Comprehensive Angle Determination Method, Path Tracking Method, System, Device and Medium

Abstract

The present application provides a comprehensive angle determination method, a path tracking method, a system, a device and a medium. The comprehensive angle determination method includes obtaining information of a vehicle to be controlled, determining a near-point preview distance according to a preset preview distance interval, determining a comprehensive curvature according to the near-point preview distance, a target trajectory, a current trajectory, a lateral function signal and vehicle speed information, and determining a comprehensive angle according to the comprehensive curvature, vehicle speed information, a current steering wheel speed, a stability coefficient, a transmission ratio and a wheelbase. The present application fixes the near point by fixing the near-point preview distance instead of causing the near point to change with speed, time, etc., thereby improving the stability of path tracking.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and specifically to a comprehensive angle determination method, a path tracking method, a system, a device and a medium. Background Art

[0002] With the development of the times and the advancement of science and technology, intelligent driving has gradually become one of the key research directions of the intelligent automotive industry. Path tracking is one of the keys to achieving intelligent driving, and its control accuracy determines the performance of the final intelligent driving. Path tracking is the process of controlling the controlled vehicle to adjust along the target trajectory in the time domain.

[0003] In the related art, path tracking uses single-point preview or double-point preview. The former determines the preview point of the target trajectory by selecting an appropriate preview distance, and then calculates the control amount to ensure that the vehicle follows the preset target trajectory. However, single-point preview is difficult to adapt to trajectories with variable curvature. If the preview point is not selected reasonably, it is easy to produce large errors in the control process, and the vehicle is difficult to accurately follow the target trajectory, resulting in low control accuracy of trajectory tracking; the near-point preview point used by the double-point preview will change with speed and time, resulting in poor stability of path tracking; and its curvature calculation process is relatively complicated and computationally intensive. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the present invention provides a comprehensive angle determination method, a path tracking method, system, equipment and medium to solve the technical problems of low control accuracy in path tracking using a single-point preview method, poor stability in path tracking using a double-point preview method, complex calculation process and high calculation intensity.

[0005] The present application provides a comprehensive angle determination method, the comprehensive angle determination method comprising:

[0006] Acquire information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled;

[0007] Determine the near-point preview distance according to the preset preview distance interval range;

[0008] Determining a comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0009] The comprehensive angle of the vehicle to be controlled is determined according to the comprehensive curvature, the vehicle speed information, the current steering wheel speed, the stability coefficient, the transmission ratio and the wheelbase.

[0010] In an exemplary embodiment of the present application, determining the comprehensive curvature includes:

[0011] determining a target heading angle of the vehicle to be controlled according to the lateral function signal;

[0012] A comprehensive curvature is determined according to the target heading angle, the near point preview distance, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information.

[0013] In an exemplary embodiment of the present application, determining a target heading angle of a vehicle to be controlled includes:

[0014] Determining, according to the lateral function signal, an activation state of a lateral function of the vehicle to be controlled, wherein the activation state includes activated and inactivated;

[0015] If the activation state is activated, determining a target heading angle of the vehicle to be controlled according to the target trajectory;

[0016] If the activation state is inactive, the steering wheel angle is used to determine the target heading angle of the vehicle to be controlled.

[0017] In an exemplary embodiment of the present application, determining the comprehensive curvature includes:

[0018] Determine a far-point preview distance according to the current trajectory, wherein the far-point preview distance is greater than the near-point preview distance and is within a range of the preset preview distance;

[0019] A comprehensive curvature is determined according to the near point preview distance, the far point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information.

[0020] In an exemplary embodiment of the present application, determining the far point preview distance includes:

[0021] Determining a trajectory curvature of the current trajectory according to the current trajectory;

[0022] Determining the preview time according to the trajectory curvature and the preset trajectory curvature-preview time correspondence relationship;

[0023] The far-point preview distance is determined according to the preview time, the vehicle speed information and the preset preview distance interval.

[0024] In an exemplary embodiment of the present application, determining the far point preview distance includes:

[0025] Determining a basic preview distance according to the preview time and the vehicle speed information;

[0026] If the basic preview distance is within the preset preview distance interval, the basic preview distance is determined as the far-point preview distance, and the preset preview distance interval includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold;

[0027] If the basic preview distance is outside the preset preview distance interval, compare the basic preview distance with the difference between the preset preview distance upper limit threshold and the preset preview distance lower limit threshold to obtain a comparison result;

[0028] According to the comparison result, a preset preview distance upper limit threshold or a preset preview distance lower limit threshold having a smaller difference with the basic preview distance is obtained, and the preset preview distance upper limit threshold or the preset preview distance lower limit threshold having a smaller difference with the basic preview distance is determined as the far-point preview distance.

[0029] In an exemplary embodiment of the present application, determining the comprehensive angle of the vehicle to be controlled includes:

[0030] Determining a basic comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the stability coefficient, the transmission ratio and the wheelbase;

[0031] The comprehensive angle is determined according to the basic comprehensive angle and the current steering wheel speed.

