the present invention, determining the wheel angle compensation value of the vehicle based on the lateral acceleration compensation value includes:

[0019] Based on the wheelbase of the vehicle, the real-time vehicle speed, and the angle between the center line of the vehicle and the tangent direction of the trajectory where the target trajectory point is located, the lateral acceleration compensation value is nonlinearly transformed to obtain the wheel angle compensation value.

[0020] According to the vehicle lateral control method provided by the present invention, determining the vehicle lateral acceleration compensation value based on the lateral direction deviation compensation value and the real-time lateral direction deviation includes:

[0021] determining a theoretical lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0022] A safety limit is performed on the theoretical lateral acceleration compensation value to obtain the lateral acceleration compensation value.

[0023] According to the vehicle lateral control method provided by the present invention, determining the lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and the preset expected lateral position deviation includes:

[0024] Determining a theoretical compensation value for a lateral direction deviation of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0025] The lateral direction deviation theoretical compensation value is safely limited to obtain the lateral direction deviation compensation value.

[0026] According to the vehicle lateral control method provided by the present invention, the lateral control of the vehicle based on the lateral control amount includes:

[0027] determining a steering wheel angle compensation value of the vehicle based on the lateral control amount;

[0028] The vehicle is laterally controlled based on the steering wheel angle compensation value.

[0029] In a second aspect, the present invention further provides a vehicle lateral control system, the system comprising:

[0030] An acquisition module, used to acquire the real-time lateral position deviation and real-time lateral direction deviation of the vehicle;

[0031] a first processing module, configured to determine a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0032] a second processing module, configured to determine a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0033] A control module is used to perform lateral control on the vehicle based on the lateral control amount.

[0034] In a third aspect, the present invention further provides a vehicle, which uses any one of the above-mentioned vehicle lateral control methods or includes the above-mentioned vehicle lateral control system.

[0035] The vehicle lateral control method, system, and vehicle provided by the present invention determine a lateral deviation compensation value for the vehicle based on a real-time lateral position deviation and a preset desired lateral position deviation. Based on the lateral deviation compensation value and the real-time lateral deviation, the vehicle's lateral control amount is determined, thereby performing lateral control of the vehicle. The present invention utilizes two types of negative feedback control: lateral position deviation and lateral direction deviation. This method implements lateral control of the vehicle through a cascade control approach, enhancing the control process's anti-interference and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 1 is a flow chart of a vehicle lateral control method provided by the present invention;

[0038] Figure 2 is a state diagram of a vehicle model in an embodiment of the present invention;

[0039] Figure 3 This is one of the schematic diagrams of the implementation principle of the vehicle lateral control method in an embodiment of the present invention;

[0040] Figure 4 This is the second schematic diagram of the implementation principle of the vehicle lateral control method in an embodiment of the present invention;

[0041] Figure 5 This is the third schematic diagram of the implementation principle of the vehicle lateral control method in an embodiment of the present invention;

[0042] Figure 6 It is a structural schematic diagram of the vehicle lateral control system provided by the present invention;

[0043] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0045] The following combination Figures 1 to 6 The present invention describes a vehicle lateral control method, system and vehicle provided by embodiments of the present invention.

[0046] Figure 1 A vehicle lateral control method provided by an embodiment of the present invention is shown, and the method includes:

[0047] Step 101: Obtaining the real-time lateral position deviation and real-time lateral direction deviation of the vehicle;

[0048] In this embodiment, the real-time lateral position deviation mainly refers to the vertical distance from the midpoint of the centerline connecting the two rear wheels of the vehicle to the tangent direction of the target trajectory point obtained in real time. The real-time lateral direction deviation can be the angle between the real-time vehicle centerline and the tangent direction of the target trajectory point, or it can be the real-time lateral speed deviation.

[0049] The target trajectory point mentioned in this embodiment refers to the trajectory point on the pre-planned route that is closest to the vehicle's current position. If the vehicle has no lateral deviation, the vertical distance from the midpoint of the line connecting the center points of the vehicle's two rear wheels to the target trajectory point in the direction of the trajectory tangent should be zero. Simultaneously, the vehicle's lateral velocity and lateral acceleration should also be zero.

