Vehicle control methods, devices, electronic equipment and readable storage media

Abstract

This invention provides a vehicle control method, apparatus, electronic device, and readable storage medium. The method includes: acquiring the vehicle's current position information and current linear velocity; determining the vehicle's target linear velocity and target angular velocity based on the current position information, current linear velocity, and pre-set target position information; determining the target velocities of the vehicle's left and right wheels based on the target linear velocity and target angular velocity; and controlling the vehicle's operation based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This method allows for accurate vehicle movement control without the need for wheel speed sensors, thereby improving the accuracy of vehicle control.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle control method, apparatus, electronic device, and readable storage medium. Background Technology

[0002] With operators aging and construction environments becoming increasingly harsh, the intelligentization of excavators has become a trend. Among these technologies, the movement control of the excavator chassis is a key technology, and precise control of chassis movement can expand the scenarios for automated construction.

[0003] In the existing technology, research on movement control of excavator chassis control is generally based on electric mechanisms rather than hydraulic mechanisms. Electric mechanisms can obtain the excavator's wheel speed information, thereby enabling accurate control of the excavator's movement; however, excavators with hydraulic mechanisms are difficult to install wheel speed sensors on, making it difficult to obtain accurate wheel speed information.

[0004] However, excavators in actual use generally use hydraulic mechanisms. Since hydraulic excavators have difficulty obtaining accurate wheel speed information, existing technologies cannot accurately control the movement of excavators. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a vehicle control method, device, electronic device and readable storage medium that can accurately control the movement of an excavator without the need for wheel speed sensors, thereby improving the accuracy of excavator control.

[0006] In a first aspect, embodiments of the present invention provide a vehicle control method, the method comprising: acquiring the current position information and current linear velocity of the vehicle; determining the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity and pre-set target position information of the vehicle; determining the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity; and controlling the operation of the vehicle based on the current linear velocity, the target speed of the left wheel and the target speed of the right wheel.

[0007] Secondly, embodiments of the present invention also provide a vehicle control device, the device comprising: a current position information and current linear velocity acquisition module, used to acquire the current position information and current linear velocity of the vehicle; a target linear velocity and target angular velocity determination module, used to determine the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and pre-set target position information of the vehicle; a left wheel target velocity and right wheel target velocity determination module, used to determine the left wheel target velocity and right wheel target velocity of the vehicle based on the target linear velocity and target angular velocity; and a vehicle operation control module, used to control the vehicle operation based on the current linear velocity, the left wheel target velocity, and the right wheel target velocity.

[0008] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the above-described vehicle control method.

[0009] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the steps of the above-described vehicle control method.

[0010] The embodiments of the present invention bring the following beneficial effects:

[0011] This invention provides a vehicle control method, device, electronic device, and readable storage medium. Based on the vehicle's current position information, current linear velocity, and pre-set target position information, the method determines the vehicle's target linear velocity and target angular velocity. Based on the target linear velocity and target angular velocity, it determines the target velocities of the left and right wheels, and controls the vehicle's movement based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This method accurately controls vehicle movement without requiring wheel speed sensors, thereby improving the accuracy of vehicle control.

[0012] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0013] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 A flowchart of a vehicle control method provided in an embodiment of the present invention;

[0016] Figure 2 A flowchart of another vehicle control method provided in an embodiment of the present invention;

[0017] Figure 3A schematic diagram of an excavator control system provided in an embodiment of the present invention;

[0018] Figure 4 A schematic diagram of a pure tracking algorithm provided in an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of a planned trajectory and an actual route provided for an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of another planned trajectory and actual route provided in an embodiment of the present invention;

[0021] Figure 7 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention;

[0022] Figure 8 This is a schematic diagram of the structure of another vehicle control device provided in an embodiment of the present invention;

[0023] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Currently, with the aging of operators and the harshness of construction environments, the intelligentization of excavators has become a trend. Among them, the movement control of the excavator chassis is a key technology, and precise control of chassis movement can expand the scenarios of automated construction.

[0026] In the existing technology, research on movement control of excavator chassis control is generally based on electric mechanisms rather than hydraulic mechanisms. Electric mechanisms can obtain the excavator's wheel speed information, thereby enabling accurate control of the excavator's movement; however, excavators with hydraulic mechanisms are difficult to install wheel speed sensors on, making it difficult to obtain accurate wheel speed information.

