Long-axis vehicle multi-axis position path tracking control method, device and storage medium

Abstract

The present application provides a multi-axle position path tracking control method, device and storage medium for a long-axis vehicle, and relates to the field of autonomous driving technology. The method includes: obtaining a tracking preview point of a reference path; obtaining the front wheel turning angle corresponding to each axle position according to the tracking preview point and multiple axle positions of the long-axis vehicle, and the axle positions include the front axle position, the center of mass position and the rear axle position of the long-axis vehicle; obtaining the target front wheel turning angle of the long-axis vehicle according to the front wheel turning angle and the turning angle weight matrix corresponding to each axle position, and controlling the driving of the long-axis vehicle according to the target front wheel turning angle, and the turning angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point. The method of the present application avoids the phenomenon that a certain axle position of the long-axis vehicle passes through, while the other axle positions seriously deviate from the reference path, ensuring that the overall driving trajectory of the long-axis vehicle is more in line with the reference path and improving its ability to pass through narrow spaces.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a multi-axis position path tracking control method, device and storage medium for a long-axis vehicle. Background Art

[0002] Path tracking control, as one of the core technologies of unmanned vehicle motion control, directly affects the functional realization and performance safety of unmanned vehicles.

[0003] At present, the research objects of traditional path tracking control are more oriented towards short-axle vehicles. By obtaining vehicle status information and reference path information, the steering, acceleration and braking of the vehicle are controlled to achieve path tracking control.

[0004] However, the commonly used control algorithms currently simplify the vehicle into a point mass, and based on this, control the deviation between the vehicle point mass and the reference path. For long-axis vehicles, the body length is usually long, and traditional tracking control methods are difficult to meet the requirements of tracking accuracy and stability. It is easy for a part of the vehicle to fit the reference path well, while other parts deviate seriously from the reference path. Especially when encountering the steering problem of long-axis vehicles in narrow spaces, if the long-axis characteristics of the vehicle are ignored, it is easy to collide with the outside world, posing a safety hazard. Summary of the invention

[0005] The present application provides a multi-axis position path tracking control method, device and storage medium for a long-axis vehicle, which is used to solve the problem that it is difficult to meet the tracking accuracy and stability requirements of long-axis vehicles using traditional tracking control methods. It is easy for a part of the vehicle to fit the reference path well while other parts deviate seriously from the reference path. Especially when encountering steering problems in a narrow space, if the long-axis characteristics of the vehicle are ignored, it is easy to collide with the outside world, posing a safety hazard.

[0006] In a first aspect, the present application provides a multi-axis position path tracking control method for a long-axis vehicle, comprising:

[0007] Acquire a tracking preview point of a reference path, wherein the tracking preview point is used to indicate that the long-axis vehicle travels to a target position on the reference path;

[0008] According to the tracking preview point and a plurality of axle positions of the long-axis vehicle, a front wheel turning angle corresponding to each axle position is obtained, wherein the axle positions include a front axle position, a center of mass position and a rear axle position of the long-axis vehicle;

[0009] According to the front wheel steering angle corresponding to each axle position and the steering angle weight matrix, the target front wheel steering angle of the long-axis vehicle is obtained, and the driving of the long-axis vehicle is controlled according to the target front wheel steering angle. The steering angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point.

[0010] In a possible design, obtaining the front wheel turning angle corresponding to each axis position according to the tracking preview point and multiple axis positions of the long-axis vehicle includes:

[0011] Get the yaw angle of the long-axis vehicle;

[0012] Determine the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle;

[0013] Determine the lateral deviation of the long-axis vehicle according to the heading deviation of the axis point, the tracking preview point, the center of mass point, the distance from the axis point to the center of mass point, and the yaw angle;

[0014] According to the heading deviation and the lateral deviation of each axle position, the front wheel turning angle corresponding to each axle position is determined.

[0015] In a possible design, determining the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle includes:

[0016] Determine the heading deviation of the front axle point according to the tracking preview point, the center of mass point, the distance from the front axle point to the center of mass point, and the yaw angle;

[0017] Determine the heading deviation of the center of mass point according to the tracking preview point, the center of mass point and the yaw angle;

[0018] The heading deviation of the rear axle position is determined according to the tracking preview point, the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

[0019] In a possible design, the lateral distances from each axis position on the long-axis vehicle to the tracking preview point are equal, and the lateral deviation of the long-axis vehicle is determined according to the heading deviation of the axis position, the tracking preview point, the center of mass position, the distance from the axis position to the center of mass position, and the yaw angle, including:

[0020] The lateral deviation of the long-axle vehicle is determined according to the heading deviation of the rear axle position, the tracking preview point, the distance from the rear axle position to the center of mass position, the center of mass position and the yaw angle.

