Tracking control method, device, electronic device and storage medium for vehicle

Abstract

The present invention discloses a trajectory tracking control method, device, electronic device and storage medium for a vehicle, belonging to the technical field of automatic control. The control method includes: obtaining the current position point, current vehicle speed, current wheel angle and execution duration of the vehicle in the current control cycle; determining a temporary position point reached by the vehicle based on the current position point, current vehicle speed, current wheel angle and execution duration; obtaining the first wheel angle in the previous control cycle of the vehicle and the modulation parameter of the temporary position point; modulating the temporary position point based on the first wheel angle, current wheel angle and modulation parameter to obtain a modulated position point; obtaining the target position point of the vehicle; determining the steering wheel angle of the vehicle based on the current position point, target position point and modulated position point, and controlling the operation of the vehicle with the steering wheel angle. By adding a temporary position point and adjusting the wheel angle caused by special working conditions, the present application can improve the accuracy of vehicle trajectory tracking control.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a vehicle tracking control method, device, electronic equipment and storage medium. Background Art

[0002] At present, most unmanned driving tracking control algorithms are developed based on passenger cars. Passenger cars have the advantages of medium and high speeds, smooth roads, strong and stable sensor signals, etc. As a result, the current control algorithms cannot be well adapted to unmanned vehicles operating in scenarios such as low speeds, rough and bumpy roads, and intermittent positioning signals.

[0003] The tracking control algorithms currently used by unmanned vehicles are basically based on the control algorithms of passenger cars and transplanted to vehicles for development. Existing algorithms rarely take into account the problems that are very likely to occur in the actual operation of vehicles, such as the deviation of the vehicle's driving angle caused by driving through potholes and bumps during driving. They can only meet the expected control accuracy of unmanned vehicles under normal working conditions, but the control accuracy cannot be guaranteed under complex working conditions.

[0004] Therefore, the technical problem of how to improve the control accuracy of unmanned vehicles needs to be solved urgently. Summary of the invention

[0005] In order to solve the technical problem of how to improve the control accuracy of an unmanned vehicle described in the above background technology, the present invention provides a vehicle tracking control method, device, electronic device and storage medium.

[0006] One object of the present invention is to provide a vehicle tracking control method. The method adds a temporary position point between the current position point and the target position point, analyzes whether the wheel angle is offset due to potholes, bumps, etc., and corrects the wheel angle to improve the vehicle tracking control accuracy.

[0007] Another object of the present invention is to provide a tracking control device for a vehicle.

[0008] Another object of the present invention is to provide an electronic device.

[0009] Another object of the present invention is to provide a computer-readable storage medium.

[0010] According to one aspect of the embodiments of the present application, a trajectory tracking control method for a vehicle is provided. The vehicle includes a controller configured to receive the operating condition information of the vehicle, determine the operating parameters of the vehicle based on the operating condition information, and send a control instruction including the operating parameters to the vehicle. The control method includes: obtaining a current position point, a current vehicle speed, a current wheel angle, and an execution duration of the current control cycle of the vehicle, where the execution duration is the total duration from when the controller receives the operating condition information to when the vehicle executes the control instruction; determining a temporary position point reached by the vehicle based on the current position point, the current vehicle speed, the current wheel angle, and the execution duration; obtaining a first wheel angle in the previous control cycle of the vehicle and a modulation parameter of the temporary position point; modulating the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point; obtaining a target position point of the vehicle; determining a steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point, and controlling the vehicle to run with the steering wheel angle.

[0011] Optionally, the modulating the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point includes: comparing the first wheel angle and the current wheel angle; modulating the temporary position point to obtain a modulated position point when the difference between the first wheel angle and the current wheel angle is greater than a preset difference.

[0012] Optionally, the trajectory tracking control method of the vehicle further includes: controlling the vehicle to run with the current wheel angle when the difference between the first wheel angle and the current wheel angle is less than or equal to the preset difference.

[0013] Optionally, when the difference between the first wheel angle and the current wheel angle is greater than the preset difference, the trajectory tracking control method further includes: modulating the current wheel angle based on the difference between the first wheel angle and the current wheel angle and the modulation parameter to obtain a modulated wheel angle; modulating the temporary position point based on the modulated wheel angle to obtain a modulated position point.