[0027] However, excavators in actual use generally use hydraulic mechanisms. Since hydraulic excavators have difficulty obtaining accurate wheel speed information, existing technologies cannot accurately control the movement of excavators.

[0028] Based on this, embodiments of the present invention provide a vehicle control method, device, electronic device, and readable storage medium, specifically relating to a tracked excavator movement control method based on closed-loop control, which can accurately control the movement of the excavator without installing wheel speed sensors on the excavator, thereby improving the accuracy of excavator control.

[0029] To facilitate understanding of this embodiment, a vehicle control method disclosed in this embodiment of the invention will first be described in detail.

[0030] This embodiment provides a vehicle control method, see [link / reference] Figure 1 The flowchart shown illustrates a vehicle control method, which includes the following steps:

[0031] Step S102: Obtain the vehicle's current position information and current linear velocity.

[0032] In this embodiment, the vehicle can be an excavator, a car, a bus, or other similar vehicle. A positioning module can be installed in the vehicle to obtain its current location and linear velocity.

[0033] For example, positioning modules such as RTK (Real-Time Kinematic) and GPS (Global Positioning System) can be installed in vehicles. RTK and GPS can be used to obtain the vehicle's position and speed in real time. The real-time position of the vehicle is its current location information; the real-time speed of the vehicle can generally be understood as the overall speed of the vehicle, i.e., its current linear velocity.

[0034] Step S104: Determine the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the pre-set target position information of the vehicle.

[0035] In this embodiment, the target location information of the vehicle can be preset. The target location information can be understood as the vehicle's position at each moment. This target location information may not be the same as the current location information; it can be understood as the preset desired location information of the vehicle. For example, if the vehicle's position at 10:00 is preset as 'a' and its position at 11:00 is preset as 'b', then the vehicle's target location information can include position 'a' at 10:00 and position 'b' at 11:00.

[0036] In this embodiment, the target linear velocity and target angular velocity of the vehicle can be determined based on the current position information, the current linear velocity, and the vehicle's target position information. The vehicle's target linear velocity and target angular velocity can be understood as the vehicle's desired linear velocity and desired angular velocity, which may not be the same as the vehicle's current linear velocity and current angular velocity.

[0037] Step S106: Determine the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity.

[0038] In this embodiment, the vehicle can be viewed as a differential robot. Based on a pre-set kinematic model of the differential robot, the target linear velocity and target angular velocity are converted into the velocities of the vehicle's left and right wheels, i.e., the target velocities of the left and right wheels. These target velocities can be understood as the desired velocities of the left and right wheels, which may not be the same as their current velocities.

[0039] Step S108: Control the vehicle's operation based on the current linear speed, the target speed of the left wheel, and the target speed of the right wheel.

[0040] After determining the current linear speed, the target speed of the left wheel, and the target speed of the right wheel, this embodiment can control the left and right wheels of the vehicle, thereby accurately controlling the speeds of the left and right wheels to approach the target speeds of the left and right wheels respectively, thus achieving accurate control of the vehicle.

[0041] This invention provides a vehicle control method that determines the vehicle's target linear velocity and target angular velocity based on the vehicle's current position information, current linear velocity, and pre-set target position information; determines the target velocities of the left and right wheels based on the target linear velocity and target angular velocity; and controls the vehicle's movement based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This method eliminates the need for wheel speed sensors on the vehicle, thus improving the accuracy of vehicle control.

[0042] like Figure 2 The flowchart shown is for another vehicle control method in an optional embodiment. The vehicle control method in the optional embodiment includes the following steps:

[0043] Step S202: The positioning module based on the vehicle settings obtains the vehicle's current location information and current linear velocity.

[0044] In this embodiment, a positioning module for satellite positioning, such as RTK or GPS, can be installed in the vehicle. By using satellite positioning, the vehicle's current location information can be obtained in real time, and the vehicle's current linear velocity can be estimated.

[0045] Step S204: Determine the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the pre-set target position information of the vehicle.

[0046] Taking an excavator as an example, after a given trajectory is provided, the excavator needs to accurately track the trajectory. During the movement, it adjusts its speed and posture in real time to reduce the deviation from the target trajectory and finally complete the tracking of the entire trajectory.

[0047] See Figure 3 The diagram illustrates an excavator control system, which can be sequentially divided into speed loop control and position loop control. The position loop control calculates the target linear velocity and target angular velocity required by the excavator based on its target position information and current position information, ensuring that the excavator continuously reduces the gap between itself and the target position. The speed loop control adjusts the speeds of the excavator's left and right tracks (i.e., the left and right wheels) to achieve the target linear velocity and target angular velocity output by the position loop.