[0021] In a possible design, determining the front wheel turning angle corresponding to each axle position according to the heading deviation and the lateral deviation of each axle position includes:

[0022] Determining a front wheel turning angle corresponding to the front axle position according to the heading deviation and the lateral deviation of the front axle position;

[0023] Determining a front wheel turning angle corresponding to the centroid point according to the heading deviation of the centroid point and the lateral deviation;

[0024] The front wheel turning angle corresponding to the rear axle position is determined according to the heading deviation of the rear axle position, the tracking preview point, the center of mass position, the distance from the front axle position to the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

[0025] In a possible design, before obtaining the target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, the method further includes:

[0026] Determine the distance from the tracking preview point to each axis position according to the tracking preview point, the center of mass position, the distance from the front axis position to the center of mass position, the distance from the rear axis position to the center of mass position, and the yaw angle;

[0027] Determine the total distance according to the sum of the distances from the tracking preview point to each axis position;

[0028] The angle weight matrix is ​​determined according to the ratio of the distance from each axis position to the tracking preview point to the total distance.

[0029] In a possible design, obtaining the target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix includes:

[0030] Obtaining a predicted front wheel turning angle according to the product of the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, wherein the predicted front wheel turning angle is used to represent a theoretical value of the front wheel turning angle;

[0031] It is determined whether the predicted front wheel turning angle is greater than the maximum front wheel turning angle. If so, the maximum front wheel turning angle is used as the target front wheel turning angle. If not, the predicted front wheel turning angle is used as the target front wheel turning angle.

[0032] In a possible design, obtaining the tracking preview point of the reference path includes:

[0033] Obtain the closest point on the reference path with the smallest distance to the center of mass of the long-axis vehicle;

[0034] Determine the number of path points to be searched forward from the nearest point of the reference path according to the nearest point, vehicle speed, and path curvature;

[0035] According to the number of path points and the nearest point, the tracking preview point is obtained.

[0036] In a second aspect, the present application provides a multi-axis position path tracking control device for a long-axis vehicle, comprising:

[0037] An acquisition module, used for acquiring a tracking preview point of a reference path, wherein the tracking preview point is used for indicating that the long-axis vehicle has traveled to a target position on the reference path;

[0038] A processing module, configured to obtain a front wheel turning angle corresponding to each axle position according to the tracking preview point and a plurality of axle positions of the long-axle vehicle, wherein the axle positions include a front axle position, a center of mass position, and a rear axle position of the long-axle vehicle;

[0039] A control module is used to obtain a target front wheel turning angle of a long-axis vehicle according to the front wheel turning angle corresponding to each axle position and a turning angle weight matrix, and control the driving of the long-axis vehicle according to the target front wheel turning angle, wherein the turning angle weight matrix is ​​obtained according to the distance from each axle position to a tracking preview point.

[0040] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0041] The memory stores computer-executable instructions;

[0042] The processor executes the computer-executable instructions stored in the memory to implement a multi-axis position path tracking control method for a long-axis vehicle.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement a multi-axis position path tracking control method for a long-axis vehicle.

[0044] The present application provides a method, device and storage medium for tracking and controlling multiple axle positions of a long-axis vehicle. The method obtains a tracking preview point of a reference path, wherein the tracking preview point is used to indicate that the long-axis vehicle travels to a target position on the reference path. The front wheel turning angle corresponding to each axle position is obtained according to the tracking preview point and multiple axle positions of the long-axis vehicle, wherein the axle positions include the front axle position, the center of mass position and the rear axle position of the long-axis vehicle. The target front wheel turning angle of the long-axis vehicle is obtained according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, and the driving of the long-axis vehicle is controlled according to the target front wheel turning angle. The turning angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point, thereby avoiding the phenomenon that the long-axis vehicle uses the front wheel turning angle corresponding to a single axle position to make a certain axle position pass, while the other axle positions seriously deviate from the reference path, thereby ensuring that the overall driving trajectory of the long-axis vehicle is more in line with the reference path and improving its ability to pass through narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of an application scenario of multi-axis position path tracking control for a long-axis vehicle provided in an embodiment of the present application;