[0014] Optionally, the determining the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point includes: determining a circular arc radius and a curvature of the circular arc of the vehicle motion trajectory based on the current position point, the target position point, and the modulated position point; determining the steering wheel angle based on the circular arc radius and the curvature.

[0015] Optionally, the obtaining the target position point of the vehicle includes: determining a preview distance parameter of the vehicle based on the current vehicle speed, where the preview distance parameter is positively correlated with the current vehicle speed; determining the target position point based on the preview distance parameter.

[0016] Optionally, the preview distance parameter is less than or equal to 10 m, or the preview distance parameter is less than or equal to 4 times the wheelbase of the vehicle.

[0017] According to another aspect of the embodiments of the present application, there is also provided a path tracking control device for a vehicle. The vehicle includes a controller configured to receive the operating condition information of the vehicle, determine the operating parameters of the vehicle based on the operating condition information, and send a control instruction including the operating parameters to the vehicle. The path tracking control device includes: a first obtaining module configured to obtain the current position point, the current vehicle speed, the current wheel angle, and the execution duration of the current control period of the vehicle, where the execution duration is the total duration from when the controller receives the operating condition information to when the vehicle executes the control instruction; a first analyzing module configured to determine a temporary position point reached by the vehicle based on the current position point, the current vehicle speed, the current wheel angle, and the execution duration; a second obtaining module configured to obtain the first wheel angle in the previous control period of the vehicle and the modulation parameter of the temporary position point; a second analyzing module configured to modulate the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point; a third obtaining module configured to obtain the target position point of the vehicle; and an execution module configured to determine the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the operation of the vehicle with the steering wheel angle.

[0018] According to still another aspect of the embodiments of the present application, there is also provided an electronic device including a processor, a communication interface, a memory, and a communication bus. The processor, the communication interface, and the memory communicate with each other through the communication bus. The memory is configured to store a computer program. The processor is configured to execute the method steps in any of the above embodiments by running the computer program stored in the memory.

[0019] According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium storing a computer program, where the computer program is configured to execute the method steps in any of the above embodiments when running.

[0020] In the present application, by adding a temporary position point, combining the current position point and the target position point to determine the arc trajectory of the vehicle operation, further determining the steering wheel angle of the vehicle, and controlling the vehicle based on the steering wheel angle, and when the difference between the current wheel angle and the wheel angle calculated in the previous control period exceeds a preset difference, that is, when the wheel angle deviates due to potholes, bumps, etc. during the vehicle operation, the wheel angle is corrected, and then the temporary position point is corrected, and the arc trajectory of the vehicle operation is determined based on the corrected modulated position point, and then the vehicle is controlled, so as to improve the control accuracy of the vehicle path tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into and form a part of this specification, showing embodiments in accordance with the present invention, and are used together with the specification to explain the principles of the present invention.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a schematic diagram of the hardware environment of an optional vehicle tracking control method according to an embodiment of the present invention;

[0024] Figure 2 is a schematic flowchart of an optional vehicle tracking control method according to an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of an optional vehicle running track according to an embodiment of the present application;

[0026] Figure 4 is a schematic diagram of an optional another vehicle running track according to an embodiment of the present application;

[0027] Figure 5 is a structural block diagram of an optional vehicle tracking control device according to an embodiment of the present application;

[0028] Figure 6 is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] As described in the background art, currently, most of the path tracking control algorithms for driverless vehicles are developed based on passenger cars. Passenger cars have advantages such as medium to high speeds, flat road conditions, strong and stable sensor signals, etc., which results in the current control algorithms not being able to be well adapted to driverless vehicles operating in scenarios with low speeds, rough and bumpy roads, and intermittent positioning signals.

[0032] The path tracking control algorithms currently adopted by driverless vehicles basically use the control algorithms of passenger cars and are transplanted to the vehicles for development. Existing algorithms rarely consider the problems that are very likely to occur during the actual operation of the vehicle. For example, when driving through potholes, bumps, etc., the driving angle of the vehicle will deviate. They can only meet the expected control accuracy of driverless vehicles under normal working conditions, and the control accuracy cannot be guaranteed under complex working conditions.

