Vehicle control method and device based on helical line road modeling, equipment and storage medium

Abstract

The present application relates to the technical field of automatic driving control, and discloses a vehicle control method and device based on spiral line road modeling, terminal equipment and computer readable storage medium, the method comprises the following steps: spiral line road modeling is carried out according to the lateral control parameter of vehicle;The parameter equation formula obtained by the spiral line road modeling is determined, and the continuous road information is obtained according to the parameter equation formula;The motion control information of the vehicle is determined according to the continuous road information. The spiral line road modeling can generate smooth curvature when splicing different curvature roads, ensure that the overall curvature and heading angle of the road are continuous and derivable, and effectively improve the stability of the lateral control performance of the vehicle through the optimization process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving control, and particularly relates to a vehicle control method and device based on spiral line road modeling, a terminal device and a computer readable storage medium. BACKGROUND

[0002] With the continuous development of high-tech technology and the continuous improvement of people's living standards, the development of the automobile industry is very rapid and has a very broad market prospect, and automatic driving control becomes the commanding point of the automobile industry, and users have higher requirements for the road information modeling of vehicles, that is, the stability of the lateral control performance of vehicles.

[0003] The existing road information modeling is mainly a polynomial fitting method, and a high-order function is obtained by a least square method (a cubic or quintic polynomial fitting is performed by a least square method, and generally a quintic polynomial fitting is performed). This method has great defects. When the road curvature is switched, such as from a straight road to a turning road, or from a turning road to a straight road, the road information such as the curvature is discontinuous, thereby affecting the reliability of the lateral control performance of the vehicle. When the curvature is discontinuous, the reference heading angle suddenly changes to give an incorrect target value, and the automatic control vehicle will appear to twist the posture to adjust the target posture that does not need to be adjusted. This situation is generally adjusted by filtering, and the better the filter effect, the slower the control response, which is not suitable for high-speed automatic driving.

[0004] In summary, the existing vehicle road information modeling method has the problems of complex operation process and discontinuous output curvature, which easily causes poor stability of the lateral control performance of the vehicle. SUMMARY

[0005] The main purpose of the present application is to provide a vehicle control method and device based on spiral line road modeling, a terminal device and a computer readable storage medium, which aims to realize the continuity of the curvature and further improve the stability of the lateral control performance of the vehicle.

[0006] To achieve the above purpose, the present application provides a vehicle control method based on spiral line road modeling, which comprises the following steps:

[0007] Performing spiral line road modeling according to the lateral control parameters of the vehicle;

[0008] Determining a parameter equation formula obtained by performing the spiral line road modeling, and obtaining continuous road information according to the parameter equation formula;

[0009] Determining the motion control information of the vehicle according to the continuous road information.

[0010] Optionally, the step of obtaining continuous road information according to the parametric equation formula comprises:

[0011] obtaining drivable boundaries of the vehicle based on the helical road modeling;

[0012] determining the continuous road information according to the drivable boundaries and the parametric equation formula.

[0013] Optionally, the step of obtaining drivable boundaries of the vehicle based on the helical road modeling comprises:

[0014] obtaining positioning information, high-definition map information and perception data of the vehicle;

[0015] determining the drivable boundaries by performing the helical road modeling on the positioning information, the high-definition map information and the perception data.

[0016] Optionally, the step of determining the continuous road information according to the drivable boundaries and the parametric equation formula comprises:

[0017] determining helical line generation data according to the drivable boundaries and the parametric equation formula;

[0018] determining the continuous road information corresponding to the helical line generation data.

[0019] Optionally, after the step of obtaining continuous road information according to the parametric equation formula, the method further comprises:

[0020] determining curvature data corresponding to the continuous road information, and determining motion control information of the vehicle according to the curvature data.

[0021] Optionally, the step of determining the motion control information of the vehicle according to the continuous road information comprises:

[0022] obtaining route planning information of the vehicle according to the continuous road information;

[0023] determining the motion control information of the vehicle according to the route planning information.

[0024] Optionally, the method further comprises:

[0025] obtaining a differential equation model of the vehicle and a compensation steering wheel angle;

[0026] obtaining a final differential equation model according to the differential equation model and the compensation steering wheel angle;

[0027] determining the lateral control parameter according to the final differential equation model.

