Method, device, storage medium and vehicle for controlling vehicle driving

Abstract

The present invention discloses a method, device, storage medium and vehicle for controlling vehicle driving. The method comprises: obtaining model parameters of a panic link in a driver model, wherein the driver model is a model with a panic link added; determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel angle is greater than a steering angle threshold; and controlling the vehicle driving based on the first steering wheel angle. The present invention solves the technical problem that the steering wheel is operated with low accuracy by the driver during the driving of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, a device, a storage medium and a vehicle for controlling vehicle driving. Background Art

[0002] At present, during the steering operation of a driving object, the usual method is to truly reflect the steering operation decision process of the driving object based on the optimal preview acceleration model. However, this model does not take into account the panic characteristics of the driving object, which limits the application scope of the optimal preview acceleration model.

[0003] Currently, no effective solution has been proposed to the problem of low steering wheel accuracy of the driver during driving of the above-mentioned vehicle. Summary of the invention

[0004] The embodiments of the present invention provide a method, an apparatus, a storage medium and a vehicle for controlling vehicle driving, so as to at least solve the technical problem that the driver operates the steering wheel with low accuracy during the driving of the vehicle.

[0005] According to one aspect of an embodiment of the present invention, a method for controlling vehicle driving is provided. The method may include: obtaining model parameters of a panic link in a driver model, wherein the driver model is a model with the panic link added; determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when the vehicle is driving according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle is driving according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; and controlling vehicle driving based on the first steering wheel angle.

[0006] Optionally, obtaining model parameters of the panic link in the driver model includes: determining the model parameters based on at least one of the following: a first lateral acceleration steady-state gain, a damping ratio of the panic link, a panic coefficient of the driving object, an undamped natural efficiency, and a damping ratio coefficient.

[0007] Optionally, determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and a model parameter includes: determining the first steering wheel angle of the vehicle as the product of the first lateral acceleration and a model parameter function of the driving object.

[0008] Optionally, before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters, the method also includes: obtaining the lateral displacement of a first position on the target path and the lateral displacement of a second position on the planned path, wherein the target path is a preset path of the vehicle, and the planned path is a path when the vehicle travels from the current position to the first position of the target path; determining the target lateral displacement of the vehicle based on the lateral displacement of the first position and the lateral displacement of the second position; determining the product of the target lateral displacement and the preview time as the first lateral acceleration, wherein the preview time function is determined by the preview time.

[0009] Optionally, determining the target lateral displacement based on the lateral displacement of the first position and the lateral displacement of the second position includes: determining the difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.

[0010] Optionally, controlling vehicle travel based on a first steering wheel angle includes: determining the product of the first steering wheel angle and a delay time function of a driving object as a second steering wheel angle of the vehicle, wherein the delay time function is determined by an inertia delay time and a neural delay time of the driving object; determining the product of the second steering wheel angle and a steady-state gain function as a second lateral acceleration; and controlling vehicle travel based on the second steering wheel angle and the second lateral acceleration.

[0011] According to another aspect of an embodiment of the present invention, there is provided a device for controlling vehicle travel, comprising: an acquisition unit, for acquiring model parameters of a panic link in a driver model, wherein the driver model is a model with the panic link added; a determination unit, for determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; and a control unit, for controlling vehicle travel based on the first steering wheel angle.

[0012] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for controlling vehicle driving according to an embodiment of the present invention.

[0013] According to another aspect of an embodiment of the present invention, a processor is provided, which is used to run a program, wherein the method for controlling vehicle driving according to an embodiment of the present invention is executed when the program is run.

[0014] According to another aspect of an embodiment of the present invention, a vehicle is provided. The vehicle is used to execute the method for controlling vehicle driving according to an embodiment of the present invention.

