Method and device for semi-coupled control of lateral and longitudinal switching of unmanned vehicles

Abstract

This disclosure provides a semi-coupled control method, apparatus, device, and storage medium for lateral and longitudinal switching of unmanned vehicles, which can be applied to the field of unmanned driving motion control technology. The method includes: constructing a switching semi-coupled model based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle, wherein the switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module; designing a time-triggered two-stage active disturbance rejection control strategy; designing a longitudinal disturbance rejection controller based on the two-stage active disturbance rejection control strategy and the longitudinal dynamics module to control the longitudinal velocity of the unmanned vehicle; and designing a lateral disturbance rejection switching controller based on the two-stage active disturbance rejection control strategy and the lateral dynamics module to control the heading angle and lateral offset of the unmanned vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of motion control technology for unmanned vehicles, and in particular to a semi-coupled control method, device, equipment, medium, and program product for lateral and longitudinal switching of unmanned vehicles. Background Technology

[0002] High-tech companies, universities, and automakers are increasingly focusing on the development of autonomous driving technology. Autonomous driving technology for a single vehicle generally consists of three parts: environmental perception, decision-making and planning, and motion control. Motion control connects the upper-level intelligent algorithms and the lower-level actuators, playing a crucial role in autonomous driving technology and serving as its cornerstone. Motion control typically includes longitudinal control and lateral control. The longitudinal controller adjusts the longitudinal speed to the desired speed through the power actuator; the lateral controller achieves path tracking by controlling the heading angle and lateral offset.

[0003] In motion control, longitudinal and lateral dynamic characteristics are closely coupled. However, in related technologies, the longitudinal velocity is often assumed to be constant to simplify lateral modeling and controller design, without a detailed theoretical analysis of the semi-coupled characteristics. This problem has not been fundamentally solved.

[0004] Meanwhile, various uncertainties often exist in motion control processes, such as external disturbances and parameter perturbations. Active Disturbance Rejection Control (ADRC) can be considered an effective solution due to its disturbance estimation and compensation capabilities. However, a serious problem has always existed in the theoretical analysis of ADRC: the boundedness assumption of the disturbance derivative. Summary of the Invention

[0005] In view of the above problems, this disclosure provides a semi-coupled control method, device, equipment, medium and program product for lateral and longitudinal switching of unmanned vehicles.

[0006] According to a first aspect of this disclosure, a semi-coupled control method for lateral and longitudinal switching of an autonomous vehicle is provided, comprising:

[0007] Based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle, a switching semi-coupled model is constructed, which includes a longitudinal dynamics module and a lateral dynamics module.

[0008] A two-stage active disturbance rejection control strategy based on time triggering is designed.

[0009] Based on the aforementioned two-stage active disturbance rejection control strategy, and according to the aforementioned longitudinal dynamics module, a longitudinal disturbance rejection controller is designed to control the longitudinal speed of the aforementioned autonomous vehicle; and

[0010] Based on the above two-stage active disturbance rejection control strategy, and according to the above lateral dynamics module, a lateral disturbance rejection switching controller is designed to control the heading angle and lateral offset of the above unmanned vehicle.

[0011] According to embodiments of this disclosure, a switching semi-coupled model is constructed based on the aforementioned lateral offset error equation, heading angle error equation, and longitudinal velocity error equation, including:

[0012] Based on the vehicle dynamics model, the above-mentioned lateral offset error equation and the above-mentioned heading angle error equation are determined according to the vehicle path tracking model and the vehicle lateral force. The above-mentioned vehicle lateral force includes the lateral force of the front wheel and the lateral force of the rear wheel.

[0013] Based on the above vehicle dynamics model, the longitudinal velocity error equation is determined according to the vehicle's longitudinal reference velocity and longitudinal velocity; and

[0014] Based on the above lateral offset error equation, the above heading angle error equation, and the above longitudinal velocity error equation, the above switching semi-coupled model is constructed.

[0015] According to embodiments of this disclosure, the determination of the lateral offset error equation and the heading angle error equation based on the vehicle dynamics model, the vehicle path tracking model, and the vehicle's lateral force includes:

[0016] Based on the lateral offset error and heading angle error of the above-mentioned unmanned vehicle, the above-mentioned vehicle path tracking model is established, wherein the heading angle error is determined based on the vehicle heading angle and the reference heading angle.

[0017] The lateral force of the front wheels of the vehicle is determined based on the front wheel slip angle and the front wheel slip stiffness.

[0018] The lateral force of the rear wheels of the vehicle is determined based on the rear wheel slip angle and rear wheel slip stiffness.

[0019] Based on the above vehicle dynamics model, and according to the above vehicle path tracking model, the above vehicle front wheel lateral force, and the above vehicle rear wheel lateral force, the above lateral offset error equation and the above heading angle error equation are determined.

[0020] According to embodiments of this disclosure, the above-described time-triggered two-stage active disturbance rejection control strategy includes:

[0021] The target system is extended to obtain an extended state system, wherein the target system is characterized as a nonlinear single-input single-output system with internal uncertainties and external disturbances.

[0022] Based on the above extended state system, design an extended state observer; and

[0023] Based on the extended state observer described above, the above two-stage active disturbance rejection control strategy is designed.

[0024] According to embodiments of this disclosure, the design of the two-stage active disturbance rejection control strategy based on the extended state observer includes the following formulas (I) and (II):

[0025] (one)

[0026] (two)

[0027] in, Let these be the state variables of the target system mentioned above. For the state variables of the extended state observer mentioned above, Represents the state variables of an extended state system. For the extended state system matrix, For the control input matrix of the extended state system, The gain is controlled by a constant value. For system control variables, To extend the state observer gain, [ ] represents the linear state feedback gain. For nonlinear feedback gain, It is a nonlinear function. For the transition period, .

[0028] According to embodiments of this disclosure, based on the aforementioned two-stage active disturbance rejection control strategy and the aforementioned longitudinal dynamics module, a longitudinal disturbance rejection controller is designed to control the longitudinal speed of the autonomous vehicle, including:

[0029] Based on the aforementioned longitudinal velocity error equation, the aforementioned longitudinal dynamics module is determined; and

[0030] Based on the above two-stage active disturbance rejection control strategy, and according to the above longitudinal dynamics module, the above longitudinal disturbance rejection controller is designed to control the longitudinal speed of the above unmanned vehicle.