[0048] Specifically, the specific method of position loop control is explained first. In this embodiment, the target linear velocity of the vehicle can be determined to be the same as the current linear velocity; the target angular velocity of the vehicle is determined based on the current position information, the target linear velocity, and the pre-set target position information of the vehicle.

[0049] In this embodiment, the position loop control employs a pure tracking algorithm. This pure tracking algorithm is a path tracking method based on a vehicle model, which can calculate the required linear and angular velocities of the vehicle based on the target position and the pose of the current position.

[0050] In this embodiment, the vehicle's linear velocity can be kept constant, that is, the target linear velocity of the vehicle is determined to be the same as the current linear velocity; then, the target angular velocity of the vehicle is determined based on the current position information, the target linear velocity, and the pre-set target position information of the vehicle.

[0051] Specifically, in this embodiment, the lateral error of the vehicle and the distance between the vehicle's current position and the target position can be determined based on the current position information and the pre-set target position information of the vehicle; the target angular velocity of the vehicle can be determined based on the target linear velocity, lateral error and distance.

[0052] The pure tracking method calculates the target angular velocity required for the vehicle to reach a point ahead of it (i.e., the target position) from its current position, given a linear velocity. The vehicle moves continuously, tracking the point ahead until the last point on the path.

[0053] See Figure 4 The diagram shows a pure tracking algorithm, where α is the angle between the vehicle's posture and the target position, which can be obtained from the distance between the vehicle's rear wheel and the target point (gx,gy), as shown in formula (1):

[0054]

[0055] Where x and y represent the lateral and longitudinal distances between the vehicle coordinates and the target position, respectively. Figure 4 In this context, ld represents the distance between the vehicle's current position (i.e., rear axle position) and the target position, i.e., the forward-looking distance. R represents the rotation radius, which is related to the target linear velocity v of the differential robot. c Target angular velocity w c The relationship is shown in formula (2):

[0056]

[0057] Among them, V l and V r Let represent the wheel speeds of the left and right wheels of the vehicle, respectively, and l represent the distance between the left and right wheels. According to the law of sines, formula (3) can be obtained:

[0058]

[0059] Further derivation yields formula (4):

[0060]

[0061] In this embodiment, the lateral error can be defined as ey, as shown in formula (5):

[0062] ey=ld sinα (5)

[0063] Further derivation yields formula (6):

[0064]

[0065] The target angular velocity w of the vehicle can be obtained at the end. c As shown in formula (6):

[0066]

[0067] Step S206: Determine the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity.

[0068] In this embodiment, the vehicle can be regarded as a differential robot. Specifically, the target linear velocity and target angular velocity of the vehicle can be input into the kinematic model of the pre-set differential robot, and the target velocities of the left wheel and right wheel of the vehicle can be output.

[0069] The output of the position loop is the target linear velocity and the target angular velocity, while the input of the velocity loop is the target velocities of the vehicle's left and right wheels. Therefore, this embodiment can convert the target linear velocity and target angular velocity into the velocities of the vehicle's left and right wheels, i.e., the target velocities of the left and right wheels, based on a pre-set kinematic model of the differential robot.

[0070] Step S208: Control the vehicle's operation based on the current linear speed, the target speed of the left wheel, and the target speed of the right wheel.

[0071] Specifically, this embodiment can obtain the vehicle's current angular velocity; determine the current speed of the vehicle's left wheel and right wheel based on the vehicle's current linear velocity and current angular velocity; determine the vehicle's left wheel control command based on the difference between the left wheel's current speed and the left wheel's target speed; and control the vehicle's left wheel operation based on the left wheel control command; determine the vehicle's right wheel control command based on the difference between the right wheel's current speed and the right wheel's target speed; and control the vehicle's right wheel operation based on the right wheel control command.

[0072] Specifically, in this embodiment, the current angular velocity of the vehicle can be obtained based on the inertial measurement unit installed on the vehicle.

[0073] In this embodiment, an inertial measurement unit (IMU) can be installed in the vehicle, and the current angular velocity of the vehicle can be obtained based on the inertial measurement unit.