[0047] Figure 2 Schematic diagram of the process of the multi-axis position path tracking control method of the long-axis vehicle provided in the embodiment of the present application Figure 1 ;

[0048] Figure 3a Schematic diagram of the process of the multi-axis position path tracking control method of the long-axis vehicle provided in the embodiment of the present application Figure 2 ;

[0049] Figure 3b A displacement comparison diagram of a reference path simulated by a multi-point and single-point path tracking control method for a long-axis vehicle provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the structure of a multi-axle position path tracking control device for a long-axle vehicle provided in an embodiment of the present application;

[0051] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] Existing path tracking control research objects are more oriented towards short-axis vehicles. Therefore, during the research, the short-axis vehicle is simplified into a particle, and the movement trajectory of the particle is studied to determine how to control the front wheel steering of the vehicle. For long-axis vehicles, simplified particles are difficult to meet the requirements of tracking accuracy and stability. Only using particles will make a part of the long-axis vehicle fit the reference path well, while other parts will deviate seriously from the reference path. In particular, when the long-axis vehicle needs to turn in a narrow space, if the long-axis characteristics of the long-axis vehicle are ignored, it is easy to collide with the outside world, posing a safety hazard. Therefore, in the process of studying the path tracking of long-axis vehicles, the long-axis vehicle needs to be simplified into multiple related points.

[0054] The multi-axis position path tracking control method for a long-axis vehicle provided in the present application simplifies the long-axis vehicle into associated front axle positions, center of mass positions and rear axle positions, and then calculates the corresponding front wheel steering angles based on these three positions respectively, and finally combines the three front wheel steering angles into a target front wheel steering angle for controlling the vehicle's driving based on the steering weight matrix of the three positions relative to the target position, thereby solving the above technical problems of the prior art.

[0055] The specific application scenarios of this application are as follows:

[0056] Figure 1 Schematic diagram of the application scenario of the multi-axis position path tracking control method for a long-axis vehicle provided in the embodiment of the present application. Figure 1 As shown, the long-axis vehicle 101 includes a front wheel, a body and a rear wheel. The axis A of the rear wheel is taken as the rear axle position, the axis B of the front wheel is taken as the front axle position, and the midpoint O of the body is taken as the center of mass position. A path tracking analysis is performed on the long-axis vehicle 101 relative to the planned reference path 102 to determine the front wheel rotation angle that needs to be controlled so that the long-axis vehicle 101 can travel to the target position Ppre as closely as possible along the reference path 102.

[0057] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 2 Schematic diagram of the process of the multi-axis position path tracking control method for a long-axis vehicle provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, the method includes:

[0059] S201, obtaining a tracking preview point of a reference path, wherein the tracking preview point is used to indicate that the long-axis vehicle travels to a target position on the reference path;

[0060] Specifically, in order to make the long-axis vehicle drive onto the reference path, it is first necessary to determine the target position on the reference path. The target position is the tracking preview point, and the tracking preview point is related to the vehicle's speed, the curvature of the reference path and the vehicle's current position. Therefore, by obtaining the current vehicle speed, the reference path point closest to the vehicle's current position and the curvature of the point, the corresponding tracking preview point position information can be obtained.

[0061] S202, obtaining a front wheel turning angle corresponding to each axis position according to the tracking preview point and a plurality of axis positions of the long-axis vehicle, wherein the axis positions include a front axis position, a center of mass position, and a rear axis position of the long-axis vehicle;

[0062] Specifically, the long-axle vehicle is divided into three axle positions according to the front axle, rear axle and center of mass. The heading deviation and lateral deviation of the corresponding tracking preview point are calculated for each axle position. Then, the front wheel turning angle of the tracking preview point corresponding to each axle position is obtained based on the heading deviation and lateral deviation of each axle position.

[0063] S203. Obtain a target front wheel steering angle of the long-axis vehicle according to the front wheel steering angle corresponding to each axle position and a steering angle weight matrix, and control the driving of the long-axis vehicle according to the target front wheel steering angle, wherein the steering angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point.