[0033] Therefore, according to one aspect of the embodiments of the present application, a path tracking control method for a vehicle is provided. The vehicle includes a controller for receiving the working condition information of the vehicle, determining the operating parameters of the vehicle based on the working condition information, and sending a control instruction containing the operating parameters to the vehicle. Optionally, in this embodiment, the above-mentioned path tracking control method for the vehicle can be applied to Figure 1 the hardware environment composed of a terminal 102 and a server 104 as shown. As Figure 1As shown, the server 104 is connected to the terminal 102 via a network. It can be used to provide services for the terminal or the client installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services for the server 104. It can also be used to process cloud services. The above network includes but is not limited to: wide area network, metropolitan area network or local area network. The terminal 102 is not limited to a PC, mobile phone, tablet computer, etc. The vehicle tracking control method of the embodiments of the present application can be executed by the server 104, or by the terminal 102, or jointly by the server 104 and the terminal 102. Among them, the terminal 102 executing the vehicle tracking control method of the embodiments of the present application can also be executed by the client installed on it.

[0034] Taking the vehicle tracking control method in this embodiment that can be executed by the terminal 102 and / or the server 104 as an example, Figure 2 is a schematic flowchart of an optional vehicle tracking control method according to an embodiment of the present application. Refer to Figure 2 As shown, the process of this method may include the following steps:

[0035] S10. Obtain the current position point, current vehicle speed, current wheel angle and execution duration of the vehicle in the current control cycle. The execution duration is the total duration from when the controller receives the working condition information to when the vehicle executes the control instruction.

[0036] In this embodiment, the current position point can be obtained in real time through GPS navigation. The current vehicle speed and current wheel angle can be detected by the drive-by-wire chassis. The execution duration can be detected in real time, or can be determined according to the total duration recorded in the historical database from when the controller receives the working condition information to when the vehicle executes the control instruction.

[0037] S20. Determine the temporary position point reached by the vehicle based on the current position point, current vehicle speed, current wheel angle and the execution duration.

[0038] In this embodiment, the inventor found that since the vehicle needs to consume time during the process from when the controller receives the working condition information to when the vehicle executes the control instruction, and if the vehicle has a vehicle speed at this time, the vehicle will move during the execution duration and the vehicle will drive away from the current position point. Therefore, based on the current wheel angle, current vehicle speed and execution time, the position point that the vehicle will drive to can be predicted in advance, that is, the temporary position point.

[0039] S30. Obtain the first wheel angle and the modulation parameter of the temporary position point in the previous control cycle of the vehicle.

[0040] S40. Modulate the temporary position point based on the first wheel angle, the current wheel angle and the modulation parameter to obtain a modulated position point.

[0041] In the previous vehicle path tracking control, the vehicle was controlled to travel from the current position point to the target position point. However, if there are special working conditions such as potholes and bumps during the vehicle's driving process, it will cause a large deviation between the actual driving angle of the vehicle and the calculated driving angle, which not only affects the control accuracy of vehicle path tracking, but also increases the rotation of the steering wheel and the jitter rate of the steering wheel during the vehicle control process.

[0042] Therefore, the temporarily predicted position point in step S20 may have reduced accuracy due to the deviation of the current wheel angle, which in turn leads to a reduction in control accuracy when controlling the vehicle based on the current position point and the temporarily predicted position point. Therefore, in this embodiment, the wheel rotation angle of the previous control cycle is obtained. In normal vehicle path tracking control, after calculating the wheel rotation angle, the controller controls the vehicle to run at the calculated wheel rotation angle. In this application, after obtaining the current wheel rotation angle and the first wheel rotation angle in the current control cycle, the current wheel rotation angle is corrected based on the first wheel rotation angle and the modulation parameter, and the temporarily predicted position point is corrected based on the corrected current wheel rotation angle, reducing the control deviation caused by special working conditions such as potholes and bumps and improving the control accuracy of vehicle path tracking.

[0043] S50. Obtain the target position point of the vehicle.

[0044] S60. Determine the steering wheel rotation angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the vehicle to run at the steering wheel rotation angle.