[0074] After obtaining the vehicle's current linear velocity and current angular velocity, this embodiment can determine the current speed of the vehicle's left wheel and right wheel based on the current linear velocity and current angular velocity, as shown in formula (8):

[0075]

[0076] Where v is the vehicle's current linear velocity, w is the vehicle's current angular velocity, and v l v is the current speed of the vehicle's right wheel. r This represents the current speed of the vehicle's right wheel.

[0077] In this embodiment, the speed loop control can use incremental PID (Proportion Integral Differential) control to adjust the PWM (Pulse Width Modulation) output value of both tracks.

[0078] Incremental PID control calculates the difference between the target speed and the current speed of the left or right wheel, and controls the left or right wheel based on this difference. It calculates the PWM output of the left and right wheels and generates a left wheel control command or a right wheel control command, and controls the left or right wheel of the vehicle according to the left wheel control command or the right wheel control command.

[0079] To increase the accuracy of vehicle control, this embodiment can collect speed data under multiple different PWM conditions to obtain the dead zone value of the vehicle PWM output. In this way, a segmented prediction can be established based on these speed data in feedforward control, which can quickly obtain the initial value of PWM. Based on this, feedback adjustment can enable the vehicle to quickly reach the steady state value.

[0080] Dead zone refers to the range of input signals in the transfer function of a control system where the corresponding output is zero. When the vehicle's PWM output is within the dead zone range, the vehicle cannot move. When the vehicle's PWM output is outside the dead zone range, the vehicle can move.

[0081] Additionally, this embodiment can perform feedforward control. Specifically, this embodiment can acquire the target position information of the vehicle, determine the initial speed of the left wheel and the initial speed of the right wheel based on the target position information; determine the initial control command for the left wheel based on the initial speed of the left wheel, and control the operation of the left wheel based on the initial control command; determine the initial control command for the right wheel based on the initial speed of the right wheel, and control the operation of the right wheel based on the initial control command.

[0082] In this embodiment, a correspondence between PWM output and speed can be established in advance. The initial speeds of the left and right wheels can be determined through this correspondence, and then adjusted during vehicle operation.

[0083] The method provided in this embodiment of the invention specifically offers a closed-loop control method for vehicle chassis movement control, which enables the vehicle to accurately track a planned trajectory. See also... Figure 5 The diagram shown illustrates a planned trajectory and the actual route. Figure 6 The diagram shows another planned trajectory and the actual route. Figure 5 and Figure 6 The dashed lines represent the planned trajectory, while the solid lines represent the actual routes the vehicles travel.

[0084] Through calculation Figure 5 and Figure 6 The maximum lateral tracking errors between the planned trajectory and the actual route were 0.07 meters and 0.12 meters, respectively. Figure 5 and Figure 6 The average lateral tracking errors were 0.0218 meters and 0.0219 meters, respectively. Therefore, the method provided in this embodiment greatly improves the accuracy of vehicle chassis movement control and can accurately track the planned path.

[0085] Corresponding to the above method embodiments, this invention provides a vehicle control device.

[0086] like Figure 7 The diagram shown illustrates the structure of a vehicle control device, which includes:

[0087] The current location information and current linear velocity acquisition module 71 is used to acquire the vehicle's current location information and current linear velocity;

[0088] The target linear velocity and target angular velocity determination module 72 is used to determine the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity and the pre-set target position information of the vehicle.

[0089] The left wheel target speed and right wheel target speed determination module 73 is used to determine the left wheel target speed and right wheel target speed of the vehicle based on the target linear velocity and the target angular velocity;

[0090] The vehicle operation control module 74 is used to control the vehicle operation based on the current linear speed, the target speed of the left wheel, and the target speed of the right wheel.

[0091] This invention provides a vehicle control device that determines the vehicle's target linear velocity and target angular velocity based on the vehicle's current position information, current linear velocity, and pre-set target position information; determines the target velocities of the left and right wheels based on the target linear velocity and target angular velocity; and controls the vehicle's operation based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This eliminates the need for wheel speed sensors on the vehicle, thus improving the accuracy of vehicle control.

[0092] In an optional embodiment of the present invention, the above-mentioned current location information and current linear velocity acquisition module is used to acquire the current location information and current linear velocity of the vehicle based on the positioning module set by the vehicle.

[0093] In an optional embodiment of the present invention, the target linear velocity and target angular velocity determination module is used to determine that the target linear velocity of the vehicle is the same as the current linear velocity; and to determine the target angular velocity of the vehicle based on the current position information, the target linear velocity and the pre-set target position information of the vehicle.

