A lateral control method, device and medium for a vehicle

Abstract

The application discloses a lateral control method, device and medium of a vehicle, and applies to the field of vehicle control. The lateral control method of the vehicle provided by the application is characterized in that, a data acquisition device is arranged on the vehicle to acquire driving environment data. A vehicle controller firstly determines a safety limit of vehicle driving according to the driving environment data of the vehicle, then reads the state of the vehicle, i.e. the vehicle speed, the axle angle of the vehicle and the like, and finally acquires the expected trajectory of the vehicle according to the state of the vehicle. If the expected trajectory exceeds the safety limit, the vehicle is controlled to turn. The application is characterized in that, the lateral control of the vehicle during operation is combined with real-time information such as the running environment of the vehicle, the actual state of driving and the operation input of the driver, the target trajectory of the vehicle is analyzed, it is judged whether the target trajectory exceeds the lateral safety limit value of the vehicle driving, and the driving trajectory is intervened in time, so that a guarantee is added for the safe operation of the vehicle, and the safety of the super virtual track vehicle driving is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a lateral control method and device of a vehicle and a medium. BACKGROUND

[0002] With the continuous development of urban construction, people's demand for public transportation is constantly upgrading, from initially solving the basic needs, gradually to the pursuit of efficiency, comfort and environmental protection. The super virtual track vehicle in the electronic guide rubber-tyred train as a new type of transportation tool exactly meets these requirements. As a new product combining the advantages of road vehicles and rail vehicles, the virtual track train adopts full-wheel steering, automatic following technology, rubber-tyred bearing, and the running line is parallel to the social vehicle.

[0003] The super virtual track vehicle is not always in straight line motion during driving, and if not controlled, it will cause the vehicle to run out of the safety limit, therefore, in order to ensure the safety of the vehicle driving, the lateral control of the vehicle is very important.

[0004] Therefore, how to ensure the safety of the super virtual track vehicle driving is a problem to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a lateral control method and device of a vehicle and a medium to ensure the safety of the super virtual track vehicle driving.

[0006] To solve the above technical problems, the present application provides a lateral control method of a vehicle, comprising:

[0007] determining the safety limit of the vehicle driving according to the driving environment data of the vehicle; wherein the driving environment data is collected by a data collection device on the vehicle;

[0008] reading the state of the vehicle, the state including the vehicle speed and the angle of each axle of the vehicle;

[0009] obtaining the expected trajectory of the vehicle according to the state of the vehicle;

[0010] if the expected trajectory exceeds the safety limit, controlling the vehicle to turn.

[0011] Preferably, the vehicle comprises a plurality of carriages.

[0012] if the expected trajectory exceeds the safety limit, controlling the vehicle to turn, comprising:

[0013] controlling the offset amount of the first axle of the vehicle and the virtual trajectory of the vehicle to be zero.

[0014] Preferably, the control of the offset of the front axle of the vehicle to the virtual trajectory of the vehicle is zeroed, and further comprising:

[0015] If the expected trajectory still exceeds the safety limit, the rear axle angle of the vehicle is controlled until the vehicle returns to the safe operation trajectory.

[0016] Preferably, the driving environment data includes the distance between the vehicle and the lane line or the distance between the vehicle and the roadside obstacle.

[0017] Preferably, further comprising:

[0018] The driving trajectory and control state of the vehicle are recorded throughout the journey to optimize the control algorithm of the vehicle.

[0019] Preferably, the data acquisition device includes at least one of the following: a camera, a laser radar device, a millimeter wave radar, an ultrasonic radar, an infrared device, and a magnetic induction device.

[0020] Preferably, the multiple carriages of the vehicle are connected by a hinged disc;

[0021] The state further includes a hinged angle.

[0022] To solve the above technical problems, the application further provides a lateral control device of a vehicle, comprising:

[0023] A determination module is configured to determine a safety limit of the vehicle according to driving environment data of the vehicle, wherein the driving environment data is collected by a data acquisition device on the vehicle;

[0024] A reading module is configured to read a state of the vehicle, wherein the state includes a vehicle speed and an axle angle of the vehicle;

[0025] An acquisition module is configured to acquire an expected trajectory of the vehicle according to the state of the vehicle;

[0026] A control module is configured to control the vehicle to turn if the expected trajectory exceeds the safety limit.

