A lateral control method and device for a simulated vehicle
By acquiring the real-time status and steering plan duration of the simulated vehicle, calculating the distance lead, and combining the current position and expected path, judging the rationality of the desired path point, and calculating the lateral offset of the simulated vehicle, the problem of mismatch between path planning and vehicle lateral control algorithms in the prior art is solved, and the stability and accuracy of the simulated vehicle's lateral control are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING SAIMO TECH CO LTD
- Filing Date
- 2023-04-18
- Publication Date
- 2026-04-28
AI Technical Summary
In the existing technology, path planning algorithms and vehicle lateral control algorithms are usually provided by different designers, resulting in high computational overhead and low stability and accuracy of simulated vehicle lateral control.
By acquiring the real-time status and steering plan duration of the simulated vehicle, the distance lead is calculated. Combined with the current position and expected path, the rationality of the desired path point is judged, and the lateral offset of the simulated vehicle is calculated to achieve lateral control.
This reduces computational overhead, improves the stability and accuracy of lateral control of the simulated vehicle, and ensures that the simulated vehicle can accurately reach the desired path point without affecting subsequent driving.
Smart Images
Figure CN116430866B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving technology, and in particular to a method and apparatus for lateral control of a simulated vehicle. Background Technology
[0002] With the advancement of autonomous driving technology, market demand for it is constantly increasing, and correspondingly, autonomous driving simulation technology has also developed significantly. In the simulation testing of autonomous driving systems, the MIL (Model-in-the-Loop) simulation test condition is frequently encountered. In MIL simulation technology, a series of test cases are input to verify whether the simulation system meets the design functional requirements. In the field of autonomous driving, the path planning algorithm and lateral control algorithm of the simulated vehicle are verified. In existing technologies, path planning algorithms can only provide the expected path, and the lateral control algorithm for the simulated vehicle is usually based on the lateral offset of the simulated vehicle. Analysis and summarization are then performed through the intermediate links between the path planning algorithm and the control algorithm.
[0003] In related technologies, the path planning algorithm and the vehicle lateral control algorithm are not designed by the same scheme designer. Therefore, an additional algorithm is needed to convert the vehicle's desired path into the vehicle's lateral offset to guide the simulation operation of the vehicle lateral control algorithm. This results in a large computational overhead and low stability and accuracy of the vehicle simulation results, making it impossible to accurately achieve lateral control of the simulated vehicle.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] In view of this, embodiments of this application provide at least one method and apparatus for lateral control of a simulated vehicle. This allows the lateral offset of the simulated vehicle to be obtained by considering the expected path and current vehicle state of the simulated vehicle and by judging the rationality of the expected path points, thereby achieving lateral control of the simulated vehicle.
[0006] This application mainly includes the following aspects:
[0007] In a first aspect, embodiments of this application provide a lateral control method for a simulated vehicle, the method comprising:
[0008] The real-time status of the simulated vehicle is obtained, and the distance advance is obtained based on the real-time status and the steering plan duration.
[0009] Based on the current position coordinates of the simulated vehicle and the expected path, the initial path point is obtained;
[0010] Based on the initial path point, the expected path, and the travel lead time, the desired path point is obtained;
[0011] Based on the current position coordinates of the simulated vehicle and its heading angle, the rationality of the desired path point is determined, and based on the rationality determination result, the lateral offset of the simulated vehicle is obtained to achieve lateral control of the simulated vehicle.
[0012] In one possible implementation, the reasonableness judgment result includes a legal result and an illegal result;
[0013] The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving;
[0014] The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving.
[0015] In one possible implementation, when the reasonableness judgment result is a valid result, obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes:
[0016] The lateral offset of the simulated vehicle is calculated based on its current position coordinates, the desired path point, and the vehicle's heading angle.
[0017] In one possible implementation, when the reasonableness judgment result is an illegal result, obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes:
[0018] Based on the deviation indicator value and steering wheel angle range of the simulated vehicle, the lateral offset of the simulated vehicle at its maximum steering limit is calculated.