[0028] In addition, to achieve the above object, the present application also provides a device for modeling a road based on a spiral line, which comprises:

[0029] a modeling module, configured to model a spiral line road according to a lateral control parameter of a vehicle;

[0030] a obtaining module, configured to obtain a parametric equation formula obtained by modeling the spiral line road, and to obtain continuous road information according to the parametric equation formula;

[0031] a determining module, configured to determine motion control information of the vehicle according to the continuous road information.

[0032] The various functional modules of the device for modeling a road based on a spiral line realize the steps of the vehicle control method based on spiral line road modeling of the present application as described above when in operation.

[0033] In addition, to achieve the above object, the present application also provides a terminal device, which comprises a memory, a processor, and a vehicle control program based on spiral line road modeling stored in the memory and executable on the processor, and the vehicle control program based on spiral line road modeling realizes the steps of the vehicle control method based on spiral line road modeling when executed by the processor.

[0034] In addition, to achieve the above object, the present application also provides a computer readable storage medium, which stores a vehicle control program based on spiral line road modeling, and the vehicle control program based on spiral line road modeling realizes the steps of the vehicle control method based on spiral line road modeling when executed by a processor.

[0035] The present application provides a method for modeling a road based on a spiral line, which first determines spiral line road modeling according to lateral control of a vehicle, and then generates smooth curvature according to the spiral line road modeling, i.e., outputs linear road information, so as to ensure that the overall curvature and heading angle of the road are continuous and derivable.

[0036] Different from the existing road information modeling method, the present application models a road by using spiral line modeling instead of polynomial fitting, effectively avoids the need for segmentation and fitting for roads with different curvatures, and avoids the phenomenon that the curvature and heading angle of the segmented road and the road change discontinuously, and the present application can meet the smoothness of the transition between different road connections, ensure the continuity of the curvature change and the heading angle, and further strengthen the reliability of control. The spiral line road modeling of the present application greatly optimizes the curvature process, and thus effectively improves the stability of the lateral control performance of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a flowchart of a first embodiment of the vehicle control method based on spiral line road modeling of the present application;

[0038] Figure 2 is a flowchart of a specific application of an embodiment of the vehicle control method based on spiral line road modeling of the present application;

[0039] Figure 3 is a spiral line graph involved in an embodiment of the vehicle control method based on spiral line road modeling of the present application;

[0040] Figure 4 is a schematic diagram of a device module based on spiral line road modeling of the present application;

[0041] Figure 5 is a structural schematic diagram of a terminal device involved in an embodiment of the present application;

[0042] Figure 6 is a structural schematic diagram of a computer readable storage medium involved in an embodiment of the present application.

[0043] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0044] An embodiment of the present application provides a vehicle control method based on spiral line road modeling, referring to Figure 1 , and Figure 1 is a flowchart of a first embodiment of the vehicle control method based on spiral line road modeling of the present application.

[0045] The exemplary embodiments will be described in detail below with reference to the accompanying drawings. Unless otherwise indicated, the same numbers on different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application.

[0046] In this embodiment, the vehicle control method based on spiral line road modeling of the present application is applied to a terminal device for spiral line road modeling of a vehicle to obtain vehicle motion control, and can be specifically executed by a control hub in the terminal device. The vehicle control method based on spiral line road modeling of the present application comprises:

[0047] Step S10: performing spiral line road modeling according to the lateral control parameter of the vehicle

[0048] In this embodiment, the control hub first performs the operation of establishing a spiral line road model, i.e. spiral line road modeling, according to the lateral control parameter of the vehicle.

[0049] It should be noted that the lateral control parameter can be interpreted by the principle of lateral control, which is to control the front wheel angle through the steering wheel of the vehicle to change the vehicle heading angle, thereby controlling the lateral displacement of the vehicle, i.e. mainly used for the control of the steering wheel of the vehicle. Lateral control can also be understood as controlling the left and right steering of the vehicle, for example, LDW (Lane Departure Warning System, also known as LDWS, Lane Departure Warning System), LKA (Lane Keeping Assist System, also known as LKAS, Lane Keeping Assist System), LKS (Lane keeping systems, Lane Keeping System) and the like mainly involve lateral control.