[0045] After obtaining the current position point, the modulated position point, and the target position point, based on the principle that three points determine a circle, the arc trajectory of the vehicle running from the current position point to the target position point can be determined, and the radius and curvature of the circle can be calculated based on the arc trajectory, and then the steering wheel rotation angle can be calculated to control the vehicle. After completing the current control cycle, enter the control and operation of the next control cycle until the vehicle reaches the target position point, reducing the interference of special working conditions such as potholes and bumps. In the existing technical solution, due to the bumps on the road, the steering wheel of the vehicle under the control of the existing technical solution will rotate back and forth with the jitter, resulting in the vehicle swaying left and right, and then the front of the vehicle frequently changes its orientation left and right; adding the temporarily predicted position point introduced in the present invention will enable the wheel rotation angle deviation generated when passing through a pothole to be corrected in a timely manner at the next control moment, and because of the existence of the adjustment parameter, the frequent left and right oscillations of the vehicle can be reduced, enabling the vehicle to be controlled and corrected while planning, and finally being able to drive along the issued path better. Improve vehicle path tracking control. Among them, the modulation parameter can be obtained through testing during experiments and can be 0.4 - 0.6.

[0046] As an exemplary embodiment, modulating the temporary position point based on the first wheel rotation angle, the current wheel rotation angle, and the modulation parameter to obtain a modulated position point includes: comparing the first wheel rotation angle and the current wheel rotation angle; when the difference between the first wheel rotation angle and the current wheel rotation angle is greater than a preset difference, modulating the temporary position point to obtain a modulated position point.

[0047] In this embodiment, when predicting the temporary position point through the current wheel rotation angle, it is necessary to ensure the progress of the current wheel rotation angle as much as possible. If the vehicle passes through a pothole during the movement from the previous other position point to the current position point, resulting in a deviation in the wheel rotation angle, the temporary position point predicted based on the current wheel rotation angle will also have an error. Therefore, it is necessary to compare the current wheel rotation angle with the first wheel rotation angle calculated in the previous control cycle. When the difference between the first wheel rotation angle and the current wheel rotation angle is greater than the preset difference, it is considered that the current wheel rotation angle has a deviation due to special working conditions, and it is necessary to correct the current wheel rotation angle, and then correct the temporary position point to obtain a modulated position point, thereby improving the accuracy of the vehicle running trajectory determined based on the current position point, the target position point, and the modulated position point, and improving the control accuracy of vehicle path tracking.

[0048] As an optional embodiment, when the difference between the first wheel rotation angle and the current wheel rotation angle is less than the preset difference, the influence on the path tracking control of the overall vehicle is relatively small, and the temporary position point may not be corrected; in order to improve the control accuracy of vehicle path tracking, it may also be that even if the difference between the first wheel rotation angle and the current wheel rotation angle is less than the preset difference, the current wheel rotation angle is still corrected to further improve the control accuracy of vehicle path tracking.

[0049] As an exemplary embodiment, when the difference between the first wheel rotation angle and the current wheel rotation angle is greater than the preset difference, the path tracking control method further includes: modulating the current wheel rotation angle based on the difference between the first wheel rotation angle and the current wheel rotation angle and the modulation parameter to obtain a modulated wheel rotation angle; modulating the temporary position point based on the modulated wheel rotation angle to obtain a modulated position point.

[0050] In this embodiment, when the vehicle passes through a pothole, it affects the accuracy of the current wheel angle. It may be that the current wheel angle is smaller than the calculated theoretical wheel angle, or it may be that the current wheel angle is larger than the calculated theoretical wheel angle. Therefore, when modulating the current wheel angle, if the current wheel angle is smaller than the theoretical wheel angle, multiply the difference between the first wheel angle and the current wheel angle by the modulation parameter, and sum the result with the current wheel angle. Modulate the temporary position point based on the summed wheel angle to obtain the modulated position point; if the current wheel angle is larger than the theoretical wheel angle, multiply the difference between the first wheel angle and the current wheel angle by the modulation parameter, and subtract the result from the current wheel angle. Modulate the temporary position point based on the subtracted wheel angle to obtain the modulated position point, and combine the current position point and the target position point to determine the running trajectory of the vehicle, and then determine the arc radius and curvature of the trajectory to calculate the steering wheel angle and control the vehicle to improve the control accuracy of vehicle tracking.