[0031] According to embodiments of this disclosure, based on the aforementioned two-stage active disturbance rejection control strategy and the aforementioned lateral dynamics module, a lateral disturbance rejection switching controller is designed to control the heading angle and lateral offset of the unmanned vehicle, including:

[0032] Based on the aforementioned lateral offset error equation and the aforementioned heading angle error equation, the aforementioned lateral dynamics module is determined; and

[0033] Based on the above two-stage active disturbance rejection control strategy, and according to the above lateral dynamics module, a lateral disturbance rejection switching controller is designed to control the heading angle and lateral offset of the above unmanned vehicle. The interval between the continuous switching times of any two lateral subsystems in the above lateral disturbance rejection switching controller satisfies a preset condition.

[0034] The second aspect of this disclosure provides a semi-coupled control device for lateral and longitudinal switching of an unmanned vehicle, comprising: a construction module, a first design module, a second design module, and a third design module. The construction module is used to construct a switching semi-coupled model based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle. The switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module. The first design module is used to design a two-stage active disturbance rejection control strategy based on time triggering. The second design module is used to design a longitudinal disturbance rejection controller based on the two-stage active disturbance rejection control strategy and the longitudinal dynamics module to control the longitudinal velocity of the unmanned vehicle. The third design module is used to design a lateral disturbance rejection switching controller based on the two-stage active disturbance rejection control strategy and the lateral dynamics module to control the heading angle and lateral offset of the unmanned vehicle.

[0035] A third aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the methods described above.

[0036] A fourth aspect of this disclosure also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the methods described above.

[0037] The fifth aspect of this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0038] Based on the semi-coupled control method, apparatus, device, medium, and program products for lateral and longitudinal switching of unmanned vehicles provided in this disclosure, a switching semi-coupled model is constructed by analyzing the semi-coupled characteristics of lateral and longitudinal switching. This model comprehensively considers the motion characteristics under different vehicle speeds, thus enabling a more accurate description of the vehicle's motion characteristics. A two-stage active disturbance rejection control strategy based on time triggering can effectively solve the problem of the bounded assumption of the total disturbance derivative. Simultaneously, based on the two-stage active disturbance rejection control strategy, a longitudinal disturbance rejection controller designed according to the longitudinal dynamics module can control the longitudinal speed of the unmanned vehicle to track the longitudinal reference speed in a timely manner. Furthermore, a lateral disturbance rejection switching controller designed according to the lateral dynamics module can control the heading angle and lateral offset of the unmanned vehicle to achieve path tracking, thereby effectively improving the lateral tracking accuracy under variable speed conditions while maintaining stable output in longitudinal tracking. Attached Figure Description

[0039] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0040] Figure 1 The illustration schematically depicts an application scenario of an autonomous vehicle lateral and longitudinal switching semi-coupled control method, apparatus, device, medium, and program product according to embodiments of the present disclosure.

[0041] Figure 2 A flowchart illustrating a semi-coupled control method for lateral and longitudinal switching of an autonomous vehicle according to an embodiment of the present disclosure is shown schematically.

[0042] Figure 3 A schematic diagram of a path-tracking dynamics model for an autonomous vehicle according to an embodiment of the present disclosure is shown.

[0043] Figure 4 A flowchart illustrating the construction of a switching semi-coupled model according to an embodiment of the present disclosure is shown schematically;

[0044] Figure 5 A flowchart illustrating the determination of the lateral offset error equation and the heading angle error equation according to an embodiment of the present disclosure is shown schematically.

[0045] Figure 6 A flowchart illustrating a two-stage active disturbance rejection control strategy according to an embodiment of the present disclosure is shown schematically.

[0046] Figure 7 A schematic diagram illustrates a graph of motion control test path tracking according to an embodiment of the present disclosure;

[0047] Figure 8 A graph illustrating the lateral offset error of motion control according to an embodiment of the present disclosure is shown schematically.

[0048] Figure 9 A schematic diagram illustrating the motion control heading angle error according to an embodiment of the present disclosure is shown.

[0049] Figure 10 A schematic diagram illustrating the structural block diagram of a semi-coupled control device for lateral and longitudinal switching of an autonomous vehicle according to an embodiment of the present disclosure; and

[0050] Figure 11 A block diagram of an electronic device suitable for implementing a lateral and longitudinal switching semi-coupled control method for an autonomous vehicle, according to an embodiment of the present disclosure, is shown schematically. Detailed Implementation

[0051] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0052] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0053] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0054] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0055] In the technical solution disclosed herein, the collection, storage, use, processing, transmission, provision, disclosure, and application of user personal information comply with the provisions of relevant laws and regulations, necessary confidentiality measures have been taken, and there is no violation of public order and good morals.

[0056] In the technical solution disclosed herein, the acquisition, collection, storage, use, processing, transmission, provision, disclosure, and application of data all comply with the provisions of relevant laws and regulations, necessary confidentiality measures have been taken, and they do not violate public order and good morals.

[0057] In implementing this disclosure, it was found that longitudinal control is relatively easy due to the simple longitudinal dynamics. Lateral control, however, is more difficult due to the coupling effect of longitudinal velocity. During motion control, longitudinal and lateral dynamics are tightly coupled. However, in related technologies, longitudinal velocity is often assumed to be constant to simplify lateral modeling and controller design, without a detailed theoretical analysis of the semi-coupled characteristics. This problem remains fundamentally unresolved; the constant velocity assumption is only acceptable when considering only lateral control. Furthermore, in lateral-longitudinal coupled control, the total disturbance often includes unmodeled dynamics related to the system state, making the boundedness assumption of the disturbance derivative a very conservative prior assumption for autonomous driving motion control.

[0058] Therefore, embodiments of this disclosure provide a semi-coupled control method for lateral and longitudinal switching of an autonomous vehicle, comprising: constructing a switching semi-coupled model based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the autonomous vehicle, wherein the switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module; designing a two-stage active disturbance rejection control strategy based on time triggering; designing a longitudinal disturbance rejection controller based on the two-stage active disturbance rejection control strategy and the longitudinal dynamics module to control the longitudinal velocity of the autonomous vehicle; and designing a lateral disturbance rejection switching controller based on the two-stage active disturbance rejection control strategy and the lateral dynamics module to control the heading angle and lateral offset of the autonomous vehicle.

[0059] Figure 1 The diagram illustrates an application scenario of semi-coupled control for lateral and longitudinal switching of an autonomous vehicle according to an embodiment of the present disclosure.

[0060] like Figure 1 As shown, the application scenario 100 according to this embodiment may include an autonomous vehicle 101, a network 109, and a server 110. The autonomous vehicle 101 is equipped with a navigation system 102, an optical camera 103, an onboard computer 104, a lidar 105, an accelerator pedal 106, a brake pedal 107, and a steering wheel 108.