[0050] The spiral line road modeling can be understood as a conversion for roads with different curvatures, i.e. generating smooth curvatures according to road conditions, ensuring that the overall curvature and heading angle of the road are continuous and derivable.

[0051] In this embodiment, the curvature, heading angle and coordinate parameters output by the road modeling are used as inputs for automatic driving control, and the continuity and complexity of the parameters directly affect the robustness of the automatic control performance of the vehicle. Therefore, based on the spiral line road modeling, continuous road information is output for road conditions, which provides better protection for the stability of the vehicle automatic control system.

[0052] Step S20: determining the parameter equation formula obtained by performing the spiral line road modeling, and obtaining continuous road information according to the parameter equation formula;

[0053] In this embodiment, the control center obtains the parameter equation formula by performing spiral line road modeling, and then determines the continuous road information according to the parameter equation formula.

[0054] It should be noted that the parameter equation formula is based on the Fresnel integral (Fresnel integral) of arc length, which is a special function defined by integration. It is often written as S(x) and C(x) in the name of Augustin Fresnel. The parameter equation formula is shown in formula 1:

[0055]

[0056] Where a is a scalar, C and S are shown in formula 2:

[0057]

[0058] The continuous road information includes parameters such as curvature, heading angle and coordinates, and in the embodiment, can also be understood as smooth curvature, and the curvature of a curve is defined in mathematics as the rotation rate of the tangent direction angle of a point on the curve to the arc length, and is defined by differentiation, and indicates the degree to which the curve deviates from a straight line. The value in mathematics indicates the degree of bending of the curve at a point. The greater the curvature, the greater the degree of bending of the curve. The reciprocal of the curvature is the radius of curvature.

[0059] In the embodiment, the continuous road information, that is, the smooth curvature, is determined based on a parametric equation formula, so that the overall curvature and the overall heading angle of the road are continuous and derivable, and the reliability of the lateral control performance of the vehicle is greatly improved.

[0060] Step S30: determining the motion control information of the vehicle according to the continuous road information.

[0061] In the embodiment, referring to FIG. 1, Figure 2 Figure 2 FIG. 1 is a specific application flow diagram of an embodiment of the vehicle control method based on the helical line road modeling of the present application, and the control center determines the helical line corresponding to the continuous road information, plans the route of the vehicle according to the helical line, and finally determines the motion control information of the vehicle according to the route planning.

[0062] It should be noted that the route planning refers to running a vehicle along a given route, the motion control information can be understood as the trajectory of the vehicle moving along a given route, and the motion control information can also be understood as the process of stepping on the accelerator and turning the steering wheel. The linear velocity of the vehicle is related to the size of the accelerator, and the angular velocity of the vehicle is related to the angle of the steering wheel and the linear velocity.

[0063] In the embodiment, the vehicle obtains the route planning of the vehicle through the data provided by the helical line, and then determines the motion control information of the vehicle according to the route planning, so that the vehicle runs along a given route, and the lateral offset between the vehicle and the route is as small as possible, and the running speed is as fast as possible.

[0064] The present application provides a method for establishing a road model based on a helical line, which first determines the helical line road modeling according to the lateral control of the vehicle, and then generates smooth curvature according to the helical line road modeling, that is, outputs linear road information, to ensure that the overall curvature and the overall heading angle of the road are continuous and derivable.

[0065] ​Different from the existing road information modeling mode, the helix line modeling is used to replace the polynomial fitting for road modeling, the segmented fitting for different curvature roads is effectively avoided, and the segmented road and the discontinuous change of the curvature and the heading angle between the roads are avoided, the helix line road modeling can meet the smoothness of the transition between different road connections, ensure the continuity of the change of the curvature, the heading angle and other parameters, and further enhance the reliability of the control. The helix line road modeling greatly optimizes the curvature process, and further effectively improves the stability of the vehicle lateral control performance.

[0066] Further based on the first embodiment of the helix line road modeling of the present application, the second embodiment of the helix line road modeling of the present application is provided.