[0051] As an exemplary embodiment, refer to Figure 3 As shown, the obtaining of the target position point of the vehicle includes: determining a preview distance parameter of the vehicle based on the current vehicle speed, and the preview distance parameter is positively correlated with the current vehicle speed; determining the target position point based on the preview distance parameter. The preview distance parameter is less than or equal to 10 m, or the preview distance parameter is less than or equal to 4 times the wheelbase of the vehicle. In this embodiment, L is the preview distance parameter. When the vehicle travels to the current position point, the preview distance parameter is determined based on the current vehicle speed, and the target position point is determined based on the preview distance parameter. Among them, Figure 3 One end of the line segment L is located at the current position point, and the other end is located at the target position point. The preview distance parameter needs to be obtained through repeated tests. A smaller preview distance parameter will improve the control accuracy, but will increase the calculation amount and control times, and thus will increase the jitter rate of the steering wheel; a larger preview distance parameter will reduce the jitter rate of the steering wheel, but will reduce the control accuracy.

[0052] The complete elaboration of the vehicle tracking control method in this application is: refer to Figure 4As shown, first, the current vehicle speed, the current wheel angle, and the execution duration are obtained based on the drive-by-wire chassis, and the current position point is obtained based on GPS positioning. Using the current position point, the current vehicle speed, the current wheel angle, and the execution duration, a temporary position point is predicted. After predicting the temporary position point, it is necessary to determine whether the determined temporary position point is accurate. Then, the first wheel angle and the modulation parameter of the previous control cycle are obtained, and it is compared whether the difference between the first wheel angle and the current wheel angle is greater than a preset difference. When the difference between the first wheel angle and the current wheel angle is greater than the preset difference, the difference between the first wheel angle and the current wheel angle is multiplied by the modulation parameter to correct the current wheel angle, and the temporary position point is corrected based on the corrected wheel angle to obtain the modulated position point. After that, the arc radius and curvature of the vehicle running trajectory are determined using the modulated position point, the current position point, and the target position point, the steering wheel angle is determined based on the arc radius and curvature, and the vehicle running is controlled based on the steering wheel angle. After completing the current control cycle, the target position point remains unchanged, the real-time position point of the vehicle is obtained, as well as the vehicle speed and wheel angle at the real-time position point, a new temporary position point is predicted, and it is determined whether the temporary position point needs to be corrected, and this is cycled in turn until the vehicle travels to the target position point.

[0053] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0054] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory), RAM (Random Access Memory), magnetic disk, optical disc), and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of the various embodiments of this application.

[0055] According to another aspect of the embodiments of this application, a vehicle trace control device for implementing the above vehicle trace control method is further provided. Figure 5It is a schematic diagram of an optional vehicle tracing control device according to an embodiment of the present application. As Figure 5 shown, the device may include:

[0056] A first acquisition module 501, configured to acquire the current position point, the current vehicle speed, the current wheel angle, and the execution duration of the vehicle in the current control cycle, where the execution duration is the total duration from when the controller receives the working condition information to when the vehicle executes the control instruction;

[0057] A first analysis module 502, configured to determine a temporary position point reached by the vehicle based on the current position point, the current vehicle speed, the current wheel angle, and the execution duration;

[0058] A second acquisition module 503, configured to acquire the first wheel angle in the previous control cycle of the vehicle and the modulation parameter of the temporary position point;

[0059] A second analysis module 504, configured to modulate the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point;

[0060] A third acquisition module 505, configured to acquire the target position point of the vehicle;

[0061] An execution module 506, configured to determine the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the vehicle to run with the steering wheel angle.

[0062] It should be noted that the first acquisition module 501 in this embodiment may be used to execute the above step S10, the first analysis module 502 in this embodiment may be used to execute the above step S20, the second acquisition module 503 in this embodiment may be used to execute the above step S30, the second analysis module 504 in this embodiment may be used to execute the above step S40, the third acquisition module 505 in this embodiment may be used to execute the above step S50, and the execution module 506 in this embodiment may be used to execute the above step S60.

[0063] It should be noted here that the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, may run in a hardware environment as Figure 1 shown, and may be implemented by software or by hardware, where the hardware environment includes a network environment.

