A Steering Compensation Method for Lateral Control

Abstract

The embodiment of the present invention relates to a steering compensation method for lateral control, the method comprising: obtaining the driving mode, expected front wheel angle, expected lateral acceleration, real-time vehicle speed and real-time heading angular velocity of the vehicle at any time; and storing the expected front wheel angle in a local expected front wheel angle cache queue; performing compensation state identification according to the real-time vehicle speed and the expected lateral acceleration to generate a first state; when the first driving mode is the automatic driving mode and the first state is the compensation state, performing front wheel angle feedforward compensation according to the expected front wheel angle and the real-time vehicle speed to generate a feedforward compensation angle; and performing front wheel angle feedback correction according to the real-time vehicle speed, the real-time heading angular velocity and the expected front wheel angle cache queue to generate a feedback correction angle; and adding the feedforward compensation angle and the feedback correction angle to obtain the corresponding compensated front wheel angle. Through the present invention, using the compensated front wheel angle for lateral control can reduce the lateral control error of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a steering compensation method for lateral control. Background Art

[0002] When the vehicle is driving, the automatic / unmanned driving system will predict the vehicle's motion state based on the corresponding kinematic model, and generate a lateral control prediction result including the expected front wheel angle, and control the vehicle's lateral motion based on the lateral control prediction result. We have found from practical applications that when an automatic driving vehicle or an unmanned vehicle is driving, there will inevitably be a certain fluctuation angle between the front wheel direction and the speed direction due to factors such as ground friction and tire deformation, and the fluctuation angle is small when the vehicle is driving at low speed, and the fluctuation angle will increase as the vehicle speed increases. In this case, if the automatic / unmanned driving system uses the expected front wheel angle output by the kinematic model for lateral control regardless of whether it is in a low-speed state or a high-speed state, the lateral control error of the vehicle may increase due to the increased fluctuation angle when moving or turning at high speed, thereby posing a threat to the driving safety of the vehicle. Summary of the invention

[0003] The purpose of the present invention is to provide a steering compensation method, electronic device and computer-readable storage medium for lateral control in view of the defects of the prior art. When the driving mode of the vehicle is the automatic driving mode and the vehicle is in a high-speed lateral movement or high-speed steering state (the vehicle speed exceeds the threshold and the lateral acceleration exceeds the threshold), the expected front wheel steering angle at the current moment is subjected to feedforward compensation and feedback correction processing according to the real-time speed and real-time heading angular velocity of the vehicle to obtain the corresponding feedforward compensation steering angle and feedback correction steering angle, and the compensated front wheel steering angle is obtained by adding the feedforward compensation steering angle and the feedback correction steering angle. Through the present invention, the compensated front wheel steering angle is used for lateral control to reduce the lateral control error of the automatic / unmanned vehicle in the high-speed lateral movement or high-speed steering state, thereby achieving the purpose of improving the driving safety of the vehicle.

[0004] To achieve the above object, a first aspect of an embodiment of the present invention provides a steering compensation method for lateral control, the method comprising:

[0005] At any time t, the driving mode, expected front wheel steering angle, expected lateral acceleration, real-time vehicle speed and real-time heading angular velocity of the vehicle are obtained as the corresponding first driving mode, first expected front wheel steering angle δ t , the first desired lateral acceleration a t 、First real-time speed v t and the first real-time heading angular velocity ω t ; and the first desired front wheel turning angle δ tStoring the expected front wheel angle in a local cache queue; the first driving mode includes an automatic driving mode and a manual driving mode;

[0006] According to the first real-time vehicle speed v t and the first desired lateral acceleration a t Perform compensation state identification to generate a corresponding first state; the first state includes a compensation state and a non-compensation state;

[0007] When the first driving mode is the automatic driving mode and the first state is the compensation state, according to the first expected front wheel turning angle δ t and the first real-time vehicle speed v t Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f ; and according to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the desired front wheel steering angle buffer queue to generate the corresponding feedback correction steering angle δ b ; and the feedforward compensation angle δ f and the feedback correction angle δ b Add the corresponding compensated front wheel turning angle δ * ; δ * =δ f +δ b .

[0008] Preferably, the first real-time vehicle speed v t and the first desired lateral acceleration a t Performing compensation state identification to generate a corresponding first state specifically includes:

[0009] When the first real-time vehicle speed v t The absolute value of exceeds the preset vehicle speed threshold and the first expected lateral acceleration a t When the absolute value of exceeds the preset acceleration threshold, the first state is set to the compensation state; when the first real-time vehicle speed v t The absolute value of does not exceed the vehicle speed threshold or the first expected lateral acceleration a t When the absolute value of does not exceed the acceleration threshold, the first state is set to a non-compensation state.