[0050] It can be understood that the lateral deviation mentioned above may include lateral position deviation, lateral speed deviation and lateral acceleration deviation.

[0051] Step 102: Determine a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0052] In this embodiment, a lateral deviation compensation value can be obtained by a lateral position controller. The lateral position controller can be implemented using a controller capable of feedback control, such as a PID controller, a PI controller, a PD controller, or a P controller, or a combination thereof. A desired lateral position deviation is used as a given value for the lateral position controller, and a real-time lateral position deviation is used as a feedback value for the lateral position controller. Both are input into the lateral position controller, which then outputs a lateral deviation compensation value for the vehicle. Typically, the preset desired lateral position deviation is zero or can be a deviation threshold or deviation threshold range set based on control accuracy.

[0053] In this embodiment, the lateral deviation compensation value primarily refers to the compensation amount used to bring the current real-time lateral deviation closer to the desired lateral deviation. Accordingly, the lateral deviation compensation value can be an angle compensation value used to adjust the angle between the vehicle centerline and the tangent line of the target trajectory point. The lateral deviation compensation value can also be a lateral velocity compensation value.

[0054] Step 103: determining a lateral control amount of the vehicle based on the lateral deviation compensation value and the real-time lateral deviation;

[0055] In this embodiment, the lateral control amount of the vehicle can be obtained through the lateral direction controller. The lateral direction controller can be a lateral speed controller or a lateral angle controller, both of which can be implemented by a controller that can implement feedback control. For example, one or a combination of PID controller, PI controller, PD controller and P controller can be used. The lateral direction deviation compensation value is used as the given value of the lateral direction controller, and the real-time lateral direction deviation is used as the feedback value of the lateral direction controller, both of which are input into the lateral direction controller, and then the lateral control amount of the vehicle can be directly or indirectly determined based on the output of the lateral direction controller.

[0056] It should be noted that, in this embodiment, a lateral position controller and a lateral direction controller are provided, and the two are connected in series, thereby achieving the purpose of performing accurate and stable lateral control of the vehicle through a cascade control method.

[0057] In this embodiment, the lateral control variable refers to a control variable that can control vehicle steering, including a vehicle lateral acceleration compensation value or a wheel angle compensation value. The lateral acceleration compensation value can be converted into a wheel angle compensation value using a conversion formula. In this embodiment, the lateral control variable primarily refers to the wheel angle compensation value.

[0058] Step 104: Perform lateral control on the vehicle based on the lateral control amount.

[0059] Based on the lateral control amount, the vehicle steering can be controlled to make the lateral deviation tend to zero. In actual application, the lateral control amount can be input into the vehicle's steer-by-wire system. The steer-by-wire system controls the steering wheel angle according to the wheel angle compensation value, further controls the vehicle steering, and thus achieves lateral control.

[0060] like Figure 2 As shown, in this embodiment, the vehicle can be simplified into a two-wheeled bicycle model. The wheelbase of the vehicle is L. A coordinate system is established with the tangent direction n of the target trajectory point m as the X-axis and the direction perpendicular to the X-axis as the Y-axis. The vertical distance from the midpoint of the centerline connecting the two rear wheels of the vehicle to the tangent direction of the target trajectory point, that is, the real-time lateral position deviation, is e c , the angle between the vehicle centerline and the X-axis is ψ, the wheel angle is δ, and assuming the driving speed remains basically unchanged, the following relationship exists:

[0061]

[0062] Where y is the lateral position deviation, is the lateral velocity, is the lateral acceleration, v is the real-time vehicle speed, L is the vehicle wheelbase, ψ is the angle between the vehicle centerline and the X-axis, and δ is the wheel angle.

[0063] Taking an unmanned vehicle as an example, the goal of the vehicle's lateral control is to achieve zero lateral position deviation, while also achieving zero lateral velocity and lateral acceleration. Since the rate of change of position is velocity, and the rate of change of velocity is acceleration, this embodiment uses a method of connecting controllers in series to achieve simultaneous zero position, velocity, and acceleration control.