[0032] In an exemplary embodiment of the present application, determining the comprehensive angle includes:

[0033] Determining a comprehensive angle threshold of the vehicle to be controlled according to the current steering wheel speed and a preset steering wheel speed-comprehensive angle threshold correspondence relationship;

[0034] If the basic comprehensive angle is greater than the comprehensive angle threshold, determining the comprehensive angle threshold as the comprehensive angle;

[0035] If the basic comprehensive angle is less than or equal to the comprehensive angle threshold, the basic comprehensive angle is determined as the comprehensive angle.

[0036] In a second aspect, the present application provides a path tracking method, the path tracking method comprising:

[0037] Acquire information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled;

[0038] Determine the near-point preview distance according to the preset preview distance interval range;

[0039] Determining a comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0040] The comprehensive angle of the vehicle to be controlled is determined according to the comprehensive curvature, the vehicle speed information, the stability coefficient, the transmission ratio and the wheelbase.

[0041] The vehicle to be controlled is controlled to be adjusted according to the comprehensive angle to complete path tracking.

[0042] In a third aspect, the present application provides a comprehensive angle determination system, the comprehensive angle determination system comprising:

[0043] an acquisition module, for acquiring information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled;

[0044] A first determination module is used to determine the near point preview distance according to a preset preview distance interval range;

[0045] A second determination module is used to determine a comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0046] The third determination module is used to determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the current steering wheel speed, the stability coefficient, the transmission ratio and the wheelbase.

[0047] In a fourth aspect, the present application provides a path tracking system, the path tracking system comprising:

[0048] an acquisition module, for acquiring information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled;

[0049] A first determination module is used to determine the near point preview distance according to a preset preview distance interval range;

[0050] A second determination module is used to determine a comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0051] A third determination module is used to determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the current steering wheel speed, the stability coefficient, the transmission ratio and the wheelbase;

[0052] The control module is used to control the vehicle to be controlled to adjust according to the comprehensive angle to complete the path tracking.

[0053] In a fifth aspect, the present application provides an electronic device, the electronic device comprising:

[0054] one or more processors;

[0055] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the method as described above.

[0056] In a sixth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, enables the computer to execute the method as described above.

[0057] Beneficial effects of the present invention:

[0058] The present application obtains information about the vehicle to be controlled, determines the near-point preview distance according to a preset preview distance interval, determines the comprehensive curvature according to the near-point preview distance, target trajectory, current trajectory, lateral function signal and vehicle speed information, and determines the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, vehicle speed information, current steering wheel speed, stability coefficient, transmission ratio and wheelbase, to ensure that the curvature change is identified in advance during the process of entering and exiting the curve, so that the vehicle can be smoothly controlled; by fixing the distance of the near point, the near point is fixed instead of changing with speed, time and other factors, thereby improving the stability of path tracking.

[0059] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0061] Figure 1 A flowchart of a comprehensive angle determination method shown as an exemplary embodiment of the present application;

[0062] Figure 2 for Figure 1 A flowchart of determining the integrated curvature in step S130 in an exemplary embodiment in the illustrated embodiment;

[0063] Figure 3 for Figure 2 A flowchart of determining the target heading angle of the vehicle to be controlled in step S210 in an exemplary embodiment in the illustrated embodiment;

[0064] Figure 4 for Figure 2 A flowchart of determining the integrated curvature in step S220 in an exemplary embodiment in the illustrated embodiment;

[0065] Figure 5 for Figure 4 A flowchart of determining the far point preview distance in step S410 in an exemplary embodiment in the illustrated embodiment;

[0066] Figure 6 for Figure 5 A flowchart of determining the far point preview distance in step S530 in an exemplary embodiment in the illustrated embodiment;

[0067] Figure 7 for Figure 1 A flowchart of determining the comprehensive angle of the vehicle to be controlled in step S140 in an exemplary embodiment in the illustrated embodiment;

[0068] Figure 8 for Figure 7 A flowchart of determining the comprehensive angle in step S720 in an exemplary embodiment in the illustrated embodiment;

[0069] Fig. 9 A flowchart of a method for determining a comprehensive angle according to a specific embodiment;

[0070] Fig.10for Fig. 9 A schematic diagram of the near point and the far point in the illustrated embodiment;

[0071] Fig.11 A flow chart of a path tracking method shown as an exemplary embodiment of the present application;

[0072] Fig.12 A block diagram of a comprehensive angle determination system shown as an exemplary embodiment of the present application;

[0073] Fig.13 A block diagram of a path tracking system shown as an exemplary embodiment of the present application;

[0074] Fig.14 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0075] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0076] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0077] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0078] See also Figure 1 , Figure 1 The flowchart of the comprehensive angle determination method is shown as an exemplary embodiment of the present application.

