A vehicle control method, device, electronic equipment and storage medium

Abstract

The application discloses a vehicle control method and device, electronic equipment and storage medium, and relates to the technical field of automobile driving auxiliary control. The implementation scheme comprises the following steps: after a target vehicle starts an automatic parking function, a front wheel steering angle of the target vehicle is determined based on a first lateral control method; path tracking is performed according to the front wheel steering angle, and a path lateral tracking error is obtained in real time; if the path lateral tracking error is greater than a preset error threshold, the first lateral control method is switched to a second lateral control method; the front wheel steering angle of the target vehicle is determined again according to the second lateral control method, and path tracking is continued according to the determined front wheel steering angle to correct the path lateral tracking error. In the automatic parking process, the lateral control method is switched in time, the path lateral tracking error can be corrected, the path tracking accuracy is improved, and the success rate of automatic parking is ensured.

Description

Technical Field

[0001] This invention relates to the field of automotive driver assistance control technology, and more particularly to a vehicle control method, device, electronic device, and storage medium. Background Technology

[0002] With the continuous improvement of vehicle automation and intelligence, automatic parking has gradually become a standard feature in many mid-to-high-end models. However, most current research only considers the path planning problem for parking, lacking research on path tracking and steering wheel control during the vehicle's entry into the parking space. Vehicles are prone to deviating from the planned path during parking, resulting in low parking accuracy. Summary of the Invention

[0003] This invention provides a vehicle control method, apparatus, electronic device, and storage medium.

[0004] According to one aspect of the present invention, a vehicle control method is provided, comprising:

[0005] After the target vehicle activates its automatic parking function, the front wheel steering amount of the target vehicle is determined based on the first lateral control method.

[0006] Path tracking is performed based on the front wheel steering amount, and the lateral tracking error of the path is obtained in real time;

[0007] If the lateral tracking error of the path is greater than a preset error threshold, the first lateral control method is switched to the second lateral control method.

[0008] The front wheel steering of the target vehicle is re-determined according to the second lateral control method, and path tracking continues based on the re-determined front wheel steering to correct the lateral tracking error.

[0009] In one alternative implementation, after correcting the path lateral tracking error, the method further includes:

[0010] Real-time acquisition of lateral tracking error along the path;

[0011] If the lateral tracking error of the path is less than or equal to the error threshold, the second lateral control method is switched to the first lateral control method.

[0012] In one alternative implementation, the path lateral tracking error includes heading deviation and / or lateral deviation.

[0013] In one optional implementation, the first lateral control method is a pure tracking control method;

[0014] Accordingly, based on the first lateral control method, the front wheel steering amount of the target vehicle is determined, including:

[0015] The wheelbase of the front and rear axles of the target vehicle, the forward distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle are obtained.

[0016] Based on the wheelbase, forward sight distance, and heading angle, a pure tracking control method is used to determine the front wheel steering of the target vehicle.

[0017] In one alternative implementation, the second lateral control method is the Stanley control method;

[0018] Accordingly, the front wheel steering of the target vehicle is re-determined according to the second lateral control method, including:

[0019] Obtain the current path lateral tracking error, the preset control gain, and the speed of the target vehicle;

[0020] Based on the lateral tracking error along the path, the control gain, and the speed, the Stanley control method is used to redetermine the front wheel steering of the target vehicle.

[0021] In one alternative implementation, the target vehicle is equipped with a lateral fusion controller; the lateral fusion controller includes a pure tracking controller that deploys a pure tracking control method and a Stanley controller that deploys a Stanley control method.

[0022] According to another aspect of the present invention, a vehicle control device is provided, comprising:

[0023] The first control module is used to determine the front wheel steering amount of the target vehicle based on the first lateral control method after the target vehicle activates the automatic parking function.

[0024] The first error detection module is used to perform path tracking based on the front wheel steering amount and to obtain the lateral tracking error of the path in real time.

[0025] The first switching module is used to switch from the first lateral control method to the second lateral control method if the lateral tracking error of the path is greater than a preset error threshold.

[0026] The second control module is used to redetermine the front wheel steering amount of the target vehicle according to the second lateral control method, and continue path tracking based on the redetermined front wheel steering amount to correct the path lateral tracking error.

[0027] In one alternative implementation, the apparatus further includes:

[0028] The second error detection module is used to acquire the path lateral tracking error in real time.