[0094] In an optional embodiment of the present invention, the target linear velocity and target angular velocity determination module is used to determine the lateral error of the vehicle and the distance between the vehicle's current position and the target position based on the current position information and the pre-set target position information of the vehicle; and to determine the target angular velocity of the vehicle based on the target linear velocity, lateral error and distance.

[0095] In an optional embodiment of the present invention, the target linear velocity and target angular velocity determination module is used to input the target linear velocity and target angular velocity of the vehicle into a pre-set kinematic model of the differential robot, and output the target velocity of the left wheel and the target velocity of the right wheel of the vehicle.

[0096] In an optional embodiment of the present invention, the vehicle operation control module is configured to acquire the current angular velocity of the vehicle; determine the current speed of the left wheel and the current speed of the right wheel based on the current linear velocity and the current angular velocity of the vehicle; determine the left wheel control command based on the difference between the current speed of the left wheel and the target speed of the left wheel; and control the left wheel of the vehicle to run based on the left wheel control command; determine the right wheel control command based on the difference between the current speed of the right wheel and the target speed of the right wheel; and control the right wheel of the vehicle to run based on the right wheel control command.

[0097] In an optional embodiment of the present invention, the vehicle operation control module is used to obtain the current angular velocity of the vehicle based on the inertial measurement unit set in the vehicle.

[0098] like Figure 8 The diagram shows another vehicle control device, which further includes a vehicle feedforward control module 75 connected to a current position information and current linear velocity acquisition module 71. The vehicle feedforward control module 75 is used to acquire the target position information of the vehicle, determine the initial speed of the left wheel and the initial speed of the right wheel based on the target position information, determine the initial control command of the left wheel based on the initial speed of the left wheel, and control the operation of the left wheel based on the initial control command of the left wheel; determine the initial control command of the right wheel based on the initial speed of the right wheel, and control the operation of the right wheel based on the initial control command of the right wheel.

[0099] The vehicle control device provided in this embodiment of the invention has the same technical features as the vehicle control method provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0100] This invention also provides an electronic device for operating the control method for the aforementioned vehicle; see [link to related documentation]. Figure 9 The diagram shows the structure of an electronic device, which includes a memory 100 and a processor 101. The memory 100 stores one or more computer instructions, which are executed by the processor 101 to perform the following steps:

[0101] Obtain the vehicle's current position information and current linear velocity; determine the vehicle's target linear velocity and target angular velocity based on the current position information, current linear velocity, and pre-set target position information; determine the target speeds of the vehicle's left and right wheels based on the target linear velocity and target angular velocity; control the vehicle's operation based on the current linear velocity, left wheel target speed, and right wheel target speed.

[0102] In an optional embodiment of the present invention, the above-mentioned acquisition of the vehicle's current location information and current linear velocity includes: acquiring the vehicle's current location information and current linear velocity based on the positioning module configured for the vehicle.

[0103] In an optional embodiment of the present invention, the above-mentioned determination of the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the preset target position information of the vehicle includes: determining that the target linear velocity of the vehicle is the same as the current linear velocity; and determining the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the preset target position information of the vehicle.

[0104] In an optional embodiment of the present invention, the above-mentioned determination of the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the preset target position information of the vehicle includes: determining the lateral error of the vehicle and the distance between the current position and the target position of the vehicle based on the current position information and the preset target position information of the vehicle; and determining the target angular velocity of the vehicle based on the target linear velocity, the lateral error, and the distance.

[0105] In an optional embodiment of the present invention, the above-mentioned determination of the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity includes: inputting the target linear velocity and the target angular velocity of the vehicle into a pre-set kinematic model of a differential robot, and outputting the target speed of the left wheel and the target speed of the right wheel of the vehicle.

[0106] In an optional embodiment of the present invention, the above-described control of vehicle operation based on the current linear velocity, the target speed of the left wheel, and the target speed of the right wheel includes: acquiring the current angular velocity of the vehicle; determining the current speed of the left wheel and the current speed of the right wheel based on the current linear velocity and the current angular velocity of the vehicle; determining a left wheel control command based on the difference between the current speed of the left wheel and the target speed of the left wheel, and controlling the left wheel of the vehicle to run based on the left wheel control command; determining a right wheel control command based on the difference between the current speed of the right wheel and the target speed of the right wheel, and controlling the right wheel of the vehicle to run based on the right wheel control command.