[0079] like Figure 1 As shown, in an exemplary embodiment of the present application, the comprehensive angle determination method includes at least step S110, step S120, step S130 and step S140, which are described in detail as follows:

[0080] Step S110. Obtaining information of the vehicle to be controlled;

[0081] It should be noted that the information of the vehicle to be controlled includes the target trajectory, the speed information of the vehicle to be controlled, the current trajectory of the vehicle to be controlled, the lateral function signal of the vehicle to be controlled, the current steering wheel speed of the vehicle to be controlled, the current steering wheel angle of the vehicle to be controlled, the stability coefficient of the vehicle to be controlled, the transmission ratio of the vehicle to be controlled and the wheelbase of the vehicle to be controlled;

[0082] Step S120. Determine the near point preview distance according to the preset preview distance interval range;

[0083] Step S130. Determine the comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0084] Step S140. Determine the comprehensive angle of the vehicle to be controlled based on the comprehensive curvature, vehicle speed information, current steering wheel speed, stability coefficient, transmission ratio and wheelbase.

[0085] In the related art, single-point preview or double-point preview is used for path tracking. After analyzing the related art, the inventor found that single-point preview is difficult to adapt to trajectories with variable curvature. If the preview point is not selected reasonably, it is easy to produce large errors in the control process, and the vehicle is difficult to accurately follow the target trajectory, resulting in low control accuracy of trajectory tracking; the near-point preview point used by the double-point preview will change with factors such as speed and time, resulting in poor stability of path tracking; and its curvature calculation process is relatively complicated and computationally intensive. Therefore, considering that by obtaining the information of the vehicle to be controlled, the near-point preview distance is determined according to the preset preview distance interval range, the comprehensive curvature is determined according to the near-point preview distance, target trajectory, current trajectory, lateral function signal and vehicle speed information, and the comprehensive angle of the vehicle to be controlled is determined according to the comprehensive curvature, vehicle speed information, current steering wheel speed, stability coefficient, transmission ratio and wheelbase, to ensure that the curvature change is identified in advance during the process of entering and exiting the curve, so that the vehicle can be controlled smoothly; compared with the existing two-point preview for path tracking, in which the near point changes with speed, time and other factors, the present application fixes the near point by fixing the distance of the near point, thereby avoiding the near point changing with speed, time and other factors, thereby improving the stability of path tracking.

[0086] See also Figure 2 , Figure 2 for Figure 1 The illustrated embodiment is a flow chart of determining the comprehensive curvature in step S130 in an exemplary embodiment.

[0087] like Figure 2 As shown, in an exemplary embodiment of the present application, Figure 1In the illustrated embodiment, the process of determining the comprehensive curvature in step S130 includes steps S210 and S220, which are described in detail as follows:

[0088] Step S210. Determine the target heading angle of the vehicle to be controlled according to the lateral function signal;

[0089] Step S220: Determine the comprehensive curvature according to the target heading angle, the near point preview distance, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information.

[0090] See also Figure 3 , Figure 3 for Figure 2 The illustrated embodiment is a flow chart of determining the target heading angle of the vehicle to be controlled in step S210 in an exemplary embodiment.

[0091] like Figure 3 As shown, in an exemplary embodiment of the present application, Figure 2 In the illustrated embodiment, the process of determining the target heading angle of the vehicle to be controlled in step S210 includes steps S310, S320 and S330, which are described in detail as follows:

[0092] Step S310. Determine the activation state of the lateral function of the vehicle to be controlled according to the lateral function signal, where the activation state includes activated and inactivated;

[0093] Step S320. If the activation state is activated, determine the target heading angle of the vehicle to be controlled according to the target trajectory;

[0094] Specifically, the angle between the center-of-mass velocity of the vehicle to be controlled determined according to the target trajectory in the ground coordinate system and the positive transverse semi-axis of the ground coordinate system can be determined according to the target trajectory, and the angle is the target heading angle.

[0095] Step S330: If the activation state is inactive, the steering wheel angle is used to determine the target heading angle of the vehicle to be controlled.

[0096] See also Figure 4 , Figure 4 for Figure 2 The illustrated embodiment is a flow chart of determining the comprehensive curvature in step S220 in an exemplary embodiment.

[0097] like Figure 4 As shown, in an exemplary embodiment of the present application, Figure 2 In the illustrated embodiment, the process of determining the comprehensive curvature in step S220 includes step S410 and step S420, which are described in detail as follows:

[0098] Step S410. Determine the far point preview distance according to the current trajectory;

[0099] It should be noted that, in the present application, the far point preview distance is greater than the near point preview distance and the far point preview distance is within the preset preview distance interval;

[0100] Step S420. Determine the comprehensive curvature according to the near point preview distance, the far point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information.

[0101] Specifically, according to the near point preview distance, the far point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information, the comprehensive curvature is determined in the following ways:

[0102]

[0103] Among them, a 0 is the lateral distance between the current position of the vehicle to be controlled according to the target trajectory and the actual position of the current trajectory at the current moment, in meters; a 1 The heading angle deviation between the current position of the vehicle to be controlled on the target trajectory and the actual position of the current trajectory at the current moment, that is, the difference between the heading angle of the vehicle to be controlled based on the target trajectory and the heading angle of the actual position of the current trajectory, in degrees, a 2 The curvature of the current trajectory at its actual location, in m -1 ; a 3 The rate of change of the curvature of the current trajectory at its actual location, in m -2 ;;d 1 is the near-point preview distance, in m; d 2 is the far point preview distance, in m; ρ is the comprehensive curvature, in m -1 In the actual calculation process, the units of each index are ignored, and only the numerical values ​​are substituted into formula (I) for calculation.