[0010] Preferably, when the first state is a non-compensation state, the compensated front wheel turning angle δ is set * is the first desired front wheel turning angle δ t .

[0011] Preferably, the first desired front wheel turning angle δ t and the first real-time vehicle speed vt Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f , specifically including:

[0012] Query the preset feedforward compensation gain table and compare the vehicle speed field with the first real-time vehicle speed v t Matches and the front wheel steering angle field is consistent with the first desired front wheel steering angle δ t The feedforward compensation gain field of the matching feedforward compensation gain record is extracted as the corresponding first feedforward compensation gain K f ; The feedforward compensation gain table includes a plurality of feedforward compensation gain records; the feedforward compensation gain record includes the vehicle speed field, the front wheel steering angle field and the feedforward compensation gain field;

[0013] According to the first feedforward compensation gain K f and the first desired front wheel turning angle δ t Calculate and generate the corresponding feedforward compensation angle δ f , δ f =K f ·δ t .

[0014] Preferably, the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the desired front wheel steering angle buffer queue to generate the corresponding feedback correction steering angle δ b , specifically including:

[0015] According to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle is estimated by using the preset vehicle wheelbase L to generate the corresponding estimated front wheel steering angle δ e , δ e =arctan(ω t ·L / v t );

[0016] According to the time t and the preset delay parameter t d Determine the corresponding delay time h = tt d ; And the first expected front wheel turning angle δ corresponding to the delay time h in the expected front wheel turning angle cache queue t＝h As the historical front wheel turning angle δ h ;

[0017] And according to the estimated front wheel turning angle δ e , the historical front wheel turning angle δ h The feedback correction angle δ corresponding to the preset feedback compensation coefficient r2 is calculated b , δb = r2·(δ h -δ e ).

[0018] A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0019] The processor is used to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0020] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0021] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect above.

[0022] The embodiment of the present invention provides a steering compensation method for lateral control, an electronic device and a computer-readable storage medium. When the driving mode of the vehicle is an automatic driving mode and the vehicle is in a high-speed lateral movement or high-speed steering state (the vehicle speed exceeds a threshold value and the lateral acceleration exceeds a threshold value), the expected front wheel steering angle at the current moment is subjected to feedforward compensation and feedback correction processing according to the real-time speed and real-time heading angular velocity of the vehicle to obtain the corresponding feedforward compensation steering angle and feedback correction steering angle, and the compensated front wheel steering angle is obtained by adding the feedforward compensation steering angle and the feedback correction steering angle. Through the present invention, the compensated front wheel steering angle is used for lateral control, which can reduce the lateral control error of the automatic / unmanned vehicle in the high-speed lateral movement or high-speed steering state, thereby improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a lateral control steering compensation method provided in Embodiment 1 of the present invention;

[0024] Figure 2 A schematic diagram of the structure of an electronic device provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] A lateral control steering compensation method is provided in a first embodiment of the present invention, such as Figure 1 As shown in the schematic diagram of a lateral control steering compensation method provided in the first embodiment of the present invention, the method mainly comprises the following steps:

[0027] Step 1: At any time t, the driving mode, expected front wheel steering angle, expected lateral acceleration, real-time vehicle speed and real-time heading angular velocity of the vehicle are obtained as the corresponding first driving mode, first expected front wheel steering angle δ t , the first desired lateral acceleration a t 、First real-time speed v t and the first real-time heading angular velocity ω t ; and the first desired front wheel turning angle δ t Store the expected front wheel angle in the local cache queue;

[0028] Among them, the first driving mode includes automatic driving mode and manual driving mode.

[0029] Here, the automatic / unmanned driving system can obtain the latest driving mode, expected front wheel angle, expected lateral acceleration, real-time vehicle speed and real-time heading angular velocity from each working module in the system at any time t; the driving mode can be obtained from the system data area or chassis module; the expected front wheel angle and expected lateral acceleration can be obtained from the motion model output of the planning module or the control module; the real-time vehicle speed and real-time heading angular velocity can be obtained from the positioning module or the chassis module. It should be noted that the real-time vehicle speed here defaults to the longitudinal driving speed. The embodiment of the present invention manages the expected front wheel angle cache queue in a first-in-first-out circular queue management manner.