[0027] To solve the above technical problems, the application further provides a lateral control device of a vehicle, comprising: a memory for storing a computer program;

[0028] A processor is configured to execute the computer program to realize the steps of the above-mentioned lateral control method of the vehicle.

[0029] To solve the above technical problems, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the above-mentioned lateral control method of the vehicle.

[0030] The lateral control method of the vehicle provided in the application is characterized in that, during the running of the vehicle, the target trajectory of the vehicle is analyzed in combination with real-time information such as the running environment of the vehicle, the actual state of the vehicle, and the operation input of the driver, to determine whether the target trajectory exceeds the lateral safety limit value of the vehicle and to intervene in the running trajectory in time, thereby adding a safeguard for the safe running of the vehicle and ensuring the safety of the super virtual track vehicle.

[0031] The lateral control device of the vehicle and the computer readable storage medium provided in the application correspond to the above method, and therefore have the same beneficial effects as the above method. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0033] Figure 1 A flowchart of the lateral control method of the vehicle provided in the embodiments of the application;

[0034] Figure 2 A super virtual track vehicle scene schematic diagram provided in the embodiments of the application;

[0035] Figure 3 A super virtual track vehicle deviation state schematic diagram provided in the embodiments of the application;

[0036] Figure 4 A virtual track train lateral safety control calculation flowchart;

[0037] Figure 5 A structure diagram of the lateral control device of the vehicle provided in the embodiments of the application;

[0038] Figure 6 A structure diagram of the lateral control device of the vehicle provided in another embodiment of the application. DETAILED DESCRIPTION

[0039] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0040] The core of the present application is to provide a lateral control method, device and medium of a vehicle to ensure the safety of super virtual track vehicle driving.

[0041] In order to enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0042] The present application is generally applied in the super virtual track vehicle scene. The super virtual track vehicle is in the form of multiple units, and the hinged disc is used as the inter-vehicle connecting device. The rubber tire is used for bearing. As a new product combining the advantages of road vehicles and rail vehicles, the virtual track train adopts full-wheel steering and automatic following technology. The steering angle of the front axle is used as the input. The steering angle of the rear axle is automatically followed by collecting the information such as the steering angle of the hinged disc and the vehicle speed. The vehicle operating environment is the social road, and there are a large number of parallel situations with other social vehicles, and only the lane line is used as the separation. In order to ensure the driving safety of the vehicle, the lateral control of the vehicle is very important. The present application provides a method for real-time monitoring and adjusting the dynamic limit of the vehicle operation, thereby realizing the vehicle lane keeping function and improving the lateral safety of the operation. The present application is mainly applied in the field of virtual track train lateral safety control, and relates to a virtual track multiple unit vehicle, dynamic limit calculation, environment perception and monitoring, and a control method for lane keeping. Figure 1 A flowchart of a lateral control method of a vehicle provided by the present application is shown in FIG. 1. Figure 1 The method comprises the following steps:

[0043] S10: determining the safety limit of the vehicle driving according to the driving environment data of the vehicle.

[0044] S11: reading the state of the vehicle.

[0045] S12: obtaining the expected trajectory of the vehicle according to the state of the vehicle.

[0046] S13: if the expected trajectory exceeds the safety limit, controlling the vehicle to turn.

[0047] Wherein the driving environment data is collected by data collection equipment on the vehicle. The state of the vehicle includes at least vehicle speed, vehicle axis angle, etc. The embodiments of the present application will specifically solve the following problems: 1) solve the problem of virtual track train body lateral perception; 2) solve the problem of virtual track train dynamic gauge calculation; 3) solve the problem of lateral environment safety control after the fusion of perception data and vehicle body posture data. Figure 2 A super virtual track vehicle scene schematic diagram is provided for the embodiments of the present application; as shown in Figure 2 The camera, laser radar device, millimeter wave radar, ultrasonic wave radar, infrared device or magnetic induction device, etc. of the vehicle auxiliary driving system on the super virtual track vehicle 1 monitor the distance between the vehicle and the two side lane lines or other traffic facilities and participants on both sides, that is, obtain the driving environment data of the vehicle, so as to determine the safety limit of the vehicle driving. At the same time, the values of the wheel rotation angles of each axis are read from the control system to calculate whether the expected trajectory of the vehicle exceeds the safety limit. If there is a trend of exceeding the safety limit, the rear axle steering angle can be corrected to ensure the safety of the vehicle operation. At the same time, the vehicle operation can also be recorded throughout the process, which can be used as a reference basis for optimizing the control algorithm.