[0029] The second switching module is configured to switch from the second lateral control method to the first lateral control method if the path lateral tracking error is less than or equal to the error threshold. In an optional implementation, the path lateral tracking error includes heading deviation and / or lateral deviation.

[0030] In one optional implementation, the first lateral control method is a pure tracking control method;

[0031] Correspondingly, the first control module is also used for:

[0032] The wheelbase of the front and rear axles of the target vehicle, the forward distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle are obtained.

[0033] Based on the wheelbase, forward sight distance, and heading angle, a pure tracking control method is used to determine the front wheel steering of the target vehicle.

[0034] In one alternative implementation, the second lateral control method is the Stanley control method;

[0035] Correspondingly, the second control module is also used for:

[0036] Obtain the current path lateral tracking error, the preset control gain, and the speed of the target vehicle;

[0037] Based on the lateral tracking error along the path, the control gain, and the speed, the Stanley control method is used to redetermine the front wheel steering of the target vehicle.

[0038] In one alternative implementation, the target vehicle is equipped with a lateral fusion controller; the lateral fusion controller includes a pure tracking controller that deploys a pure tracking control method and a Stanley controller that deploys a Stanley control method.

[0039] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0040] At least one processor; and

[0041] A memory communicatively connected to the at least one processor; wherein,

[0042] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle control method described in the embodiments of the present invention.

[0043] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method described in the embodiments of the present invention.

[0044] The technical solution of this invention can correct the lateral tracking error of the path by timely switching the lateral control method during the automatic parking process, thereby improving the path tracking accuracy and ensuring the success rate of automatic parking.

[0045] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0048] Figure 2 This is a schematic flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0049] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in Embodiment 3 of the present invention;

[0050] Figure 4 This is a schematic diagram of the electronic device used in the vehicle control method according to an embodiment of the present invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0052] Example 1

[0053] Figure 1The flowchart of a vehicle control method is provided in Embodiment 1 of the present invention. This embodiment is applicable to vehicle path tracking, typically to automatic parking scenarios. The method can be executed by a vehicle control device, which can be implemented in hardware and / or software and can be configured in an electronic device.

[0054] like Figure 1 As shown, the vehicle control method flow is as follows:

[0055] S101. After the target vehicle activates the automatic parking function, the front wheel steering amount of the target vehicle is determined based on the first lateral control method.

[0056] In this embodiment, the target vehicle can be any vehicle equipped with automatic parking functionality. After the target vehicle activates its automatic parking function, it plans a parking path and automatically parks according to that path. Specifically, the target vehicle's control system uses a first lateral control method to determine the front wheel steering amount in real time, enabling path tracking based on the real-time front wheel steering amount, i.e., controlling the target vehicle to merge into or approach the planned parking path.

[0057] In this embodiment, the front wheel steering amount can be selected as the front wheel steering angle control amount of the target vehicle; the first lateral control method can be any one of the following: pure tracking control method, Stanley control method, synovial control method, model predictive control method, and linear quadratic regulator control method.

[0058] Furthermore, when the target vehicle begins automatic parking, due to path tracking accuracy issues, a lateral tracking deviation (i.e., position deviation) will occur. The applicant discovered that when the lateral tracking deviation is less than a preset deviation threshold, the pure tracking control method exhibits less fluctuation near the desired path, resulting in better tracking performance. Therefore, in this embodiment, the preferred first lateral control method is the pure tracking control method. Based on this, the front wheel steering of the target vehicle is determined using the first lateral control method, including: for the current moment, obtaining the wheelbase L of the front and rear axles of the target vehicle, and the forward distance l between the current position of the rear axle of the target vehicle and the target position point (i.e., a position point on the parking path that the target vehicle wants to approach). d The heading angle α of the target vehicle; where the heading angle is the angle between the target vehicle's current attitude and the target position point. Specifically, in calculation, the heading angle can be the angle between the direction of the line connecting the center point of the target vehicle's rear axle and the target position point, and the direction of the line connecting the front and rear axles of the target vehicle; further, based on the wheelbase L and the forward sight distance l... dGiven the heading angle α, a pure tracking control method is used to determine the front wheel steering amount δ of the target vehicle. Optionally, the front wheel steering amount δ is calculated according to the following formula: δ=tan -1 (2Lsinα / l d ).