[0064] Specifically, since each axle position corresponds to a different front wheel turning angle, and the vehicle can only use one front wheel turning angle to travel to the tracking preview point, these different front wheel turning angles need to be comprehensively processed. Since the distance from each axle position to the tracking preview point is different, the ratio of the distance from different axle positions to the tracking preview point to the sum of the total distances is used as the weight ratio of different front wheel turning angles to obtain a predicted front wheel turning angle combined with each axle position.

[0065] After obtaining the predicted front wheel angle, it is also necessary to consider whether the predicted front wheel angle is within the actual rotation range of the vehicle's front wheels. If the predicted front wheel angle is less than the maximum angle of the vehicle's front wheels, the predicted front wheel angle is used as the target front wheel angle, and the vehicle is controlled to travel according to the target front wheel angle. If the predicted front wheel angle is not less than the maximum angle of the vehicle's front wheels, the maximum angle of the vehicle's front wheels is used as the target front wheel angle to control the vehicle's travel, and wait to continue adjusting the target front wheel angle at the next tracking preview point until the long-axis vehicle follows the reference path.

[0066] The method provided in this embodiment obtains tracking preview points of a reference path, wherein the tracking preview points are used to indicate that the long-axis vehicle travels to a target position on the reference path; obtains the front wheel turning angle corresponding to each axle position according to the tracking preview points and multiple axle position points of the long-axis vehicle; obtains the target front wheel turning angle of the long-axis vehicle according to the front wheel turning angle corresponding to each axle position point and an angle weight matrix, and controls the driving of the long-axis vehicle according to the target front wheel turning angle, divides the long-axis vehicle into multiple axle position points, calculates the front wheel turning angles respectively, and then converts the front wheel turning angle of each axle position point into a target front wheel turning angle to guide the driving of the vehicle through the angle weight matrix, thereby avoiding the phenomenon that a certain axle position point of the long-axis vehicle passes through while the other axle position points seriously deviate from the reference path, ensuring that the overall driving trajectory of the long-axis vehicle is more in line with the reference path and improving its ability to pass through narrow spaces.

[0067] The multi-axle position path tracking control method of the long-axle vehicle of the present application is described in detail below with reference to a specific embodiment.

[0068] Figure 3a Schematic diagram of the process of the multi-axis position path tracking control method for a long-axis vehicle provided in the embodiment of the present application Figure 2 . Combined Figure 3a and Figure 1 As shown, the method includes:

[0069] S301, obtaining the closest point on the reference path with the shortest distance to the centroid of the long-axis vehicle;

[0070] Specifically, the minimum distance dis between the vehicle's center of mass and the reference path point is calculated using the following formula: min :

[0071]

[0072] Among them, x i ,y i is the reference path point coordinate, and x and y are the real-time position coordinates of the long-axis vehicle center of mass.

[0073] The reference path point corresponding to the minimum distance is the nearest point P min .

[0074] S302, determining the number of path points to be searched forward from the nearest point of the reference path according to the nearest point, vehicle speed, and path curvature;

[0075] Specifically, the following formula is used to calculate the min The number of forward search path points N:

[0076]

[0077] Among them, Ц means round down, n, n′, kv and k ρ represents the adjustable coefficient, ρ represents the path curvature of the nearest point, V represents the vehicle speed, and N0 represents the number of basic path points, which is a fixed constant determined according to the basic steering parameters of the vehicle.

[0078] S303, obtaining a tracking preview point according to the number of path points and the nearest point;

[0079] Specifically, moving the nearest point forward by N path points is the tracking preview point, that is, P pre (x min+N ,y min+N ).

[0080] S304, obtaining the yaw angle of the long-axis vehicle;

[0081] Specifically, the angle between the long-axis vehicle body and the horizontal direction is the yaw angle.

[0082] S305, determining the heading deviation of the front axle point according to the tracking preview point, the center of mass point, the distance from the front axle point to the center of mass point, and the yaw angle;

[0083] Specifically, the heading deviation e of the front axis position is calculated using the following formula: f :

[0084]

[0085] Among them, l f It is the distance from the front axis point B to the center of mass point O.