[0064] In an exemplary embodiment, obtaining the real-time lateral deviation of the vehicle may specifically include:

[0065] Obtain the angle between the center line of the vehicle and the tangent direction of the target trajectory point, as well as the real-time speed of the vehicle;

[0066] Based on the included angle and the real-time vehicle speed, the real-time lateral speed of the vehicle is determined, and the real-time lateral speed is used as the real-time lateral direction deviation.

[0067] That is to say, in this embodiment, the real-time lateral direction deviation may be the real-time lateral speed, and correspondingly, the lateral direction deviation compensation value is the lateral speed compensation value.

[0068] In an exemplary embodiment, obtaining a real-time lateral deviation of a vehicle includes:

[0069] The angle between the center line of the vehicle and the tangent direction of the target trajectory point is obtained, and the above angle is used as the real-time lateral direction deviation.

[0070] That is to say, in this embodiment, the real-time lateral direction deviation can be the angle between the vehicle centerline and the trajectory tangent direction of the target trajectory point. Correspondingly, the lateral direction deviation compensation value is the compensation value of the angle between the vehicle centerline and the trajectory tangent direction of the target trajectory point.

[0071] In an exemplary embodiment, determining the lateral control amount of the vehicle based on the lateral deviation compensation value and the real-time lateral deviation may specifically include:

[0072] determining a lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0073] Based on the lateral acceleration compensation value, the wheel angle compensation value of the vehicle is determined, and the wheel angle compensation value is used as the lateral control amount.

[0074] This embodiment is a solution for indirectly determining the lateral control amount through the output of the lateral direction controller. After the lateral direction deviation compensation value and the real-time lateral direction deviation are input into the lateral direction controller, the vehicle's lateral acceleration compensation value can be directly output. The vehicle's wheel angle compensation value is then determined based on the lateral acceleration compensation value, thereby obtaining the lateral control amount.

[0075] On the basis of the above embodiment, determining the wheel angle compensation value of the vehicle based on the lateral acceleration compensation value may specifically include:

[0076] Get the vehicle's wheelbase and real-time speed;

[0077] Based on the vehicle's wheelbase, real-time speed, and the angle between the vehicle's centerline and the tangent direction of the target trajectory point, the lateral acceleration compensation value is nonlinearly transformed to obtain the wheel angle compensation value.

[0078] Specifically, based on the third formula in the above formula (1), the formula for the above nonlinear transformation can be determined as follows:

[0079]

[0080] Among them, δ * is the wheel angle compensation value, is the lateral acceleration compensation value, v is the real-time vehicle speed, L is the vehicle wheelbase, and ψ is the angle between the vehicle centerline and the tangent direction of the target trajectory point.

[0081] In an exemplary embodiment, determining a lateral acceleration compensation value of the vehicle based on the lateral deviation compensation value and the real-time lateral deviation may specifically include:

[0082] Determining a theoretical lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0083] The lateral acceleration compensation value is safely limited to obtain the lateral acceleration compensation value.

[0084] To ensure the safety of the vehicle's lateral control process, the output of the lateral controller can be safely limited. Specifically, a safety threshold range for the lateral acceleration compensation value can be pre-set, and the theoretical lateral acceleration compensation value output by the lateral controller can be compared with this safety threshold range. If the theoretical lateral acceleration compensation value exceeds the upper or lower limit of the safety threshold range, the upper or lower limit is used as the lateral acceleration compensation value, thereby limiting the lateral acceleration compensation value to within the safety threshold range.

[0085] In an exemplary embodiment, determining a lateral direction deviation compensation value of a vehicle based on the real-time lateral position deviation and a preset desired lateral position deviation may specifically include:

[0086] Determining a theoretical compensation value for a lateral direction deviation of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0087] The lateral direction deviation compensation value is safely limited to obtain the lateral direction deviation compensation value.

[0088] Similar to the lateral acceleration safety limiting process described above, lateral deviation can also be safely limited. Specifically, a safety threshold range for lateral deviation compensation can be pre-set. The theoretical lateral deviation compensation value output by the lateral position controller is then compared with this safety threshold range. If the theoretical lateral deviation compensation value exceeds the upper or lower limit of the safety threshold range, the upper or lower limit is used as the lateral deviation compensation value. This limits the lateral deviation compensation value to within the safety threshold range, further ensuring the safety of the vehicle's lateral control process.