[0019] In one possible implementation, the real-time state of the simulated vehicle is obtained, and based on the real-time state and the steering plan duration, a distance advance is calculated, including:
[0020] The real-time state of the simulated vehicle is obtained, including the longitudinal speed and lateral speed of the simulated vehicle.
[0021] The resultant speed of the simulated vehicle is obtained based on the longitudinal speed and the lateral speed, and the distance advance is obtained based on the resultant speed and the steering plan duration.
[0022] Secondly, embodiments of this application also provide a lateral control device for a simulated vehicle, the device comprising:
[0023] The expected path point calculation module is configured to acquire the real-time state of the simulated vehicle, obtain the distance advance based on the real-time state and the turning plan duration; obtain the initial path point based on the current position coordinates of the simulated vehicle and the expected path; and obtain the expected path point based on the initial path point, the expected path, and the distance advance.
[0024] The expected path point checking module is configured to make a reasonable judgment on the expected path point based on the current position coordinates of the simulated vehicle and the vehicle heading angle.
[0025] A lateral offset calculation module is configured to obtain the lateral offset of the simulated vehicle based on the rationality judgment result, so as to realize the lateral control of the simulated vehicle.
[0026] In one possible implementation, the reasonableness judgment result includes a legal result and an illegal result;
[0027] The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving;
[0028] The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving.
[0029] In one possible implementation, the lateral offset calculation module is further configured to calculate the lateral offset of the simulated vehicle based on the current position coordinates of the simulated vehicle, the desired path point, and the vehicle heading angle when the rationality judgment result is a valid result; and to calculate the lateral offset of the simulated vehicle at its maximum turning range based on the deviation indicator value and the steering wheel angle range of the simulated vehicle when the rationality judgment result is an invalid result.
[0030] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the simulated vehicle lateral control method described in the first aspect or any possible implementation of the first aspect.
[0031] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the simulated vehicle lateral control method described in the first aspect or any possible implementation of the first aspect.
[0032] This application provides a lateral control method and apparatus for a simulated vehicle. By obtaining the lateral offset of the simulated vehicle through the expected path and vehicle state, the method achieves lateral control of the simulated vehicle. Compared with the prior art, which uses a path planning algorithm to give the expected path and then uses a lateral control algorithm to control the lateral offset of the vehicle, this method only needs to obtain the lateral offset of the vehicle based on the expected path and current state of the simulated vehicle.
[0033] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 A flowchart of a lateral control method for a simulated vehicle provided in an embodiment of this application is shown;
[0036] Figure 2 This illustration shows a path diagram of a simulated vehicle when the desired path point is a valid result, as provided in an embodiment of this application.
[0037] Figure 3 This illustration shows a path diagram of a simulated vehicle when the desired path point is an illegal result, as provided in an embodiment of this application.
[0038] Figure 4 This paper shows a functional block diagram of a simulated vehicle lateral control device provided in an embodiment of this application;
[0039] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.
[0040] Explanation of key component symbols:
[0041] In the diagram: 300 - Simulated vehicle lateral control device; 310 - Desired path point calculation module; 320 - Desired path point checking module; 330 - Lateral offset calculation module; 400 - Electronic equipment; 410 - Processor; 420 - Memory; 421 - Main memory; 422 - External memory; 430 - Bus. Detailed Implementation
[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.
[0043] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0044] To enable those skilled in the art to use the content of this application, and in conjunction with the specific application scenario of "automobile driving simulation testing", the following implementation methods are provided. For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.
[0045] The methods, apparatus, electronic devices, or computer-readable storage media described in this application can be applied to any scenario requiring autonomous driving simulation testing. This application does not limit specific application scenarios, and any scheme using a simulated vehicle lateral control method and apparatus provided in this application is within the protection scope of this application.