[0061] According to embodiments of this disclosure, the navigation system 102 may include a combined inertial navigation system consisting of two differential antennas. The lidar 105 may include a 16-line lidar. The accelerator pedal 106, brake pedal 107, and steering wheel 108 are connected to the onboard computer 104. The onboard computer 104 can control the driving force and braking force of the autonomous vehicle by controlling the accelerator pedal 106, brake pedal 107, and steering wheel 108 to achieve motion control of the autonomous vehicle.

[0062] According to embodiments of this disclosure, the onboard computer 104 can be connected to the navigation system 102, optical camera 103, lidar 105, accelerator pedal 106, brake pedal 107, and steering wheel 108 on the autonomous vehicle to control the operation of the autonomous vehicle. It can also acquire information from the aforementioned devices, perform simple processing on the information, and transmit it to the server 110 via network 109 for corresponding processing.

[0063] According to embodiments of this disclosure, network 109 serves as a medium for providing a communication link between onboard computer 104 and server 110. Network 109 may include various connection types, such as wired, wireless communication links, or fiber optic cables, etc.

[0064] Users can use the onboard computer 104 to interact with the server 110 via network 109 to receive or send messages, etc. The onboard computer 104 may include a combination controller for controlling the movement of the vehicle.

[0065] Server 110 can be a server that provides various services, such as a back-end management server that supports the data used by the vehicle-mounted computer 104 (for example only). The back-end management server can analyze and process data such as received user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0066] It should be noted that the semi-coupled control method for lateral and longitudinal switching of the autonomous vehicle provided in this embodiment can generally be executed by the on-board computer 104. Correspondingly, the semi-coupled control device for lateral and longitudinal switching of the autonomous vehicle provided in this embodiment can generally be located in the on-board computer 104. The semi-coupled control method for lateral and longitudinal switching of the autonomous vehicle provided in this embodiment can also be executed by the server 110 and a server or server cluster capable of communicating with the on-board computer 104. Correspondingly, the semi-coupled control device for lateral and longitudinal switching of the autonomous vehicle provided in this embodiment can also be located in a server or server cluster that is different from the server 110 but capable of communicating with the on-board computer 104.

[0067] It should be understood that Figure 1The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0068] The following will be based on Figure 1 The described scene, through Figures 2-9 The semi-coupled control method for lateral and longitudinal switching of unmanned vehicles according to the disclosed embodiments is described in detail.

[0069] Figure 2 A flowchart illustrating a semi-coupled control method for lateral and longitudinal switching of an autonomous vehicle according to an embodiment of the present disclosure is shown schematically.

[0070] like Figure 2 As shown, the method 200 includes operations S210 to S240.

[0071] In operation S210, a switching semi-coupled model is constructed based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle.

[0072] According to embodiments of this disclosure, switching a semi-coupled model may include a longitudinal dynamics module and a transverse dynamics module.

[0073] According to embodiments of this disclosure, the lateral dynamics module can be composed of a lateral offset error equation and a heading angle offset error equation. The longitudinal dynamics module can be composed of a longitudinal velocity error equation. The lateral offset error equation is determined based on the lateral offset error, the heading angle offset error equation is determined based on the heading angle error, and the longitudinal velocity error equation is determined based on the longitudinal velocity error.

[0074] When operating S220, a two-stage active disturbance rejection control strategy based on time triggering is designed.

[0075] According to embodiments of this disclosure, the two-stage active disturbance rejection control strategy can be based on an extended design for a system with disturbances.

[0076] When operating the S230, based on the two-stage active disturbance rejection control strategy, a longitudinal disturbance rejection controller is designed according to the longitudinal dynamics module to control the longitudinal speed of the autonomous vehicle.

[0077] According to embodiments of this disclosure, the longitudinal speed of an autonomous vehicle is controlled by a designed longitudinal disturbance rejection controller, such that the longitudinal speed error of the vehicle converges to zero.

[0078] When operating the S240, based on the two-stage active disturbance rejection control strategy, a lateral disturbance rejection switching controller is designed according to the lateral dynamics module to control the heading angle and lateral offset of the autonomous vehicle.

[0079] According to embodiments of this disclosure, a designed lateral disturbance rejection switching controller controls the heading angle and lateral offset of an autonomous vehicle, such that the heading angle error and lateral offset error converge to zero.

[0080] According to embodiments of this disclosure, a switching semi-coupled model is constructed by analyzing the lateral and longitudinal semi-coupled characteristics. This model comprehensively considers the motion characteristics at different vehicle speeds, thus enabling a more accurate description of the vehicle's motion characteristics. A two-stage active disturbance rejection control strategy based on time triggering is designed to effectively solve the problem of the bounded assumption of the total disturbance derivative. Simultaneously, based on the two-stage active disturbance rejection control strategy, a longitudinal disturbance rejection controller designed according to the longitudinal dynamics module can control the longitudinal speed of the autonomous vehicle to track the longitudinal reference speed in a timely manner. Furthermore, a lateral disturbance rejection switching controller designed according to the lateral dynamics module can control the heading angle and lateral offset of the autonomous vehicle to achieve path tracking, thereby effectively improving the lateral tracking accuracy under variable speed conditions while ensuring stable output of longitudinal tracking.

[0081] Figure 3 A schematic diagram of a path-tracking dynamics model for an autonomous vehicle according to an embodiment of the present disclosure is shown.

[0082] like Figure 3 The diagram shown is a schematic of the path tracking dynamics model for autonomous vehicles.

[0083] According to embodiments of this disclosure, It can represent the global coordinate system. It can represent the vehicle body. It can indicate the vehicle's center of gravity. It can represent a reference point on a reference path. It can represent the vehicle's heading angle. It can represent the vehicle's angular velocity. It can represent the front wheel steering angle. It can represent the longitudinal speed of a vehicle. It can represent the lateral speed of a vehicle. It can represent the longitudinal driving force of the rear wheels of a vehicle. It can represent the lateral force on the front wheels of a vehicle. It can represent the lateral force on the rear wheels of a vehicle. It can represent the rear wheel slip angle. It can represent the front wheel slip angle. It can represent the reference heading angle. It can represent the distance from the rear axle to the center of gravity. It can represent the distance from the front axle to the center of gravity.

[0084] Figure 4A flowchart illustrating the construction of a switching semi-coupled model according to an embodiment of the present disclosure is shown.

[0085] like Figure 4 As shown, the method 400 includes operations S410 to S430.

[0086] In operation of S410, based on the vehicle dynamics model, the lateral offset error equation and the heading angle error equation are determined according to the vehicle path tracking model and the vehicle lateral force equation.