[0059] S102. Perform path tracking based on the front wheel steering amount and obtain the path lateral tracking error in real time.

[0060] In this embodiment, path tracking is performed based on the front wheel steering input, that is, the target vehicle is controlled to approach the target position point on the parking path based on the front wheel steering input. Simultaneously, the lateral tracking error is acquired in real time. This lateral tracking error measures the positional deviation of the target vehicle when it automatically parks according to the parking path. Optionally, the lateral tracking error includes heading deviation and / or lateral deviation. The heading deviation can be the angle between the direction of the line connecting the front and rear axles of the target vehicle and the tangent direction of the path trajectory point closest to the front wheel axle (e.g., the target position point); the lateral deviation can be the distance between the line connecting the front and rear axles of the target vehicle and the tangent. It should be noted that the lateral tracking error can be acquired in real time via the target vehicle's CAN bus.

[0061] S103. If the lateral tracking error of the path is greater than a preset error threshold, the first lateral control method is switched to the second lateral control method.

[0062] In this embodiment, since the path lateral tracking error includes heading deviation and / or lateral deviation, the preset error threshold can include a heading deviation error threshold and a lateral deviation error threshold. After obtaining the heading deviation and / or lateral deviation in S102, it is determined whether the heading deviation and / or lateral deviation exceed their respective error thresholds. If either the heading deviation or the lateral deviation exceeds its respective error threshold, or if both exceed their respective error thresholds simultaneously, it indicates that the path lateral tracking error is already large, which will affect subsequent path tracking and thus reduce parking accuracy. Therefore, it is necessary to correct the path lateral tracking error of the target vehicle.

[0063] In this embodiment, to correct the lateral tracking error of the target vehicle, the first lateral control method is switched to a second lateral control method; that is, the path tracking for automatic parking is subsequently implemented according to the second lateral control method. Preferably, the second lateral control method is the Stanley control method. It should be noted that the Stanley control method is chosen because its core idea is to achieve path tracking by eliminating lateral tracking errors. Thus, by switching to the Stanley control method, the position deviation can be corrected, that is, the lateral tracking error caused by using the first lateral control method can be reduced or eliminated.

[0064] S104. The front wheel steering amount of the target vehicle is re-determined according to the second lateral control method, and path tracking continues based on the re-determined front wheel steering amount to correct the path lateral tracking error.

[0065] In this embodiment, since the second lateral control method is the Stanley control method, the front wheel steering of the target vehicle is re-determined according to the second lateral control method, including: obtaining the current path lateral tracking error (including heading deviation θ and lateral deviation e), the preset control gain k, and the speed v of the target vehicle; and then, based on the path lateral tracking error (including heading deviation θ and lateral deviation e), the control gain k, and the speed v, the front wheel steering of the target vehicle is re-determined using the Stanley control method. Optionally, the front wheel steering δ can be calculated according to the following formula: δ=θ+tan -1 (ke / v).

[0066] It should be noted that, since the front wheel steering amount is recalculated by switching to the Stanley control method, and the core idea of ​​the Stanley control method is to eliminate the lateral tracking error of the path, the path tracking is performed according to the new front wheel steering amount. This can achieve the purpose of correcting the lateral tracking error of the path caused by using the first lateral control method, that is, to achieve position deviation correction, improve tracking accuracy and ensure the smooth operation of automatic parking.

[0067] In this embodiment, by switching the lateral control method in a timely manner during the automatic parking process, the lateral tracking error of the path can be corrected, thereby improving the path tracking accuracy and ensuring the success rate of automatic parking.

[0068] As described above, the core of this invention lies in switching to a second lateral control method (Stanley control algorithm) when the lateral path tracking error caused by using the first lateral control method (such as the pure tracking control method) is large, in order to correct the lateral path tracking error in a timely manner and improve tracking accuracy. To implement the solution of this invention, a lateral fusion controller is configured on the target vehicle; the lateral fusion controller includes a pure tracking controller deployed with the pure tracking control method (i.e., the first lateral control method) and a Stanley controller deployed with the Stanley control method (i.e., the second lateral control method). Thus, the lateral fusion controller only needs to switch controllers according to the acquired value of the lateral path tracking error to implement the solution of this invention.