[0046] It is worth noting that prior to this application, the path planning algorithm and the vehicle lateral control algorithm in existing schemes were not designed by the same scheme designer. An algorithm was needed between the two to convert the desired path into the lateral offset of the vehicle, thereby guiding the simulation operation of the lateral control algorithm and ensuring the effectiveness verification of the simulated vehicle-in-the-loop simulation.
[0047] To address the aforementioned problems, this application provides a method and apparatus for lateral control of a simulated vehicle. The method involves acquiring the real-time state of the simulated vehicle, obtaining a distance advance based on the real-time state and the planned steering time, obtaining an initial path point based on the current position coordinates and the expected path, obtaining a desired path point based on the initial path point, the expected path, and the distance advance, and performing a rationality judgment on the desired path point based on the current position coordinates and the vehicle's heading angle. Based on the rationality judgment result, the lateral offset of the simulated vehicle is obtained, thereby achieving lateral control of the simulated vehicle. As can be seen, this application can use the simulated vehicle's expected path and current state to perform a rationality judgment on the desired path point, thereby obtaining the lateral offset of the simulated vehicle based on the rationality judgment result, and ultimately achieving lateral control of the simulated vehicle.
[0048] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.
[0049] Figure 1 This is a flowchart illustrating a lateral control method for a simulated vehicle provided in an embodiment of this application. Figure 1 As shown in the figure, an embodiment of this application provides a lateral control method for a simulated vehicle, comprising the following steps:
[0050] S101: Obtain the real-time status of the simulated vehicle, and based on the real-time status and the steering plan duration, obtain the distance advance.
[0051] In practice, the real-time state of the simulated vehicle is obtained, including its longitudinal and lateral speeds. The resultant speed of the simulated vehicle is calculated based on its longitudinal and lateral speeds. The lead time is obtained by multiplying the resultant speed of the simulated vehicle by the steering plan duration configured by the user.
[0052] S102: Based on the current position coordinates of the simulated vehicle and the expected path, obtain the initial path point.
[0053] In practice, based on the current position coordinates of the simulated vehicle and its expected path, the path point closest to the current position coordinates of the simulated vehicle is searched and used as the initial path point. (See [link to relevant documentation]). Figure 2 ,exist Figure 2 China O now This is the initial path point of the simulated vehicle, through Figure 2 It can be seen that although the current position coordinates of the simulated vehicle do not completely coincide with the initial path point, it is known from the actual situation that the control effect of the simulated vehicle in the actual implementation cannot meet the expected results 100%. Therefore, the error here is consistent with the actual situation.
[0054] S103: Obtain the desired path point based on the initial path point, the expected path, and the travel lead.
[0055] In specific implementation, see Figure 2 The distance advance ΔS is calculated based on the longitudinal speed, lateral speed, and steering plan duration of the simulated vehicle. Figure 2 China O now To O target (distance) with O now Starting from point A, extend the line along the expected path A to B until the total length of the line segment reaches ΔS. The endpoint of the extended line segment is then O. target At this time O target These are the desired path points for the preset path.
[0056] S104: Based on the current position coordinates of the simulated vehicle and the vehicle heading angle, a reasonableness judgment is made on the desired path point, and based on the reasonableness judgment result, the lateral offset of the simulated vehicle is obtained to achieve lateral control of the simulated vehicle.
[0057] In practical implementation, when the expected path point O of the expected path is obtained... target Then, based on the current coordinates and heading angle of the simulated vehicle, the desired path point O is determined. target A rationality judgment is made, and the lateral offset of the simulated vehicle is obtained based on the final rationality judgment result, so as to achieve lateral control of the simulated vehicle.
[0058] In one possible implementation, the reasonableness judgment result includes a legal result and an illegal result;
[0059] The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving;
[0060] The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving.