[0087] According to embodiments of this disclosure, the vehicle lateral force equation may include the vehicle front wheel lateral force equation and the vehicle rear wheel lateral force equation.

[0088] According to embodiments of this disclosure, based on Figure 3 The dynamic model shown is based on the Newton-Euler equations. The vehicle dynamic model can be expressed as the following formula (1).

[0089] (1)

[0090] in, It can indicate the mass of a vehicle. It can represent the longitudinal displacement of a vehicle. It can represent the lateral displacement of a vehicle. It can represent the vertical rotational inertia of a vehicle.

[0091] According to embodiments of this disclosure, the vehicle path tracking model can be expressed as the following formula (2).

[0092] (2)

[0093] in, This can represent the lateral offset error. It can represent the heading angle error. It can represent the reference heading angle. It can represent a constant longitudinal velocity.

[0094] According to embodiments of this disclosure, the lateral force, under the assumption of a small angle, can be mainly determined by the tire slip angle and the tire slip stiffness. The slip angle calculation formula can be expressed as the following formula (3).

[0095] (3)

[0096] in, It can represent the front wheel slip angle. It can represent the rear wheel slip angle.

[0097] According to an embodiment of this disclosure, the lateral force of the vehicle obtained from the slip angle and slip stiffness can be expressed as the following formula (4).

[0098] (4)

[0099] in, It can represent the lateral force on the front wheels of a vehicle. It can represent the lateral force on the rear wheels of a vehicle. It can represent the front wheel lateral stiffness. It can represent the lateral stiffness of the rear wheel.

[0100] According to embodiments of this disclosure, under the assumption of small angles, the lateral force can be mainly determined by the tire slip angle and the tire slip stiffness. Therefore, the front wheel slip angle... It can be represented as Rear wheel slip angle It can be represented as .

[0101] According to the embodiments of this disclosure, by substituting formulas (2) and (4) into the second equation in formula (1), the lateral offset error equation can be expressed as the following formula (5).

[0102] (5)

[0103] According to the embodiments of this disclosure, by substituting formulas (2) and (4) into the third equation in formula (1), the heading angle error equation can be expressed as the following formula (6).

[0104] (6)

[0105] When operating S420, based on the vehicle dynamics model, the longitudinal speed error equation is determined according to the vehicle's longitudinal reference speed and the vehicle's longitudinal speed.

[0106] According to embodiments of this disclosure, longitudinal velocity error is defined. It can characterize the error between the vehicle's longitudinal speed and the longitudinal reference speed, i.e. Longitudinal velocity error Substituting into the first equation in formula (1), the longitudinal velocity error equation can be expressed as formula (7) below.

[0107] (7)

[0108] According to embodiments of this disclosure, formulas (5) to (7) can describe the dynamic characteristics of vehicle tracking error. For motion control, the main purpose is to control the lateral offset error. Heading angle error and longitudinal velocity error It converges to zero.

[0109] When operating the S430, a switching semi-coupled model is constructed based on the lateral offset error equation, the heading angle error equation, and the longitudinal velocity error equation.

[0110] According to the embodiments of this disclosure, in order to describe the motion characteristics at different speeds, the switching semi-coupled model can be expressed as the following formula (8) based on formulas (5) to (7).

[0111] (8)

[0112] in, It can represent the model state vector. It can represent lateral control quantities. The longitudinal control signal can represent the longitudinal control quantity, while the lateral control quantity can characterize the front wheel steering angle and the rear wheel driving force. It can represent a piecewise continuous function. It can represent the maximum longitudinal velocity. It is a positive integer.

[0113] According to an embodiment of this disclosure, the switching signal can be expressed as the following formula (9).

[0114] (9)

[0115]

[0116] According to embodiments of this disclosure, It can represent greater than or equal to 1 and less than or equal to 1. Positive integers, switching system matrix The switching system matrix determines different switching systems based on different switching signals, and the switching signals are determined based on different longitudinal velocities. Therefore, the corresponding switching signals are determined based on different longitudinal velocities, and the corresponding switching systems are determined in the switching system matrix based on the corresponding switching signals. To control the input matrix, Let be the reference signal coefficient matrix, where, , , .

[0117] According to embodiments of this disclosure, by analyzing the lateral and longitudinal coupling characteristics, a switching semi-coupled model is established based on the lateral offset error equation, the heading angle error equation, and the longitudinal speed error equation. This model considers the influence of longitudinal speed on lateral control and can describe the motion characteristics at different speeds, making the description of vehicle motion characteristics more accurate.

[0118] Figure 5A flowchart illustrating the determination of the lateral offset error equation and the heading angle error equation according to an embodiment of the present disclosure is shown.

[0119] like Figure 5 As shown, the method 500 includes operations S510 to S540.

[0120] When operating the S510, a vehicle path tracking model is established based on the lateral offset error and heading angle error of the unmanned vehicle.

[0121] According to embodiments of this disclosure, the heading angle error is determined based on the vehicle heading angle and a reference heading angle.

[0122] According to embodiments of this disclosure, lateral offset error is defined. Can characterize The projection of a point onto the reference path, i.e. Heading angle error It can characterize the error between the vehicle's heading angle and the reference heading angle, that is... Set the vehicle's longitudinal speed. constant value .

[0123] According to an embodiment of this disclosure, based on the equations of circular kinematics and geometric relationships, the vehicle path tracking module can be expressed as the following formula (2).

[0124] (2)

[0125] When operating S520, the lateral force of the vehicle's front wheels is determined based on the front wheel slip angle and front wheel slip stiffness.

[0126] When operating S530, the lateral force of the vehicle's rear wheels is determined based on the rear wheel slip angle and rear wheel slip stiffness.

[0127] According to an embodiment of this disclosure, based on the vehicle's front wheel slip angle, i.e., the first equation in formula (3), and the front wheel slip stiffness... The lateral force of the front wheels can be determined, i.e., the first equation in formula (4). Based on the rear wheel slip angle, i.e., the second equation in formula (3), and the rear wheel slip stiffness... The lateral force of the rear wheel of the vehicle can be determined, which is the second equation in formula (4).

[0128] When operating the S540, based on the vehicle dynamics model, the lateral offset error equation and the heading angle error equation are determined according to the vehicle path tracking model, the lateral force of the front wheel and the lateral force of the rear wheel.

[0129] According to the embodiments of this disclosure, based on the vehicle path tracking model, the lateral force of the front wheel of the vehicle and the lateral force of the rear wheel of the vehicle, i.e. formula (2) and formula (4), the lateral offset error equation and the heading angle error equation can be determined for subsequent establishment of the switching semi-coupled model.