[0086] S306, determining the heading deviation of the centroid point according to the tracking preview point, the centroid point and the yaw angle;

[0087] Specifically, the heading deviation e of the centroid point is calculated using the following formula: z :

[0088]

[0089] S307, determining the heading deviation of the rear axle position according to the tracking preview point, the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle;

[0090] Specifically, the heading deviation e of the rear axle position is calculated using the following formula: r :

[0091]

[0092] Among them, l r It is the distance from the posterior axis point A to the center of mass point O.

[0093] S308, determining the lateral deviation of the long-axis vehicle according to the heading deviation of the rear axle position, the tracking preview point, the distance from the rear axle position to the center of mass position, the center of mass position, and the yaw angle;

[0094] Wherein, the lateral distances from each axis position on the long-axis vehicle to the tracking preview point are equal;

[0095] Specifically, the lateral deviation e is calculated using the following formula: d :

[0096]

[0097] S309, determining a front wheel turning angle corresponding to the front axle position according to the heading deviation and the lateral deviation of the front axle position;

[0098] Specifically, the front wheel turning angle δ corresponding to the front axle position is calculated using the following formula: f :

[0099]

[0100] Among them, k f and λ f is an adjustable coefficient.

[0101] S310, determining a front wheel turning angle corresponding to the centroid point according to the heading deviation and the lateral deviation of the centroid point;

[0102] Specifically, the front wheel turning angle δ corresponding to the center of mass position is calculated using the following formula: z :

[0103]

[0104] Among them, k z and λ z is an adjustable coefficient.

[0105] S311, determining the front wheel turning angle corresponding to the rear axle position according to the heading deviation of the rear axle position, the tracking preview point, the center of mass position, the distance from the front axle position to the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle;

[0106] Specifically, the front wheel turning angle δ corresponding to the rear axle position is calculated using the following formula: r :

[0107]

[0108] Among them, k r is an adjustable coefficient.

[0109] S312, determining the distance from the tracking preview point to each axis position according to the tracking preview point, the center of mass position, the distance from the front axis position to the center of mass position, the distance from the rear axis position to the center of mass position, and the yaw angle;

[0110] Specifically, the distance from the tracking preview point to each axis position is calculated using the following formula:

[0111]

[0112]

[0113]

[0114] Among them, L f L is the distance from the front axis position to the tracking preview point, z L is the distance from the centroid to the tracking preview point. r It is the distance from the rear axis position to the tracking preview point.

[0115] S313, determining a total distance according to the sum of the distances from the tracking preview point to each axis position;

[0116] Specifically, the total distance is L f +L z +L r .

[0117] S314, determining a rotation angle weight matrix according to the ratio of the distance from each axis position to the tracking preview point to the total distance;

[0118] Specifically, the corner weight matrix Q can be calculated using the following formula:

[0119]

[0120] S315, obtaining a predicted front wheel turning angle according to the product of the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, wherein the predicted front wheel turning angle is used to represent a theoretical value of the front wheel turning angle;

[0121] Specifically, the predicted front wheel turning angle δ is calculated using the following formula:

[0122]

[0123] S316, determining whether the predicted front wheel turning angle is greater than the maximum front wheel turning angle, if so, executing S317, if not, executing S318;

[0124] S317, taking the maximum front wheel turning angle as a target front wheel turning angle;

[0125] S318, using the predicted front wheel turning angle as a target front wheel turning angle;

[0126] Specifically, since the front wheel steering angle is limited, after obtaining the predicted front wheel steering angle, it is necessary to make a trade-off based on the actual situation, that is, to discard the angle that exceeds the maximum front wheel steering angle, and the target front wheel steering angle δ out Use the following formula to calculate:

[0127]

[0128] Among them, k f , k z and k r is an adjustable coefficient, δ max is the maximum turning angle of the front wheels.

[0129] S319: Control the long-axis vehicle to travel according to the target front wheel turning angle.

[0130] Figure 3b This is a displacement comparison diagram of the reference path simulated by the multi-point and single-point path tracking control methods for long-axis vehicles provided in the embodiments of the present application. Figure 3b As shown, the multi-point control method provided in the embodiment of the present application has a higher overall fit degree with the reference path than the single-point control method, and at the initial moment, the multi-point control method can fit to the reference path faster than the single-point control method, and the multi-point control method has higher stability and will not deviate from the path when the reference path turns.