[0015] In an embodiment of the present invention, the model parameters of the panic link in the driver model are obtained, wherein the driver model is a model with the panic link added; based on the first lateral acceleration of the vehicle and the model parameters, the first steering wheel angle of the vehicle is determined, wherein the first steering wheel angle is greater than the angle threshold, the first lateral acceleration is the lateral acceleration of the vehicle when it is traveling according to the planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle is traveling according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; and the vehicle is controlled to travel based on the first steering wheel angle. That is, the embodiment of the present invention obtains the model parameters of the panic link in the driver model, obtains the first steering wheel angle of the vehicle according to the first lateral acceleration and the model parameters when the vehicle is traveling according to the planned path, and controls the vehicle to travel according to the first steering wheel angle, thereby achieving the purpose of the driving object controlling the vehicle steering wheel more accurately, solving the technical problem of the low accuracy of the steering wheel operation of the driving object during the vehicle driving process, and achieving the technical effect of improving the accuracy of the steering wheel operation of the driving object during the vehicle driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flow chart of a method for controlling vehicle driving according to an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a system frame of a preview tracking model according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a coordinate system for vehicle travel according to an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of a basic framework of an optimal preview lateral acceleration model according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of a basic framework of an optimal preview lateral acceleration model with a panic link added according to an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of a serpentine trajectory curve according to an embodiment of the present invention;

[0023] Figure 7is a schematic diagram of a device for controlling vehicle driving according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] According to an embodiment of the present invention, a method for controlling vehicle driving is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] Figure 1 is a flow chart of a method for controlling vehicle driving according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0029] Step S101, obtaining model parameters of a panic phase in a driver model, wherein the driver model is a model with the panic phase added.

[0030] In the technical solution provided in the above step S101 of the present invention, model parameters of the panic link in the driver model with the panic link added are obtained, wherein the panic link is a link that simulates the driving subject seeing a traffic accident or other things happening in front of the vehicle, causing the driving subject to have psychological behaviors such as panic or excitement, and causing the driving subject to control the steering wheel to react slowly or quickly, and the model parameters are parameters generated by the panic link, wherein the driving subject may be the driver of the vehicle.

[0031] Step S102, determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and model parameters, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration.

[0032] In the technical solution provided in the above step S102 of the present invention, the first lateral acceleration may be the longitudinal acceleration of the vehicle at a certain position on the planned path, and the product of the first lateral acceleration and the model parameter is determined as the first steering wheel angle of the vehicle. The first steering wheel angle is greater than the angle threshold. The angle threshold may be the steering wheel angle when the vehicle is traveling according to the planned path without adding the driving object model behavior, wherein the first steering wheel angle may be the driving object manipulating the steering wheel to make the steering wheel turn one circle, and the angle threshold may be the driving object manipulating the steering wheel to make the steering wheel turn half a circle.

[0033] Step S103: controlling the vehicle to travel based on the first steering wheel angle.

[0034] In the technical solution provided in the above step S103 of the present invention, the vehicle is controlled to travel along the planned path according to the first steering wheel angle planned according to the existing planned path.

[0035] In the above steps S101 to S103 of the present application, the model parameters of the panic link in the driver model are obtained, wherein the driver model is a model with the panic link added; based on the first lateral acceleration of the vehicle and the model parameters, the first steering wheel angle of the vehicle is determined, wherein the first steering wheel angle is greater than the angle threshold, the first lateral acceleration is the lateral acceleration of the vehicle when it is traveling according to the planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle is traveling according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; and the vehicle is controlled to travel based on the first steering wheel angle. That is to say, the embodiment of the present invention obtains the model parameters of the panic link in the driver model, obtains the first steering wheel angle of the vehicle according to the first lateral acceleration and the model parameters when the vehicle is traveling according to the planned path, and controls the vehicle to travel according to the first steering wheel angle, thereby achieving the purpose of the driving object controlling the vehicle steering wheel more accurately, solving the technical problem of the low accuracy of the steering wheel operation of the driving object during the vehicle driving process, and achieving the technical effect of improving the accuracy of the steering wheel operation of the driving object during the vehicle driving process.

[0036] The above method of this embodiment is further introduced below.

[0037] As an optional implementation method, step S101, obtaining model parameters of the panic link in the driver model, includes: determining the model parameters based on at least one of the following: a first lateral acceleration steady-state gain, a damping ratio of the panic link, a panic coefficient of the driving object, an undamped natural efficiency, and a damping ratio coefficient.