[0069] It should also be noted that the solution of this invention switches the lateral control algorithm based on the values ​​of heading deviation and / or lateral deviation, which differs from switching the lateral control algorithm based on the target vehicle's speed. Firstly, using vehicle speed as a reference does not address the lateral control of the vehicle; moreover, since this invention is applicable to automatic parking scenarios, the target vehicle's speed is inherently very low, and there will be no significant changes in speed (sudden increase or decrease). Therefore, switching the lateral control algorithm based on vehicle speed is not applicable. In other words, the applicable scenario of this solution dictates that vehicle speed cannot be used as a reference for switching the lateral control method.

[0070] Example 2

[0071] Figure 2 This is a flowchart illustrating a vehicle control method according to Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment; see below. Figure 2 The method includes the following steps:

[0072] S201. After the target vehicle activates the automatic parking function, the front wheel steering amount of the target vehicle is determined based on the first lateral control method.

[0073] Wherein, the first lateral control method is a pure tracking control method; correspondingly, based on the first lateral control method, the front wheel steering amount of the target vehicle is determined, including: obtaining the wheelbase of the front and rear axles of the target vehicle, the forward sight distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle; and using the pure tracking control method to determine the front wheel steering amount of the target vehicle based on the wheelbase, forward sight distance and heading angle.

[0074] S202. Perform path tracking based on the front wheel steering amount and obtain the path lateral tracking error in real time.

[0075] The path lateral tracking error includes heading deviation and / or lateral deviation.

[0076] S203. If the lateral tracking error of the path is greater than a preset error threshold, the first lateral control method is switched to the second lateral control method.

[0077] S204. The front wheel steering amount of the target vehicle is re-determined according to the second lateral control method, and path tracking continues based on the re-determined front wheel steering amount to correct the path lateral tracking error.

[0078] The second lateral control method is the Stanley control method;

[0079] Accordingly, the front wheel steering of the target vehicle is re-determined according to the second lateral control method, including: obtaining the current path lateral tracking error, the preset control gain, and the speed of the target vehicle; and using the Stanley control method to re-determine the front wheel steering of the target vehicle based on the path lateral tracking error, the control gain, and the speed.

[0080] S205. Real-time acquisition of path lateral tracking error; if the path lateral tracking error is less than or equal to the error threshold, the second lateral control method is switched to the first lateral control method.

[0081] In this embodiment, based on steps S201-S204, switching from the first lateral control method to the second lateral control method can effectively correct the path lateral tracking error caused by using the first lateral control method. Furthermore, if the real-time path lateral tracking error is less than or equal to the error threshold, the system can switch back to the first lateral control method to continue performing automatic parking according to the first lateral control method. It should be noted that the reason for switching back to the first lateral control method is that in low-speed automatic parking scenarios, the path tracking performance of the first lateral control method is superior to that of the second lateral control method. Thus, timely switching back to the first lateral control method after the error is reduced ensures the effectiveness of path tracking, thereby guaranteeing the success rate of automatic parking.

[0082] Example 3

[0083] Figure 3 This is a schematic diagram of a vehicle control device according to Embodiment 3 of the present invention. This embodiment is applicable to vehicle path tracking, typically to automatic parking scenarios. Figure 3 As shown, the device includes:

[0084] The first control module 301 is used to determine the front wheel steering amount of the target vehicle based on the first lateral control method after the target vehicle activates the automatic parking function.

[0085] The first error detection module 302 is used to perform path tracking based on the front wheel steering amount and to obtain the path lateral tracking error in real time.

[0086] The first switching module 303 is used to switch from the first lateral control method to the second lateral control method if the lateral tracking error of the path is greater than a preset error threshold.

[0087] The second control module 304 is used to redetermine the front wheel steering amount of the target vehicle according to the second lateral control method, and continue path tracking based on the redetermined front wheel steering amount to correct the path lateral tracking error.

[0088] In one alternative implementation, the apparatus further includes:

[0089] The second error detection module is used to acquire the path lateral tracking error in real time.

[0090] The second switching module is configured to switch from the second lateral control method to the first lateral control method if the path lateral tracking error is less than or equal to the error threshold. In an optional implementation, the path lateral tracking error includes heading deviation and / or lateral deviation.

[0091] In one optional implementation, the first lateral control method is a pure tracking control method;

[0092] Correspondingly, the first control module is also used for:

[0093] The wheelbase of the front and rear axles of the target vehicle, the forward distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle are obtained.