[0131] The method provided in this embodiment obtains the closest point on the reference path with the shortest distance to the centroid of the long-axis vehicle; confirms the number of path points to be searched forward from the closest point of the reference path according to the closest point, the vehicle speed, and the path curvature; obtains the means of tracking the preview point according to the number of path points and the closest point, obtains the closest distance point on the return tracking path, and improves the tracking efficiency;

[0132] Obtain the yaw angle of the long-axis vehicle; determine the heading deviation of the front axle site according to the tracking preview point, the center of mass site, the distance from the front axle site to the center of mass site, and the yaw angle; determine the heading deviation of the center of mass site according to the tracking preview point, the center of mass site, and the yaw angle; determine the heading deviation of the rear axle site according to the tracking preview point, the center of mass site, the distance from the rear axle site to the center of mass site, and the yaw angle, and determine the heading deviation of each site of the current vehicle relative to the tracking preview point;

[0133] The lateral distances from each axle point on the long-axle vehicle to the tracking preview point are equal, and the lateral deviation of the long-axle vehicle is determined according to the heading deviation of the rear axle point, the tracking preview point, the distance from the rear axle point to the center of mass point, the center of mass point and the yaw angle, and the lateral deviation of the current vehicle is determined;

[0134] Determine the front wheel turning angle corresponding to the front axle position according to the heading deviation and the lateral deviation of the front axle position; determine the front wheel turning angle corresponding to the center of mass position according to the heading deviation and the lateral deviation of the center of mass position; determine the means of the front wheel turning angle corresponding to the rear axle position according to the heading deviation of the rear axle position, the tracking preview point, the center of mass position, the distance from the front axle position to the center of mass position, the distance from the rear axle position to the center of mass position and the yaw angle, and determine the front wheel turning angle corresponding to each position by using the heading deviation and the lateral deviation of each position;

[0135] According to the tracking preview point, the center of mass point, the distance from the front axle point to the center of mass point, the distance from the rear axle point to the center of mass point, and the yaw angle, the distance from the tracking preview point to each axle point is determined; the total distance is determined according to the sum of the distances from the tracking preview point to each axle point; the turning angle weight matrix is ​​determined according to the ratio of the distance from each axle point to the tracking preview point to the total distance; the predicted front wheel turning angle is obtained according to the product of the front wheel turning angle corresponding to each axle point and the turning angle weight matrix, and the predicted front wheel turning angle is used to represent the theoretical value of the front wheel turning angle; the predicted Measure whether the front wheel turning angle is greater than the maximum front wheel turning angle. If so, use the maximum front wheel turning angle as the target front wheel turning angle; if not, use the predicted front wheel turning angle as the target front wheel turning angle, and unify the front wheel turning angle corresponding to each position using the weight distribution method, so that a certain front wheel turning angle is finally obtained to guide the vehicle's driving, avoiding the phenomenon that the remaining axle positions deviate seriously from the reference path when the front wheel turning angle of any position is selected for driving, affecting the fit and stability between the vehicle and the reference path, and improving the passability of long-axis vehicles in narrow spaces.

[0136] The embodiment of the present invention can divide the electronic device or the main control device into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0137] Figure 4 This is a schematic diagram of the structure of a multi-axle position path tracking control device for a long-axle vehicle provided in an embodiment of the present application. Figure 4 As shown, the device 40 includes:

[0138] An acquisition module 401 is used to acquire a tracking preview point of a reference path, wherein the tracking preview point is used to indicate that the long-axis vehicle travels to a target position on the reference path;

[0139] Specifically, the acquisition module 401 is specifically used for: acquiring the tracking preview point of the reference path, including:

[0140] Obtain the closest point on the reference path with the smallest distance to the center of mass of the long-axis vehicle;

[0141] Determine the number of path points to be searched forward from the nearest point of the reference path according to the nearest point, vehicle speed, and path curvature;

[0142] According to the number of path points and the nearest point, the tracking preview point is obtained.

[0143] A processing module 402 is used to obtain a front wheel turning angle corresponding to each axis position according to the tracking preview point and multiple axis positions of the long-axis vehicle, wherein the axis positions include a front axis position, a center of mass position and a rear axis position of the long-axis vehicle;

[0144] Specifically, the processing module 402 is specifically used to: obtain the front wheel turning angle corresponding to each axle position according to the tracking preview point and multiple axle positions of the long-axis vehicle, including:

[0145] Get the yaw angle of the long-axis vehicle;

[0146] Determine the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle;

[0147] Determine the lateral deviation of the long-axis vehicle according to the heading deviation of the axis point, the tracking preview point, the center of mass point, the distance from the axis point to the center of mass point, and the yaw angle;

[0148] According to the heading deviation and the lateral deviation of each axle position, the front wheel turning angle corresponding to each axle position is determined.

