Vehicle turning control method and device, heavy truck and storage medium

Abstract

The application relates to the technical field of automatic driving, and discloses a vehicle turning control method and device, a heavy truck and a storage medium, the method comprising the following steps: acquiring a current driving state and planning track information of a vehicle; determining rear axle feedforward at a rear axle control point according to the current driving state and the planning track information; determining target supplementary feedforward according to a path position matched by a front axle control point; and performing turning control on the vehicle according to the rear axle feedforward and the target supplementary feedforward. In the foregoing manner, the rear axle feedforward is determined according to the current driving state and the planning track information of the vehicle, the target supplementary feedforward is determined according to the path position matched by the front axle control point, and then the vehicle is controlled by the rear axle feedforward and the target supplementary feedforward when turning, so that the inside space and the outside space of the vehicle during turning are balanced, and the rationality and accuracy of vehicle turning can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle turning control method and device, a heavy truck and a storage medium. BACKGROUND

[0002] With the continuous development of automatic driving technology, automatic driving technology is widely applied to different vehicles, for example, heavy trucks, and the automatic driving control strategy is to select a point on the vehicle body for control, then select a point on the reference trajectory as a reference point according to the selected point, and then control according to the state error between the control point and the reference point, the feedforward compensation caused by the path curvature corresponding to the reference point, etc. However, heavy trucks have the characteristics of long body, so even if the control point and the reference point always maintain a small error, it is difficult to ensure that the entire vehicle body is within a reasonable driving area, especially on a large curvature road section. In the actual control process, the control has hysteresis, overshoot and other influences, so that the turning inside space and the turning outside space of the vehicle cannot be balanced, causing unreasonable vehicle turning and low accuracy.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle turning control method, device, heavy truck and storage medium, which aims to solve the technical problems that the prior art cannot balance the turning inside space and the turning outside space of the vehicle, causing unreasonable vehicle turning and low accuracy.

[0005] To achieve the above purpose, the present application provides a vehicle turning control method, which comprises the following steps:

[0006] Obtaining the current driving state and planning trajectory information of the vehicle;

[0007] Determining the rear axle feedforward at the rear axle control point according to the current driving state and planning trajectory information;

[0008] Determining the target supplementary feedforward according to the path position matched by the front axle control point;

[0009] Controlling the vehicle to turn according to the rear axle feedforward and the target supplementary feedforward.

[0010] Optionally, the rear axle feedforward is determined at the rear axle control point according to the current driving state and planning trajectory information, comprising:

[0011] Selecting a first target point on the rear axle of the vehicle as a rear axle control point;

[0012] determining a current driving trajectory according to the current driving state, and determining a planning trajectory according to the planning trajectory information;

[0013] determining a vehicle trajectory lateral error parameter and a vehicle trajectory heading error parameter according to the current driving trajectory and the planning trajectory through a rear axle error model;

[0014] determining a rear axle feedforward at the rear axle control point according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter.

[0015] Optionally, the determining the rear axle feedforward at the rear axle control point according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter comprises:

[0016] constructing a vehicle motion LQR according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter;

[0017] determining a LQR total gain according to the vehicle motion LQR;

[0018] obtaining front and rear tire cornering stiffness, distances between the front and rear wheels and the center of mass, wheelbase, path reference point curvature, and vehicle parameters;

[0019] calculating a rear axle feedforward at the rear axle control point through a target rear axle feedforward algorithm according to the LQR total gain, the front and rear tire cornering stiffness, the distances between the front and rear wheels and the center of mass, the wheelbase, the path reference point curvature, and the vehicle parameters.

[0020] Optionally, the determining the target supplementary feedforward according to the path position matched with the front axle control point comprises:

[0021] selecting a second target point on the front axle of the vehicle as the front axle control point;

[0022] matching the current driving trajectory and the planning trajectory to obtain a current trajectory matching result;

[0023] determining a path position at the front axle control point according to the current trajectory matching result;

[0024] determining a target supplementary feedforward according to the path position of the front axle control point.