[0104] See also Figure 5 , Figure 5 for Figure 4 The illustrated embodiment is a flow chart of determining the far point preview distance in step S410 in an exemplary embodiment.

[0105] like Figure 5 As shown, in an exemplary embodiment of the present application, Figure 4 In the illustrated embodiment, the process of determining the far point preview distance in step S410 includes steps S510, S520, and S530, which are described in detail as follows:

[0106] Step S510. Determine the trajectory curvature of the current trajectory according to the current trajectory;

[0107] Step S520. Determine the preview time according to the trajectory curvature and the preset trajectory curvature-preview time correspondence;

[0108] It should be noted that the preset trajectory curvature-preview time correspondence relationship includes the correspondence relationship between the trajectory curvature and the preview time, and is used to confirm the preview time according to the correspondence between the two.

[0109] Exemplarily, the preset trajectory curvature-preview time correspondence relationship can be implemented in a gradient manner, such as within the first preset trajectory curvature interval, the preview time is the first preview time preset value, and within the second trajectory curvature interval, the preview time is the second preview time preset value. The preset trajectory curvature-preview time correspondence relationship can be set by yourself, which will not be repeated here.

[0110] Step S530: Determine the far point preview distance according to the preview time, vehicle speed information and the preset preview distance interval.

[0111] See also Figure 6 , Figure 6 for Figure 5 The illustrated embodiment is a flow chart of determining the far point preview distance in step S530 in an exemplary embodiment.

[0112] like Figure 6 As shown, in an exemplary embodiment of the present application, Figure 5 In the illustrated embodiment, the process of determining the far point preview distance in step S530 includes steps S610, S620, S630, and S640, which are described in detail as follows:

[0113] Step S610. Determine the basic preview distance according to the preview time and vehicle speed information;

[0114] Specifically, according to the preview time and vehicle speed information, the basic preview distance is determined by:

[0115] s = v × t (II);

[0116] Among them, s is the basic preview distance, the unit is m; v is the speed of the vehicle to be controlled, the unit is m / s; t is the preview time, the unit is s.

[0117] Step S620. If the basic preview distance is within the preset preview distance range, the basic preview distance is determined as the far point preview distance;

[0118] The preset preview distance interval range includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold. The preset preview distance upper limit threshold is greater than the preset preview distance lower limit threshold. The preview distance upper limit threshold and the preset preview distance lower limit threshold can be set by yourself and will not be repeated here.

[0119] Step S630. If the basic preview distance is outside the preset preview distance interval, compare the difference between the basic preview distance and the preset preview distance upper limit threshold and the preset preview distance lower limit threshold to obtain a comparison result;

[0120] Step S640. According to the comparison result, a preset preview distance upper limit threshold or a preset preview distance lower limit threshold that is closer to the basic preview distance difference is obtained, and the preset preview distance upper limit threshold or the preset preview distance lower limit threshold that is smaller than the basic preview distance difference is determined as the far-point preview distance.

[0121] Specifically, if the difference between the preset preview distance upper limit threshold and the basic preview is less than the difference between the preset preview distance lower limit threshold and the basic preview, the preset preview distance upper limit threshold is determined as the far point preview distance; otherwise, the preset preview distance lower limit threshold is determined as the far point preview distance.

[0122] See also Figure 7 , Figure 7 for Figure 1 The illustrated embodiment is a flow chart of determining the comprehensive angle of the vehicle to be controlled in step S140 in an exemplary embodiment.

[0123] like Figure 7 As shown, in an exemplary embodiment of the present application, Figure 1 In the illustrated embodiment, the process of determining the comprehensive angle of the vehicle to be controlled in step S140 includes steps S710 and S720, which are described in detail as follows:

[0124] Step S710. Determine the basic comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, vehicle speed information, stability coefficient, transmission ratio and wheelbase;

[0125] Specifically, according to the comprehensive curvature, vehicle speed information, stability coefficient, transmission ratio and wheelbase, the basic comprehensive angle of the vehicle to be controlled is determined by:

[0126] ReqAng=(1+K×v 2 )×i×L×P(III);

[0127] Among them, ReqAng is the basic comprehensive angle, in degrees; K is the stability coefficient; v is the speed of the vehicle to be controlled, in m / s; i is the transmission ratio; L is the wheelbase, in meters; P is the comprehensive curvature, in meters-1. In the actual calculation process, the units of each index are ignored, and only their values ​​are substituted into formula (III) for calculation.

[0128] Step S720: Determine the comprehensive angle according to the basic comprehensive angle and the current steering wheel speed.

[0129] See also Figure 8 , Figure 8 for Figure 7 The illustrated embodiment is a flow chart of determining the comprehensive angle in step S720 in an exemplary embodiment.