[0067] In the embodiment, the step S20 of obtaining the continuous road information according to the parameter equation formula can include:

[0068] The step S201 of obtaining the drivable boundary of the vehicle based on the helix line road modeling;

[0069] In the embodiment, the drivable boundary of the vehicle can be obtained by the control center according to a series of operation calculations of the helix line road modeling.

[0070] It should be noted that the drivable boundary can be understood as the positioning information, the high-precision map information and the perception data obtained by the controller of the vehicle, after the positioning information, the high-precision map information and the perception data are combined into a series of data forms in the helix line road model established by the control center, the position area information of the vehicle that can be driven is obtained through a series of operations.

[0071] The step S202 of determining the continuous road information according to the drivable boundary and the parameter equation formula.

[0072] In the embodiment, the control center first determines the position area information corresponding to the drivable boundary, and then the continuous road information can be obtained according to the position area information corresponding to the drivable boundary in the parameter equation formula of the helix line road modeling.

[0073] In the embodiment, the continuous road information (such as curvature, coordinates, heading angle, etc.) obtained by the drivable boundary and the parameter equation formula is used as the input of automatic control, which will directly affect the vehicle control performance.

[0074] Further, in some possible embodiments, the step S301 of obtaining the drivable boundary of the vehicle based on the helix line road modeling can further include:

[0075] The step S2010 of obtaining the positioning information, the high-precision map information and the perception data of the vehicle.

[0076] In the embodiment, the control center generates the positioning information, the high-definition map information and the perception data of the vehicle in real time according to the laser radar, the high-definition camera and the sensor of the vehicle.

[0077] It should be noted that the positioning information is the information of determining the position of the vehicle; the perception data is the information of sensing the state, feature and mode of the surrounding things of the vehicle through the sensor of the vehicle.

[0078] The high-definition map information can be understood as not only having high-precision coordinates, but also having accurate road shapes, and the data of the slope, curvature, heading, elevation and roll of each lane are also included. In addition, the lane lines of each lane and between lanes are virtual lines, solid lines or double yellow lines, the color of the lines, the road separator, even the arrow and the content of the text on the road, and the position are all described, such as pedestrian crossings, signs along the road, separators, speed limit signs, traffic lights, roadside telephone stops and the like. The high-definition map is an effective supplement to the vehicle sensor, and provides the vehicle with more reliable perception capability.

[0079] Step S2011: determining the drivable boundary according to the spiral line road modeling of the positioning information, the high-definition map information and the perception data.

[0080] In the embodiment, the control center determines the drivable boundary in the spiral line road modeling according to the positioning information, the high-definition map information and the perception data.

[0081] In the embodiment, referring to FIG. 1, Figure 2 Figure 2 is a specific application flowchart involved in the vehicle control method based on the spiral line road modeling of the embodiment of the application, the drivable boundary is determined through the positioning information, the high-definition map information, the perception data and the spiral line road modeling, and the phenomenon that the roadblock affects the normal driving of the vehicle during the driving process is effectively avoided.

[0082] Further, in some possible embodiments, the step S302 of determining the continuous road information according to the drivable boundary and the parametric equation formula can further include:

[0083] Step S2021: determining the spiral line generation data according to the drivable boundary and the parametric equation formula;

[0084] In the embodiment, the control center determines the spiral line generation data through a series of operation processes according to the drivable boundary and the parametric equation formula, that is, the formula 1 in the first embodiment of the application.

[0085] ​It should be noted that in the present embodiment, the formula 1 and the formula 2 in the first embodiment of the present application are used, when t tends to positive infinity, both x and y tend to For example, when a = 6000, the helix generation data refers to Figure 3 , Figure 3 The helix graph involved in an embodiment of the vehicle control method based on helix road modeling of the present application.

[0086] Step S2022: determining the continuous road information corresponding to the helix generation data.

[0087] In the present embodiment, the control center can determine the continuous road information of the vehicle according to the helix generation data.

[0088] It should be noted that in the present embodiment, the polynomial calculation is replaced by helix fitting, which reduces the amount of calculation and outputs linear continuous road information, that is, the efficiency is improved by optimizing the road modeling process of the vehicle.