[0061] In one example, the reasonableness judgment results include legal results and illegal results. A legal result is that the simulated vehicle can reach the expected path point O on the expected path when turning normally and without affecting subsequent driving. target The situation contrasts with illegal results when the simulated vehicle fails to reach the expected path point O. target Or, it may be impossible to reach the desired waypoint O without affecting subsequent driving. target .
[0062] In one possible implementation, when the reasonableness judgment result is a valid result, obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes:
[0063] The lateral offset of the simulated vehicle is calculated based on its current position coordinates, the desired path point, and the vehicle's heading angle.
[0064] Figure 2 This is a schematic diagram illustrating the path of a simulated vehicle when the desired path point is a valid result, as provided in an embodiment of this application. Figure 2 As shown, in practical implementation, when the result is a valid result, the expected path point is the expected path point O. target At this point, based on the simulated vehicle's current coordinates X... vehicle Y vehicle and the simulated vehicle heading angle θ vehicle This is used to obtain the vector of the simulated vehicle's current direction of travel, combined with the desired path point O. target Using the current position coordinates of the simulated vehicle, the expected direction vector of the simulated vehicle is obtained. According to the definition of a typical lateral control algorithm for simulated vehicles, the lateral offset at this point is... Figure 2 The length of the line segment marked in the middle. The lateral offset is calculated using the following formula (1):
[0065]
[0066] In equation (1), X vehicle Let Y be the x-coordinate of the simulated vehicle's current position. vehicle The vertical coordinate is the current position of the simulated vehicle.
[0067] In one possible implementation, when the reasonableness judgment result is an illegal result, obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes:
[0068] Based on the deviation indicator value and steering wheel angle range of the simulated vehicle, the lateral offset of the simulated vehicle at its maximum steering limit is calculated.
[0069] Figure 3This application provides a schematic diagram of a simulated vehicle's path when the desired path point is an invalid result. Figure 3 As shown, in specific implementation, when the reasonableness judgment result is an illegal result, the deviation indicator value of the simulated vehicle "leftward" or "rightward" will be obtained based on the obtained illegal result. For example, the typical steering wheel angle range of the simulated vehicle is -540deg to 540deg, which is the deviation indicator value range. Based on the deviation indicator value, the maximum lateral offset of the simulated vehicle can be obtained, preventing the simulated vehicle from continuing to deviate from the expected path.
[0070] In one possible implementation, the real-time state of the simulated vehicle is obtained, and based on the real-time state and the steering plan duration, a distance advance is calculated, including:
[0071] The real-time state of the simulated vehicle is obtained, including the longitudinal speed and lateral speed of the simulated vehicle.
[0072] The resultant speed of the simulated vehicle is obtained based on the longitudinal speed and the lateral speed, and the distance advance is obtained based on the resultant speed and the steering plan duration.
[0073] In practice, the current real-time state of the simulated vehicle is obtained, specifically including the longitudinal speed Vx, lateral speed Vy, and the user-configurable parameter is the steering plan duration Δt (typically between 0.5 and 5 seconds). Then, the resultant velocity of the vehicle is calculated. Multiply this by the planned turning time Δt to obtain the lead time ΔS.
[0074] Based on the same concept, this application also provides a lateral control device for a simulated vehicle corresponding to the lateral control method for a simulated vehicle provided in the above embodiments. Since the principle of the device in this application is similar to the lateral control method for a simulated vehicle in the above embodiments, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.
[0075] Figure 4 A functional block diagram of a lateral control device 400 for a simulated vehicle provided in this application embodiment is shown below. Figure 4 As shown in the figure, the lateral control device 400 for a simulated vehicle provided in this application embodiment includes the following modules:
[0076] The expected path point calculation module 410 is configured to acquire the real-time state of the simulated vehicle, obtain the distance advance based on the real-time state and the steering plan duration, obtain the initial path point based on the current position coordinates of the simulated vehicle and the expected path, and obtain the expected path point based on the initial path point, the expected path, and the distance advance.