[0130] like Figure 8 As shown, in an exemplary embodiment of the present application, Figure 1 In the illustrated embodiment, the process of determining the comprehensive angle of the vehicle to be controlled in step S140 includes steps S810, S820 and S830, which are described in detail as follows:

[0131] Step S810. Determine the comprehensive angle threshold of the vehicle to be controlled according to the current steering wheel speed and the preset steering wheel speed-comprehensive angle threshold correspondence relationship;

[0132] It should be noted that the preset steering wheel speed-comprehensive angle threshold correspondence relationship includes the correspondence relationship between the steering wheel speed and the comprehensive angle threshold, and is used to confirm the comprehensive angle threshold according to the correspondence between the two.

[0133] For example, the preset steering wheel speed-comprehensive angle threshold correspondence relationship may be negatively correlated, such as the comprehensive angle threshold decreases as the steering wheel speed increases. The preset steering wheel speed-comprehensive angle threshold correspondence relationship may be set arbitrarily and will not be described in detail here.

[0134] Step S820: If the basic comprehensive angle is greater than the comprehensive angle threshold, the comprehensive angle threshold is determined as the comprehensive angle;

[0135] Step S830: If the basic comprehensive angle is less than or equal to the comprehensive angle threshold, the basic comprehensive angle is determined as the comprehensive angle.

[0136] like Fig. 9 As shown, in a specific embodiment, the steps of the comprehensive angle determination method are as follows:

[0137] Acquire information of the vehicle to be controlled, the information of the vehicle to be controlled including the target trajectory, the speed information of the vehicle to be controlled, the current trajectory of the vehicle to be controlled, the lateral function signal of the vehicle to be controlled, the current steering wheel speed of the vehicle to be controlled, the current steering wheel angle of the vehicle to be controlled, the stability coefficient of the vehicle to be controlled, the transmission ratio of the vehicle to be controlled and the wheelbase of the vehicle to be controlled;

[0138] Determine the near-point preview distance according to the preset preview distance interval range;

[0139] Determining, according to the lateral function signal, an activation state of the lateral function of the vehicle to be controlled, the activation state including activated and inactivated;

[0140] If the activation state is activated, the target heading angle of the vehicle to be controlled is determined according to the target trajectory;

[0141] Specifically, the angle between the center-of-mass velocity of the vehicle to be controlled determined according to the target trajectory in the ground coordinate system and the positive transverse semi-axis in the ground coordinate system can be determined according to the target trajectory, and the angle is the target heading angle;

[0142] Specifically, the schematic diagram of the near point and the far point is as follows Fig.10 As shown;

[0143] like Fig.10 As shown, the near point NearPrvPoint and the far point FarPrvPoint are both located in front of the vehicle to be controlled Vehicle, there is a certain distance between the near point NearPrvPoint and the far point FarPrvPoint and the vehicle to be controlled Vehicle, the difference between the far point FarPrvPoint and the vehicle to be controlled Vehicle is greater than the difference between the near point NearPrvPoint and the vehicle to be controlled Vehicle, wherein CentLane is the center line of the lane where the vehicle to be controlled is currently located, and Lane R is the lane boundary line of the lane where the vehicle to be controlled is currently located.

[0144] Determining, according to the lateral function signal, an activation state of the lateral function of the vehicle to be controlled, the activation state including activated and inactivated;

[0145] If the activation state is not activated, the steering wheel angle is used to determine the target heading angle of the vehicle to be controlled;

[0146] A flow chart for determining the integrated curvature in an exemplary embodiment;

[0147] According to the current trajectory, determining the trajectory curvature of the current trajectory;

[0148] Next, the preview time is determined according to the trajectory curvature and the preset trajectory curvature-preview time correspondence relationship;

[0149] Then, according to the preview time and vehicle speed information, determine the basic preview distance:

[0150] s = v × t (II);

[0151] Among them, s is the basic preview distance, the unit is m; v is the speed of the vehicle to be controlled, the unit is m / s; t is the preview time, the unit is s.

[0152] If the basic preview distance is within the preset preview distance range, the basic preview distance is determined as the far-point preview distance;

[0153] If the basic preview distance is outside the preset preview distance interval, the preset preview distance upper limit threshold or the preset preview distance lower limit threshold of the preset preview distance interval with a smaller difference from the basic preview distance is determined as the far-point preview distance;

[0154] Determine the comprehensive curvature based on the near-point preview distance, far-point preview distance, target heading angle, target trajectory, current trajectory, stability coefficient and vehicle speed information:

[0155]

[0156] Among them, a 0 is the lateral distance between the current position of the vehicle to be controlled according to the target trajectory and the actual position of the current trajectory at the current moment, in meters; a 1 The heading angle deviation between the current position of the vehicle to be controlled on the target trajectory and the actual position of the current trajectory at the current moment, that is, the difference between the heading angle of the vehicle to be controlled based on the target trajectory and the heading angle of the actual position of the current trajectory, in degrees, a 2 The curvature of the current trajectory at its actual location, in m -1 ; a 3 The rate of change of the curvature of the current trajectory at its actual location, in m -2 ;;d 1 is the near-point preview distance, in m; d 2 is the far point preview distance, in m; ρ is the comprehensive curvature, in m -1 In the actual calculation process, the units of each index are ignored, and only the values ​​are substituted into formula (II) for calculation;