[0089] Further, in some possible embodiments, after the step S20 of obtaining the continuous road information according to the parametric equation formula, the vehicle control method based on helix road modeling can further include:

[0090] Step A10: determining the curvature data corresponding to the continuous road information, and determining the motion control information of the vehicle according to the curvature data.

[0091] In the present embodiment, after obtaining the continuous road information, the control center can determine the curvature data corresponding to the continuous road information, and then obtain the motion control information of the vehicle according to the curvature data.

[0092] It should be noted that in the present embodiment, the helix generation data refers to Figure 3 as shown, Figure 3 The helix graph involved in an embodiment of the vehicle control method based on helix road modeling of the present application can determine its curvature formula as shown in formula 3:

[0093]

[0094] In the present embodiment, referring to Figure 3 as shown, it can be noted that the curvature is a continuous linear formula, which ensures that the road can smoothly transition the curvature when switching from a straight road to a curved road.

[0095] Further, in some possible embodiments, the step S30 of determining the motion control information of the vehicle according to the continuous road information can include:

[0096] Step S301: Obtain route planning information based on the continuous road information;

[0097] In this embodiment, refer to Figure 2 As shown, Figure 2 This is a schematic diagram of the specific application process of a vehicle control method based on spiral road modeling according to the present invention. The control center will input the continuous road information obtained in the spiral generation module into the route planning module to obtain route planning information.

[0098] Step S302: Determine the motion control information of the vehicle based on the route planning information.

[0099] In this embodiment, refer to Figure 2 As shown, Figure 2 This is a schematic diagram of the specific application process of a vehicle control method based on spiral road modeling of the present invention. The control center will input the route planning information obtained in the route planning module into the motion control module to obtain the vehicle's motion control information.

[0100] Furthermore, in some feasible embodiments, the vehicle control method based on spiral road modeling may also include:

[0101] Step B10: Obtain the differential equation model of the vehicle and the compensated steering wheel angle;

[0102] In this embodiment, the control center first needs to determine the differential equation model of the vehicle, and then design a compensation steering wheel angle based on the differential equation model of the vehicle.

[0103] It should be noted that the differential equation model of the vehicle is shown in Equation 4:

[0104]

[0105] in, The target attitude angle (yaw angle) is generated by the road turning, where x is the steering wheel angle in the vehicle model; this is to compensate for the angle caused by the road. The item requires the design of a compensation system for the steering wheel angle δ. ff .

[0106] Step B20: Obtain the final differential equation model based on the differential equation model and the compensated steering wheel angle;

[0107] In this embodiment, the control center can obtain the final differential equation model based on the differential equation model and the compensated steering wheel angle, that is, based on Formula 4 and the compensated steering wheel angle δ. ff The final differential equation model can be obtained, as shown in Equation 5:

[0108]

[0109] wherein B1delta ff is a control item for compensating the road. The relationship with the road curvature is shown in equation 6:

[0110]

[0111] wherein, is the curvature, V x is the linear speed of the vehicle.

[0112] Step B30: determining the lateral control parameter according to the final differential equation model.

[0113] In this embodiment, the control center determines the lateral control parameter according to the final differential equation model and The lateral control error data can be obtained according to the relationship between the road curvature and the final differential equation model, and then the lateral control parameter is further determined according to the lateral control error data.

[0114] It should be noted that the lateral control error e 1_ss is obtained according to the above equation 5 and equation 6, as follows:

[0115]

[0116] wherein k1 and k3 are controller coefficients, [a] is a vehicle model coefficient, a and b are the front and rear wheelbase of the vehicle, and c is a constant.

[0117] Let e 1_ss be 0, then delta ff is as follows:

[0118]

[0119] The above equation is the steering wheel angle obtained by compensating the road, and it can be seen that if the curvature is discontinuously changed, there will be a great disturbance to delta ff .

[0120] In summary, the present application obtains the drivable boundary based on the spiral road modeling, the positioning, the high-precision map and the perception input drivable boundary module, determines the spiral line generation information according to the drivable boundary, and then performs the route planning operation according to the spiral line generation information, and after completing the route planning operation, the motion control information is output from the motion control module, so as to improve the stability of the vehicle lateral control performance.