[0025] Optionally, the determining the target supplementary feedforward according to the path position of the front axle control point comprises:

[0026] obtaining vehicle mass and vehicle forward speed according to vehicle parameters;

[0027] obtaining a corresponding curvature reciprocal according to path reference point curvature;

[0028] The target supplementary feedforward is calculated by a target front axle feedforward algorithm according to the vehicle mass, vehicle forward speed, curvature reciprocal, LQR total gain, front and rear tire cornering stiffness, distance between front and rear wheels and mass center, wheelbase.

[0029] Optionally, the turning control of the vehicle according to the rear axle feedforward and the target supplementary feedforward comprises:

[0030] acquiring a preset rear axle weight and a preset front axle weight;

[0031] calculating a rear axle actual feedforward according to the preset rear axle weight and the rear axle feedforward;

[0032] calculating a front axle actual supplementary feedforward according to the preset front axle weight and the target supplementary feedforward;

[0033] calculating an error feedforward parameter according to the LQR total gain, vehicle trajectory lateral error parameter and vehicle trajectory heading error parameter;

[0034] determining a vehicle turning parameter according to the rear axle actual feedforward, the front axle actual supplementary feedforward and the error feedforward parameter;

[0035] controlling the vehicle according to the vehicle turning parameter.

[0036] Optionally, after the turning control of the vehicle according to the rear axle feedforward and the target supplementary feedforward, the vehicle turning control device further comprises:

[0037] acquiring a turning inner space and a turning outer space of the vehicle after the control;

[0038] calculating an error between the turning inner space and the turning outer space;

[0039] when the error between the turning inner space and the turning outer space is less than a turning space error threshold and the vehicle enters other curves, the vehicle is controlled again in the above manner.

[0040] In addition, to achieve the above object, the application further provides a vehicle turning control device, which comprises:

[0041] an acquiring module, configured to acquire current driving state and planned trajectory information of a vehicle;

[0042] a determining module, configured to determine vehicle trajectory error and rear axle feedforward at a rear axle control point according to the current driving state and the planned trajectory information;

[0043] the determining module is further configured to determine target supplementary feedforward according to a path position matched by a front axle control point;

[0044] A control module is configured to control the vehicle to turn according to the vehicle trajectory error, the rear axle feedforward and the target supplementary feedforward.

[0045] In addition, to achieve the above object, the present application also provides a heavy truck, which comprises a memory, a processor and a vehicle turning control program stored in the memory and executable on the processor, and the vehicle turning control program is configured to implement the vehicle turning control method as described above.

[0046] In addition, to achieve the above object, the present application also provides a storage medium, which stores a vehicle turning control program, and the vehicle turning control program is configured to implement the vehicle turning control method as described above when executed by a processor.

[0047] The vehicle turning control method provided by the present application determines the rear axle feedforward according to the current driving state and the planning trajectory information of the vehicle, determines the target supplementary feedforward according to the path position matched by the front axle control point, and controls the vehicle to turn according to the rear axle feedforward and the target supplementary feedforward. In this way, the turning inside space and the turning outside space of the vehicle can be balanced by controlling the vehicle according to the rear axle feedforward and the target supplementary feedforward during turning, so that the rationality and accuracy of the vehicle turning can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a structural schematic diagram of a heavy truck related to the hardware running environment of the embodiment scheme of the present application;

[0049] Figure 2 is a flowchart of the first embodiment of the vehicle turning control method of the present application;

[0050] Figure 3 is a flowchart of the second embodiment of the vehicle turning control method of the present application;

[0051] Figure 4 is a functional module schematic diagram of the first embodiment of the vehicle turning control device of the present application.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0054] Reference Figure 1 ,Figure 1 This is a schematic diagram of the heavy-duty truck structure in the hardware operating environment involved in the embodiments of the present invention.

[0055] like Figure 1 As shown, the heavy-duty truck may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0056] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on heavy trucks and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0057] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle turning control program.