[0048] A specific embodiment is provided here, Figure 3 A super virtual track vehicle offset state schematic diagram is provided for the embodiments of the present application; as shown in Figure 3As shown, the super virtual track vehicle 1 has a deviation. The image information collected by the camera of the vehicle auxiliary driving system and the information collected by the distance sensor are used to locate the distance y between the virtual track and the lane line or the traffic facilities and participants on both sides, and the deviation of the vehicle track is judged based on the virtual track as the positioning reference, with "+" for left and "-" for right. The vehicle control system calculates the wheel angle ψ1(ω, v, δ) of each axle based on the input information such as steering wheel angle ω, vehicle speed v, and hinged disc angle δ, and calculates the ideal running track of the vehicle. The actual running track of the vehicle is predicted based on the image information (such as virtual track and lane separation line) captured by the camera, vehicle speed v, hinged disc angle δ, and actual wheel angle ψ2 of each axle. By comparing the ideal running track with the predicted actual running track, the deviation of the vehicle running is obtained, including the deviation Δy1 of the first axle and the lateral deviation Δy2 of the rear axle of the vehicle relative to the front axle. Given the vehicle width w, the calculation method of the real-time dynamic limit W of the vehicle is: W = w + Δy2. The distance Y between the vehicle and the two sides is: Y = y - Δy1 - Δy2. According to the trend of the change of Y at future time T, it is judged whether the vehicle needs to be controlled. If the vehicle has a trend of exceeding the lane line or being too close to the traffic facilities and participants, the deviation of the first axle and the virtual track of the vehicle is controlled to be zero first; if the vehicle still has a trend of exceeding the safe distance after re-calculation, the rear axle angle is intervened until the vehicle returns to the safe running track. In addition, the system can record the running track and control state of the vehicle during the entire journey, which provides a basis for optimizing the control algorithm. It should be noted that the above-mentioned schemes are only examples provided by the present embodiment and do not limit other schemes of the present application.

[0049] In actual application, the data acquisition device can include one of the following: a camera, a laser radar device, a millimeter wave radar, an ultrasonic radar, an infrared device, and a magnetic induction device. The specific driving environment data can include the distance between the vehicle and the lane line or the distance between the vehicle and the roadside obstacle. In specific implementation, the data acquisition device can be one or more of the above devices, or other devices can be used for data acquisition, and the number and type of driving environment data are not limited. If the expected trajectory exceeds the safety limit, the deviation of the first axle of the vehicle and the virtual track of the vehicle can be controlled to be zero. After controlling the deviation of the first axle of the vehicle and the virtual track of the vehicle to be zero, if the expected trajectory still exceeds the safety limit, the rear axle angle of the vehicle is controlled until the vehicle returns to the safe running track, which can avoid safety accidents as much as possible.

[0050] Here also provides a specific embodiment, Figure 4 A schematic diagram of the calculation process for virtual track train lateral safety control is shown in FIG. 1. Figure 4As shown, the method comprises the following steps: S20: determining the safety limit of the vehicle and reading the vehicle state. S21: determining whether the vehicle is within the dynamic limit; if not, going to step S22, and if yes, returning to step S20. S22: calculating the steering correction amount. S23: the steering system executes the correction instruction.

[0051] The lateral control method of the vehicle provided by the embodiment of the application comprises the following steps: a data acquisition device is arranged on the vehicle to acquire driving environment data. A vehicle controller determines a safety limit of the vehicle according to the driving environment data of the vehicle, reads the state of the vehicle, that is, the vehicle speed, the steering angle of each axle of the vehicle and the like, and finally acquires an expected trajectory of the vehicle according to the state of the vehicle. If the expected trajectory exceeds the safety limit, the vehicle is controlled to steer. The embodiment of the application is characterized in that the lateral control of the vehicle during operation is combined with real-time information such as the running environment of the vehicle, the actual state of driving and the operation input of the driver, the target trajectory of the vehicle is analyzed, it is determined whether the target trajectory exceeds the lateral safety limit value of the vehicle, and the driving trajectory is intervened in time, so that the safety of the super virtual track vehicle is ensured.