[0149] Further, determining the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle includes:

[0150] Determine the heading deviation of the front axle point according to the tracking preview point, the center of mass point, the distance from the front axle point to the center of mass point, and the yaw angle;

[0151] Determine the heading deviation of the center of mass point according to the tracking preview point, the center of mass point and the yaw angle;

[0152] The heading deviation of the rear axle position is determined according to the tracking preview point, the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

[0153] Furthermore, the lateral distances from each axis point on the long-axis vehicle to the tracking preview point are equal, and the lateral deviation of the long-axis vehicle is determined according to the heading deviation of the axis point, the tracking preview point, the center of mass point, the distance from the axis point to the center of mass point, and the yaw angle, including:

[0154] The lateral deviation of the long-axle vehicle is determined according to the heading deviation of the rear axle position, the tracking preview point, the distance from the rear axle position to the center of mass position, the center of mass position and the yaw angle.

[0155] Further, determining the front wheel turning angle corresponding to each axle position according to the heading deviation and the lateral deviation of each axle position includes:

[0156] Determining a front wheel turning angle corresponding to the front axle position according to the heading deviation and the lateral deviation of the front axle position;

[0157] Determining a front wheel turning angle corresponding to the centroid point according to the heading deviation of the centroid point and the lateral deviation;

[0158] The front wheel turning angle corresponding to the rear axle position is determined according to the heading deviation of the rear axle position, the tracking preview point, the center of mass position, the distance from the front axle position to the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

[0159] The control module 403 is used to obtain the target front wheel turning angle of the long-axis vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, and control the driving of the long-axis vehicle according to the target front wheel turning angle, and the turning angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point.

[0160] Specifically, the control module 403 is specifically used to obtain the target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, including:

[0161] Obtaining a predicted front wheel turning angle according to the product of the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, wherein the predicted front wheel turning angle is used to represent a theoretical value of the front wheel turning angle;

[0162] It is determined whether the predicted front wheel turning angle is greater than the maximum front wheel turning angle. If so, the maximum front wheel turning angle is used as the target front wheel turning angle. If not, the predicted front wheel turning angle is used as the target front wheel turning angle.

[0163] Furthermore, before obtaining the target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, the method further includes:

[0164] Determine the distance from the tracking preview point to each axis position according to the tracking preview point, the center of mass position, the distance from the front axis position to the center of mass position, the distance from the rear axis position to the center of mass position, and the yaw angle;

[0165] Determine the total distance according to the sum of the distances from the tracking preview point to each axis position;

[0166] The angle weight matrix is ​​determined according to the ratio of the distance from each axis position to the tracking preview point to the total distance.

[0167] The long-axle vehicle multi-axle position path tracking control device provided in this embodiment can execute the long-axle vehicle multi-axle position path tracking control method of the above embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0168] In the specific implementation of the aforementioned long-axle vehicle multi-axle site path tracking control device, each module can be implemented as a processor, and the processor can execute computer execution instructions stored in the memory, so that the processor executes the above-mentioned long-axle vehicle multi-axle site path tracking control method.

[0169] Figure 5 The hardware structure diagram of the electronic device provided in the embodiment of the present application is shown in FIG. Figure 5 As shown, the electronic device 50 includes: at least one processor 501 and a memory 502. The electronic device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0170] In the specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the long-axis vehicle multi-axis position path tracking control method executed by the electronic device side as above.

[0171] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0172] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0173] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0174] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0175] The above-mentioned functions implemented by the electronic device and the main control device introduce the scheme provided by the embodiment of the present invention. It can be understood that in order to implement the above-mentioned functions, the electronic device or the main control device includes a hardware structure and / or software module corresponding to the execution of each function. In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present invention, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present invention.

[0176] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned long-axis vehicle multi-axis position path tracking control method is implemented.

