A processing method for steering adaptive control

Abstract

This invention relates to a method for adaptive steering control, the method comprising: parameter initialization; acquiring the current driving mode, vehicle speed, lateral acceleration, yaw rate, and desired steering curvature k. mpc When the driving mode is automatic driving mode, the steering curvature buffer is updated; when the absolute value of the vehicle speed is higher than the threshold, feedback steering curvature is generated and steering curvature deviation is calculated; when the absolute value of lateral acceleration and the absolute value of desired steering curvature are greater than the corresponding thresholds, the first function f(e) is integrated and the slope parameter S is updated to the integral result; when the absolute value of lateral acceleration and the absolute value of desired steering curvature are less than or equal to the corresponding thresholds, the second function g(e) is integrated and the bias parameter B is updated to the integral result; adaptive adjustment of the steering curvature is performed to generate adaptive steering curvature k. cmd ;k cmd =S*k mpc +B. The method of this invention allows for adaptive adjustment of steering curvature.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a processing method for adaptive control of steering. BACKGROUND

[0002] The automatic driving system of a vehicle is a complex system with multiple degrees of freedom, and it is difficult to accurately measure the vehicle dynamics related parameters by additionally installing sensors. Moreover, the dynamics and kinematics characteristics change with the change of the driving environment, which also causes the change of the vehicle dynamics related parameters. Furthermore, for the lateral control of the automatic driving system, the vehicle dynamics related parameters include the steering curvature. If the steering curvature cannot be adaptively controlled / adjusted during driving, the lateral control accuracy may be reduced. SUMMARY

[0003] The purpose of the present application is to overcome the defects of the prior art, and to provide a processing method for adaptive control of steering, an electronic device and a computer readable storage medium. The expected steering curvature is adaptively adjusted according to the current driving mode, the driving speed, the lateral acceleration, the yaw rate and the curvature error during vehicle driving. Through the method of the present application, the steering curvature for lateral control can be adaptively adjusted according to the real-time motion parameters of the vehicle during driving, so as to improve the lateral control accuracy.

[0004] To achieve the above purpose, the first aspect of the embodiment of the present application provides a processing method for adaptive control of steering, which comprises:

[0005] initializing the first coefficient γ1, the second coefficient γ2, the first curvature threshold k1, the second curvature threshold k2, the first slope parameter S, the first bias parameter B, the control period T, the speed threshold v * and the lateral acceleration threshold a * ;

[0006] acquiring the current driving mode M, the driving speed v, the lateral acceleration a, the yaw rate ω yaw and the expected steering curvature k mpc of the vehicle at any time;

[0007] when the driving mode M is the automatic driving mode, storing the expected steering curvature k mpc in a preset expected steering curvature buffer area;

[0008] when the absolute value of the driving speed v is greater than or equal to the speed threshold v * , the ratio of the yaw rate ω yaw to the driving speed v is taken as the corresponding feedback steering curvature k pose; and cache the earliest time desired turning curvature in the desired turning curvature cache as a corresponding target turning curvature k target , and perform a difference calculation on the target turning curvature k target and the feedback turning curvature k pose to generate a corresponding turning curvature deviation e, e=k target -k pose ;

[0009] When the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold a * , and the absolute value of the desired turning curvature k mpc is greater than the first curvature threshold k1, a corresponding first function f(e) is constituted by the first coefficient γ1, the turning curvature deviation e, and the desired turning curvature k mpc , and an integral result I1 is obtained by integrating the first function f(e) according to the control period T, and the first slope parameter S is updated as the integral result I1; f(e)=-γ1*k mpc *e,

[0010] When the absolute value of the lateral acceleration a is less than or equal to the lateral acceleration threshold a * , and the absolute value of the desired turning curvature k mpc is less than or equal to the second curvature threshold k2, a corresponding second function g(e) is constituted by the second coefficient γ2 and the turning curvature deviation e, and an integral result I2 is obtained by integrating the second function g(e) according to the control period T, and the first bias parameter B is updated as the integral result I2; g(e)=-γ2*e,

[0011] According to the latest first slope parameter S, the first bias parameter B, and the desired turning curvature k mpc , an adaptive adjustment of the control turning curvature is performed to generate a corresponding adaptive turning curvature k cmd ; k cmd =S*k mpc +B.

[0012] Preferably, the method further comprises:

[0013] When the driving mode M is not an automatic driving mode or the absolute value of the running speed v is less than the speed threshold v * , the adaptive adjustment of the control turning curvature is performed according to the latest first slope parameter S, the first bias parameter B, and the desired turning curvature k mpc to generate a corresponding adaptive turning curvature kcmd .