[0064] According to another aspect of the embodiments of the present application, an electronic device for implementing the above vehicle tracing control method is further provided. The electronic device may be a server, a terminal, or a combination thereof.

[0065] Figure 6 is a block diagram of an optional electronic device according to an embodiment of the present application. As Figure 6 shown, it includes a processor 602, a communication interface 604, a memory 606, and a communication bus 608. Among them, the processor 602, the communication interface 604, and the memory 606 complete communication with each other through the communication bus 608. Among them,

[0066] The memory 606 is used to store a computer program;

[0067] The processor 602, when executing the computer program stored on the memory 606, implements the following steps:

[0068] Obtain the current position point, current vehicle speed, current wheel angle, and execution duration of the current control cycle of the vehicle. The execution duration is the total duration from when the controller receives the operating condition information to when the vehicle executes the control instruction;

[0069] Based on the current position point, current vehicle speed, current wheel angle, and the execution duration, determine the temporary position point reached by the vehicle;

[0070] Obtain the first wheel angle and the modulation parameter of the temporary position point within the previous control cycle of the vehicle;

[0071] Modulate the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point;

[0072] Obtain the target position point of the vehicle;

[0073] Based on the current position point, the target position point, and the modulated position point, determine the steering wheel angle of the vehicle, and control the operation of the vehicle with the steering wheel angle.

[0074] Optionally, in this embodiment, the above communication bus may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 6 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0075] The communication interface is used for communication between the above electronic device and other devices.

[0076] The memory may include RAM and may also include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0077] As an example, as Figure 6 shown, the aforementioned memory 606 may but is not limited to include the first acquisition module 501, the first analysis module 502, the second acquisition module 503, the second analysis module 504, the third acquisition module 505, and the execution module 506 in the vehicle tracking control device. In addition, it may also include but is not limited to other module units in the vehicle tracking control device, which will not be elaborated in this example.

[0078] The aforementioned processor may be a general-purpose processor, which may include but is not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it may also be a DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0079] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiment, and will not be elaborated here.

[0080] Those of ordinary skill in the art can understand that Figure 6 the structure shown is only schematic. The device for implementing the vehicle tracking control method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, and a mobile Internet device (MID), a PAD, and other terminal devices. Figure 6 It does not limit the structure of the aforementioned electronic device. For example, the terminal device may further include more or fewer components (such as a network interface, a display device, etc.) than those shown in Figure 6 , or have a different configuration from that shown in Figure 6 .

[0081] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and this program can be stored in a computer-readable storage medium, and the storage medium can include: a flash drive, ROM, RAM, a magnetic disk, or an optical disc, etc.

[0082] According to another aspect of the embodiments of the present application, a computer-readable storage medium is also provided. Optionally, in this embodiment, the above storage medium can be used to execute the program code of the vehicle's trace control method.

[0083] Optionally, in this embodiment, the above storage medium can be located on at least one of the multiple network devices in the network shown in the above embodiment.

[0084] Optionally, in this embodiment, the storage medium is set to store program code for executing the following steps:

[0085] Obtain the current position point, current vehicle speed, current wheel steering angle, and execution duration of the vehicle in the current control cycle, where the execution duration is the total duration from when the controller receives the working condition information to when the vehicle executes the control instruction;

[0086] Determine the temporary position point reached by the vehicle based on the current position point, current vehicle speed, current wheel steering angle, and the execution duration;

[0087] Obtain the first wheel steering angle and the modulation parameter of the temporary position point in the previous control cycle of the vehicle;

[0088] Modulate the temporary position point based on the first wheel steering angle, the current wheel steering angle, and the modulation parameter to obtain a modulated position point;

[0089] Obtain the target position point of the vehicle;

[0090] Determine the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the operation of the vehicle with the steering wheel angle.

[0091] Optionally, the specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be elaborated herein.

[0092] Optionally, in this embodiment, the above storage medium can include but is not limited to: various media such as a USB flash drive, ROM, RAM, a mobile hard disk, a magnetic disk, or an optical disc that can store program code.

[0093] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0094] If the integrated unit in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the above computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods in various embodiments of this application.