[0038] In this embodiment, the derivative of the first lateral acceleration steady-state gain is determined according to the characteristics of the vehicle itself, the quotient of twice the damping ratio of the panic link and the undamped natural efficiency is determined as the first parameter, one square of the undamped natural frequency is determined as the second parameter, the product of the difference between unit one and the panic coefficient of the driving object and the damping ratio coefficient is determined as the panic link damping ratio, the first parameter, the second parameter, the inverse of the vehicle lateral acceleration steady-state gain, and the displacement of the vehicle from the current position to the target position are calculated to obtain the model parameters.

[0039] As an optional implementation method, step S102, based on the first lateral acceleration of the vehicle and the model parameters, determines the first steering wheel angle of the vehicle, including: determining the product between the first lateral acceleration and the model parameter function of the driving object as the first steering wheel angle of the vehicle.

[0040] In this embodiment, the first lateral acceleration of the planned path is multiplied by a corresponding function composed of model parameters to obtain a first steering wheel angle of the vehicle, and there is a corresponding relationship between the lateral acceleration and the steering wheel angle.

[0041] As an optional implementation mode, before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters, the method also includes: obtaining the lateral displacement of a first position on the target path and the lateral displacement of a second position on the planned path, wherein the target path is a preset path of the vehicle, and the planned path is a path when the vehicle travels from the current position to the first position of the target path; determining the target lateral displacement of the vehicle based on the lateral displacement of the first position and the lateral displacement of the second position; and determining the product of the target lateral displacement and the preview time function as the first lateral acceleration, wherein the preview time function is determined by the preview time.

[0042] In this embodiment, when the vehicle is not traveling, there will first be a target path. On the target path, the driving object will reach a first position on the target path after a preview time. One square of the preview time is determined as a preview time function. The vehicle will have a second position at the starting point of the planned path. The vehicle travels from the first position to the second position. The first position is decomposed according to the horizontal and vertical coordinates. The lateral displacement of the first position is obtained with reference to the relative coordinate system of the vehicle. The second position is decomposed according to the horizontal and vertical coordinates. The lateral displacement of the second position is obtained with reference to the relative coordinate system of the vehicle. According to the lateral displacement of the first position and the lateral displacement of the second position, a target lateral displacement is obtained. The target lateral displacement is multiplied by the preview time function to obtain a first lateral acceleration, wherein the preview time can be a specific time, the time from the first position to the second position on the target path.

[0043] As an optional embodiment, determining a target lateral displacement based on the lateral displacement of the first position and the lateral displacement of the second position includes: determining the difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.

[0044] In this embodiment, the first lateral displacement is subtracted from the second lateral displacement to obtain a target lateral displacement, and the target lateral displacement is returned to the preview time function, and driving is performed according to the next planned path.

[0045] As an optional implementation method, step S103, controlling vehicle driving based on a first steering wheel angle, includes: determining the product of the first steering wheel angle and a delay time function of a driving object as a second steering wheel angle of the vehicle, wherein the delay time function is determined by an inertia delay time and a neural delay time of the driving object; determining the product of the second steering wheel angle and a steady-state gain function as a second lateral acceleration; and controlling vehicle driving based on the second steering wheel angle and the second lateral acceleration.

[0046] In this embodiment, the first steering wheel angle is multiplied by the delay time function of the driving object to obtain a second steering wheel angle, and the second steering wheel angle is multiplied by the steady-state gain function to obtain a second lateral acceleration; the vehicle travels according to the second steering wheel angle and the second lateral acceleration, and the second lateral acceleration is integrated to obtain a second lateral speed, and the second lateral speed is integrated to obtain a lateral displacement of a third position on the planned path, and a fourth position of the target path is previewed by the preview time, and the lateral displacement of the fourth position is determined, and the lateral displacement of the third position is subtracted from the lateral displacement of the fourth position, and the difference is determined as the second target lateral displacement, and then the subsequent steps of the lateral displacement are processed to realize the cycle.