[0130] Figure 6 A flowchart illustrating a two-stage active disturbance rejection control strategy according to an embodiment of the present disclosure is shown.

[0131] like Figure 6 As shown, the method 600 includes operations S610 to S630.

[0132] By operating S610, the target system is expanded to obtain an expanded state system.

[0133] According to embodiments of this disclosure, the target system can characterize a nonlinear single-input single-output system with internal uncertainties and external disturbances.

[0134] According to an embodiment of this disclosure, the target system can be represented as the following formula (10).

[0135] (10)

[0136] in, , , , It can represent the state variables of the target system. It can represent output. It can represent system control variables. It can represent a constant control gain. It can represent the uncertain dynamics of the target system. It can represent external disturbances, and its upper bound is .

[0137] According to embodiments of this disclosure, the total disturbance is defined. And expand into new states Then the extended state system can be expressed as the following formula (11).

[0138] (11)

[0139] in, , , , , It can represent the state variables of an extended state system. It can represent the derivative of the total disturbance.

[0140] When operating the S620, design an extended state observer based on the extended state system.

[0141] According to an embodiment of this disclosure, based on the extended state system, i.e., formula (11), the extended state observer can be designed as follows: formula (12).

[0142] (12)

[0143] in, It can represent the state of the extended state observer. It can represent the gain of the extended state observer.

[0144] According to embodiments of this disclosure, the extended state observer can be used to compensate for total disturbances, thereby improving the anti-interference capability and practicality of vehicle control.

[0145] When operating the S630, a two-stage active disturbance rejection control strategy is designed based on the extended state observer.

[0146] According to embodiments of this disclosure, the two-stage active disturbance rejection control strategy can be expressed as formula (12) and formula (13) below.

[0147] (12)

[0148] (13)

[0149] in, It can represent the matrix of an extended state system. It can represent the control input matrix of the extended state system. ] can represent linear state feedback gain. It can represent nonlinear feedback gain. It can represent nonlinear functions. It can represent a transition moment, which can characterize a moment set according to the situation.

[0150] According to embodiments of this disclosure, a two-stage active disturbance rejection control strategy may include an extended state observer and a two-stage active disturbance rejection controller, wherein the extended state observer may be represented by formula (12) and the two-stage active disturbance rejection controller may be represented by formula (13).

[0151] According to embodiments of this disclosure, a two-stage active disturbance rejection control strategy is designed based on the extended state observer, i.e., formula (12), which can solve the problem of the bounded assumption of the total disturbance derivative.

[0152] According to embodiments of this disclosure, a two-stage active disturbance rejection control strategy is designed based on an extended state observer, comprising the following formulas (I) and (II):

[0153] (one)

[0154] (two)

[0155] in, For the state variables of the target system, For the state variables of the extended state observer, Represents the state variables of an extended state system. For the extended state system matrix, For the control input matrix of the extended state system, The gain is controlled by a constant value. For system control variables, To extend the state observer gain, [ ] represents the linear state feedback gain. For nonlinear feedback gain, It is a nonlinear function. For the transition period, .

[0156] According to the embodiments of this disclosure, formula (a) is formula (12) and formula (b) is formula (13). Based on the extended state observer, a two-stage active disturbance rejection control strategy can be designed.

[0157] According to embodiments of this disclosure, the following is an analysis proving the boundedness of the total disturbance based on a two-stage active disturbance rejection control strategy.

[0158] According to embodiments of this disclosure, in time Substituting the two-stage active disturbance rejection controller formula (13) into the target system formula (10), the closed-loop system can be expressed as the following formula (14).

[0159] (14)

[0160] According to embodiments of this disclosure, by selecting a suitable K such that matrix A+BK is a Hurwitz matrix, the linear part of the closed-loop system... It is exponentially convergent, so the linear part of the closed-loop system (14) is in Time is bounded. The remaining part can be written as ,in, Define the Lyapunov function. Then there is .

[0161] According to embodiments of this disclosure, for bounded perturbations Always exist Make ,and In summary, the closed-loop system (14) in Time has boundaries.

[0162] From the above analysis, it can be seen that, If the perturbation is bounded, then there must exist a continuously differentiable bounded function. and (Upper boundary is) The following condition is satisfied, which can be expressed as the following formula (15).

[0163] (15)

[0164] Based on embodiments of this disclosure, without loss of generality, let ,because It is a continuously differentiable bounded function, therefore The observation error equation can be obtained from formulas (11), (12) and (15). The observation error equation can be expressed as formula (16) below.

[0165] (16)

[0166] in, This can represent the observation error state. Choosing an appropriate observer gain L makes... If it is Hurwitz, then there exists a symmetric positive definite matrix. and satisfy .

[0167] According to embodiments of this disclosure, a Lyapunov function is defined. The calculation result can be expressed as the following formula (17).

[0168]

[0169] (17)

[0170]

[0171] in, and These are the minimum and maximum eigenvalues ​​of the matrix, respectively. Define a bounded set. .exist In the case of, then Therefore, the observation error state will converge to a bounded set. .

[0172] Under the action of the two-stage ADRC controller (13), the closed-loop system can be expressed as the following formula (18).

[0173] (18)

[0174] in, .

[0175] From the above analysis, it can be seen that when hour, It is bounded; let its upper bound be . Note that the structure of the closed-loop system (18) does not change between the two stages, so a common Lyapunov function can be defined. satisfy ,in and If the matrix is ​​a symmetric positive definite matrix, then .

[0176] According to embodiments of this disclosure, a bounded set is defined. .exist In the case of, then Therefore, the closed-loop system will converge to a bounded set. .

[0177] According to embodiments of this disclosure, a longitudinal disturbance rejection controller is designed based on a two-stage active disturbance rejection control strategy and a longitudinal dynamics module to control the longitudinal speed of an autonomous vehicle. This includes: determining the longitudinal dynamics module based on the longitudinal speed error equation; and designing the longitudinal disturbance rejection controller based on the longitudinal dynamics module and a two-stage active disturbance rejection control strategy to control the longitudinal speed of the autonomous vehicle.

[0178] According to an embodiment of this disclosure, the longitudinal dynamics module can be represented as the second equation in the switched semi-coupled model (8).

[0179] According to the embodiments of this disclosure, based on the two-stage ADRC strategy, the longitudinal disturbance rejection controller designed for the longitudinal dynamics model of system (8) can be expressed as the following formula (19) and formula (20).

[0180] (19)

[0181] (20)

[0182] in, This can represent the longitudinal velocity error in the state of the longitudinally extended state observer. This can represent the total disturbance in the state of the longitudinally extended state observer. Can characterize The observation error, and This can represent the gain of the longitudinally extended state observer. It can represent the gain of the longitudinal disturbance rejection controller.