[0089] During the exemplary application process, the upper and lower limits for the above-mentioned safety limit can be reasonably set according to the actual driving conditions and the actual vehicle speed. The upper and lower limits for the safety limit under different driving conditions and different vehicle speeds can be calibrated in advance, so as to determine the corresponding upper limit according to the actually perceived driving conditions and vehicle speed, thereby ensuring that the safety limit process is more in line with the actual application scenario requirements and is safer.

[0090] In an exemplary embodiment, performing lateral control of a vehicle based on a lateral control amount includes:

[0091] Determine the steering wheel angle compensation value of the vehicle based on the lateral control amount;

[0092] The vehicle is laterally controlled based on the steering wheel angle compensation value.

[0093] In this embodiment, the process of lateral control of the vehicle based on the lateral control amount can be completed in cooperation with the linear steering system. The steering wheel angle compensation value is determined by the lateral control amount, and then the vehicle steering is controlled by the steering wheel angle compensation value to achieve lateral control of the vehicle.

[0094] The implementation principle of the above vehicle lateral control method is described in detail below through multiple specific embodiments.

[0095] Example 1

[0096] See attached Figure 3 In this embodiment, the implementation principle of the above-mentioned vehicle lateral control method is explained by taking the real-time lateral direction deviation as the real-time lateral speed and the lateral control amount obtained by nonlinear transformation of the lateral acceleration compensation value as an example. In this embodiment, both the lateral position controller and the lateral speed controller adopt PID controllers.

[0097] First, the expected lateral position deviation 0 and the real-time lateral position deviation e c Input the lateral position controller, the lateral position controller outputs the lateral velocity theoretical compensation value, and after the speed is limited by the preset safety control strategy, the lateral velocity compensation value is obtained.

[0098] The lateral speed compensation value And the real-time lateral velocity v calculated by vsinψ c Input the lateral velocity controller, the lateral velocity controller outputs the lateral acceleration theoretical compensation value, and after the acceleration is limited by the preset safety control strategy, the lateral acceleration compensation value is obtained.

[0099] The lateral acceleration compensation value According to the above formula (2), a nonlinear transformation is performed to obtain the wheel angle compensation value δ *, and then through the wheel angle compensation value δ * Achieve lateral control of the vehicle.

[0100] Obtain the real-time lateral position deviation e corresponding to the vehicle after the above lateral control again c and real-time lateral velocity v c , thus completing the next round of lateral control process. The above process is repeated until the real-time lateral position deviation, real-time lateral velocity and lateral acceleration compensation values ​​are all zero, and the entire closed-loop control process ends.

[0101] Example 2

[0102] See attached Figure 4 In this embodiment, the implementation principle of the above-mentioned vehicle lateral control method is explained by taking the real-time lateral direction deviation as the angle between the vehicle centerline and the tangent direction of the target trajectory point, and the lateral control amount obtained by nonlinear transformation of the lateral acceleration compensation value as an example. In this embodiment, both the lateral position controller and the lateral angle controller adopt PID controllers.

[0103] First, the expected lateral position deviation 0 and the real-time lateral position deviation e c The lateral position controller is input, and the lateral position controller outputs the theoretical compensation value of the angle between the vehicle centerline and the tangent direction of the target trajectory point. After the angle is limited by the preset safety control strategy, the compensation value of the angle between the vehicle centerline and the tangent direction of the target trajectory point is obtained. * ;

[0104] The angle compensation value ψ between the vehicle centerline and the tangent direction of the target trajectory point is calculated * The real-time angle ψ between the vehicle centerline and the tangent direction of the target trajectory point is input into the lateral angle controller, and the lateral angle controller outputs the lateral acceleration theoretical compensation value. After the acceleration is limited by the preset safety control strategy, the lateral acceleration compensation value is obtained.

[0105] The lateral acceleration compensation value According to the above formula (2), a nonlinear transformation is performed to obtain the wheel angle compensation value δ * , and then through the wheel angle compensation value δ * Achieve lateral control of the vehicle.