[0107] In an optional embodiment of the present invention, obtaining the current angular velocity of the vehicle includes: obtaining the current angular velocity of the vehicle based on an inertial measurement unit set up on the vehicle.

[0108] In an optional embodiment of the present invention, before obtaining the current position information and current linear velocity of the vehicle, the method further includes: obtaining target position information of the vehicle; determining the initial speed of the left wheel and the initial speed of the right wheel of the vehicle based on the target position information; determining the initial control command of the left wheel of the vehicle based on the initial speed of the left wheel; controlling the operation of the left wheel of the vehicle based on the initial control command of the left wheel; determining the initial control command of the right wheel of the vehicle based on the initial speed of the right wheel; and controlling the operation of the right wheel of the vehicle based on the initial control command of the right wheel.

[0109] This invention can determine the target linear velocity and target angular velocity of a vehicle based on its current position information, current linear velocity, and pre-set target position information. Based on the target linear velocity and target angular velocity, it can determine the target velocities of the left and right wheels, and control the vehicle's movement based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This eliminates the need for wheel speed sensors on the vehicle, thus improving the accuracy of vehicle control.

[0110] Furthermore, Figure 9 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 101, the communication interface 103 and the memory 100 connected via the bus 102.

[0111] The memory 100 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0112] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. Processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 100, and processor 101 reads information from memory 100 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0113] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are invoked and executed by a processor, they cause the processor to implement the aforementioned vehicle control method, which can perform the following steps:

[0114] Obtain the vehicle's current position information and current linear velocity; determine the vehicle's target linear velocity and target angular velocity based on the current position information, current linear velocity, and pre-set target position information; determine the target speeds of the vehicle's left and right wheels based on the target linear velocity and target angular velocity; control the vehicle's operation based on the current linear velocity, left wheel target speed, and right wheel target speed.

[0115] In an optional embodiment of the present invention, the above-mentioned acquisition of the vehicle's current location information and current linear velocity includes: acquiring the vehicle's current location information and current linear velocity based on the positioning module configured for the vehicle.

[0116] In an optional embodiment of the present invention, the above-mentioned determination of the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the preset target position information of the vehicle includes: determining that the target linear velocity of the vehicle is the same as the current linear velocity; and determining the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the preset target position information of the vehicle.

[0117] In an optional embodiment of the present invention, the above-mentioned determination of the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the preset target position information of the vehicle includes: determining the lateral error of the vehicle and the distance between the current position and the target position of the vehicle based on the current position information and the preset target position information of the vehicle; and determining the target angular velocity of the vehicle based on the target linear velocity, the lateral error, and the distance.

[0118] In an optional embodiment of the present invention, the above-mentioned determination of the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity includes: inputting the target linear velocity and the target angular velocity of the vehicle into a pre-set kinematic model of a differential robot, and outputting the target speed of the left wheel and the target speed of the right wheel of the vehicle.

[0119] In an optional embodiment of the present invention, the above-described control of vehicle operation based on the current linear velocity, the target speed of the left wheel, and the target speed of the right wheel includes: acquiring the current angular velocity of the vehicle; determining the current speed of the left wheel and the current speed of the right wheel based on the current linear velocity and the current angular velocity of the vehicle; determining a left wheel control command based on the difference between the current speed of the left wheel and the target speed of the left wheel, and controlling the left wheel of the vehicle to run based on the left wheel control command; determining a right wheel control command based on the difference between the current speed of the right wheel and the target speed of the right wheel, and controlling the right wheel of the vehicle to run based on the right wheel control command.

[0120] In an optional embodiment of the present invention, obtaining the current angular velocity of the vehicle includes: obtaining the current angular velocity of the vehicle based on an inertial measurement unit set up on the vehicle.

[0121] In an optional embodiment of the present invention, before obtaining the current position information and current linear velocity of the vehicle, the method further includes: obtaining target position information of the vehicle; determining the initial speed of the left wheel and the initial speed of the right wheel of the vehicle based on the target position information; determining the initial control command of the left wheel of the vehicle based on the initial speed of the left wheel; controlling the operation of the left wheel of the vehicle based on the initial control command of the left wheel; determining the initial control command of the right wheel of the vehicle based on the initial speed of the right wheel; and controlling the operation of the right wheel of the vehicle based on the initial control command of the right wheel.