[0183] According to an embodiment of this disclosure, a longitudinal disturbance rejection controller is designed based on a two-stage active disturbance rejection control strategy, namely Equations (12) and (13), and the longitudinal dynamics module in the switching semi-coupled model, namely the second equation in Equation (8), so as to control the longitudinal velocity so that it can track the reference longitudinal velocity in a timely manner.

[0184] According to embodiments of this disclosure, a lateral disturbance rejection switching controller is designed based on a two-stage active disturbance rejection control strategy and a lateral dynamics module to control the heading angle and lateral offset of an autonomous vehicle. This includes: determining the lateral dynamics module based on the lateral offset error equation and the heading angle error equation; and designing the lateral disturbance rejection switching controller based on the two-stage active disturbance rejection control strategy and the lateral dynamics module to control the heading angle and lateral offset of the autonomous vehicle, wherein the interval between consecutive switching times of any two lateral subsystems in the lateral disturbance rejection switching controller satisfies a preset condition.

[0185] According to an embodiment of this disclosure, the transverse dynamics module can be represented as the first equation in the switched semi-coupled model (8).

[0186] According to the embodiments of this disclosure, based on the two-stage ADRC strategy, the design of the lateral disturbance rejection switching controller for the lateral dynamics model of system (8) can be expressed as the following formulas (21) and (22).

[0187] (twenty one)

[0188] (twenty two)

[0189] in, It can represent the lateral offset and heading angle in the lateral expansion state observer state. It can represent the total perturbation in the state of the lateral expansion state observer. Can characterize The observation error, and It can represent the observer gain. and Can characterize The gain of the lateral controller before and after, Can characterize Forward lateral control quantity. Can characterize The next Lateral control quantities of each subsystem.

[0190] According to embodiments of this disclosure, the lateral disturbance rejection switching controller may include multiple controllers and multiple lateral subsystems, with each lateral subsystem corresponding to a controller. Depending on the vehicle's longitudinal speed, different lateral subsystems are required, and the controller corresponding to that subsystem is switched.

[0191] According to embodiments of this disclosure, the following is an analysis of the stability of the horizontal subsystem under the action of the corresponding controller (switching the corresponding controller according to different subsystems).

[0192] According to embodiments of this disclosure, without loss of generality, the switching time is... The two adjacent subsystems are respectively and Define the Lyapunov function. and ,in, , ,in, , , , , It is a symmetric positive definite matrix.

[0193] From the second-order ADRC stability analysis results, we can obtain exist Post-bounded and all lateral subsystems are in the corresponding controller Under the influence of , they are all stable and can be expressed as the following formula (23).

[0194] (twenty three)

[0195] in, It is a subsystem A bounded set, It is the switching time. A moment ago, It is the switching time. The next instant, and It is a positive scalar. It is the set of matrices P corresponding to each subsystem, i.e. From formula (23), we can obtain...

[0196]

[0197] in, The dwell time is defined as the interval between any two consecutive switching moments, which shall not be less than [a certain value]. To ensure the stability of the switching system, preset conditions must be met. These preset conditions can be expressed as formula (24) below.

[0198] (twenty four)

[0199] in, , If the preset condition (24) is met, the closed-loop horizontal and vertical semi-coupled system is stable under the switching semi-decoupled ADRC strategy.

[0200] According to embodiments of this disclosure, a lateral disturbance rejection switching controller is designed based on a two-stage active disturbance rejection control strategy and a lateral dynamics module to control the vehicle's heading angle and lateral offset error. This ensures that the switching system is stable when the interval between consecutive switching times of any two lateral subsystems meets preset conditions, based on different longitudinal speeds. At the same time, the influence of longitudinal speed on lateral control is considered, which effectively improves the lateral tracking accuracy under variable speed conditions while maintaining stable longitudinal tracking output.

[0201] According to embodiments of this disclosure, the control strategy provided by this invention is tested in conjunction with Active Disturbance Rejection Control (ADRC) and State Feedback Control (SFC). The vehicle starts from a standstill and performs double lane change, left and right lane changes, and high-curvature path tracking control, switching the reference speed between 3 m / s, 4.5 m / s, and 6 m / s to test the tracking performance under different speeds and reference paths. Figure 7 , Figure 8 and Figure 9 These are the control path tracking curve, control lateral offset error curve, and control heading angle error curve obtained from the test, respectively.

[0202] Figure 7 A graph illustrating motion control test path tracking according to an embodiment of the present disclosure is shown schematically.

[0203] like Figure 7 As shown, this motion control test comprehensively compares the control strategy provided by this invention with three control methods—Active Disturbance Rejection Control (ADRC), State Feedback Control (SFC)—against a reference trajectory. (Horizontal axis) This can be expressed as the lateral position of the vehicle, in meters (m). ), vertical axis It can represent the longitudinal position of a vehicle, in meters ( ). ), This is the global coordinate system.

[0204] According to embodiments of this disclosure, based on Figure 7 As shown, it can be seen that the error between the method of the present invention and the reference trajectory is the smallest among these three control methods, followed by Active Disturbance Rejection Control (ADRC), and the worst is State Feedback Control (SFC).

[0205] Figure 8 A graph illustrating the lateral offset error of motion control according to an embodiment of the present disclosure is shown schematically.

[0206] like Figure 8 As shown, a comprehensive comparison of the lateral offset error in motion control between the control strategy provided by this invention and three other control methods—Active Disturbance Rejection Control (ADRC), State Feedback Control (SFC)—is presented. (Horizontal axis) It can represent time, with the unit being seconds ( ), vertical axis It can represent the lateral offset error, with the unit being meters (m). ).

[0207] According to embodiments of this disclosure, based on Figure 8 As shown, it can be seen that the lateral offset error of the method of the present invention has the smallest fluctuation at the vertical axis 0 coordinate among the three control methods. It can be seen that the lateral offset control of the method of the present invention is the best among the three methods, followed by active disturbance rejection control (ADRC), and the worst is state feedback control (SFC).

[0208] Figure 9 A graph illustrating the motion control heading angle error according to an embodiment of the present disclosure is shown schematically.

[0209] like Figure 9 As shown, the motion control heading angle error of the control strategy provided by this invention is comprehensively compared with that of three control methods: Active Disturbance Rejection Control (ADRC), State Feedback Control (SFC). (Horizontal axis) It can represent time, with the unit being seconds ( ), vertical axis It can represent the heading angle error, with the unit being radians ( ).