[0157] According to the comprehensive curvature, vehicle speed information, stability coefficient, transmission ratio and wheelbase, the basic comprehensive angle of the vehicle to be controlled is determined:

[0158] ReqAng=(1+K×v 2 )×i×L×P(III);

[0159] Among them, ReqAng is the basic comprehensive angle, in degrees; K is the stability coefficient; v is the speed of the vehicle to be controlled, in m / s; i is the transmission ratio; L is the wheelbase, in meters; P is the comprehensive curvature, in meters -1 In the actual calculation process, the units of each index are ignored, and only the values ​​are substituted into formula (III) for calculation;

[0160] Determine the comprehensive angle threshold of the vehicle to be controlled according to the current steering wheel speed and the preset steering wheel speed-comprehensive angle threshold correspondence relationship;

[0161] If the basic comprehensive angle is greater than the comprehensive angle threshold, the comprehensive angle threshold is determined as the comprehensive angle;

[0162] If the basic comprehensive angle is less than or equal to the comprehensive angle threshold, the basic comprehensive angle is determined as the comprehensive angle.

[0163] See also Fig.11 , Fig.11 The flowchart of the path tracking method is shown as an exemplary embodiment of the present application.

[0164] like Fig.11 As shown, in an exemplary embodiment of the present application, the path tracking method at least includes step S1110, step S1120, step S1130, step S1140 and step S1150, which are described in detail as follows:

[0165] Step S1110. Obtaining information of the vehicle to be controlled;

[0166] It should be noted that the information of the vehicle to be controlled includes the target trajectory, the speed information of the vehicle to be controlled, the current trajectory of the vehicle to be controlled, the lateral function signal of the vehicle to be controlled, the current steering wheel angle of the vehicle to be controlled, the stability coefficient of the vehicle to be controlled, the transmission ratio of the vehicle to be controlled and the wheelbase of the vehicle to be controlled;

[0167] Step S1120. Determine the near point preview distance according to the preset preview distance interval range;

[0168] The preset preview distance interval range includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold. The preset preview distance upper limit threshold is greater than the preset preview distance lower limit threshold. The preview distance upper limit threshold and the preset preview distance lower limit threshold can be set by yourself and will not be repeated here.

[0169] Step S1130. Determine the comprehensive curvature according to the near-point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0170] Step S1140. Determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, vehicle speed information, stability coefficient, transmission ratio and wheelbase;

[0171] Step S1150: Control the vehicle to be controlled to adjust according to the comprehensive angle to complete path tracking.

[0172] See also Fig.12 The embodiment of the present application further provides a comprehensive angle determination system M1200, the comprehensive angle determination system M1200 comprising:

[0173] The acquisition module M1210 is used to obtain the information of the vehicle to be controlled;

[0174] It should be noted that the information of the vehicle to be controlled includes the target trajectory, the speed information of the vehicle to be controlled, the current trajectory of the vehicle to be controlled, the lateral function signal of the vehicle to be controlled, the current steering wheel speed of the vehicle to be controlled, the current steering wheel angle of the vehicle to be controlled, the stability coefficient of the vehicle to be controlled, the transmission ratio of the vehicle to be controlled and the wheelbase of the vehicle to be controlled;

[0175] The first determination module M1220 is used to determine the near point preview distance according to a preset preview distance interval range;

[0176] The preset preview distance interval range includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold. The preset preview distance upper limit threshold is greater than the preset preview distance lower limit threshold. The preview distance upper limit threshold and the preset preview distance lower limit threshold can be set by yourself and will not be repeated here.

[0177] The second determination module M1230 is used to determine the comprehensive curvature according to the near point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0178] The third determination module M1240 is used to determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, vehicle speed information, current steering wheel speed, stability coefficient, transmission ratio and wheelbase.

[0179] See also Fig.13 The present application embodiment further provides a path tracking system M1300, the path tracking system M1300 comprising:

[0180] The acquisition module M1310 is used to obtain the information of the vehicle to be controlled;

[0181] It should be noted that the information of the vehicle to be controlled includes the target trajectory, the speed information of the vehicle to be controlled, the current trajectory of the vehicle to be controlled, the lateral function signal of the vehicle to be controlled, the current steering wheel speed of the vehicle to be controlled, the current steering wheel angle of the vehicle to be controlled, the stability coefficient of the vehicle to be controlled, the transmission ratio of the vehicle to be controlled, and the wheelbase of the vehicle to be controlled;

[0182] The first determination module M1320 is used to determine the near point preview distance according to a preset preview distance interval range;

[0183] The preset preview distance interval range includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold. The preset preview distance upper limit threshold is greater than the preset preview distance lower limit threshold. The preview distance upper limit threshold and the preset preview distance lower limit threshold can be set by yourself and will not be repeated here.