[0121] Further, the present application also provides a device based on spiral road modeling. Referring to Figure 3 , Figure 3 is a schematic diagram of the device module based on spiral road modeling of the present application.

[0122] The device for spiral road modeling according to the present application comprises:

[0123] A modeling module H01 is configured to perform spiral road modeling according to lateral control parameters of a vehicle.

[0124] An obtaining module H02 is configured to obtain a parametric equation formula obtained by performing the spiral road modeling, and to obtain continuous road information according to the parametric equation formula.

[0125] A determining module H03 is configured to determine motion control information of the vehicle according to the continuous road information.

[0126] The various functional modules of the device for spiral road modeling according to the present application perform the steps of the vehicle control method according to the present application when in operation.

[0127] Optionally, the obtaining module H02 can comprise:

[0128] A boundary acquisition unit is configured to acquire drivable boundaries of the vehicle based on performing the spiral road modeling.

[0129] An information continuity unit is configured to determine the continuous road information according to the drivable boundaries and the parametric equation formula.

[0130] Optionally, the obtaining module H02 can further comprise:

[0131] An information data acquisition unit is configured to acquire positioning information, high-definition map information, and perception data of the vehicle.

[0132] A first determining unit is configured to determine the drivable boundaries by performing the spiral road modeling with respect to the positioning information, the high-definition map information, and the perception data.

[0133] Optionally, the obtaining module H02 can further comprise:

[0134] A generating unit is configured to determine spiral line generation data according to the drivable boundaries and the parametric equation formula.

[0135] A second determining unit is configured to determine the continuous road information corresponding to the spiral line generation data.

[0136] Optionally, the obtaining module H02 can further comprise:

[0137] A third determining unit is configured to determine curvature data corresponding to the continuous road information, and to determine motion control information of the vehicle according to the curvature data.

[0138] Optionally, the determining module H03 can comprise:

[0139] The first obtaining unit is used to obtain the route planning information of the vehicle based on the continuous road information;

[0140] The fourth determining unit is used to determine the motion control information of the vehicle based on the route planning information.

[0141] Optionally, the modeling module H01 may also include:

[0142] The model acquisition unit is used to acquire the differential equation model of the vehicle and the compensation steering wheel angle;

[0143] The second obtaining unit is used to obtain the final differential equation model based on the differential equation model and the compensation steering wheel angle;

[0144] The parameter determination unit is used to determine the lateral control parameters based on the final differential equation model.

[0145] Furthermore, the present invention also provides a terminal device. Please refer to... Figure 5 , Figure 5 This is a schematic diagram of the terminal device involved in an embodiment of the present invention. Specifically, the terminal device in this embodiment can be a vehicle control system based on spiral road modeling running locally.

[0146] like Figure 5 As shown, the terminal device in this embodiment of the invention may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; a memory 1005; and a sensing unit 1006. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0147] The memory 1005 is disposed on the main body of the terminal device. The memory 1005 stores a program that performs corresponding operations when executed by the processor 1001. The memory 1005 is also used to store parameters for use by the terminal device. The memory 1005 can be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0148] Those skilled in the art will understand that Figure 5The terminal device structure shown in the figure does not constitute a limitation on the terminal device, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0149] As shown in Figure 4 The memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a smart connection program of the terminal device.

[0150] In the terminal device shown in Figure 4 The processor 1001 can be used to call the smart connection program of the terminal device stored in the memory 1005, and the smart connection program executes the steps of the vehicle control method based on the spiral line road modeling of the application, which can include:

[0151] Modeling the spiral line road according to the lateral control parameters of the vehicle;

[0152] Determine the parametric equation formula obtained by performing the spiral line road modeling, and obtain continuous road information according to the parametric equation formula;

[0153] Determine the motion control information of the vehicle according to the continuous road information.

[0154] Further, the step of obtaining continuous road information according to the parametric equation formula includes:

[0155] Obtain the drivable boundary of the vehicle based on the spiral line road modeling;

[0156] Determine the continuous road information according to the drivable boundary and the parametric equation formula.