[0210] According to embodiments of this disclosure, based on Figure 9 As shown, it can be seen that the heading angle error of the method of the present invention has the smallest fluctuation at the 0 coordinate of the vertical axis among the three control methods. It can be seen that the heading angle control of the method of the present invention is the best among the three methods, followed by Active Disturbance Rejection Control (ADRC), and the worst is State Feedback Control (SFC).

[0211] According to embodiments of this disclosure, based on the test results and Figures 7-9 The curves show that the ADRC method has a slight overshoot, while the SFC strategy has a significant overshoot. The two-stage ADRC control proposed in this invention achieves the highest accuracy and is more stable.

[0212] Based on the aforementioned semi-coupled control method for lateral and longitudinal switching of autonomous vehicles, this disclosure also provides a semi-coupled control device for lateral and longitudinal switching of autonomous vehicles. The following will be combined with... Figure 10 The device is described in detail.

[0213] Figure 10 A schematic block diagram of a semi-coupled control device for lateral and longitudinal switching of an autonomous vehicle according to an embodiment of the present disclosure is shown.

[0214] like Figure 10 As shown, the unmanned vehicle lateral and longitudinal switching semi-coupled control device 1000 of this embodiment includes a construction module 1010, a first design module 1020, a second design module 1030 and a third design module 1040.

[0215] The construction module 1010 is used to construct a switching semi-coupled model based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle. The switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module. In one embodiment, the construction module 1010 can be used to perform the operation S210 described above, which will not be repeated here.

[0216] The first design module 1020 is used to design a two-stage active disturbance rejection control strategy based on time triggering. In one embodiment, the first design module 1020 can be used to execute the operation S220 described above, which will not be repeated here.

[0217] The second design module 1030 is used to design a longitudinal disturbance rejection controller based on a two-stage active disturbance rejection control strategy and according to the longitudinal dynamics module, in order to control the longitudinal speed of the autonomous vehicle. In one embodiment, the second design module 1030 can be used to perform the operation S230 described above, which will not be repeated here.

[0218] The third design module 1040 is used to design a lateral disturbance rejection switching controller based on a two-stage active disturbance rejection control strategy and according to the lateral dynamics module, in order to control the heading angle and lateral offset of the autonomous vehicle. In one embodiment, the third design module 1040 can be used to perform the operation S240 described above, which will not be repeated here.

[0219] According to embodiments of this disclosure, the construction module 1010 includes a first determining unit, a second determining unit, and a construction unit.

[0220] The first determining unit is used to determine the lateral offset error equation and the heading angle error equation based on the vehicle dynamics model, the vehicle path tracking model, and the vehicle lateral force, wherein the vehicle lateral force includes the lateral force of the front wheels and the lateral force of the rear wheels.

[0221] The second determining unit is used to determine the longitudinal velocity error equation based on the vehicle dynamics model, according to the vehicle's longitudinal reference velocity and the vehicle's longitudinal velocity.

[0222] The building unit is used to construct a switching semi-coupled model based on the lateral offset error equation, the heading angle error equation, and the longitudinal velocity error equation.

[0223] According to embodiments of this disclosure, the first determining unit includes an establishing subunit, a first determining subunit, a second determining subunit, and a third determining subunit.

[0224] A sub-unit is established to build a vehicle path tracking model based on the lateral offset error and heading angle error of the autonomous vehicle. The heading angle error is determined based on the vehicle heading angle and the reference heading angle.

[0225] The first determining sub-unit is used to determine the lateral force of the vehicle's front wheels based on the vehicle's front wheel slip angle and front wheel slip stiffness.

[0226] The second determining subunit is used to determine the lateral force of the vehicle's rear wheels based on the rear wheel slip angle and rear wheel slip stiffness.

[0227] The third determining sub-unit is used to determine the lateral offset error equation and the heading angle error equation based on the vehicle dynamics model, the vehicle path tracking model, the lateral force of the front wheel and the lateral force of the rear wheel.

[0228] According to embodiments of this disclosure, the first design module 1020 includes an acquisition unit, a first design unit, and a second design unit.

[0229] The acquisition unit is used to expand the target system to obtain the expanded state system, wherein the target system is characterized as a nonlinear single-input single-output system with internal uncertainties and external disturbances.

[0230] The first design unit is used to design an extended state observer based on the extended state system.

[0231] The second design unit is used to design a two-stage active disturbance rejection control strategy based on the extended state observer, including the following formulas (I) and (II):

[0232] (one)

[0233] (two)

[0234] in, For the state variables of the target system, For the state variables of the extended state observer, Represents the state variables of an extended state system. For the extended state system matrix, For the control input matrix of the extended state system, The gain is controlled by a constant value. For system control variables, To extend the state observer gain, [ ] represents the linear state feedback gain. For nonlinear feedback gain, It is a nonlinear function. For the transition period, .

[0235] According to embodiments of this disclosure, the second design module 1030 includes a third determining unit and a third design unit.

[0236] The third determining unit is used to determine the longitudinal dynamics module based on the longitudinal velocity error equation.

[0237] The third design unit is used to design a longitudinal disturbance rejection controller based on a two-stage active disturbance rejection control strategy and the longitudinal dynamics module to control the longitudinal speed of the autonomous vehicle.

[0238] According to embodiments of this disclosure, the third design module 1040 includes a fourth determining unit and a fourth design unit.

[0239] The fourth determining unit is used to determine the lateral dynamics module based on the lateral offset error equation and the heading angle error equation.

[0240] The fourth design unit is used to design a lateral disturbance rejection switching controller based on a two-stage active disturbance rejection control strategy and the lateral dynamics module to control the heading angle and lateral offset of the autonomous vehicle. The interval between the continuous switching times of any two lateral subsystems in the lateral disturbance rejection switching controller satisfies a preset condition.

[0241] According to embodiments of this disclosure, any plurality of modules among construction module 1010, first design module 1020, second design module 1030, and third design module 1040 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of construction module 1010, first design module 1020, second design module 1030, and third design module 1040 can be at least partially implemented as hardware circuitry, such as field-programmable gate array (FPGA), programmable logic array (PLA), system-on-a-chip, system-on-a-substrate, system-on-package, application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in any one of software, hardware, and firmware methods, or in a suitable combination of any of these methods. Alternatively, at least one of the building module 1010, the first design module 1020, the second design module 1030, and the third design module 1040 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0242] Figure 11 A block diagram of an electronic device suitable for implementing a lateral and longitudinal switching semi-coupled control method for an autonomous vehicle, according to an embodiment of the present disclosure, is shown schematically.