[0184] The second determination module M1330 is used to determine the comprehensive curvature according to the near point preview distance, the target trajectory, the current trajectory, the lateral function signal and the vehicle speed information;

[0185] The third determination module M1340 is used to determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, vehicle speed information, current steering wheel speed, stability coefficient, transmission ratio and wheelbase;

[0186] The control module M1350 is used to control the vehicle to be controlled to adjust according to the comprehensive angle to complete the path tracking.

[0187] It should be noted that the comprehensive angle determination system provided in the above embodiment and the comprehensive angle determination method provided in the above embodiment belong to the same concept, and the path tracking system provided in the above embodiment and the path tracking method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual applications, the comprehensive angle determination system and the path tracking system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0188] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the comprehensive angle determination method or path tracking method provided in the above-mentioned embodiments.

[0189] Fig.14 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Fig.14 The computer system 1400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0190] like Fig.14 As shown, the computer system 1400 includes a central processing unit (CPU) 1401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1402 or the program loaded from the storage part 1408 to the random access memory (RAM) 1403, such as executing the method described in the above embodiment. In the RAM 1403, various programs and data required for system operation are also stored. The CPU 1401, the ROM 1402 and the RAM 1403 are connected to each other through the bus 1404. The input / output (I / O) interface 1405 is also connected to the bus 1404.

[0191] The following components are connected to the I / O interface 1405: an input section 1406 including a keyboard, a mouse, etc.; an output section 1407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1408 including a hard disk, etc.; and a communication section 1409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1409 performs communication processing via a network such as the Internet. A drive 1410 is also connected to the I / O interface 1405 as needed. A removable medium 1411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1410 as needed so that a computer program read therefrom is installed into the storage section 1408 as needed.

[0192] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1409, and / or installed from a removable medium 1411. When the computer program is executed by a central processing unit (CPU) 1401, various functions defined in the system of the present application are executed.

[0193] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0194] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0195] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0196] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the above-described comprehensive angle determination method or path tracking method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

[0197] Another aspect of the present application also provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the comprehensive angle determination method or path tracking method provided in the above-mentioned various embodiments.

[0198] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A comprehensive angle determination method, It is characterized in that The comprehensive angle determination method comprises: Acquire information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled; Determine the near-point preview distance according to the preset preview distance interval range; determining a target heading angle of the vehicle to be controlled according to the lateral function signal; Determining a trajectory curvature of the current trajectory according to the current trajectory; Determining the preview time according to the trajectory curvature and the preset trajectory curvature-preview time correspondence relationship; Determining a basic preview distance according to the preview time and the vehicle speed information; If the basic preview distance is within the preset preview distance interval, the basic preview distance is determined as the far point preview distance, and the preset preview distance interval includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold; If the basic preview distance is outside the preset preview distance interval, compare the basic preview distance with the difference between the preset preview distance upper limit threshold and the preset preview distance lower limit threshold to obtain a comparison result; According to the comparison result, a preset preview distance upper limit threshold or a preset preview distance lower limit threshold having a smaller difference from the basic preview distance is obtained, and the preset preview distance upper limit threshold or the preset preview distance lower limit threshold having a smaller difference from the basic preview distance is determined as the far-point preview distance, and the far-point preview distance is greater than the near-point preview distance and is within the preset preview distance interval; Determining a comprehensive curvature according to the near-point preview distance, the far-point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient, and the vehicle speed information; The comprehensive angle of the vehicle to be controlled is determined according to the comprehensive curvature, the vehicle speed information, the current steering wheel speed, the stability coefficient, the transmission ratio and the wheelbase.

2. The method for determining a comprehensive angle according to claim 1, It is characterized in that Determine the target heading angle of the vehicle to be controlled, including: Determining, according to the lateral function signal, an activation state of a lateral function of the vehicle to be controlled, wherein the activation state includes activated and inactivated; If the activation state is activated, determining a target heading angle of the vehicle to be controlled according to the target trajectory; If the activation state is inactive, the steering wheel angle is used to determine the target heading angle of the vehicle to be controlled.

3. The comprehensive angle determination method according to claim 1, It is characterized in that Determine the comprehensive angle of the vehicle to be controlled, including: Determining a basic comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the stability coefficient, the transmission ratio and the wheelbase; The comprehensive angle is determined according to the basic comprehensive angle and the current steering wheel speed.

4. The method for determining the comprehensive angle according to claim 3, It is characterized in that Determining the comprehensive angle includes: Determining a comprehensive angle threshold of the vehicle to be controlled according to the current steering wheel speed and a preset steering wheel speed-comprehensive angle threshold correspondence relationship; If the basic comprehensive angle is greater than the comprehensive angle threshold, determining the comprehensive angle threshold as the comprehensive angle; If the basic comprehensive angle is less than or equal to the comprehensive angle threshold, the basic comprehensive angle is determined as the comprehensive angle.