[0014] Preferably, the method further comprises:

[0015] When the driving mode M is the automatic driving mode, the absolute value of the running vehicle speed v is greater than or equal to the speed threshold value v * , and the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold value a * , if the absolute value of the expected steering curvature k mpc is less than or equal to the first curvature threshold value k1, adaptive adjustment of the control steering curvature is performed according to the latest first slope parameter S, the first bias parameter B, and the expected steering curvature k mpc to generate the corresponding adaptive steering curvature k cmd .

[0016] Preferably, the method further comprises:

[0017] When the driving mode M is the automatic driving mode, the absolute value of the running vehicle speed v is greater than or equal to the speed threshold value v * , and the absolute value of the lateral acceleration a is less than or equal to the lateral acceleration threshold value a * , if the absolute value of the expected steering curvature k mpc is greater than the second curvature threshold value k2, adaptive adjustment of the control steering curvature is performed according to the latest first slope parameter S, the first bias parameter B, and the expected steering curvature k mpc to generate the corresponding adaptive steering curvature k cmd .

[0018] Preferably, the method further comprises:

[0019] When the adaptive steering curvature k cmd is obtained, a first change rate is calculated in combination with a plurality of adaptive steering curvatures obtained recently to generate a corresponding first change rate; and when the adaptive steering curvature k cmd satisfies a preset steering curvature threshold range and the first change rate satisfies a preset change rate threshold range, the adaptive steering curvature k cmd is output as a control steering curvature for lateral control.

[0020] Preferably, the method further comprises:

[0021] The number of cache units of the expected steering curvature cache area is T d / T c ; T d is a preset steering delay duration, and T cThe preset calculation period; the expected turning curvature cache area manages the cache data of each cache unit according to the first-in first-out principle; each cache unit stores one expected turning curvature k mpc .

[0022] The electronic device provided by the embodiment of the present application comprises a memory, a processor and a transceiver.

[0023] The processor is coupled with the memory, reads and executes the instructions in the memory to realize the method steps of the first aspect.

[0024] The transceiver is coupled with the processor, and the transceiver is controlled by the processor to perform message transmission and reception.

[0025] The third aspect of the embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores computer instructions, when the computer instructions are executed by a computer, the computer instructions make the computer execute the instructions of the method of the first aspect.

[0026] The embodiment of the present application provides a steering adaptive control processing method, an electronic device and a computer readable storage medium, and the expected turning curvature is adaptively adjusted according to the current driving mode, the driving speed, the lateral acceleration, the yaw angular velocity and the curvature error in the vehicle driving process. Through the method of the present application, the turning curvature for lateral control can be adaptively adjusted according to the real-time motion parameters of the current vehicle in the vehicle driving process, and the lateral control precision is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A steering adaptive control processing method provided by the embodiment of the present application is shown in a schematic diagram;

[0028] Figure 2 A structure schematic diagram of an electronic device provided by the embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0030] The steering adaptive control processing method provided by the embodiment of the present application is as follows Figure 1 As shown in a schematic diagram of a steering adaptive control processing method provided by the embodiment of the present application, the method mainly comprises the following steps:

[0031] Step 1, initialize the first coefficient γ1, the second coefficient γ2, the first curvature threshold k1, the second curvature threshold k2, the first slope parameter S, the first bias parameter B, the control period T, the speed threshold v * , and the lateral acceleration threshold a * .

[0032] Here, the automatic driving system of the embodiment of the present application needs to initialize some parameters required in adaptive adjustment of the steering curvature in advance before adaptive adjustment of the steering curvature is performed;

[0033] For example, initialization is performed according to the following values: γ1 = 150.0, γ2 = 1.0, k1 = 0.005, k2 = 0.02, v * = 0.01 m / s, a * = 0.5 m / s 2 , S = 1, and B = 0.

[0034] Step 2, obtain the current driving mode M, the driving speed v, the lateral acceleration a, the yaw rate ω yaw , and the expected steering curvature k mpc at any time.

[0035] Here, the automatic driving system of the embodiment of the present application can obtain the latest driving mode M, the driving speed v, the lateral acceleration a, the yaw rate ω yaw , and the expected steering curvature k mpc from each working module in the system at any time; the driving mode M can be obtained from the system data area or the chassis module; the expected steering curvature k mpc can be obtained from the output of the motion model of the planning module or the control module; the driving speed v, the lateral acceleration a, and the yaw rate ω yaw can be obtained from the positioning module or the chassis module, and it needs to be noted that the driving speed v here is the longitudinal driving speed by default.