[0047] In an embodiment of the present invention, a target lateral displacement is obtained according to a difference between a lateral displacement at a first position and a lateral displacement at a second position, the target lateral displacement is multiplied by a preview time function to obtain a first lateral acceleration to obtain a first steering wheel angle, the first steering wheel angle is multiplied by a delay time function of a driving object to obtain a second steering wheel angle, the second steering wheel angle is multiplied by a steady-state gain function to obtain a second lateral acceleration, and the second steering wheel angle and the second lateral acceleration are used to control vehicle driving, thereby solving the technical problem of low accuracy of steering wheel operation by a driving object during vehicle driving, and achieving the technical effect of improving the accuracy of steering wheel operation by a driving object during vehicle driving.

[0048] Example 2

[0049] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0050] The handling stability of a vehicle includes two aspects: handling and stability. The former refers to the ability of the vehicle to accurately respond to the steering command of the driving object, and the latter refers to the ability of the vehicle to restore its original motion state after being disturbed by the outside world. The behavioral characteristics of the driving object refer to its perception, judgment and operation capabilities. With the continuous in-depth study of vehicle handling stability, people gradually found that it is difficult to comprehensively evaluate and reasonably design the vehicle's handling stability by simply studying the relationship between the input and output of the vehicle itself, which is usually called an open-loop method, because the driving condition of the vehicle depends not only on the structural parameters of the vehicle itself, but also on the subjective and objective factors such as the driving behavior of the driving object and the environment in which the vehicle is traveling. The use of system theory knowledge to analyze the characteristics of the entire system as the controlled link of the driving object-vehicle-road closed-loop system has been proved to be feasible and effective in theory and practice. This is the closed-loop method for studying vehicle handling stability. In terms of safety, the study of the driving object model is also of great significance and application. A study initiated by the National Highway Traffic Safety Administration of the United States showed that among the more than 6 million traffic accidents that occurred in the United States in 2000, accidents caused by the negligence of the driving object accounted for more than 90% of the total number of accidents, and different driving objects would also respond differently to the same driving task. Based on this, it is necessary to conduct in-depth and detailed research on the vehicle's driving object model and the input and output relationship of the interaction between the driving object and the vehicle, find out the characteristic parameters of the driving object model, and establish an accurate driving object model that can reflect objective reality. This plays a vital role in the research and evaluation of vehicle handling stability and safety.

[0051] At present, researchers from various countries have proposed many driving object models based on vehicle direction control. The driving object model is a mathematical expression of the real driving object's maneuvering ability. It is a new technology that has gradually developed with the increasing importance of driving object monitoring, management, coordination, compensation and other behaviors and the continuous development of control theory. According to whether the model includes the preview link of the driving object, it can be divided into a compensation tracking model and a preview tracking model. The Optimal Preview Acceleration (OPA) model proposed by Academician Guo Konghui of China, etc. The current driving object model has a clear physical meaning, reflects the process of the driving object's steering operation decision-making, and can complete the trajectory following task well, but does not take into account the psychological behavior of the driving object, so the scope of application of the model is subject to certain restrictions.

[0052] Therefore, in a related technology, a method for establishing a driving object model that takes into account the vehicle rollover characteristics is proposed, and a driving object preview model is established; a driving object neuromuscular model is established to describe the driving object neuromuscular characteristics; the driving object preview model and the driving object neuromuscular model are combined, and a time lag link is added to complete the establishment of the driving object model, thereby improving the anti-rollover characteristics of the driving object model.

[0053] In another related technology, a testing method and device based on a driving object model are proposed, the method comprising: determining current scene information corresponding to the autonomous driving test scene according to current operating parameters of each test participant in the autonomous driving test scene, the test participants comprising: a vehicle under test and a corresponding other vehicle; judging whether there is a driving object model corresponding to the other vehicle that matches the current scene information in the driving object model corresponding to the other vehicle according to the current scene information and a preset corresponding relationship; triggering matching of the driving object model corresponding to the other vehicle when judging whether there is a driving object model corresponding to the other vehicle that matches the current scene information in the driving object model corresponding to the other vehicle, and causing the matching other vehicle to drive based on its corresponding driving object model, so as to assist the testing of the autonomous driving algorithm of the vehicle under test, so as to achieve accurate testing of the performance of the vehicle under test.