[0177] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0179] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-axis position path tracking control method for a long-axis vehicle, characterized in that: include: Acquire a tracking preview point of a reference path, wherein the tracking preview point is used to indicate that the long-axis vehicle travels to a target position on the reference path; According to the tracking preview point and a plurality of axle positions of the long-axis vehicle, a front wheel turning angle corresponding to each axle position is obtained, wherein the axle positions include a front axle position, a center of mass position and a rear axle position of the long-axis vehicle; According to the front wheel steering angle corresponding to each axle position and the steering angle weight matrix, the target front wheel steering angle of the long-axis vehicle is obtained, and the driving of the long-axis vehicle is controlled according to the target front wheel steering angle. The steering angle weight matrix is ​​obtained according to the distance from each axle position to the tracking preview point.

2. The method according to claim 1, characterized in that The method of obtaining the front wheel turning angle corresponding to each axis position according to the tracking preview point and the multiple axis positions of the long-axis vehicle includes: Get the yaw angle of the long-axis vehicle; Determine the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle; Determine the lateral deviation of the long-axis vehicle according to the heading deviation of the axis point, the tracking preview point, the center of mass point, the distance from the axis point to the center of mass point, and the yaw angle; According to the heading deviation and the lateral deviation of each axle position, the front wheel turning angle corresponding to each axle position is determined.

3. The method according to claim 2, characterized in that Determining the heading deviation of each axis position according to the tracking preview point, the center of mass position, the distance from each axis position to the center of mass position, and the yaw angle includes: Determine the heading deviation of the front axle point according to the tracking preview point, the center of mass point, the distance from the front axle point to the center of mass point, and the yaw angle; Determine the heading deviation of the center of mass point according to the tracking preview point, the center of mass point and the yaw angle; The heading deviation of the rear axle position is determined according to the tracking preview point, the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

4. The method according to claim 2, characterized in that: The lateral distances from each axis position on the long-axis vehicle to the tracking preview point are equal, and the lateral deviation of the long-axis vehicle is determined according to the heading deviation of the axis position, the tracking preview point, the center of mass position, the distance from the axis position to the center of mass position, and the yaw angle, including: The lateral deviation of the long-axle vehicle is determined according to the heading deviation of the rear axle position, the tracking preview point, the distance from the rear axle position to the center of mass position, the center of mass position and the yaw angle.

5. The method according to claim 2, characterized in that: Determining the front wheel turning angle corresponding to each axle position according to the heading deviation and the lateral deviation of each axle position includes: Determining a front wheel turning angle corresponding to the front axle position according to the heading deviation and the lateral deviation of the front axle position; Determining a front wheel turning angle corresponding to the centroid point according to the heading deviation of the centroid point and the lateral deviation; The front wheel turning angle corresponding to the rear axle position is determined according to the heading deviation of the rear axle position, the tracking preview point, the center of mass position, the distance from the front axle position to the center of mass position, the distance from the rear axle position to the center of mass position, and the yaw angle.

6. The method according to claim 2, characterized in that Before obtaining the target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, the method further includes: Determine the distance from the tracking preview point to each axis position according to the tracking preview point, the center of mass position, the distance from the front axis position to the center of mass position, the distance from the rear axis position to the center of mass position, and the yaw angle; Determine the total distance according to the sum of the distances from the tracking preview point to each axis position; The angle weight matrix is ​​determined according to the ratio of the distance from each axis position to the tracking preview point to the total distance.

7. The method according to claim 1, characterized in that The method of obtaining a target front wheel turning angle of the long-axle vehicle according to the front wheel turning angle corresponding to each axle position and the turning angle weight matrix comprises: Obtaining a predicted front wheel turning angle according to the product of the front wheel turning angle corresponding to each axle position and the turning angle weight matrix, wherein the predicted front wheel turning angle is used to represent a theoretical value of the front wheel turning angle; It is determined whether the predicted front wheel turning angle is greater than the maximum front wheel turning angle. If so, the maximum front wheel turning angle is used as the target front wheel turning angle. If not, the predicted front wheel turning angle is used as the target front wheel turning angle.

8. The method according to claim 1, characterized in that: The step of obtaining the tracking preview point of the reference path includes: Obtain the closest point on the reference path with the smallest distance to the center of mass of the long-axis vehicle; Determine the number of path points to be searched forward from the nearest point of the reference path according to the nearest point, vehicle speed, and path curvature; According to the number of path points and the nearest point, the tracking preview point is obtained.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

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