[0036] Step 3, when the driving mode M is the automatic driving mode, store the expected steering curvature k mpc in the preset expected steering curvature buffer area.

[0037] Here, the number of buffer units of the expected steering curvature buffer area is T d / T c ; T d is the preset steering delay time, and T c is the preset calculation period; the expected steering curvature buffer area manages the buffer data of each buffer unit according to the first-in-first-out principle; and each buffer unit stores the expected steering curvature k mpcThe embodiment of the application manages the expected turning curvature buffer area according to a first-in-first-out circular queue management mode.

[0038] Here, when the driving mode M is the automatic driving mode, the automatic driving system will obtain the expected turning curvature k mpc and store it in the expected turning curvature buffer area.

[0039] Conversely, if the driving mode M is not the automatic driving mode, the automatic driving system will not execute the current step 3 and the subsequent steps 4-6, but directly turn to the subsequent step 7 to generate the adaptive turning curvature k mpc according to the latest first slope parameter S, first bias parameter B and expected turning curvature k cmd .

[0040] Step 4, when the absolute value of the driving speed v is greater than or equal to the speed threshold v * , the automatic driving system will calculate the feedback turning curvature k yaw as the ratio of the yaw rate ω pose to the driving speed v; and take the earliest expected turning curvature in the expected turning curvature buffer area as the target turning curvature k target , and perform a difference calculation on the target turning curvature k target and the feedback turning curvature k pose to generate the corresponding turning curvature deviation e.

[0041] Wherein, e = k target -k pose .

[0042] Here, when the absolute value of the driving speed v is greater than or equal to the speed threshold v * , the automatic driving system will calculate the feedback turning curvature k pose = yaw rate ω yaw / driving speed v; and take the difference result of the earliest and latest feedback turning curvatures in the expected turning curvature buffer area as the turning curvature deviation e at the current time; and continue to process through the subsequent step 5.

[0043] Conversely, if the absolute value of the driving speed v is less than the speed threshold v * , the automatic driving system will not execute the current step 4 and the subsequent steps 5-6, but directly turn to the subsequent step 7 to generate the adaptive turning curvature k mpc according to the latest first slope parameter S, first bias parameter B and expected turning curvature k cmd .

[0044] Step 5, when the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold a* And the expected turning curvature k mpc When the absolute value is greater than the first curvature threshold k1, the first coefficient γ1, the steering curvature deviation e, and the desired steering curvature k are used. mpc The first function f(e) is constructed, and the first function f(e) is integrated according to the control period T to obtain the corresponding integral result I1. The first slope parameter S is then updated to the integral result I1.

[0045] Where, f(e)=-γ1*k mpc *e,

[0046] Here, when the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold a * And the expected turning curvature k mpc When the absolute value of the curve is greater than the first curvature threshold k1, the lateral motion tendency of the vehicle increases, and the corresponding adaptive lateral error parameter, i.e., the first slope parameter S, should change. Therefore, the first function f(e) = -γ1*k is designed. mpc *e is integrated and the adaptive lateral error parameter, i.e., the first slope parameter S, is updated based on the integration result; it should be noted that, in this embodiment of the invention, a slope parameter value range (e.g., [0.8, 1.2]) can be preset to limit the latest first slope parameter S. Specifically, if the latest first slope parameter S is lower than the minimum value of the slope parameter value range, it is modified to the minimum value of the slope parameter value range again; if the latest first slope parameter S is higher than the maximum value of the slope parameter value range, it is modified to the maximum value of the slope parameter value range again.

[0047] Conversely, if the desired turning curvature k is at this time... mpc If the absolute value of the first curvature threshold k1 is less than or equal to the first curvature threshold k1, the autonomous driving system will not execute the current step 5 and the subsequent step 6, but will directly proceed to the subsequent step 7 based on the latest first slope parameter S, the first bias parameter B, and the desired steering curvature k. mpc Adaptive adjustment of steering curvature is performed to generate the corresponding adaptive steering curvature k. cmd .

[0048] Step 6, when the absolute value of the lateral acceleration a is less than or equal to the lateral acceleration threshold a * And the expected turning curvature k mpc When the absolute value of is less than or equal to the second curvature threshold k2, the second function g(e) is formed by the second coefficient γ2 and the turning curvature deviation e, and the second function g(e) is integrated according to the control period T to obtain the corresponding integral result I2, and the first bias parameter B is updated to the integral result I2.