[0094] Based on the wheelbase, forward sight distance, and heading angle, a pure tracking control method is used to determine the front wheel steering of the target vehicle.

[0095] In one alternative implementation, the second lateral control method is the Stanley control method;

[0096] Correspondingly, the second control module is also used for:

[0097] Obtain the current path lateral tracking error, the preset control gain, and the speed of the target vehicle;

[0098] Based on the lateral tracking error along the path, the control gain, and the speed, the Stanley control method is used to redetermine the front wheel steering of the target vehicle.

[0099] In one optional implementation, the target vehicle is equipped with a lateral fusion controller; the lateral fusion controller includes a pure tracking controller deploying a pure tracking control method and a Stanley controller deploying a Stanley control method. The vehicle control device provided in this embodiment of the invention can execute the vehicle control method provided in any embodiment of the invention, possessing the corresponding functional modules and beneficial effects of the method execution.

[0100] Example 4

[0101] Figure 4A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0102] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0104] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as performing vehicle control methods.

[0105] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0106] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0108] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0109] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0110] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0111] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0112] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0113] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: After the target vehicle activates its automatic parking function, the front wheel steering amount of the target vehicle is determined based on a first lateral control method; wherein, the first lateral control method is a pure tracking control method. Path tracking is performed based on the front wheel steering amount, and the lateral tracking error of the path is acquired in real time; wherein, the lateral tracking error of the path is used to measure the positional deviation generated when the target vehicle automatically parks according to the parking path; If the lateral tracking error of the path is greater than a preset error threshold, the first lateral control method is switched to the second lateral control method. The front wheel steering amount of the target vehicle is re-determined according to the second lateral control method, and path tracking continues based on the re-determined front wheel steering amount to correct the lateral tracking error of the path. Real-time acquisition of lateral tracking error along the path; If the lateral tracking error of the path is less than or equal to the preset error threshold, the second lateral control method is switched to the first lateral control method. The step of determining the front wheel steering amount of the target vehicle based on the first lateral control method includes: obtaining the wheelbase of the front and rear axles of the target vehicle, the forward sight distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle; and determining the front wheel steering amount of the target vehicle using a pure tracking control method based on the wheelbase, forward sight distance, and heading angle.

2. The method according to claim 1, characterized in that, The path lateral tracking error includes heading deviation and / or lateral deviation.

3. The method according to claim 1, characterized in that, The second lateral control method is the Stanley control method; Accordingly, the front wheel steering of the target vehicle is re-determined according to the second lateral control method, including: Obtain the current path lateral tracking error, the preset control gain, and the speed of the target vehicle; Based on the lateral tracking error along the path, the control gain, and the speed, the Stanley control method is used to redetermine the front wheel steering of the target vehicle.

4. The method according to claim 3, characterized in that, The target vehicle is equipped with a lateral fusion controller; the lateral fusion controller includes a pure tracking controller that deploys a pure tracking control method and a Stanley controller that deploys a Stanley control method.

5. A vehicle control device, characterized in that, include: The first control module is used to determine the front wheel steering amount of the target vehicle based on a first lateral control method after the target vehicle activates the automatic parking function; wherein, the first lateral control method is a pure tracking control method. The first error detection module is used to perform path tracking based on the front wheel steering amount and to acquire the path lateral tracking error in real time; wherein, the path lateral tracking error is used to measure the position deviation generated when the target vehicle automatically parks according to the parking path; The first switching module is used to switch from the first lateral control method to the second lateral control method if the lateral tracking error of the path is greater than a preset error threshold. The second control module is used to redetermine the front wheel steering amount of the target vehicle according to the second lateral control method, and continue path tracking based on the redetermined front wheel steering amount to correct the path lateral tracking error. The second error detection module is used to acquire the path lateral tracking error in real time. The second switching module is used to switch from the second lateral control method to the first lateral control method if the lateral tracking error of the path is less than or equal to the preset error threshold. The first control module is specifically used to acquire the wheelbase of the front and rear axles of the target vehicle, the forward sight distance between the current position of the rear axle of the target vehicle and the target position point, and the heading angle of the target vehicle; and to determine the front wheel steering amount of the target vehicle using a pure tracking control method based on the wheelbase, forward sight distance and heading angle.

6. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle control method according to any one of claims 1-4.

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