[0058] exist Figure 1 In the heavy truck shown, the network interface 1004 is mainly used for data communication with the network integrated platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the heavy truck of the present invention can be set in the heavy truck, and the heavy truck calls the vehicle turning control program stored in the memory 1005 through the processor 1001 and executes the vehicle turning control method provided in the embodiment of the present invention.

[0059] Based on the above hardware structure, an embodiment of the vehicle turning control method of the present invention is proposed.

[0060] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vehicle turning control method of the present invention.

[0061] In the first embodiment, the vehicle turning control method comprises the following steps:

[0062] In step S10, the current driving state of the vehicle and the planning trajectory information are obtained.

[0063] It should be noted that the execution subject of the present embodiment is a heavy truck, and can also be other devices that can achieve the same or similar functions, such as a control module, etc. The present embodiment does not limit this, and in the present embodiment, the control module is taken as an example for description.

[0064] It should be understood that the current driving state refers to the driving state of the vehicle when turning, which includes but is not limited to the steering wheel angle, acceleration, and vehicle speed, etc. The current driving state is obtained by the control module from the upstream map module and positioning module. The planning trajectory information refers to the trajectory information planned by automatic driving when the vehicle is turning, which includes but is not limited to the turning curve, the starting turning position point, the turning vehicle speed, and the steering wheel angle that should be turned, etc. The planning trajectory information is obtained by the control module from the upstream planning module. The vehicle refers to an unmanned vehicle with automatic driving function.

[0065] In step S20, the rear axle feedforward is determined at the rear axle control point according to the current driving state and the planning trajectory information.

[0066] It can be understood that the rear axle feedforward refers to the feedforward based on the rear axle of the vehicle, and the rear axle feedforward is used for turning assistance of the vehicle. The rear axle control point can be the center point of the rear axle of the vehicle.

[0067] Further, in step S20, the following steps are included: selecting a first target point on the rear axle of the vehicle as the rear axle control point; determining the current driving trajectory according to the current driving state, and determining the planning trajectory according to the planning trajectory information; determining the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter according to the current driving trajectory and the planning trajectory through a rear axle error model; determining the rear axle feedforward at the rear axle control point according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter.

[0068] It should be understood that the first target point can be the center point of the rear axle of the vehicle. The current driving trajectory refers to the trajectory of the vehicle under actual conditions, and the planning trajectory refers to the trajectory planned by automatic driving. Then, the current driving trajectory and the planning trajectory are input into the rear axle error model, and the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter are output by the rear axle error model. The vehicle trajectory lateral error parameter includes the vehicle trajectory lateral error and the vehicle trajectory lateral error change rate, and the vehicle trajectory heading error parameter includes the vehicle trajectory heading error and the vehicle trajectory heading error change rate.

[0069] Further, the rear axle feedforward at the rear axle control point according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter comprises: constructing a vehicle motion LQR according to the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter; determining an LQR total gain according to the vehicle motion LQR; obtaining front and rear tire cornering stiffness, distances between front and rear wheels and the center of mass, wheelbase, path reference point curvature, and vehicle parameters; and calculating the rear axle feedforward at the rear axle control point by a target rear axle feedforward algorithm according to the LQR total gain, the front and rear tire cornering stiffness, the distances between front and rear wheels and the center of mass, the wheelbase, the path reference point curvature, and the vehicle parameters.

[0070] It can be understood that after obtaining the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter, a vehicle motion LQR is constructed according to the above error parameters, and then an LQR total gain is solved by constructing an algebraic Riccati equation, specifically as follows:

[0071] X(k+1) = AX(k) + Bδ(k)

[0072] P = A T PA-A T PB(R+B T PB) -1 B T PA+Q

[0073] K = (R+B T PB) -1 B T PA

[0074]

[0075]

[0076]

[0077] wherein K is the LQR total gain, Q is a state weight matrix, R is a control weight matrix, A, B, and C are state matrices, X(k) is the discretized vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter at time k, δ(k) is the control amount ([u, a]) at time k, u is the steering wheel angle, and a is the acceleration.