[0157] Further, the step of obtaining the drivable boundary of the vehicle based on the spiral line road modeling includes:

[0158] Obtain the positioning information, high-precision map information and perception data of the vehicle;

[0159] Perform the spiral line road modeling on the positioning information, high-precision map information and perception data to determine the drivable boundary.

[0160] Further, the step of determining the continuous road information according to the drivable boundary and the parametric equation formula includes:

[0161] Determine the spiral line generation data according to the drivable boundary and the parametric equation formula;

[0162] Determine the continuous road information corresponding to the spiral line generation data.

[0163] Further, after the step of obtaining continuous road information according to the parametric equation formula, the method further comprises:

[0164] determining curvature data corresponding to the continuous road information, and determining motion control information of the vehicle according to the curvature data.

[0165] Further, the step of determining the motion control information of the vehicle according to the continuous road information comprises:

[0166] obtaining route planning information of the vehicle according to the continuous road information;

[0167] determining the motion control information of the vehicle according to the route planning information.

[0168] Further, the method further comprises:

[0169] obtaining a differential equation model of the vehicle and a compensated steering wheel angle;

[0170] obtaining a final differential equation model according to the differential equation model and the compensated steering wheel angle;

[0171] determining the lateral control parameter according to the final differential equation model.

[0172] In addition, the present application also provides a computer readable storage medium. Please refer to Figure 6 , Figure 6 is a structural schematic diagram of the computer readable storage medium involved in the embodiment scheme of the present application.

[0173] The present application also provides a computer readable storage medium, and the computer readable storage medium stores a vehicle control program based on spiral road modeling. When the vehicle control program based on spiral road modeling is executed by a processor, the steps of the vehicle control method based on spiral road modeling of the present application are implemented, which can comprise:

[0174] spiral road modeling according to a lateral control parameter of the vehicle;

[0175] determining a parametric equation formula obtained by the spiral road modeling, and obtaining continuous road information according to the parametric equation formula;

[0176] determining motion control information of the vehicle according to the continuous road information.

[0177] Further, the step of obtaining continuous road information according to the parametric equation formula comprises:

[0178] obtaining a drivable boundary of the vehicle based on the spiral road modeling;

[0179] determining the continuous road information according to the drivable boundary and the parametric equation formula.

[0180] Further, the step of obtaining the drivable boundary of the vehicle based on the spiral road modeling comprises:

[0181] obtaining positioning information, high-definition map information and perception data of the vehicle;

[0182] performing the spiral road modeling on the positioning information, the high-definition map information and the perception data to determine the drivable boundary.

[0183] Further, the step of determining the continuous road information according to the drivable boundary and the parametric equation formula comprises:

[0184] determining spiral generation data according to the drivable boundary and the parametric equation formula;

[0185] determining the continuous road information corresponding to the spiral generation data.

[0186] Further, after the step of obtaining the continuous road information according to the parametric equation formula, the method further comprises:

[0187] determining curvature data corresponding to the continuous road information, and determining motion control information of the vehicle according to the curvature data.

[0188] Further, the step of determining the motion control information of the vehicle according to the continuous road information comprises:

[0189] obtaining route planning information of the vehicle according to the continuous road information;

[0190] determining the motion control information of the vehicle according to the route planning information.

[0191] Further, the method further comprises:

[0192] obtaining a differential equation model of the vehicle and a compensation steering wheel angle;

[0193] obtaining a final differential equation model according to the differential equation model and the compensation steering wheel angle;

[0194] determining the lateral control parameter according to the final differential equation model.

[0195] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or system that comprises the recited element.

[0196] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0197] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a computer readable storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) as described above, and includes a number of instructions for making a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in the various embodiments of the present application.