[0030] Step 2: According to the first real-time vehicle speed v t and the first desired lateral acceleration a t Perform compensation state identification to generate a corresponding first state;

[0031] Wherein, the first state includes a compensation state and a non-compensation state;

[0032] Specifically including: when the first real-time vehicle speed v t The absolute value of exceeds the preset vehicle speed threshold and the first expected lateral acceleration a t When the absolute value of exceeds the preset acceleration threshold, the first state is set to the compensation state; when the first real-time vehicle speed v t The absolute value of does not exceed the vehicle speed threshold or the first expected lateral acceleration a t When the absolute value of does not exceed the acceleration threshold, the first state is set to a non-compensation state.

[0033] Here, the vehicle speed threshold and the acceleration threshold are two preset threshold parameters for identifying whether the vehicle is in a high-speed lateral movement or high-speed steering state; the embodiment of the present invention stipulates that when the vehicle speed is too high, that is, the first real-time vehicle speed vt The absolute value of exceeds the preset vehicle speed threshold and the lateral acceleration is too large, that is, the first expected lateral acceleration a t When the absolute value of exceeds the preset acceleration threshold, it is determined that the vehicle is in a high-speed lateral movement or high-speed steering state, and the first state is set as a compensation state at this time, otherwise the first state is set as a non-compensation state; if it is confirmed that the first state is a compensation state, the subsequent step 3 is continued to perform steering compensation processing, and if it is confirmed that the first state is a non-compensation state, the subsequent step 3 is not executed but the compensated front wheel steering angle δ is directly set * is the first desired front wheel turning angle δ t .

[0034] Step 3: when the first driving mode is the automatic driving mode and the first state is the compensation state, according to the first expected front wheel turning angle δ t and the first real-time vehicle speed v t Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f ; and according to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the expected front wheel steering angle cache queue to generate the corresponding feedback correction steering angle δ b ; and the feedforward compensation angle δ f and feedback correction angle δ b Add the corresponding compensated front wheel turning angle δ * ;

[0035] Among them, δ * =δ f +δ b ;

[0036] Here, if the first driving mode is the automatic driving mode and the first state is the compensation state, it means that the vehicle currently needs to perform steering compensation. At this time, the desired front wheel steering angle, i.e., the first desired front wheel steering angle δ t The steering compensation process consists of two parts: the front wheel angle feedforward compensation process and the front wheel angle feedback correction process. The corresponding steering compensation result is the compensated front wheel angle δ * It is also composed of the sum of the two parts of processing results;

[0037] Specifically, step 31 includes: when the first driving mode is the automatic driving mode and the first state is the compensation state, according to the first expected front wheel turning angle δ t and the first real-time vehicle speed v t Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f ;

[0038] Specifically, step 311, querying a preset feedforward compensation gain table, comparing the vehicle speed field with the first real-time vehicle speed v t Matches and the front wheel steering angle field is equal to the first desired front wheel steering angle δ t The feedforward compensation gain field of the matching feedforward compensation gain record is extracted as the corresponding first feedforward compensation gain K f ;

[0039] The feedforward compensation gain table includes a plurality of feedforward compensation gain records; the feedforward compensation gain record includes a vehicle speed field, a front wheel steering angle field and a feedforward compensation gain field;

[0040] Here, each feedforward compensation gain record in the feedforward compensation gain table of the embodiment of the present invention corresponds to a feedforward compensation gain; the feedforward compensation gain field of each feedforward compensation gain record stores the corresponding feedforward compensation gain, and the vehicle speed field and the front wheel steering angle field store the speed range and the front wheel steering angle range that match the corresponding feedforward compensation gain; each feedforward compensation gain record in the feedforward compensation gain table may have the same feedforward compensation gain field but different vehicle speed fields and front wheel steering angle fields, but there will not be a situation where the vehicle speed field and the front wheel steering angle field are the same but the feedforward compensation gain field is different; therefore, through the first expected front wheel steering angle δ t and the first real-time vehicle speed v t Querying the feedforward compensation gain table can obtain a unique matching feedforward compensation gain record. The query result is the first feedforward compensation gain K f That is, the storage content of the feedforward compensation gain field of the matching feedforward compensation gain record; As can be seen from the foregoing, during the driving process of an automatic driving vehicle or an unmanned vehicle, due to factors such as ground friction and tire deformation, there will inevitably be a certain fluctuation angle between the front wheel direction and the speed direction, that is, the angle between the actual front wheel turning angle and the ideal front wheel turning angle. The feedforward compensation gain of the embodiment of the present invention is the expected front wheel turning angle, that is, the first expected front wheel turning angle δ, which is obtained by considering the fluctuation angle. t A feedforward compensation factor is given;