[0243] like Figure 11 As shown, an electronic device 1100 according to an embodiment of the present disclosure includes a processor 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage portion 1108 into a random access memory (RAM) 1103. The processor 1101 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1101 may also include onboard memory for caching purposes. The processor 1101 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0244] RAM 1103 stores various programs and data required for the operation of electronic device 1100. Processor 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. Processor 1101 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 1102 and / or RAM 1103. It should be noted that the programs may also be stored in one or more memories other than ROM 1102 and RAM 1103. Processor 1101 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0245] According to embodiments of this disclosure, the electronic device 1100 may further include an input / output (I / O) interface 1105, which is also connected to a bus 1104. The electronic device 1100 may also include one or more of the following components connected to the I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1110 as needed so that computer programs read from it can be installed into the storage section 1108 as needed.

[0246] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0247] According to embodiments of this disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 1102 and / or RAM 1103 and / or one or more memories other than ROM 1102 and RAM 1103 described above.

[0248] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the item recommendation method provided in the embodiments of this disclosure.

[0249] When the computer program is executed by the processor 1101, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0250] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 1109, and / or installed from the removable medium 1111. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0251] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by processor 1101, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0252] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0253] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0254] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0255] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A semi-coupled control method for lateral and longitudinal switching of an unmanned vehicle, comprising: Based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation of the unmanned vehicle, a switching semi-coupled model is constructed, wherein the switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module. The time-triggered design of a two-stage active disturbance rejection control strategy includes: expanding the target system to obtain an expanded state system, wherein the target system represents a nonlinear single-input single-output system with internal uncertainties and external disturbances; designing an expanded state observer based on the expanded state system; and designing the two-stage active disturbance rejection control strategy based on the expanded state observer. The design of the two-stage active disturbance rejection control strategy based on the extended state observer includes the following formulas (I) and (II): (one) (two) in, Let be the state variable of the target system. For the state variables of the extended state observer, Represents the state variables of the extended state system. For the extended state system matrix, For the control input matrix of the extended state system, The gain is controlled by a constant value. For system control variables, To extend the state observer gain, [ ] represents the linear state feedback gain. For nonlinear feedback gain, It is a nonlinear function. For the transition period, ; Based on the aforementioned two-stage active disturbance rejection control strategy, and according to the longitudinal dynamics module, a longitudinal disturbance rejection controller is designed to control the longitudinal speed of the autonomous vehicle; and Based on the two-stage active disturbance rejection control strategy, a lateral disturbance rejection switching controller is designed according to the lateral dynamics module to control the heading angle and lateral offset of the unmanned vehicle.

2. The method according to claim 1, wherein, Based on the lateral offset error equation, heading angle error equation, and longitudinal velocity error equation, a switching semi-coupled model is constructed, including: Based on the vehicle dynamics model, the lateral offset error equation and the heading angle error equation are determined according to the vehicle path tracking model and the vehicle lateral force, wherein the vehicle lateral force includes the lateral force of the front wheels and the lateral force of the rear wheels. Based on the vehicle dynamics model, the longitudinal velocity error equation is determined according to the vehicle's longitudinal reference velocity and longitudinal velocity; and The switching semi-coupled model is constructed based on the lateral offset error equation, the heading angle error equation, and the longitudinal velocity error equation.

3. The method according to claim 2, wherein, The determination of the lateral offset error equation and the heading angle error equation based on the vehicle dynamics model, the vehicle path tracking model, and the vehicle's lateral forces includes: Based on the lateral offset error and heading angle error of the unmanned vehicle, a vehicle path tracking model is established, wherein the heading angle error is determined based on the vehicle heading angle and a reference heading angle. The lateral force of the front wheels of the vehicle is determined based on the front wheel slip angle and the front wheel slip stiffness. The lateral force of the vehicle's rear wheels is determined based on the rear wheel slip angle and rear wheel slip stiffness. Based on the vehicle dynamics model, the lateral offset error equation and the heading angle error equation are determined according to the vehicle path tracking model, the lateral force of the front wheels and the lateral force of the rear wheels.

4. The method according to claim 1, wherein, Based on the two-stage active disturbance rejection control strategy, and according to the longitudinal dynamics module, a longitudinal disturbance rejection controller is designed to control the longitudinal speed of the autonomous vehicle, including: The longitudinal dynamics module is determined based on the longitudinal velocity error equation; and Based on the two-stage active disturbance rejection control strategy, and according to the longitudinal dynamics module, the longitudinal disturbance rejection controller is designed to control the longitudinal speed of the autonomous vehicle.

5. The method according to claim 1, wherein, Based on the two-stage active disturbance rejection control strategy, and according to the lateral dynamics module, a lateral disturbance rejection switching controller is designed to control the heading angle and lateral offset of the autonomous vehicle, including: The lateral dynamics module is determined based on the lateral offset error equation and the heading angle error equation; and Based on the two-stage active disturbance rejection control strategy, a lateral disturbance rejection switching controller is designed according to the lateral dynamics module to control the heading angle and lateral offset of the unmanned vehicle. The interval between the continuous switching times of any two lateral subsystems in the lateral disturbance rejection switching controller satisfies a preset condition.

6. A semi-coupled control device for lateral and longitudinal switching of an unmanned vehicle, comprising: A construction module is used to construct a switching semi-coupled model based on the lateral offset error equation, heading angle error equation and longitudinal velocity error equation of the unmanned vehicle. The switching semi-coupled model includes a longitudinal dynamics module and a lateral dynamics module. The first design module is used to design a two-stage active disturbance rejection control strategy based on time triggering. The first design module includes an acquisition unit, a first design unit, and a second design unit. The acquisition unit is used to expand the target system to obtain an expanded state system, wherein the target system is characterized as a nonlinear single-input single-output system with internal uncertainties and external disturbances; The first design unit is used to design an extended state observer based on the extended state system. The second design unit is used to design the two-stage active disturbance rejection control strategy based on the extended state observer, including the following formulas (I) and (II): (one) (two) in, Let be the state variable of the target system. For the state variables of the extended state observer, Represents the state variables of the extended state system. For the extended state system matrix, For the control input matrix of the extended state system, The gain is controlled by a constant value. For system control variables, To extend the state observer gain, [ ] represents the linear state feedback gain. For nonlinear feedback gain, It is a nonlinear function. For the transition period, ; The second design module is used to design a longitudinal disturbance rejection controller based on the two-stage active disturbance rejection control strategy and the longitudinal dynamics module, to control the longitudinal speed of the autonomous vehicle; and The third design module is used to design a lateral disturbance rejection switching controller based on the two-stage active disturbance rejection control strategy and the lateral dynamics module, so as to control the heading angle and lateral offset of the unmanned vehicle.

7. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 5.

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