[0077] In practical implementation, the expected path calculation module 410 acquires the real-time state of the simulated vehicle and further calculates the simulated vehicle's travel lead, initial path point, and expected path point based on the real-time state. Simultaneously, the expected path calculation module 410 sends the calculated expected path point to the expected path check module 420.
[0078] The expected path point checking module 420 is configured to make a reasonable judgment on the expected path point based on the current position coordinate information of the simulated vehicle and the vehicle heading angle.
[0079] In practice, after receiving the expected path point from the expected path point calculation module 410, the expected path point checking module 420 makes a reasonable judgment on the expected path point based on the current coordinate information of the simulated vehicle and the vehicle heading angle.
[0080] Lateral offset calculation module 430 is configured to obtain the lateral offset of the simulated vehicle based on the rationality judgment result, so as to realize lateral control of the simulated vehicle.
[0081] In practice, the expected path point checking module 420 makes a reasonable judgment on the expected path point of the simulated vehicle. As a result, the expected path point checking module 420 will send two signals to the lateral offset calculation module 430, namely the "legal" signal and the "illegal" signal.
[0082] In one example, if the path is valid, the agreed-upon value signifying "validity" is passed, and the expected path point checking module 420 also passes the expected path point to the lateral offset calculation module 430, at which point the expected path point becomes a valid expected path point. However, if the path is invalid, the expected path point checking module 420 passes the agreed-upon value signifying "illegality" to the lateral offset calculation module 430, and does not pass the expected path point to the lateral offset calculation module 430. Instead, a "left skew" or "right skew" deviation flag value is passed to the lateral offset calculation module 430. Lateral offset calculation module 430.
[0083] In one optional implementation, the rationality judgment result in the lateral offset calculation module 430 includes a legal result and an illegal result;
[0084] The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving;
[0085] The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving.
[0086] In one optional implementation, the lateral offset calculation module 430 is further configured to calculate the lateral offset of the simulated vehicle based on the current position coordinates of the simulated vehicle, the desired path point, and the vehicle heading angle when the rationality judgment result is a valid result; and to calculate the lateral offset of the simulated vehicle at its maximum turning range based on the deviation indicator value and the steering wheel angle range of the simulated vehicle when the rationality judgment result is an invalid result.
[0087] In practical implementation, if a "legal" agreed-upon value and a reasonable expected path point are obtained, the vector of the simulated vehicle's current direction of travel is obtained based on the vehicle's current coordinates and heading angle. Combining the reasonable expected path point and the simulated vehicle's current position coordinates, the expected direction vector of the simulated vehicle is obtained. The lateral offset of the simulated vehicle is then calculated using the typical lateral control algorithm. If an "illegal" agreed-upon value and a "left dodge" or "right dodge" deviation flag are obtained, a larger lateral offset is calculated based on the simulated vehicle's typical steering wheel angle range and the deviation flag, thereby enabling the simulated vehicle to steer to its maximum extent and preventing it from deviating further from the expected path.
[0088] In one optional implementation, the desired path point calculation module 410 acquires the real-time state of the simulated vehicle and, based on the real-time state and the turning plan duration, obtains the distance advance, including:
[0089] The real-time state of the simulated vehicle is obtained, including the longitudinal speed and lateral speed of the simulated vehicle.
[0090] The resultant speed of the simulated vehicle is obtained based on the longitudinal speed and the lateral speed, and the distance advance is obtained based on the resultant speed and the steering plan duration.
[0091] Based on the same application concept, see [link / reference] Figure 5The diagram shows the structure of an electronic device 500 provided in this embodiment of the application. It includes a processor 510, a memory 520, and a bus 530. The memory 520 stores execution instructions and includes a main memory 521 and an external memory 522. The main memory 521, also called internal memory, is used to temporarily store computational data in the processor 510 and data exchanged with external memory such as a hard disk. The processor 510 exchanges data with the external memory 522 through the main memory 521. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530, enabling the processor 510 to execute the steps of the lateral control method for a simulated vehicle as shown in the above-described method embodiments. The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530, and the machine-readable instructions are executed by the processor 510 to perform the steps of the lateral control method for a simulated vehicle as described in any of the above embodiments.