[0106] Obtain the real-time lateral position deviation e corresponding to the vehicle after the above lateral control again cAs well as the real-time angle ψ between the vehicle centerline and the trajectory tangent direction of the target trajectory point, the next round of lateral control process is completed. The above process is repeated until the real-time lateral position deviation, the real-time angle between the vehicle centerline and the trajectory tangent direction of the target trajectory point, and the lateral acceleration compensation value are all zero, and the entire closed-loop control process ends.

[0107] In this embodiment, the inner loop uses a lateral angle controller to indirectly control the lateral speed of the vehicle by controlling the angle between the vehicle centerline and the tangent direction of the target trajectory point.

[0108] Example 3

[0109] See attached Figure 5 In this embodiment, the implementation principle of the above-mentioned vehicle lateral control method is explained by taking the real-time lateral direction deviation as the real-time lateral speed and the lateral control amount directly obtained without nonlinear transformation as an example. In this embodiment, both the lateral position controller and the lateral speed controller adopt PID controllers.

[0110] First, the expected lateral position deviation 0 and the real-time lateral position deviation e c Input the lateral position controller, the lateral position controller outputs the lateral velocity theoretical compensation value, and after the speed is limited by the preset safety control strategy, the lateral velocity compensation value is obtained.

[0111] The lateral speed compensation value And the real-time lateral velocity v calculated by vsinψ c Input the lateral speed controller, the lateral speed controller outputs the wheel angle theoretical compensation value, and after the wheel angle is limited by the preset safety control strategy, the wheel angle compensation value δ is obtained. * , and then through the wheel angle compensation value δ * Achieve lateral control of the vehicle.

[0112] Obtain the real-time lateral position deviation e corresponding to the vehicle after the above lateral control again c and real-time lateral velocity v c , thus completing the next round of lateral control process. The above process is repeated until the real-time lateral position deviation and the real-time lateral speed are both zero, and the entire closed-loop control process ends.

[0113] In this embodiment, the theoretical wheel angle is directly outputted by the lateral speed controller provided in the inner loop without performing a nonlinear transformation process. The process is relatively simpler and easier to implement.

[0114] The safety control strategy mentioned in the above embodiment refers to a pre-set safety limiting strategy for the theoretical compensation value of lateral velocity, the theoretical compensation value of lateral acceleration, the theoretical compensation value of the angle between the vehicle centerline and the tangent direction of the target trajectory point, and the theoretical compensation value of the wheel angle. The purpose is to limit the above theoretical data within the safety threshold range to ensure the safety of the vehicle's lateral control process.

[0115] It is not difficult to find that the vehicle lateral control method provided by the embodiment of the present invention realizes vehicle lateral control through cascade control by connecting the controller located in the outer loop in series with the controller located in the inner loop. The control process has low requirements on computing power, greatly reduces hardware costs, and has clear physical concepts. Compared with traditional MPC algorithms, LQR algorithms and other solutions, it is simpler and easier to implement. It can realize synchronous control of the vehicle's lateral position, speed and acceleration during unmanned driving, with higher trajectory tracking accuracy, and effectively improves the vehicle's lateral control accuracy and stability.

[0116] The vehicle lateral control system provided by the present invention is described below. The vehicle lateral control system described below and the vehicle lateral control method described above can refer to each other.

[0117] Figure 6 The vehicle lateral control system provided by an embodiment of the present invention is shown, and the system includes:

[0118] An acquisition module 601 is used to acquire the real-time lateral position deviation and real-time lateral direction deviation of the vehicle;

[0119] A first processing module 602 is configured to determine a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0120] A second processing module 603 is configured to determine a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0121] The control module 604 is configured to perform lateral control on the vehicle based on the lateral control amount.

[0122] In an exemplary embodiment, the acquisition module 601 may specifically acquire the real-time lateral deviation of the vehicle in the following manner:

[0123] Obtain the angle between the center line of the vehicle and the tangent direction of the target trajectory point, as well as the real-time speed of the vehicle;

[0124] Based on the angle and the real-time vehicle speed, the real-time lateral speed of the vehicle is determined, and the real-time lateral speed is used as the real-time lateral direction deviation.

[0125] In an exemplary embodiment, the acquisition module 601 may specifically acquire the real-time lateral deviation of the vehicle by:

[0126] The angle between the center line of the vehicle and the tangent direction of the target trajectory point is obtained, and the above angle is used as the real-time lateral direction deviation.