[0122] This invention can determine the target linear velocity and target angular velocity of a vehicle based on its current position information, current linear velocity, and pre-set target position information. Based on the target linear velocity and target angular velocity, it can determine the target velocities of the left and right wheels, and control the vehicle's movement based on the current linear velocity, left wheel target velocity, and right wheel target velocity. This eliminates the need for wheel speed sensors on the vehicle, thus improving the accuracy of vehicle control.

[0123] The vehicle control method, apparatus, electronic device, and computer program product of the readable storage medium provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0124] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and / or device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0125] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0126] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0127] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0128] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: Obtain the vehicle's current location and current linear velocity; The target linear velocity and target angular velocity of the vehicle are determined based on the current position information, the current linear velocity, and the pre-set target position information of the vehicle. The target speeds of the left and right wheels of the vehicle are determined based on the target linear velocity and the target angular velocity. The vehicle is controlled to operate based on the current linear velocity, the target speed of the left wheel, and the target speed of the right wheel. Determining the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the pre-set target position information of the vehicle includes: Determine that the target linear velocity of the vehicle is the same as the current linear velocity; The target angular velocity of the vehicle is determined based on the current location information, the target linear velocity, and the pre-set target position information of the vehicle.

2. The method according to claim 1, characterized in that, Obtain the vehicle's current location and current linear velocity, including: The positioning module based on the vehicle settings obtains the vehicle's current location information and current linear velocity.

3. The method according to claim 1, characterized in that, Determining the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the pre-set target position information of the vehicle includes: Based on the current location information and the pre-set target location information of the vehicle, the lateral error of the vehicle and the distance between the current location and the target location of the vehicle are determined; The target angular velocity of the vehicle is determined based on the target linear velocity, the lateral error, and the distance.

4. The method according to claim 1, characterized in that, Determining the target speed of the left wheel and the target speed of the right wheel of the vehicle based on the target linear velocity and the target angular velocity includes: The target linear velocity and target angular velocity of the vehicle are input into the pre-set kinematic model of the differential robot, and the target velocities of the left and right wheels of the vehicle are output.

5. The method according to claim 1, characterized in that, Controlling the vehicle's operation based on the current linear speed, the target speed of the left wheel, and the target speed of the right wheel includes: Obtain the current angular velocity of the vehicle; The current speeds of the left and right wheels of the vehicle are determined based on the vehicle's current linear velocity and current angular velocity. The left wheel control command of the vehicle is determined based on the difference between the current speed of the left wheel and the target speed of the left wheel, and the left wheel of the vehicle is controlled to run based on the left wheel control command; The right wheel control command of the vehicle is determined based on the difference between the current speed of the right wheel and the target speed of the right wheel, and the right wheel of the vehicle is controlled to run based on the right wheel control command.

6. The method according to claim 5, characterized in that, Obtaining the current angular velocity of the vehicle includes: The inertial measurement unit installed on the vehicle acquires the vehicle's current angular velocity.

7. The method according to claim 1, characterized in that, Before obtaining the vehicle's current position information and current linear velocity, the method further includes: Obtain the target position information of the vehicle, and determine the initial speed of the left wheel and the initial speed of the right wheel of the vehicle based on the target position information; The initial control command for the left wheel of the vehicle is determined based on the initial speed of the left wheel, and the operation of the left wheel of the vehicle is controlled based on the initial control command for the left wheel; The initial control command for the right wheel of the vehicle is determined based on the initial speed of the right wheel, and the operation of the right wheel of the vehicle is controlled based on the initial control command for the right wheel.

8. A vehicle control device, characterized in that, The device includes: The current location information and current linear velocity acquisition module is used to acquire the vehicle's current location information and current linear velocity. The target linear velocity and target angular velocity determination module is used to determine the target linear velocity and target angular velocity of the vehicle based on the current position information, the current linear velocity, and the pre-set target position information of the vehicle. A left-wheel target speed and right-wheel target speed determination module is used to determine the left-wheel target speed and right-wheel target speed of the vehicle based on the target linear velocity and the target angular velocity; A vehicle operation control module is used to control the vehicle operation based on the current linear speed, the target speed of the left wheel, and the target speed of the right wheel; The target linear velocity and target angular velocity determination module is specifically used to determine that the target linear velocity of the vehicle is the same as the current linear velocity; and to determine the target angular velocity of the vehicle based on the current position information, the target linear velocity, and the pre-set target position information of the vehicle.

9. An electronic device, characterized in that, The system includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the vehicle control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the vehicle control method according to any one of claims 1-7.

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