[0092] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the lateral control method for the simulated vehicle provided in the above embodiments.
[0093] Specifically, the storage medium can be a general-purpose storage medium, such as a portable disk or hard disk. When the computer program on the storage medium is run, it can execute the above-mentioned lateral control method for the simulated vehicle.
[0094] In this embodiment, the computer program, when run by the processor, can also execute other machine-readable instructions to perform other methods as described in the embodiments. For details on the specific execution steps and principles, please refer to the description of the embodiments, which will not be repeated here.
[0095] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.
[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0097] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0098] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. 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.
[0099] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0100] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application 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, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; 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 this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.
Claims
1. A lateral control method for a simulated vehicle, characterized in that, The method includes: The real-time status of the simulated vehicle is obtained, and the distance advance is obtained based on the real-time status and the steering plan duration. Based on the current position coordinates of the simulated vehicle and the expected path, the initial path point is obtained; Based on the initial path point, the expected path, and the travel lead time, the desired path point is obtained; Based on the current position coordinates of the simulated vehicle and the vehicle heading angle, the rationality of the desired path point is judged, and based on the rationality judgment result, the lateral offset of the simulated vehicle is obtained to achieve lateral control of the simulated vehicle. The reasonableness judgment results include legal results and illegal results; The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving; The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving. When the reasonableness judgment result is a valid result, the step of obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes: The lateral offset of the simulated vehicle is calculated based on the current position coordinates of the simulated vehicle, the desired path point, and the vehicle heading angle. When the reasonableness judgment result is an illegal result, the step of obtaining the lateral offset of the simulated vehicle based on the reasonableness judgment result includes: Based on the deviation indicator value and steering wheel angle range of the simulated vehicle, the lateral offset of the simulated vehicle at its maximum steering limit is calculated.
2. The method according to claim 1, characterized in that, Obtain the real-time state of the simulated vehicle, and based on the real-time state and the steering plan duration, obtain the distance advance, including: The real-time state of the simulated vehicle is obtained, including the longitudinal speed and lateral speed of the simulated vehicle. The resultant speed of the simulated vehicle is obtained based on the longitudinal speed and the lateral speed, and the distance advance is obtained based on the resultant speed and the steering plan duration.
3. A lateral control device for a simulated vehicle, characterized in that, The device includes: The expected path point calculation module is configured to acquire the real-time state of the simulated vehicle, obtain the distance advance based on the real-time state and the turning plan duration; obtain the initial path point based on the current position coordinates of the simulated vehicle and the expected path; and obtain the expected path point based on the initial path point, the expected path, and the distance advance. The expected path point checking module is configured to make a reasonable judgment on the expected path point based on the current position coordinates of the simulated vehicle and the vehicle heading angle. A lateral offset calculation module is configured to obtain the lateral offset of the simulated vehicle based on the rationality judgment result, so as to realize the lateral control of the simulated vehicle; the rationality judgment result includes legal results and illegal results; The valid result is that the simulated vehicle can reach the desired path point under the premise that it turns normally and does not affect subsequent driving; The illegal result is that the simulated vehicle cannot reach the desired path point, or the simulated vehicle cannot reach the desired path point without affecting subsequent driving. The lateral offset calculation module is further configured to calculate the lateral offset of the simulated vehicle based on the current position coordinates of the simulated vehicle, the desired path point, and the vehicle heading angle when the rationality judgment result is a valid result; and to calculate the lateral offset of the simulated vehicle at its maximum turning range based on the deviation indicator value and the steering wheel angle range of the simulated vehicle when the rationality judgment result is an invalid result.
4. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method as described in claim 1 or 2.
5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in claim 1 or 2.
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