[0054] In another related technology, a vehicle handling stability detection system and a vehicle handling stability detection method based on a driving object model are proposed, wherein the driving object model includes: a preview module, which obtains an expected trajectory according to the output of a tracking sensor installed on the vehicle; a prediction module, which calculates the predicted trajectory of the vehicle according to the vehicle state information output by the internal sensor of the vehicle; a comparison module, which compares the expected trajectory with the predicted trajectory and outputs a deviation; and a control module, which controls the calculation and output of the change in the steering wheel angle according to the deviation. The expected trajectory is a serpentine path on the vehicle's driving path, and the vehicle drives around the stake along the serpentine path at a set speed. The detection system and the detection method calculate the final steering wheel angle based on the steering wheel angle obtained from the vehicle state information and the change in the steering wheel angle calculated by the driving object model and output it to the vehicle, so as to control the vehicle to track the expected trajectory, thereby detecting the vehicle's handling stability.

[0055] However, an embodiment of the present invention proposes a driving object model that takes panic characteristics into consideration. In some relatively dangerous driving scenarios, the driving object may experience psychological panic, resulting in slow reaction, excessive operation, etc., and currently people's research on the panic characteristics of driving objects is still not in-depth, and the driving object model cannot accurately reflect the driving behavior characteristics of the driving object under panic conditions. The present invention is based on the optimal preview lateral acceleration model. After considering the panic characteristics of the driving object, a link that describes the panic characteristics of the driving object is added between the optimal lateral acceleration and the optimal steering wheel angle, which can well express the panic characteristics of the driving object and make the driving object model more accurate.

[0056] The preview tracking link is a basic link in the embodiment of the present invention. Figure 2 It is a schematic diagram of the system framework of the preview tracking model, such as Figure 2 As shown in the figure, f represents the expected following path, P(s) represents the preview link of the driving object, and f e It represents the estimated value of the vehicle position feature at the future moment estimated by the preview link based on the current vehicle motion state. It is the time after the driver has passed the preview time T P The path position that the vehicle is expected to reach later, H(S) represents the forward correction link, G(S) represents the dynamic characteristics of the vehicle, y represents the current position of the vehicle's motion trajectory, B(S) represents the feedback estimation link, and y p represents the estimated value of the vehicle position feature at the future moment estimated by the estimation link based on the current vehicle motion state information, δ represents the steering wheel angle, ε = f e -y p It represents the deviation of the estimated values ​​of the two feature quantities. The road information ahead becomes a valid road input after the preview phase of the driving object model. The driving object decides a steering wheel angle input to the vehicle based on the valid road input and the estimation of the vehicle's future state, thereby realizing the control of the vehicle. Figure 3 is a schematic diagram of the coordinate system in which the vehicle is traveling, such as Figure 3 As shown by Figure 3 It can be seen that xoy is the vehicle relative coordinate system x v o v y v is the vehicle coordinate system; XOY is the earth coordinate system. The absolute coordinates of the vehicle's center of mass at the current moment are (X O , Y O ), the preview point is point P, and the current longitudinal speed is x v , the lateral velocity is y v The goal of the steering operation of the driving object is to make the vehicle pass the preview time T p , then arrive at the preview point P, v x *T P is the lateral displacement of the vehicle when it reaches P, x(t+TP ) is the preview time T of the vehicle from the current moment p The time of arrival, f e is the lateral displacement of the vehicle when it reaches point P, y is the lateral displacement of the vehicle when it travels to a specific position along the planned path, Δf p f e The difference between y and y is the difference between the lateral displacement of the preview point of the vehicle and the actual lateral displacement of the vehicle. The simplest way that the driving object can easily think of is to achieve this goal through lateral uniform acceleration linear motion, that is:

[0057]

[0058] According to the above formula, the optimal lateral acceleration can be calculated as:

[0059]

[0060] For a specific vehicle, at a certain speed V x There is a steady-state gain G between the vehicle's steady-state lateral acceleration and the steering wheel angle. ay This characteristic can be easily mastered by ordinary drivers. Then the driver can decide the optimal steering wheel angle based on the optimal lateral acceleration and the vehicle lateral acceleration steady-state gain he has mastered:

[0061]

[0062] The optimal steering wheel angle is expressed as a transfer function. According to the optimal preview lateral acceleration model proposed by Academician Guo Konghui, Figure 4 It is a schematic diagram of the basic framework of the optimal preview lateral acceleration model, such as Figure 4 As shown, where f(t) represents the following path, is the gain function, f e (t) represents the preview time T of the driving object P Then, we want the vehicle to reach the path position. represents the optimal lateral acceleration, C 0 (1+T c .s) represents the differential correction link. The optimal lateral acceleration is corrected through the differential correction link to obtain the optimal steering wheel angle. represents the delay link of the driving object. The optimal steering wheel angle is obtained through the delay link to obtain the actual steering wheel angle. sw is the actual steering wheel angle, is the vehicle model transfer function. The actual steering wheel angle is used to obtain the actual lateral acceleration through the vehicle model transfer function. The actual lateral acceleration is integrated to obtain the actual lateral velocity. Integrate the actual lateral velocity to obtain the actual lateral displacement y* .

[0063] The model has the characteristics of clear model structure, complete theoretical basis, and high trajectory following accuracy. It is widely used in vehicle handling stability simulation and human-vehicle closed-loop system evaluation. P It can be expressed as the preview time of the driving object model, T c It can be expressed as the differential correction time of the driving object model, T d It can be expressed as the inertia delay time of the driving object model, T h The neural latency of the driving object model can be represented.

[0064] The optimal preview acceleration model truly reflects the steering operation decision-making process of the driver and can complete the trajectory following task well, but it does not take into account the psychological behavior of the driver, so the application scope of the model is limited to a certain extent. In order to characterize the panic characteristics of the driver, a link describing the panic characteristics of the driver is added between the optimal lateral acceleration and the optimal steering wheel angle. The driver will panic when encountering an emergency, and his panic behavior is mainly manifested in two aspects: overshoot in steering operation and time delay. Figure 5 is a schematic diagram of the basic framework of the optimal preview lateral acceleration model with the panic link added, such as Figure 5 As shown, It is the inverse of the steady-state gain of the vehicle's lateral acceleration and is related to the characteristics of the vehicle itself. n1 =2·ξ / ω 0 , T n2 =1 / ω 0 2 , ξ=(1-ζ)·ξ 0 , ξ is used to represent the damping ratio of the panic link, ζ is used to represent the panic coefficient of the driving object, ω 0 For the undamped natural frequency, where f(t) represents the following path and f e (t) represents the preview time T of the driving object P Then, we want the vehicle to reach the path position. represents the optimal lateral acceleration, It indicates the panic phase of the driving object. The optimal lateral acceleration is obtained through the panic phase of the driving object to obtain the optimal steering wheel angle. It represents the delay link of the driving object. The optimal steering wheel angle is obtained through the delay link to obtain the actual steering wheel angle. is the vehicle model transfer function. The actual steering wheel angle is used to obtain the actual lateral acceleration through the vehicle model transfer function. The actual lateral acceleration is integrated to obtain the actual lateral velocity. Integrate the actual lateral velocity to obtain the actual lateral displacement y * .

[0065] After adding the panic link to the driving object model, the parameters must be identified. The driving simulator can be used to identify the preview time of the driving object model, the inertia delay time of the driving object model, the neural delay time of the driving object model, the natural frequency, the damping ratio, and the panic coefficient. After the parameters are identified, the model of the driving object is verified. In order to analyze the impact of the panic link on the driving object's operating behavior and verify the correctness of the model, the serpentine condition is selected for simulation verification. Among them, the serpentine condition is a typical vehicle driving process, and such accidents often occur in road traffic. The sprung mass can be 800 kg, the moment of inertia of the whole vehicle around the Z axis is 1152 kg per square meter, the effective cornering stiffness of the front wheel is 52480 Newtons per radian, the effective cornering stiffness of the rear wheel is 88416 Newtons per radian, the distance from the center of gravity to the front axle is 0.948 meters, and the distance from the center of gravity to the rear axle is 1.422 meters.