[0049] Where g(e) = -γ2*e,

[0050] Here, when the absolute value of the lateral acceleration a is less than or equal to a lateral acceleration threshold value a * , and the absolute value of the desired steering curvature k mpc is less than or equal to a second curvature threshold value k2, the vehicle longitudinal motion trend increases, and the corresponding adaptive longitudinal error parameter, i.e., the first bias parameter B, should change, so a second function g(e) = -γ2*e is designed and integrated, and the adaptive longitudinal error parameter, i.e., the first bias parameter B, is updated according to the integral result; it should be noted that the embodiment of the present application can also pre-set a bias parameter value range (for example, [-0.002, 0.002]) to limit the amplitude of the latest first bias parameter B, specifically: if the latest first bias parameter B is lower than the minimum value of the bias parameter value range, it is modified again to the minimum value of the bias parameter value range, and if the latest first bias parameter B is higher than the maximum value of the bias parameter value range, it is modified again to the maximum value of the bias parameter value range;

[0051] Conversely, if the absolute value of the desired steering curvature k mpc at this time is greater than the second curvature threshold value k2, the automatic driving system will not perform the current step 6, but directly go to the subsequent step 7 to perform adaptive adjustment of the control steering curvature according to the latest first slope parameter S, the first bias parameter B, and the desired steering curvature k mpc to generate the corresponding adaptive steering curvature k cmd .

[0052] Step 7, perform adaptive adjustment of the control steering curvature according to the latest first slope parameter S, the first bias parameter B, and the desired steering curvature k mpc to generate the corresponding adaptive steering curvature k cmd .

[0053] Wherein, k cm d = S * k mpc + B.

[0054] In addition, when the latest adaptive steering curvature k cmd is obtained, the embodiment of the present application also performs curvature change rate calculation on the recently obtained multiple adaptive steering curvatures to generate the corresponding first change rate; and when the adaptive steering curvature k cmd satisfies the preset steering curvature threshold range and the first change rate satisfies the preset change rate threshold range, the adaptive steering curvature k cmd is output as the control steering curvature of the lateral control.

[0055] Figure 2A structural schematic diagram of an electronic device is provided for Embodiment Two of the present application. The electronic device can be the terminal device or the server as described above, or a terminal device or a server connected with the terminal device or the server as described above and implementing the method of Embodiment Two of the present application. As shown in Figure 2 the electronic device can include a processor 301 (for example, a CPU), a memory 302, and a transceiver 303. The transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving action of the transceiver 303. The memory 302 can store various instructions for completing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device related to the embodiments of the present application further 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 elements. The communication port 306 described above is used for the connection and communication between the electronic device and other external devices.

[0056] In Figure 2 the system bus 305 mentioned in the foregoing 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 the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus. The communication interface is used to realize the communication between the database access device and other devices (for example, a client, a read-write library, and a read-only library). The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory, for example, at least one disk memory.

[0057] The processor described above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Graphics Processing Unit (GPU), etc.; can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0058] It should be noted that the embodiments of the present application also provide a computer readable storage medium, which stores instructions, when the instructions are run on a computer, cause the computer to execute the method and process provided in the above embodiments.

[0059] The embodiments of the present application also provide a chip running instructions, which is used to execute the processing steps described in the above method embodiments.

[0060] The embodiments of the present application provide a processing method for steering adaptive control, an electronic device and a computer readable storage medium, which adaptively adjusts the expected steering curvature according to the current driving mode, driving speed, lateral acceleration, yaw rate and curvature error during the vehicle driving process. Through the method of the present application, the steering curvature for lateral control can be adaptively adjusted according to the real-time motion parameters of the current vehicle during the vehicle driving process, and the lateral control accuracy is improved.