[0198] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A vehicle control method based on helical road modeling, characterized by, The vehicle control method based on spiral road modeling comprises: modeling a spiral road according to a lateral control parameter of a vehicle; determining a parameter equation formula based on Fresnel integral obtained by modeling the spiral road, and obtaining continuous road information according to the parameter equation formula, the continuous road information comprising curvature, heading angle and coordinates, and the parameter equation formula being: ， wherein is the horizontal axis coordinate value of the coordinate at time t, is the vertical axis coordinate value of the coordinate at time t, is the heading angle, is a scalar; according to the formula yields the curvature, denotes the curvature; determining motion control information of the vehicle according to the continuous road information; The vehicle control method based on spiral road modeling further comprises: obtaining a differential equation model and a compensation steering wheel angle of the vehicle; According to the differential equation model and the compensated steering wheel angle, a final differential equation model is obtained, wherein the final differential equation model is , is the compensated steering wheel angle, represents a target attitude angle generated by a road turn, , represents a linear velocity of the vehicle, is a steering wheel angle in a vehicle model, represents the curvature, represents a control item for compensating the road; determining the lateral control parameter according to the final differential equation model, lateral control error wherein, and are controller coefficients, are vehicle model coefficients, are vehicle front and rear wheelbase, when lateral control error is 0, .

2. The vehicle control method based on a spiral road modeling according to claim 1, wherein, The step of obtaining the continuous road information according to the parameter equation formula comprises: obtaining a drivable boundary of the vehicle based on the spiral road modeling; determining the continuous road information according to the drivable boundary and the parameter equation formula.

3. The vehicle control method based on a spiral road modeling according to claim 2, wherein, The step of obtaining the drivable boundary of the vehicle based on the spiral road modeling comprises: obtaining positioning information, high-definition map information and perception data of the vehicle; determining the drivable boundary according to the spiral road modeling based on the positioning information, the high-definition map information and the perception data.

4. The vehicle control method based on a spiral road modeling according to claim 2, wherein, The step of determining the continuous road information according to the drivable boundary and the parameter equation formula comprises: determining spiral generation data according to the drivable boundary and the parameter equation formula; determining the continuous road information corresponding to the spiral generation data.

5. The vehicle control method based on a spiral road modeling according to claim 1, wherein, After the step of obtaining the continuous road information according to the parameter equation formula, the method further comprises: determining curvature data corresponding to the continuous road information, and determining motion control information of the vehicle according to the curvature data.

6. The vehicle control method based on a spiral road modeling of claim 1, wherein, The step of determining the motion control information of the vehicle according to the continuous road information comprises: obtaining route planning information of the vehicle according to the continuous road information; determining the motion control information of the vehicle according to the route planning information.

7. An apparatus for helical road modeling based on, characterized by, The device based on spiral road modeling comprises: a modeling module configured to model a spiral road according to a lateral control parameter of a vehicle; a obtaining module configured to determine a parameter equation formula based on Fresnel integral obtained by modeling the spiral road, and obtain continuous road information according to the parameter equation formula, the continuous road information comprising curvature, heading angle and coordinates, and the parameter equation formula being: ， wherein is the horizontal axis coordinate value of the coordinate at time t, is the vertical axis coordinate value of the coordinate at time t, is the heading angle, is a scalar; according to the formula the curvature is obtained, denotes the curvature; a determining module configured to determine motion control information of the vehicle according to the continuous road information. The device based on the spiral line road modeling is further used for obtaining a differential equation model of the vehicle and a compensated steering wheel rotation angle; obtaining a final differential equation model according to the differential equation model and the compensated steering wheel rotation angle, wherein the final differential equation model is , is the compensated steering wheel rotation angle, represents a target attitude angle generated by a road turn, , represents a linear speed of the vehicle, is a steering wheel rotation angle in a vehicle model, represents the curvature, represents a control item for compensating a road; and determining the lateral control parameter according to the final differential equation model, a lateral control error wherein, and are controller coefficients, is a vehicle model coefficient, is a front wheelbase and a rear wheelbase of the vehicle, and when the lateral control error is 0, .

8. A terminal device, comprising: The terminal device comprises a memory, a processor, and a vehicle control program based on spiral road modeling stored on the memory and executable on the processor, and the processor implements the steps of the vehicle control method based on spiral road modeling according to any one of claims 1 to 6 when executing the vehicle control program based on spiral road modeling.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a vehicle control program based on spiral road modeling, and the vehicle control program based on spiral road modeling implements the steps of the vehicle control method based on spiral road modeling according to any one of claims 1 to 6 when executed by a processor.

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