[0066] After calculating and identifying the parameters of the driving object model, the serpentine working condition simulation results are obtained. Figure 6 is a schematic diagram of the serpentine trajectory curve, such as Figure 6 As shown, from Figure 6 It can be seen that compared with the driving object model without the panic link, the delay time of the driving object's steering operation with the panic link increased, and the amplitude of its steering operation increased, indicating that the addition of the panic link has an impact on the driving object's steering operation, so this link can express the panic characteristics of the driving object.

[0067] In this embodiment, the driving object follows the path position that the vehicle should reach after the preview time, the optimal lateral acceleration obtains the optimal steering wheel angle after the driving object panic link, the optimal steering wheel angle obtains the actual steering wheel angle after the delay link, the actual steering wheel angle obtains the actual lateral acceleration through the vehicle model transfer function, the actual lateral acceleration is integrated to obtain the actual lateral velocity, the actual lateral velocity is integrated to obtain the actual lateral displacement, the technical problem of low accuracy of the driving object operating the steering wheel during the driving of the vehicle is solved, and the technical effect of improving the accuracy of the driving object operating the steering wheel during the driving of the vehicle is achieved.

[0068] Example 3

[0069] According to an embodiment of the present invention, a device for controlling vehicle travel is also provided. It should be noted that the device for controlling vehicle travel can be used to execute the method for controlling vehicle travel in embodiment 1.

[0070] Figure 7 FIG. 1 is a schematic diagram of a device for controlling vehicle travel according to an embodiment of the present invention. Figure 7As shown, the device 700 for controlling vehicle driving may include: an acquisition unit 701 , a first determination unit 702 , and a control unit 703 .

[0071] The first acquisition unit 701 is used to acquire model parameters of a panic phase in a driver model, wherein the driver model is a model with the panic phase added.

[0072] The first determination unit 702 is used to determine a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and a model parameter, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration.

[0073] The control unit 703 is used to control the vehicle driving based on the first steering wheel angle.

[0074] Optionally, the first acquisition unit 701 may include: a determination module, used to determine the model parameters based on at least one of the following: a first lateral acceleration steady-state gain, a damping ratio of a panic link, a panic coefficient of a driving object, an undamped natural efficiency, and a damping ratio coefficient.

[0075] Optionally, the first determining unit 702 may include: a first processing module, configured to determine the product of the first lateral acceleration and the model parameter function of the driving object as a first steering wheel angle of the vehicle.

[0076] Optionally, the device also includes: a second acquisition unit, used to acquire the lateral displacement of a first position on the target path and the lateral displacement of a second position on the planned path before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters, wherein the target path is a preset path of the vehicle, and the planned path is a path when the vehicle travels from the current position to the first position of the target path; a second determination unit, used to determine the target lateral displacement of the vehicle based on the lateral displacement of the first position and the lateral displacement of the second position; a processing unit, used to determine the product of the target lateral displacement and the preview time function as the first lateral acceleration, wherein the preview time function is determined by the preview time.

[0077] Optionally, the second determining unit may include: a second processing module, configured to determine a difference between the lateral displacement of the first position and the lateral displacement of the second position as the target lateral displacement.

[0078] Optionally, the control unit 703 may include: a third processing module, used to determine the product of the first steering wheel angle and the delay time function of the driving object as the second steering wheel angle of the vehicle, wherein the delay time function is determined by the inertia delay time and the neural delay time of the driving object; a fourth processing module, used to determine the product of the second steering wheel angle and the steady-state gain function as the second lateral acceleration; and a control module, used to control the vehicle driving based on the second steering wheel angle and the second lateral acceleration.

[0079] In this embodiment, a first acquisition unit is used to acquire model parameters of a panic link in a driver model, wherein the driver model is a model with the panic link added; a first determination unit is used to determine a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; a control unit is used to control the vehicle driving based on the first steering wheel angle, thereby solving the technical problem of low accuracy of steering wheel operation by the driver during driving of the vehicle, and achieving the technical effect of improving the accuracy of steering wheel operation by the driver during driving of the vehicle.