[0127] In an exemplary embodiment, the second processing module 603 may be specifically configured to:

[0128] determining a lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0129] Based on the lateral acceleration compensation value, the wheel angle compensation value of the vehicle is determined, and the wheel angle compensation value is used as the lateral control amount.

[0130] Furthermore, the second processing module 603 may determine the wheel angle compensation value of the vehicle based on the lateral acceleration compensation value in the following manner:

[0131] Get the vehicle's wheelbase and real-time speed;

[0132] Based on the vehicle's wheelbase, real-time speed, and the angle between the vehicle's centerline and the tangent direction of the target trajectory point, the lateral acceleration compensation value is nonlinearly transformed to obtain the wheel angle compensation value.

[0133] Furthermore, the second processing module 603 may determine the lateral acceleration compensation value of the vehicle based on the lateral deviation compensation value and the real-time lateral deviation in the following manner:

[0134] Determining a theoretical lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation;

[0135] The lateral acceleration compensation value is safely limited to obtain the lateral acceleration compensation value.

[0136] In an exemplary embodiment, the first processing module 602 may be specifically configured to:

[0137] Determining a theoretical compensation value for a lateral direction deviation of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation;

[0138] The lateral direction deviation compensation value is safely limited to obtain the lateral direction deviation compensation value.

[0139] In an exemplary embodiment, the control module 604 may be specifically configured to:

[0140] Determine the steering wheel angle compensation value of the vehicle based on the lateral control amount;

[0141] The vehicle is laterally controlled based on the steering wheel angle compensation value.

[0142] Thus, the vehicle lateral control system provided by the embodiments of the present invention can determine the vehicle's lateral direction deviation compensation value based on the real-time lateral position deviation and a preset desired lateral position deviation through a first processing module, and determine the vehicle's lateral control amount based on the lateral direction deviation compensation value and the real-time lateral direction deviation through a second processing module, thereby performing lateral control of the vehicle through a control module. The present invention employs two types of negative feedback control: vehicle lateral position deviation and lateral direction deviation. A lateral position controller and a lateral direction controller are provided, and the two controllers are connected in series, thereby achieving lateral control of the vehicle through cascade control, which simplifies the control process and increases reliability.

[0143] In addition, an embodiment of the present invention further provides a vehicle, which uses the above-mentioned vehicle lateral control method or includes the above-mentioned vehicle lateral control system.

[0144] It should be noted that the vehicle in this embodiment may be a vehicle with intelligent driving functions, such as an unmanned vehicle.

[0145] In this embodiment, the vehicle can achieve lateral control of the vehicle by using the above-mentioned vehicle lateral control method or including the above-mentioned vehicle lateral control system using a cascade control method, and the control process is simpler and more reliable.

[0146] Figure 7 An example of a physical structure diagram of an electronic device is shown below. Figure 7 As shown, the electronic device may include: a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other via the communication bus 704. The processor 701 may call logic instructions in the memory 703 to execute a vehicle lateral control method, which includes: obtaining a real-time lateral position deviation and a real-time lateral direction deviation of the vehicle; determining a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation; determining a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; and performing lateral control of the vehicle based on the lateral control amount.

[0147] In addition, the logic instructions in the above-mentioned memory 703 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0148] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the vehicle lateral control method provided by the above-mentioned embodiments, which method includes: obtaining the real-time lateral position deviation and real-time lateral direction deviation of the vehicle; determining the lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and the preset expected lateral position deviation; determining the lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; and performing laterally control of the vehicle based on the lateral control amount.

[0149] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the vehicle lateral control method provided in the above-mentioned embodiments, the method including: obtaining the real-time lateral position deviation and real-time lateral direction deviation of the vehicle; determining the lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and the preset expected lateral position deviation; determining the lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; and performing laterally control of the vehicle based on the lateral control amount.