[0078] It should be understood that after determining the LQR total gain, the rear axle feedforward is calculated according to the above parameters, specifically as follows:

[0079]

[0080]

[0081] wherein δ ffL is the wheelbase, R is the reciprocal of the curvature of the path reference point, M is the mass of the vehicle, V x is the forward speed of the vehicle, K is the front-rear wheel coefficient, C f , C r are the front-rear tire cornering stiffness, L f , L r are the distances from the front-rear wheels to the center of mass.

[0082] Step S30, determining the target supplementary feedforward according to the path position matched by the front axle control point.

[0083] It should be understood that the target supplementary feedforward refers to the supplementary feedforward based on the front axle of the vehicle, and the target supplementary feedforward is also used for the turning assistance of the vehicle, and the front axle control point can be the center point of the front axle of the vehicle.

[0084] Further, in step S30, a second target point is selected as the front axle control point on the front axle of the vehicle; the current driving trajectory and the planned trajectory are matched to obtain a current trajectory matching result; the path position of the front axle control point is determined according to the current trajectory matching result; and the target supplementary feedforward is determined according to the path position of the front axle control point.

[0085] It can be understood that the second target point can be the center point of the front axle of the vehicle, after the second target point is selected, the second target point is taken as the front axle control point, then the current driving trajectory of the vehicle and the planned trajectory are matched, then the matching successful trajectory is extracted from the current trajectory matching result, and the path position containing the front axle control point is determined in the matching successful trajectory.

[0086] Further, the target supplementary feedforward is determined according to the path position of the front axle control point, including: obtaining the mass of the vehicle and the forward speed of the vehicle according to the vehicle parameters; obtaining the corresponding curvature reciprocal according to the curvature of the path reference point; and calculating the target supplementary feedforward according to the mass of the vehicle, the forward speed of the vehicle, the curvature reciprocal, and the LQR total gain, the front-rear tire cornering stiffness, the distances from the front-rear wheels to the center of mass, and the wheelbase through a target front axle feedforward algorithm.

[0087] It should be understood that the curvature of the path reference point refers to the curvature of the parameter point of the vehicle on the driving path, for example, if the curvature of the path reference point is 1 / R, then the reciprocal of the curvature is R, and then the target supplementary feedforward is calculated according to the above parameters, specifically:

[0088]

[0089] Wherein, δ bb is the target supplementary feedforward, C f , C r are the front-rear tire cornering stiffness, L f , Lr respectively, M is the mass of the vehicle, I z is the moment of inertia of the vehicle about the Z axis, V x is the forward speed of the vehicle, L is the wheelbase, and R is the inverse of the curvature corresponding to the path reference point.

[0090] In step S40, the vehicle is controlled to turn according to the rear axle feedforward and the target supplementary feedforward.

[0091] It can be understood that after the rear axle feedforward and the target supplementary feedforward are obtained, the vehicle is controlled to turn in a lateral control manner according to the rear axle feedforward and the target supplementary feedforward.

[0092] Further, after step S40, the method further comprises: obtaining a turning inner space and a turning outer space of the vehicle after the control; calculating an error between the turning inner space and the turning outer space; and when the error between the turning inner space and the turning outer space is less than a turning space error threshold and the vehicle enters another curve, the vehicle is controlled to turn again in the above manner.

[0093] It should be understood that the turning inner space refers to an inner space when the vehicle turns, and the turning inner space is located on the driver side when the vehicle turns left and is located on the passenger side when the vehicle turns right. The turning outer space refers to a space opposite to the turning inner space, and the turning outer space is located on the passenger side when the vehicle turns left and is located on the driver side when the vehicle turns right. After the vehicle is controlled to turn, the turning inner space and the turning outer space of the vehicle when turning are obtained, and then it is determined whether the error between the turning inner space and the turning outer space is less than a turning space error threshold. If yes, it indicates that the turning inner space and the turning outer space have been balanced, and the vehicle can be controlled in the above manner when the vehicle enters another curve.