[0061] The skilled person should also further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both, and in order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0062] The steps of the method or algorithm described in combination with the embodiments disclosed herein can be implemented in hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0063] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application, and it should be understood that the above description is only a specific embodiment of the present application and does not limit the protection scope of the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A processing method for steering adaptive control, characterized by, The method comprises: to a first coefficient γ1, to a second coefficient γ2, to a first curvature threshold k1, to a second curvature threshold k2, to a first slope parameter S, to a first bias parameter B, to a control period T, to a speed threshold v * and to a lateral acceleration threshold a * initialization is performed; at any time instant the current driving mode M, the travel speed v, the lateral acceleration a, the yaw angular speed ω of the vehicle yaw and the desired steering curvature k mpc ; when the driving mode M is an automatic driving mode, the desired steering curvature k mpc stores a preset desired steering curvature buffer When the absolute value of the running vehicle speed v is greater than or equal to the speed threshold value v * , the ratio of the yaw rate ω yaw to the running vehicle speed v is taken as the corresponding feedback steering curvature k pose ; and the earliest expected steering curvature in time in the expected steering curvature buffer area is taken as the corresponding target steering curvature k target , and the target steering curvature k target and the feedback steering curvature k pose are differentially calculated to generate the corresponding steering curvature deviation e, e = k target -k pose ; when the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold a * and the absolute value of the desired steering curvature k mpc is greater than the first curvature threshold k1, the first coefficient γ1, the steering curvature deviation e and the desired steering curvature k mpc form a corresponding first function f(e), and a corresponding integral result I1 is obtained by integrating the first function f(e) according to the control period T, and the first slope parameter S is updated as the integral result I1; f(e) = -γ1*k mpc *e, when the absolute value of the lateral acceleration a is less than or equal to the lateral acceleration threshold a * and the absolute value of the desired turning curvature k mpc is less than or equal to the second curvature threshold k2, a corresponding second function g(e) is constituted by the second coefficient γ2 and the turning curvature deviation e, a corresponding integral result I2 is obtained by integrating the second function g(e) according to the control period T, and the first bias parameter B is updated as the integral result I2; g(e) = -γ2*e, According to the latest first slope parameter S, the first bias parameter B and the desired steering curvature k mpc An adaptive adjustment of the control steering curvature is performed to generate a corresponding adaptive steering curvature k cmd ; k cmd = S * k mpc + B.

2. The process for steering adaptive control according to claim 1, characterized in that, The method further comprises: When the driving mode M is not an automatic driving mode or the absolute value of the travel vehicle speed v is smaller than the speed threshold value v * , the adaptive adjustment of the control steering curvature is performed according to the latest first slope parameter S, the first bias parameter B and the desired steering curvature k mpc , and the corresponding adaptive steering curvature k cmd is generated.

3. The process for steering adaptive control according to claim 1, wherein, The method further comprises: when the driving mode M is an automatic driving mode, the absolute value of the running vehicle speed v is greater than or equal to the speed threshold value v * , and the absolute value of the lateral acceleration a is greater than the lateral acceleration threshold value a * , if the absolute value of the desired steering curvature k mpc is less than or equal to the first curvature threshold value k1, the adaptive adjustment of the control steering curvature is generated according to the latest first slope parameter S, the first bias parameter B and the desired steering curvature k mpc , and the corresponding adaptive steering curvature k cmd is generated.

4. The process for steering adaptive control according to claim 1, wherein, The method further comprises: when the driving mode M is an automatic driving mode, the absolute value of the travel vehicle speed v is greater than or equal to the speed threshold value v * , and the absolute value of the lateral acceleration a is less than or equal to the lateral acceleration threshold value a * , if the absolute value of the desired steering curvature k mpc is greater than the second curvature threshold value k2, the adaptive adjustment of the control steering curvature is generated according to the latest first slope parameter S, the first bias parameter B and the desired steering curvature k mpc , and the corresponding adaptive steering curvature k cmd is generated.

5. The process for steering adaptive control according to any one of claims 1-4, characterized in that, The method further comprises: When the adaptive steering curvature k cmd is obtained, a corresponding first change rate is generated by combining a plurality of adaptive steering curvatures recently obtained for curvature change rate calculation; and when the adaptive steering curvature k cmd satisfies a preset steering curvature threshold range and the first change rate satisfies a preset change rate threshold range, the adaptive steering curvature k cmd is output as a control steering curvature for lateral control.

6. The process for steering adaptive control according to claim 1, wherein, The method further comprises: The number of cache units of the expected turning curvature cache area is T d / T c ;T d is a preset turning delay duration, T c is a preset calculation period; the expected turning curvature cache area manages the cache data of each cache unit according to the first-in first-out principle; each cache unit stores one expected turning curvature k mpc .

7. An electronic device, comprising: Comprise: A memory, a processor and a transceiver; The processor is used for coupling with the memory, reading and executing instructions in the memory to realize the method steps in any one of claims 1-6; The transceiver is coupled with the processor, and the transceiver is controlled by the processor to perform message transmission and reception.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, when the computer instructions are executed by a computer, the computer instructions make the computer execute the instructions of the method in any one of claims 1-6.

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