[0041] It should be noted that, before step 1, the method of the embodiment of the present invention further includes setting a feedforward compensation gain table, specifically:

[0042] Step A1, collecting the real-time data of the vehicle multiple times to form an original data set;

[0043] The real-time data includes real-time vehicle speed, real-time heading angular velocity and real-time steering wheel angle; the original data set includes multiple original data records; the original data record includes a real-time vehicle speed field, a real-time heading angular velocity field and a real-time steering wheel angle field;

[0044] Step A2, traverse each original data record; during the traversal, take the currently traversed original data record as the corresponding current data record, and extract the real-time vehicle speed field, real-time heading angular velocity field and real-time steering wheel angle field of the current data record as the corresponding current vehicle speed, current heading angular velocity and current steering wheel angle; and calculate the front wheel angle according to the preset front wheel angle-steering wheel angle steering transmission ratio r1 and the current steering wheel angle to generate the corresponding current front wheel angle, current front wheel angle = current steering wheel angle / r1; and calculate and generate the corresponding current compensation gain according to the current vehicle speed, current heading angular velocity, current front wheel angle and the preset vehicle wheelbase L, and adding a real-time front wheel steering angle field and a compensation gain field to the current data record, and setting the newly added real-time front wheel steering angle field to the corresponding current front wheel steering angle, and setting the newly added compensation gain field to the corresponding current compensation gain;

[0045] The original data set at the end of the traversal includes a plurality of original data records, and the original data records include a real-time vehicle speed field, a real-time heading angular velocity field, a real-time steering wheel angle field, a real-time front wheel angle field and a compensation gain field;

[0046] Here, the current front wheel angle is actually the actual front wheel angle derived based on the real-time steering wheel angle, tan (current front wheel angle) is actually the tangent function value of the actual front wheel angle, and the current heading angular velocity·L / current vehicle speed is the tangent function value of the ideal front wheel angle derived based on the real-time vehicle speed and the real-time heading angular velocity. As can be seen from the foregoing, during the driving process of an autonomous driving vehicle or an unmanned vehicle, due to factors such as ground friction and tire deformation, there will inevitably be a certain fluctuation angle between the front wheel direction and the speed direction, that is, the angle between the actual front wheel angle and the ideal front wheel angle. If the fluctuation angle does not exist, then the obtained feedforward compensation gain, that is, the current compensation gain, is 1. If the fluctuation angle is greater than 0, that is, the actual front wheel angle is greater than the ideal front wheel angle, then the current compensation gain is greater than 1. If the fluctuation angle is less than 0, that is, the actual front wheel angle is less than the ideal front wheel angle, then the current compensation gain is less than 1.

[0047] Step A3, constructing a three-dimensional space XYZ with the real-time vehicle speed as the X-axis, the real-time front wheel steering angle as the Y-axis, and the compensation gain as the Z-axis; extracting the real-time vehicle speed field, the real-time front wheel steering angle field, and the compensation gain field of each original data record in the original data set to form corresponding three-dimensional discrete point coordinates (x, y, z); and performing discrete point marking in the three-dimensional space XYZ according to the three-dimensional discrete point coordinates (x, y, z) corresponding to each original data record to generate corresponding first discrete points; and performing discrete point clustering on all first discrete points in the three-dimensional space XYZ based on a clustering algorithm to obtain multiple first discrete point clusters;

[0048] The clustering algorithm is a distance-based clustering algorithm by default; the first discrete point cluster includes a plurality of first discrete points;

[0049] Step A4, traverse each first discrete point cluster; during the traversal, record the currently traversed first discrete point cluster as the corresponding current discrete point cluster; extract the original data records corresponding to all the first discrete points of the current discrete point cluster in the original data set to form a corresponding first record set; extract the minimum and maximum values ​​from all the real-time vehicle speed fields of the first record set to form a corresponding first vehicle speed range, and extract the minimum and maximum values ​​from all the real-time front wheel turning angle fields of the first record set to form a corresponding first front wheel turning angle range, and perform mean calculation on all compensation gain fields of the first record set to generate a corresponding first average compensation gain; and use the obtained first vehicle speed range, first front wheel turning angle range and first average compensation gain as the corresponding vehicle speed field, front wheel turning angle field and feedforward compensation gain field, and use the obtained vehicle speed field, front wheel turning angle field and feedforward compensation gain field to form a corresponding feedforward compensation gain record; at the end of the traversal, all the obtained feedforward compensation gain records form a corresponding feedforward compensation gain table;