[0150] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0151] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A vehicle lateral control method, characterized in that: include: Obtain the vehicle's real-time lateral position deviation and real-time lateral direction deviation; the real-time lateral position deviation refers to the vertical distance from the midpoint of the centerline connecting the vehicle's two rear wheels to the target trajectory point in the direction of the trajectory tangent, which is obtained in real time. The real-time lateral direction deviation is the angle between the vehicle's centerline and the target trajectory point in the direction of the trajectory tangent, which is obtained in real time. The target trajectory point refers to the trajectory point on the pre-planned trajectory route that is closest to the vehicle's current position; Determining a lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset desired lateral position deviation; the lateral direction deviation compensation value refers to a compensation amount for making the current real-time lateral direction deviation approach the desired lateral direction deviation; determining a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; performing lateral control of the vehicle based on the lateral control amount; The determining of the lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation includes: Determining a theoretical compensation value for a lateral direction deviation of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation; The lateral direction deviation theoretical compensation value is safely limited to obtain the lateral direction deviation compensation value.

2. The vehicle lateral control method according to claim 1, characterized in that: The obtaining of the real-time lateral deviation of the vehicle includes: Obtaining the angle between the center line of the vehicle and the tangent direction of the target trajectory point and the real-time speed of the vehicle; Based on the included angle and the real-time vehicle speed, a real-time lateral speed of the vehicle is determined, and the real-time lateral speed is used as the real-time lateral direction deviation.

3. The vehicle lateral control method according to claim 1, characterized in that: The obtaining of the real-time lateral deviation of the vehicle includes: An angle between the center line of the vehicle and a tangent direction of the track where the target track point is located is obtained, and the angle is used as the real-time lateral direction deviation.

4. The vehicle lateral control method according to claim 2 or 3, characterized in that: The determining of the lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation includes: determining a lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; Based on the lateral acceleration compensation value, a wheel angle compensation value of the vehicle is determined, and the wheel angle compensation value is used as the lateral control amount.

5. The vehicle lateral control method according to claim 4, characterized in that: Determining the wheel angle compensation value of the vehicle based on the lateral acceleration compensation value includes: Based on the wheelbase of the vehicle, the real-time vehicle speed, and the angle between the center line of the vehicle and the tangent direction of the trajectory where the target trajectory point is located, the lateral acceleration compensation value is nonlinearly transformed to obtain the wheel angle compensation value.

6. The vehicle lateral control method according to claim 4, characterized in that: The determining of the lateral acceleration compensation value of the vehicle based on the lateral deviation compensation value and the real-time lateral deviation includes: determining a theoretical lateral acceleration compensation value of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; A safety limit is performed on the theoretical lateral acceleration compensation value to obtain the lateral acceleration compensation value.

7. The vehicle lateral control method according to claim 1, characterized in that: The lateral control of the vehicle based on the lateral control amount includes: determining a steering wheel angle compensation value of the vehicle based on the lateral control amount; The vehicle is laterally controlled based on the steering wheel angle compensation value.

8. A vehicle lateral control system, characterized in that: include: An acquisition module is used to obtain the vehicle's real-time lateral position deviation and real-time lateral direction deviation; the real-time lateral position deviation refers to the vertical distance between the midpoint of the centerline connecting the two rear wheels of the vehicle and the tangent direction of the target trajectory point, which is obtained in real time. The real-time lateral direction deviation is the angle between the vehicle's centerline and the tangent direction of the target trajectory point, which is the trajectory point on the pre-planned trajectory route that is closest to the vehicle's current position; a first processing module configured to determine a lateral deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset desired lateral position deviation; the lateral deviation compensation value being a compensation amount for bringing the current real-time lateral deviation closer to the desired lateral deviation; a second processing module, configured to determine a lateral control amount of the vehicle based on the lateral direction deviation compensation value and the real-time lateral direction deviation; a control module, configured to perform lateral control on the vehicle based on the lateral control amount; The determining of the lateral direction deviation compensation value of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation includes: Determining a theoretical compensation value for a lateral direction deviation of the vehicle based on the real-time lateral position deviation and a preset expected lateral position deviation; The lateral direction deviation theoretical compensation value is safely limited to obtain the lateral direction deviation compensation value.

9. A vehicle, characterized in that: The vehicle uses the vehicle lateral control method according to any one of claims 1 to 7 or includes the vehicle lateral control system according to claim 8.

Images