[0052] In the above embodiment, the vehicle of the application generally refers to a super virtual track vehicle. The super virtual track vehicle has a multi-formation, that is, the vehicle comprises multiple carriages. The super virtual track vehicle adopts a full-wheel steering and automatic following technology, and the first axle steering angle is used as an input. The steering angle of the hinged disc, the vehicle speed and the like are acquired, and the rear axle realizes automatic following of the steering angle of the front axle. Taking the super virtual track vehicle as an example, if the expected trajectory exceeds the safety limit, the vehicle is controlled to steer, which comprises the following steps: the offset between the first axle of the vehicle and the virtual trajectory of the vehicle is controlled to be zero. After the offset between the first axle of the vehicle and the virtual trajectory of the vehicle is controlled to be zero, if the expected trajectory still exceeds the safety limit, the rear axle of the vehicle is controlled to steer until the vehicle returns to the safety running trajectory, so that the occurrence of a safety accident can be avoided as much as possible.

[0053] The data collection device can include one of a camera, a laser radar device, a millimeter wave radar, an ultrasonic radar, an infrared device, and a magnetic induction device. In specific implementations, the data collection device can be one or more of the above devices, or other devices can be used for data collection. The specific driving environment data can include the distance between the vehicle and the lane line or the distance between the vehicle and the roadside obstacle, and then the safety limit of the vehicle driving is determined according to the driving environment data of the vehicle, and the expected trajectory of the vehicle is obtained according to the state of the vehicle, and if the expected trajectory exceeds the safety limit, the vehicle is controlled to turn. Thus, the driving trajectory is prevented from exceeding the lane line or expanding to the roadside obstacles or pedestrians, etc. In the actual driving process, the driving trajectory and the control state of the vehicle can also be recorded throughout the journey to optimize the control algorithm of the vehicle.

[0054] In actual application, the multiple carriages of the vehicle can be connected through the hinged disc; taking a super virtual rail vehicle as an example, the super virtual rail vehicle has a multiple unit form, the hinged disc is used as a connection device between vehicles, and rubber tires are used for bearing, which is a new product combining the advantages of road vehicles and rail vehicles, the virtual rail train adopts full-wheel steering and automatic following technology, and the rear axle realizes automatic following of the steering angle of the front axle by taking the steering angle of the front axle as input and collecting information such as the steering angle of the hinged disc and the speed of the vehicle. The state of the vehicle can also include the hinged angle, that is, the expected trajectory of the vehicle can be obtained according to the speed of the vehicle, the steering angles of the axles of the vehicle, and the hinged angle.

[0055] In the above embodiments, the lateral control method of the vehicle is described in detail, and the present application also provides corresponding embodiments of the lateral control device of the vehicle. It should be noted that the embodiments of the device part are described from two angles, one is based on the functional module, and the other is based on the hardware.

[0056] Based on the functional module, the present embodiment provides a lateral control device of a vehicle, Figure 5 The structure diagram of the lateral control device of the vehicle provided by the embodiments of the present application is shown in Figure 5 The device comprises:

[0057] A determination module 10 is configured to determine a safety limit of a vehicle driving according to driving environment data of the vehicle; wherein the driving environment data is collected by a data collection device on the vehicle;

[0058] A reading module 11 is configured to read the state of the vehicle, and the state comprises the speed of the vehicle and the steering angles of the axles of the vehicle;

[0059] An obtaining module 12 is configured to obtain an expected trajectory of the vehicle according to the state of the vehicle;

[0060] A control module 13 is configured to control the vehicle to turn if the expected trajectory exceeds the safety limit.

[0061] Since the embodiments of the device part correspond to the embodiments of the method part, the embodiments of the device part are described in the description of the embodiments of the method part, and are not described here.

[0062] The lateral control device of the vehicle provided in the embodiments corresponds to the above method, and has the same beneficial effects as the above method.

[0063] From the perspective of hardware, the embodiments provide another lateral control device of a vehicle, Figure 6 The structure diagram of the lateral control device of the vehicle provided in another embodiment of the present application is shown in Figure 6 The lateral control device of the vehicle includes a memory 20 for storing a computer program.

[0064] The processor 21 is used to execute the computer program to realize the steps of the lateral control method of the vehicle mentioned in the above embodiments.

[0065] The processor 21 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one of a hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 21 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a central processing unit (CPU). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 can be integrated with a graphics processor (GPU) that is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 21 can also include an artificial intelligence (AI) processor for processing machine learning-related computing operations.