[0050] Step 312: According to the first feedforward compensation gain K f and the first desired front wheel turning angle δ t Calculate and generate the corresponding feedforward compensation angle δ f ;

[0051] Among them, δ f =K f ·δ t ;

[0052] Here, the feedforward compensation angle δ obtained in the current step is f That is, the expected front wheel turning angle is the first expected front wheel turning angle δ t The result of front wheel angle feedforward compensation processing;

[0053] Step 32, and according to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the expected front wheel steering angle cache queue to generate the corresponding feedback correction steering angle δ b ;

[0054] Specifically comprising: step 321, according to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle is estimated by using the preset vehicle wheelbase L to generate the corresponding estimated front wheel steering angle δ e ;

[0055] Among them, δ e=arctan(ω t ·L / v t );

[0056] Step 322: according to the time t and the preset delay parameter t d Determine the corresponding delay time h = tt d ; and the first expected front wheel turning angle δ corresponding to the delay time h in the expected front wheel turning angle cache queue t＝h As the historical front wheel turning angle δ h ;

[0057] Here, the delay parameter t d is a preset time parameter, which reflects the delay characteristics of the automatic driving system from control to feedback;

[0058] Step 323, and based on the estimated front wheel turning angle δ e 、Historical front wheel turning angle δ h The feedback correction angle δ is calculated by the preset feedback compensation coefficient r2. b ;

[0059] Among them, δ b = r2·(δ h -δ e );

[0060] Here, the feedback compensation coefficient r2 is a preset system parameter, which defaults to 1; the estimated front wheel steering angle δ e In fact, it is based on the first real-time vehicle speed v t and the first real-time heading angular velocity ω t The estimated result of the real-time front wheel steering angle at time t; the historical front wheel steering angle δ h is the same as the estimated front wheel turning angle δ e The corresponding historical expected front wheel turning angle, historical front wheel turning angle δ h and the estimated front wheel steering angle δ e The time difference between them satisfies the delay characteristic of the autonomous driving system from control to feedback, that is, the delay parameter t d ; Feedback correction angle δ b In fact, it is based on the control-feedback delay characteristics to determine the desired front wheel steering angle, that is, the first desired front wheel steering angle δ t The result of front wheel steering angle feedback correction processing;

[0061] Step 33, and the feedforward compensation angle δ f and feedback correction angle δ b Add the corresponding compensated front wheel turning angle δ * ;

[0062] Among them, δ * =δ f +δb .

[0063] Here, because the front wheel steering angle δ after compensation * The expected front wheel steering angle, i.e., the first expected front wheel steering angle δ, is calculated by taking into account the fluctuation angle and the control-feedback delay characteristics. t As a result of the overall correction, the automatic / unmanned driving system will compensate the rear front wheel turning angle δ * When used for lateral control, it can reduce the lateral control error of automatic / unmanned vehicles in high-speed lateral movement or high-speed steering states, thereby improving the driving safety of the vehicle.

[0064] Figure 2 This is a schematic diagram of the structure of an electronic device provided in the second embodiment of the present invention. The electronic device may be the aforementioned terminal device or server, or may be a terminal device or server connected to the aforementioned terminal device or server to implement the method of the embodiment of the present invention. Figure 2 As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303. Various instructions may be stored in the memory 302 to complete various processing functions and implement the processing steps described in the aforementioned method embodiment. Preferably, the electronic device involved in the embodiment of the present invention also includes: a power supply 304, a system bus 305 and a communication port 306. The system bus 305 is used to realize the communication connection between components. The above-mentioned communication port 306 is used for connecting and communicating between the electronic device and other peripherals.

[0065] exist Figure 2 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0066] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0067] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method and processing process provided in the above embodiments.

[0068] An embodiment of the present invention further provides a chip for executing instructions, wherein the chip is used to execute the processing steps described in the aforementioned method embodiment.