[0094] The embodiment obtains the current driving state and the planned trajectory information of the vehicle, determines the rear axle feedforward according to the current driving state and the planned trajectory information at a rear axle control point, determines the target supplementary feedforward according to a path position matched by a front axle control point, and controls the vehicle to turn according to the rear axle feedforward and the target supplementary feedforward. In this way, the rear axle feedforward is determined according to the current driving state and the planned trajectory information of the vehicle, the target supplementary feedforward is determined according to the path position matched by the front axle control point, and the vehicle is controlled by the rear axle feedforward and the target supplementary feedforward when turning, so as to balance the turning inner space and the turning outer space of the vehicle, thereby effectively improving the rationality and accuracy of vehicle turning.

[0095] In an embodiment, as Figure 3The second embodiment of the vehicle turning control method is proposed based on the first embodiment, and the step S40 comprises:

[0096] In step S401, a preset rear axle weight and a preset front axle weight are obtained.

[0097] It should be understood that the preset rear axle weight refers to the weight of the rear axle front feed assisting the vehicle turning, and the front axle weight refers to the weight of the target supplementary front feed assisting the vehicle turning. Both the preset rear axle weight and the preset front axle weight are set in advance through experimental data.

[0098] In step S402, the rear axle actual front feed is calculated according to the preset rear axle weight and the rear axle front feed.

[0099] It can be understood that the rear axle actual front feed refers to the actual front feed of the rear axle side assisting the vehicle turning. For example, the preset rear axle weight is a, and the rear axle front feed is δ ff , and the rear axle actual front feed is aδ ff .

[0100] In step S403, the front axle actual supplementary front feed is calculated according to the preset front axle weight and the target supplementary front feed.

[0101] It should be understood that the front axle actual supplementary front feed refers to the actual supplementary front feed of the front axle side assisting the vehicle turning. For example, the preset front axle weight is b, and the target supplementary front feed is δ bb , and the front axle actual supplementary front feed is bδ bb .

[0102] In step S404, the error feed parameter is calculated according to the LQR total gain, the vehicle trajectory lateral error parameter, and the vehicle trajectory heading error parameter.

[0103] It can be understood that the error feed parameter refers to the feed parameter determined by considering the vehicle trajectory error parameter. The vehicle trajectory lateral error parameter includes the vehicle trajectory lateral error and the vehicle trajectory lateral error change rate, and the vehicle trajectory heading error parameter includes the vehicle trajectory heading error and the vehicle trajectory heading error change rate. For example, the vehicle trajectory lateral error is e y , the vehicle trajectory lateral error change rate is `e y , the vehicle trajectory heading error is , and the vehicle trajectory heading error change rate is X(k) represents the discretized vehicle trajectory lateral error parameter and vehicle trajectory heading error parameter at time k, T represents the vehicle trajectory lateral error parameter and vehicle trajectory heading error parameter at time k, , and the LQR total gain is K, the error feed parameter is KX(k).

[0104] Step S405, determining a vehicle turning parameter according to the rear axle actual feedforward, the front axle actual feedforward and the error feedforward parameter.

[0105] It should be understood that the vehicle turning parameter refers to a control parameter that assists the vehicle in turning, and the vehicle turning parameter includes but is not limited to acceleration, steering wheel turning angle, for example, the rear axle actual feedforward is aδ ff , the front axle actual feedforward is bδ bb , and the error feedforward parameter is an error feedforward parameter, and then the parameter for controlling the vehicle to turn is determined according to the above parameters.

[0106] Step S406, turning control is performed on the vehicle according to the vehicle turning parameter.