[0080] Example 4

[0081] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the method for controlling vehicle driving in Embodiment 1.

[0082] Example 5

[0083] According to an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein the method for controlling vehicle driving in embodiment 1 is executed when the program is run.

[0084] Example 6

[0085] According to an embodiment of the present invention, a vehicle is further provided. The vehicle is used to execute the method for controlling vehicle driving in embodiment 1.

[0086] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0087] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0089] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0090] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0092] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Obtaining model parameters of a panic link in a driver model, wherein the driver model is a model with the panic link added, the panic link is used to indicate that the driver sees a traffic accident or other things happen in front of the vehicle, causing the driver to have panic or excitement psychological behavior, and the model parameters are parameters generated by the panic link; determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameters, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; controlling the vehicle to travel based on the first steering wheel angle; Before determining the first steering wheel angle of the vehicle based on the first lateral acceleration of the vehicle and the model parameters, the method further includes: acquiring a lateral displacement of a first position on a target path and a lateral displacement of a second position on the planned path, wherein the target path is a preset path of the vehicle, and the planned path is a path of the vehicle when it travels from a current position to the first position of the target path; determining a target lateral displacement of the vehicle based on the lateral displacement of the first position and the lateral displacement of the second position; and determining the product of the target lateral displacement and a preview time function as the first lateral acceleration, wherein the preview time function is determined by the preview time.

2. The method according to claim 1, characterized in that Get the model parameters of the panic phase in the driver model, including: The model parameter is determined based on at least one of the following: a first lateral acceleration steady-state gain, a damping ratio of a panic link, a panic coefficient of a driver, an undamped natural efficiency, and a damping ratio coefficient.

3. The method according to claim 1, characterized in that Determining a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameter includes: The product of the first lateral acceleration and the model parameter function of the driver is determined as a first steering wheel angle of the vehicle.

4. The method according to claim 1, characterized in that: Determining a target lateral displacement based on the lateral displacement of the first position and the lateral displacement of the second position includes: The difference between the lateral displacement of the first position and the lateral displacement of the second position is determined as the target lateral displacement.

5. The method according to claim 1, characterized in that Controlling the vehicle to travel based on the first steering wheel angle includes: determining the product of the first steering wheel angle and the delay time function of the driver as the second steering wheel angle of the vehicle, wherein the delay time function is determined by the inertia delay time and the neural delay time of the driver; determining the product of the second steering wheel angle and the steady-state gain function as a second lateral acceleration; The vehicle is controlled to travel based on the second steering wheel angle and the second lateral acceleration.

6. A device for controlling vehicle travel, characterized in that: include: an acquisition unit, configured to acquire model parameters of a panic link in a driver model, wherein the driver model is a model with the panic link added, the panic link is used to indicate that the driver sees a traffic accident or other things happen in front of the vehicle, causing the driver to have panic or excitement psychological behaviors, and the model parameters are parameters generated by the panic link; a first determining unit, configured to determine a first steering wheel angle of the vehicle based on a first lateral acceleration of the vehicle and the model parameter, wherein the first steering wheel angle is greater than an angle threshold, the first lateral acceleration is a lateral acceleration of the vehicle when traveling according to a planned path, the first steering wheel angle is used to indicate the number of turns of the steering wheel when the vehicle travels according to the planned path, and the angle threshold is used to indicate the number of turns of the steering wheel after differential correction of the first lateral acceleration; a control unit, configured to control the vehicle to travel based on the first steering wheel angle; Among them, the device for controlling the vehicle form can also be used to obtain the lateral displacement of a first position on the target path and the lateral displacement of a second position on the planned path, wherein the target path is a preset path of the vehicle, and the planned path is the path of the vehicle when it travels from the current position to the first position of the target path; based on the lateral displacement of the first position and the lateral displacement of the second position, the target lateral displacement of the vehicle is determined; the product of the target lateral displacement and the preview time function is determined as the first lateral acceleration, wherein the preview time function is determined by the preview time.

7. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 5 when running.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 5.

9. A vehicle, characterized in that: The vehicle is used to perform the method according to any one of claims 1 to 5.

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