[0066] The memory 20 can include one or more computer-readable storage media. The computer-readable storage media can be non-transitory. The memory 20 can also include high-speed random access memory and can include non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein the computer program is loaded and executed by the processor 21, and can realize the related steps of the lateral control method of the vehicle disclosed in any of the foregoing embodiments. In addition, the resources stored by the memory 20 can also include an operating system 202 and data 203, etc., and the storage mode can be temporary storage or permanent storage. The operating system 202 can include Windows, Unix, Linux, etc. The data 203 can include but is not limited to data related to the lateral control method of the vehicle, etc.

[0067] In some embodiments, the lateral control device of the vehicle can further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0068] Those skilled in the art can understand that the structure shown in the figure does not constitute a limitation on the lateral control device of the vehicle, and can include more or fewer components than those shown in the figure.

[0069] The lateral control device of the vehicle provided by the embodiments of the present application includes a memory and a processor, and the processor can realize the following method when executing the program stored in the memory: the lateral control method of the vehicle.

[0070] The lateral control device of the vehicle provided by the embodiments of the present application corresponds to the above method, and therefore has the same beneficial effects as the above method.

[0071] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps recorded in the above method embodiments.

[0072] It can be understood that if the method in the above embodiment is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and performs all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0073] The computer readable storage medium provided by the embodiment has the same beneficial effects as the above method.

[0074] The above describes in detail the vehicle transverse control method, device and medium provided by the present application. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be referred to. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, the present application can be improved and modified, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0075] It should be further noted that in the present specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the above element.

Claims

1. A method for lateral control of a vehicle, characterized in that, include: The safe driving limit of the vehicle is determined based on the vehicle's driving environment data; The driving environment data mentioned above is collected by the data acquisition device on the vehicle; Read the status of the vehicle, including vehicle speed and the rotation angle of each axle of the vehicle; The expected trajectory of the vehicle is obtained based on the vehicle's status; If the expected trajectory exceeds the safety limit, then control the vehicle to steer; The vehicle comprises multiple carriages; The step of controlling the vehicle to turn if the expected trajectory exceeds the safety limit includes: The offset between the vehicle's head axle and the vehicle's virtual trajectory is brought to zero. After the offset between the vehicle's head axle and the vehicle's virtual trajectory is returned to zero, the method further includes: If the expected trajectory still exceeds the safety limit, the rear axle angle of the vehicle is controlled until the vehicle returns to the safe operating trajectory.

2. The lateral control method for a vehicle according to claim 1, characterized in that, The driving environment data includes: the distance between the vehicle and the lane line or the distance between the vehicle and roadside obstacles.

3. The lateral control method for a vehicle according to claim 2, characterized in that, Also includes: The vehicle's driving trajectory and control status are recorded throughout the process to facilitate the optimization of the vehicle's control algorithm.

4. The lateral control method for a vehicle according to claim 3, characterized in that, The data acquisition device includes at least one of the following: camera, lidar device, millimeter-wave radar, ultrasonic radar, infrared device, and magnetic induction device.

5. The lateral control method for a vehicle according to claim 1, characterized in that, The multiple carriages of the vehicle are connected by articulated joints; The state also includes: hinge angle.

6. A lateral control device for a vehicle, characterized in that, include: The determination module is used to determine the safe driving limit of the vehicle based on the vehicle's driving environment data; The driving environment data mentioned above is collected by the data acquisition device on the vehicle; A reading module is used to read the status of the vehicle, including vehicle speed and the rotation angle of each axle of the vehicle. The acquisition module is used to acquire the expected trajectory of the vehicle based on the vehicle's state; A control module is used to control the vehicle to turn if the expected trajectory exceeds the safety limit; The vehicle comprises multiple carriages; The step of controlling the vehicle to turn if the expected trajectory exceeds the safety limit includes: The offset between the vehicle's head axle and the vehicle's virtual trajectory is brought to zero. After the offset between the vehicle's head axle and the vehicle's virtual trajectory is returned to zero, the method further includes: If the expected trajectory still exceeds the safety limit, the rear axle angle of the vehicle is controlled until the vehicle returns to the safe operating trajectory.

7. A lateral control device for a vehicle, characterized in that, Includes memory used to store computer programs; A processor for executing the computer program to implement the steps of the lateral control method for a vehicle as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the lateral control method for a vehicle as described in any one of claims 1 to 5.

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