[0107] In the embodiment, the preset rear axle weight and the preset front axle weight are obtained, the rear axle actual feedforward is calculated according to the preset rear axle weight and the rear axle feedforward, the front axle actual feedforward is calculated according to the preset front axle weight and the target feedforward, the error feedforward parameter is calculated according to the LQR total gain, the vehicle trajectory lateral error parameter and the vehicle trajectory heading error parameter, the vehicle turning parameter is determined according to the rear axle actual feedforward, the front axle actual feedforward and the error feedforward parameter, and the vehicle is controlled to turn according to the vehicle turning parameter. In the above manner, the rear axle actual feedforward, the front axle actual feedforward and the error feedforward parameter are calculated respectively, then the vehicle turning parameter is determined according to the rear axle actual feedforward, the front axle actual feedforward and the error feedforward parameter, and the vehicle is controlled to turn according to the vehicle turning parameter, so that the accuracy of controlling the vehicle to turn can be effectively improved.

[0108] In addition, the embodiment of the present application also provides a storage medium, and the storage medium stores a vehicle turning control program. When the vehicle turning control program is executed by a processor, the steps of the vehicle turning control method described above are implemented.

[0109] Since the storage medium adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0110] In addition, with reference to Figure 4 , the embodiment of the present application also provides a vehicle turning control device, which comprises:

[0111] The acquisition module 10 is configured to acquire the current driving state and the planned trajectory information of the vehicle.

[0112] The determination module 20 is configured to determine the vehicle trajectory error and the rear axle feedforward at the rear axle control point according to the current driving state and the planned trajectory information.

[0113] The determining module 20 is further configured to determine a target supplementary feedforward according to a path position matched with the front axle control point.

[0114] The control module 30 is configured to perform turning control on the vehicle according to the vehicle trajectory error, the rear axle feedforward and the target supplementary feedforward.

[0115] In the embodiment, the rear axle feedforward is determined according to the current driving state and the planned trajectory information of the vehicle, the target supplementary feedforward is determined according to a path position matched with the front axle control point, and the vehicle is controlled according to the rear axle feedforward and the target supplementary feedforward during turning. In this way, the rear axle feedforward is determined according to the current driving state and the planned trajectory information of the vehicle, the target supplementary feedforward is determined according to a path position matched with the front axle control point, and the vehicle is controlled according to the rear axle feedforward and the target supplementary feedforward during turning, so that the inside space and the outside space of the vehicle during turning can be balanced, and the rationality and accuracy of the vehicle during turning can be improved.

[0116] It should be noted that the above-described workflow is merely illustrative and does not limit the protection scope of the present application. In actual applications, a person skilled in the art can select part or all of the above-described workflow to achieve the purpose of the embodiment, and the selection is not limited herein.

[0117] In addition, technical details not described in the embodiment can be found in the vehicle turning control method provided by any embodiment of the present application, and will not be described herein.

[0118] Other embodiments of the vehicle turning control device or the implementation method of the present application can refer to the above-described method embodiments, and will not be described herein.

[0119] In addition, it should be noted that in this document, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system comprising 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 system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or system comprising the element.

[0120] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0121] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in a storage medium (such as read only memory (Read Only Memory, ROM) / RAM, disk, optical disk), including a number of instructions to make a terminal device (may be a mobile phone, computer, integrated platform workstation, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0122] The above is only the preferred embodiment of the present application, not the patent range of the present application, any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle turning control method, characterized in that, The vehicle turning control method includes the following steps: Obtain the vehicle's current driving status and planned trajectory information; The rear axle feedforward is determined at the rear axle control point based on the current driving status and planned trajectory information. The target supplementary feedforward is determined based on the path position matched by the front axle control point; The vehicle is turned based on the rear axle feedforward and the target supplementary feedforward. The method of controlling the vehicle to turn based on the rear axle feedforward and the target supplementary feedforward includes: Obtain the preset rear axle weight and preset front axle weight; The actual rear axle feedforward is calculated based on the preset rear axle weight and rear axle feedforward. The actual supplementary feedforward to the front axle is calculated based on the preset front axle weight and the target supplementary feedforward. The error feedforward parameters are calculated based on the total LQR gain, the lateral error parameters of the vehicle trajectory, and the heading error parameters of the vehicle trajectory. The vehicle turning parameters are determined based on the actual rear axle feedforward, the actual front axle supplementary feedforward, and the error feedforward parameters. The vehicle is controlled to turn based on the vehicle turning parameters.