[0069] The embodiment of the present invention provides a steering compensation method for lateral control, an electronic device and a computer-readable storage medium. When the driving mode of the vehicle is an automatic driving mode and the vehicle is in a high-speed lateral movement or high-speed steering state (the vehicle speed exceeds a threshold value and the lateral acceleration exceeds a threshold value), the expected front wheel steering angle at the current moment is subjected to feedforward compensation and feedback correction processing according to the real-time speed and real-time heading angular velocity of the vehicle to obtain the corresponding feedforward compensation steering angle and feedback correction steering angle, and the compensated front wheel steering angle is obtained by adding the feedforward compensation steering angle and the feedback correction steering angle. Through the present invention, the compensated front wheel steering angle is used for lateral control, which can reduce the lateral control error of the automatic / unmanned vehicle in the high-speed lateral movement or high-speed steering state, thereby improving the driving safety of the vehicle.

[0070] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0071] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0072] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A steering compensation method for lateral control, characterized in that: The method comprises: At any time t, the driving mode, expected front wheel steering angle, expected lateral acceleration, real-time vehicle speed and real-time heading angular velocity of the vehicle are obtained as the corresponding first driving mode, first expected front wheel steering angle δ t , the first desired lateral acceleration a t 、First real-time speed v t and the first real-time heading angular velocity ω t ; and the first desired front wheel turning angle δ t Storing the expected front wheel angle in a local cache queue; the first driving mode includes an automatic driving mode and a manual driving mode; According to the first real-time vehicle speed v t and the first desired lateral acceleration a t Perform compensation state identification to generate a corresponding first state; the first state includes a compensation state and a non-compensation state; When the first driving mode is the automatic driving mode and the first state is the compensation state, according to the first expected front wheel turning angle δ t and the first real-time vehicle speed v t Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f ; and according to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the desired front wheel steering angle buffer queue to generate the corresponding feedback correction steering angle δ b ; and the feedforward compensation angle δ f and the feedback correction angle δ b Add the corresponding compensated front wheel turning angle δ * ; δ * =δ f +δ b .

2. The steering compensation method for lateral control according to claim 1, characterized in that: The first real-time vehicle speed v t and the first desired lateral acceleration a t Performing compensation state identification to generate a corresponding first state specifically includes: When the first real-time vehicle speed v t The absolute value of exceeds the preset vehicle speed threshold and the first expected lateral acceleration a t When the absolute value of exceeds the preset acceleration threshold, the first state is set to the compensation state; when the first real-time vehicle speed v t The absolute value of does not exceed the vehicle speed threshold or the first expected lateral acceleration a t When the absolute value of does not exceed the acceleration threshold, the first state is set to a non-compensation state.

3. The steering compensation method for lateral control according to claim 1, characterized in that: The method further comprises: When the first state is a non-compensation state, the compensated front wheel turning angle δ is set * is the first desired front wheel turning angle δ t .

4. The steering compensation method for lateral control according to claim 1, characterized in that: The first desired front wheel turning angle δ t and the first real-time vehicle speed v t Perform the front wheel steering angle feedforward compensation processing to generate the corresponding feedforward compensation steering angle δ f , specifically including: Query the preset feedforward compensation gain table and compare the vehicle speed field with the first real-time vehicle speed v t Matches and the front wheel steering angle field is consistent with the first desired front wheel steering angle δ t The feedforward compensation gain field of the matching feedforward compensation gain record is extracted as the corresponding first feedforward compensation gain K f ; The feedforward compensation gain table includes a plurality of feedforward compensation gain records; the feedforward compensation gain record includes the vehicle speed field, the front wheel steering angle field and the feedforward compensation gain field; According to the first feedforward compensation gain K f and the first desired front wheel turning angle δ t Calculate and generate the corresponding feedforward compensation angle δ f , δ f =K f ·δ t .

5. The steering compensation method for lateral control according to claim 1, characterized in that: The first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle feedback correction processing is performed on the desired front wheel steering angle buffer queue to generate the corresponding feedback correction steering angle δ b , specifically including: According to the first real-time vehicle speed v t , the first real-time heading angular velocity ω t The front wheel steering angle is estimated by using the preset vehicle wheelbase L to generate the corresponding estimated front wheel steering angle δ e , δ e =arctan(ω t ·L / v t ); According to the time t and the preset delay parameter t d Determine the corresponding delay time h = tt d ; And the first expected front wheel turning angle δ corresponding to the delay time h in the expected front wheel turning angle cache queue t＝h As the historical front wheel turning angle δ h ; And according to the estimated front wheel turning angle δ e , the historical front wheel turning angle δ h The feedback correction angle δ corresponding to the preset feedback compensation coefficient r2 is calculated b , δ b = r2·(δ h -δ e ).

6. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method steps described in any one of claims 1 to 5; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when executed by a computer, enable the computer to execute the method according to any one of claims 1 to 5.

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