[0095] In the above embodiments of this application, the descriptions of the various embodiments each have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] In the several embodiments provided by this application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0097] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0098] In addition, the functional units in various embodiments of this application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0099] The above are only the preferred embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A method for tracking control of a vehicle, characterized in that, The vehicle includes a controller configured to receive the operating condition information of the vehicle, determine the operating parameters of the vehicle based on the operating condition information, and send a control instruction including the operating parameters to the vehicle. The control method includes: Obtain the current position point, current vehicle speed, current wheel angle, and execution duration of the current control cycle of the vehicle. The execution duration is the total duration from when the controller receives the operating condition information to when the vehicle executes the control instruction. Determine a temporary position point reached by the vehicle based on the current position point, current vehicle speed, current wheel angle, and the execution duration. Obtain the first wheel angle and the modulation parameter of the temporary position point within the previous control cycle of the vehicle. Modulate the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point. Obtain the target position point of the vehicle. Determine the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the vehicle to run with the steering wheel angle. The modulating the temporary position point based on the first wheel angle, the current wheel angle, and the modulation parameter to obtain a modulated position point includes: Compare the first wheel angle and the current wheel angle. When the difference between the first wheel angle and the current wheel angle is greater than a preset difference, modulate the temporary position point to obtain a modulated position point. When the difference between the first wheel angle and the current wheel angle is greater than a preset difference, the path tracking control method further includes: Modulate the current wheel angle based on the difference between the first wheel angle and the current wheel angle and the modulation parameter to obtain a modulated wheel angle. Modulate the temporary position point based on the modulated wheel angle to obtain a modulated position point.

2. The trace control method of a vehicle according to claim 1, characterized in that, It further includes: When the difference between the first wheel angle and the current wheel angle is less than or equal to the preset difference, control the vehicle to run with the current wheel angle.

3. The trace control method of a vehicle according to claim 1, wherein, The determining the steering wheel angle of the vehicle based on the current position point, the target position point, and the modulated position point includes: Determine the arc radius and curvature of the arc of the vehicle motion trajectory based on the current position point, the target position point, and the modulated position point. Determine the steering wheel angle based on the arc radius and the curvature.

4. The trace control method of a vehicle according to claim 1, characterized in that, The obtaining the target position point of the vehicle includes: Determine a preview distance parameter of the vehicle based on the current vehicle speed. The preview distance parameter is positively correlated with the current vehicle speed. Determine the target position point based on the preview distance parameter.

5. The vehicle tracking control method according to claim 4, characterized in that, The preview distance parameter is less than or equal to 10 m, or the preview distance parameter is less than or equal to 4 times the wheelbase of the vehicle.

6. A tracing control device for a vehicle, characterized in that, A path tracking control method applied to a vehicle as described in any one of claims 1 - 5. The vehicle includes a controller configured to receive the operating condition information of the vehicle, determine the operating parameters of the vehicle based on the operating condition information, and send a control instruction including the operating parameters to the vehicle. The path tracking control device includes: A first acquisition module, configured to acquire a current position point, a current vehicle speed, a current wheel rotation angle, and an execution duration of a current control cycle of the vehicle, where the execution duration is the total duration from when the controller receives the working condition information to when the vehicle executes the control instruction; A first analysis module, configured to determine a temporary position point reached by the vehicle based on the current position point, the current vehicle speed, the current wheel rotation angle, and the execution duration; A second acquisition module, configured to acquire a first wheel rotation angle and a modulation parameter of the temporary position point within a previous control cycle of the vehicle; A second analysis module, configured to modulate the temporary position point based on the first wheel rotation angle, the current wheel rotation angle, and the modulation parameter to obtain a modulated position point; A third acquisition module, configured to acquire a target position point of the vehicle; An execution module, configured to determine a steering wheel rotation angle of the vehicle based on the current position point, the target position point, and the modulated position point, and control the vehicle to run with the steering wheel rotation angle.

7. An electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, the communication interface, and the memory complete communication with each other through the communication bus, characterized in that The memory is configured to store a computer program; The processor is configured to execute the steps of the vehicle tracking control method according to any one of claims 1-5 by running the computer program stored on the memory.

8. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, where the computer program is configured to execute the steps of the vehicle tracking control method according to any one of claims 1-5 when running.

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