2. The vehicle turning control method as described in claim 1, characterized in that, The step of determining the rear axle feedforward at the rear axle control point based on the current driving state and planned trajectory information includes: Select the first target point on the rear axle of the vehicle as the rear axle control point; The current driving trajectory is determined based on the current driving status, and the planned trajectory is determined based on the planned trajectory information; The rear axle error model is used to determine the vehicle trajectory lateral error parameters and vehicle trajectory heading error parameters based on the current driving trajectory and the planned trajectory. The rear axle feedforward is determined at the rear axle control point based on the vehicle trajectory lateral error parameters and the vehicle trajectory heading error parameters.

3. The vehicle turning control method as described in claim 2, characterized in that, The step of determining the rear axle feedforward at the rear axle control point based on the vehicle trajectory lateral error parameters and the vehicle trajectory heading error parameters includes: The vehicle motion LQR is constructed based on the vehicle trajectory lateral error parameters and vehicle trajectory heading error parameters; The total LQR gain is determined based on the vehicle motion LQR. Obtain the front and rear tire lateral stiffness, the distance between the front and rear wheels and the center of gravity, the wheelbase, the curvature of the path reference point, and vehicle parameters; The rear axle feedforward algorithm calculates the rear axle feedforward at the rear axle control point based on the total LQR gain, front and rear tire lateral stiffness, distance between the front and rear wheels and the center of gravity, wheelbase, path reference point curvature, and vehicle parameters.

4. The vehicle turning control method as described in claim 1, characterized in that, The step of determining the target supplementary feedforward based on the path position matched by the front axle control point includes: Select a second target point on the front axle of the vehicle as the front axle control point; The current driving trajectory is matched with the planned trajectory to obtain the current trajectory matching result; The path position at the front axle control point is determined based on the current trajectory matching result; The target supplementary feedforward is determined based on the path position of the front axle control point.

5. The vehicle turning control method as described in claim 4, characterized in that, The step of determining the target supplementary feedforward based on the path position of the front axle control point includes: The vehicle mass and forward speed are obtained from the vehicle parameters; The corresponding reciprocal of curvature is obtained based on the curvature of the path reference point; The target supplementary feedforward is calculated using the target front axle feedforward algorithm based on the vehicle mass, vehicle forward speed, inverse curvature, LQR total gain, front and rear tire lateral stiffness, distance between front and rear wheels and center of mass, and wheelbase.

6. The vehicle turning control method according to any one of claims 1 to 5, characterized in that, After performing cornering control on the vehicle based on the rear axle feedforward and the target supplementary feedforward, the method further includes: Obtain the inner and outer turning spaces of the vehicle after it has been controlled; Calculate the error between the inner turning space and the outer turning space; When the error between the inner and outer corner spaces of the turn is less than the corner space error threshold and the vehicle enters another curve, the vehicle is controlled to turn again in the manner described above.

7. A vehicle turning control device according to any one of claims 1-6, characterized in that, The vehicle turning control device includes: The acquisition module is used to acquire the vehicle's current driving status and planned trajectory information; The determination module is used to determine the vehicle trajectory error and rear axle feedforward at the rear axle control point based on the current driving state and planned trajectory information; The determining module is also used to determine the target supplementary feedforward based on the path position matched by the front axle control point; The control module is used to perform turning control on the vehicle based on the vehicle trajectory error, rear axle feedforward, and target supplementary feedforward.

8. A heavy-duty truck, characterized in that, The heavy truck includes: a memory, a processor, and a vehicle turning control program stored in the memory and executable on the processor, the vehicle turning control program being configured to implement the vehicle turning control method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a vehicle turning control program, which, when executed by a processor, implements the vehicle turning control method as described in any one of claims 1 to 6.

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