5. A path tracking method, It is characterized in that The path tracking method comprises: Acquire information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled; Determine the near-point preview distance according to the preset preview distance interval range; determining a target heading angle of the vehicle to be controlled according to the lateral function signal; Determining a trajectory curvature of the current trajectory according to the current trajectory; Determining the preview time according to the trajectory curvature and the preset trajectory curvature-preview time correspondence relationship; Determining a basic preview distance according to the preview time and the vehicle speed information; If the basic preview distance is within the preset preview distance interval, the basic preview distance is determined as the far point preview distance, and the preset preview distance interval includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold; If the basic preview distance is outside the preset preview distance interval, compare the basic preview distance with the difference between the preset preview distance upper limit threshold and the preset preview distance lower limit threshold to obtain a comparison result; According to the comparison result, a preset preview distance upper limit threshold or a preset preview distance lower limit threshold having a smaller difference from the basic preview distance is obtained, and the preset preview distance upper limit threshold or the preset preview distance lower limit threshold having a smaller difference from the basic preview distance is determined as the far-point preview distance, and the far-point preview distance is greater than the near-point preview distance and is within the preset preview distance interval; Determining a comprehensive curvature according to the near-point preview distance, the far-point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient, and the vehicle speed information; Determining a comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the stability coefficient, the transmission ratio and the wheelbase; The vehicle to be controlled is controlled to be adjusted according to the comprehensive angle to complete path tracking.

6. A comprehensive angle determination system, It is characterized in that The comprehensive angle determination system comprises: an acquisition module, for acquiring information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled; A first determination module is used to determine the near point preview distance according to a preset preview distance interval range; The second determination module is used to determine the target heading angle of the vehicle to be controlled according to the lateral function signal; determine the trajectory curvature of the current trajectory according to the current trajectory; determine the preview time according to the trajectory curvature and the preset trajectory curvature-preview time correspondence relationship; determine the basic preview distance according to the preview time and the vehicle speed information; if the basic preview distance is within the preset preview distance interval, determine the basic preview distance as the far point preview distance, and the preset preview distance interval includes a preset preview distance upper limit threshold and a preset preview distance lower limit threshold; if the basic preview distance is outside the preset preview distance interval, compare the basic preview distance with The difference between the preset preview distance upper limit threshold and the preset preview distance lower limit threshold is used to obtain a comparison result; according to the comparison result, a preset preview distance upper limit threshold or a preset preview distance lower limit threshold with a smaller difference from the basic preview distance is obtained, and the preset preview distance upper limit threshold or the preset preview distance lower limit threshold with a smaller difference from the basic preview distance is determined as the far-point preview distance, and the far-point preview distance is greater than the near-point preview distance and is within the preset preview distance interval; and a comprehensive curvature is determined according to the near-point preview distance, the far-point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient and the vehicle speed information; The third determination module is used to determine the comprehensive angle of the vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the current steering wheel speed, the stability coefficient, the transmission ratio and the wheelbase.

7. A path tracking system, It is characterized in that The path tracking system comprises: an acquisition module, for acquiring information of the vehicle to be controlled, wherein the information of the vehicle to be controlled includes a target trajectory of the vehicle to be controlled, vehicle speed information of the vehicle to be controlled, a current trajectory of the vehicle to be controlled, a lateral function signal of the vehicle to be controlled, a current steering wheel speed of the vehicle to be controlled, a current steering wheel angle of the vehicle to be controlled, a stability coefficient of the vehicle to be controlled, a transmission ratio of the vehicle to be controlled, and a wheelbase of the vehicle to be controlled; A first determination module is used to determine the near point preview distance according to a preset preview distance interval range; A second determination module, configured to determine a target heading angle of a vehicle to be controlled according to the lateral function signal; determine a trajectory curvature of a current trajectory according to the current trajectory; determine a preview time according to the trajectory curvature and a preset trajectory curvature-preview time correspondence; determine a basic preview distance according to the preview time and the vehicle speed information; if the basic preview distance is within the preset preview distance range, determine the basic preview distance as a far-point preview distance, where the preset preview distance range includes a preset preview distance upper threshold and a preset preview distance lower threshold; if the basic preview distance is outside the preset preview distance range, compare differences between the basic preview distance and the preset preview distance upper threshold and the preset preview distance lower threshold to obtain a comparison result; according to the comparison result, obtain a preset preview distance upper threshold or a preset preview distance lower threshold with a smaller difference from the basic preview distance, and determine the preset preview distance upper threshold or the preset preview distance lower threshold with a smaller difference from the basic preview distance as the far-point preview distance, where the far-point preview distance is greater than the near-point preview distance and within the preset preview distance range; and determine a comprehensive curvature according to the near-point preview distance, the far-point preview distance, the target heading angle, the target trajectory, the current trajectory, the stability coefficient, and the vehicle speed information. A third determination module, configured to determine a comprehensive angle of a vehicle to be controlled according to the comprehensive curvature, the vehicle speed information, the current steering wheel rotation speed, the stability coefficient, the transmission ratio, and the wheelbase. A control module, configured to control the vehicle to be controlled to make adjustments according to the comprehensive angle to complete path tracking.

8. An electronic device characterized in that the electronic device includes: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method according to any one of claims 1-5.

9. A computer-readable storage medium characterized in that a computer program is stored thereon, which, when executed by a processor of a computer, causes the computer to execute the method according to any one of claims 1-5.

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