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

Abstract

The application provides a vehicle path tracking control method and device, electronic equipment and storage medium, comprising: according to the control input type accepted by the vehicle execution mechanism, the reverse modeling of the vehicle lateral movement process under manual operation is carried out, and the control model of the vehicle path tracking is obtained; the current state information and the expected state information of the target vehicle are determined; the current state information and the expected state information are input into the control model, the output parameters of the control model are obtained, and the output parameters are used as the control input of the vehicle execution mechanism to control the path tracking of the target vehicle. In this way, by reverse modeling the vehicle lateral movement process under manual operation, a control model including at least three series control loops is established, so that the control model is more detailed and conforms to the vehicle movement characteristics, which is helpful for the setting of model parameters, and further improves the performance of path tracking control.

Description

Technical Field

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

[0002] Vehicle path tracking is one of the core issues in the research of vehicle lateral motion control in intelligent driving. It reflects the ability to control an autonomous vehicle to travel smoothly and accurately along a predetermined desired trajectory.

[0003] While existing control methods can meet certain control performance requirements, their control processes are inconsistent with vehicle dynamics, making controller parameter tuning difficult. They also lack robustness in high-speed and cornering conditions, and the steering wheel is prone to vibration or even vehicle swerving, resulting in poor control performance. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a vehicle path tracking control method, device, electronic device and storage medium. By reverse modeling the lateral movement process of the vehicle under manual operation, a control model including at least three series control loops is established, which makes the control model more refined and consistent with the vehicle motion characteristics, which helps to tune the model parameters and thus improves the performance of path tracking control.

[0005] This application provides a vehicle path tracking control method, the method comprising:

[0006] Based on the types of control inputs received by the vehicle actuators, the lateral movement process of the vehicle under manual operation is reverse-engineered to obtain a control model for vehicle path tracking; wherein, the control model includes at least three control loops in series; each control loop corresponds to a motion link in the lateral movement process of the vehicle under manual operation;

[0007] Determine the current and desired status information of the target vehicle;

[0008] The current state information and the desired state information are input into the control model to obtain the output parameters of the control model, and the output parameters are used as the control input of the vehicle actuator to perform path tracking control on the target vehicle.

[0009] Furthermore, when the control input type is the front wheel steering angle, the control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series.

[0010] Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the desired front wheel angle determined by the output front wheel angle and the desired state information is used as the output parameter of the control model.

[0011] Furthermore, when the control input is torque, the control model includes a lateral position deviation control loop, a heading deviation control loop, a yaw rate deviation control loop, and a front wheel steering angle deviation control loop connected in series.

[0012] Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the front wheel angle deviation control loop outputs torque based on the input front wheel angle, the current state information, and the desired state information, and uses the output torque as the output parameter of the control model.

[0013] Furthermore, the current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, and the current yaw rate; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position; the step of inputting the current state information and the desired state information into the control model to obtain the output parameters of the control model includes:

[0014] The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point;

[0015] The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation;

[0016] The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed.

[0017] The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation.

[0018] The heading deviation control loop outputs the yaw rate based on the input heading deviation;

[0019] The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation.

[0020] The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation;

[0021] The output front wheel steering angle is added to the front wheel steering angle at the desired position point, and the resulting desired front wheel steering angle is used as the output parameter of the control model.

[0022] Furthermore, the current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, the current yaw rate, and the current front wheel steering angle; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position; the step of inputting the current state information and the desired state information into the control model to obtain the output parameters of the control model includes:

[0023] The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point;

[0024] The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation;

[0025] The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed.

[0026] The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation.

[0027] The heading deviation control loop outputs the yaw rate based on the input heading deviation;

[0028] The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation.

[0029] The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation;

[0030] The front wheel steering angle deviation control loop uses the input front wheel steering angle as the gain, the front wheel steering angle at the desired position point as the feedforward, and the current front wheel steering angle as the feedback to determine the input front wheel steering angle deviation.

[0031] The front wheel steering angle deviation control circuit outputs a torque gain based on the input front wheel steering angle deviation.

[0032] The front wheel steering angle deviation control loop determines the torque feedforward amount based on the pre-calibrated mapping relationship between the front wheel steering angle and torque amount at different longitudinal speeds;

[0033] The front wheel steering angle deviation control loop adds the torque gain and torque feedforward to obtain the output torque, and uses the output torque as the output parameter of the control model.

[0034] Furthermore, the control algorithm executed by the control loop in the control model includes at least one of the following: PID control algorithm, LQR control algorithm, and MPC control algorithm.

[0035] This application embodiment also provides a vehicle path tracking control device, the device comprising:

[0036] The modeling module is used to reverse model the lateral movement process of the vehicle under manual operation based on the types of control inputs received by the vehicle actuators, and obtain a control model for vehicle path tracking; wherein, the control model includes at least three control loops in series; each control loop corresponds to a motion link in the lateral movement process of the vehicle under manual operation;

[0037] The determination module is used to determine the current state information and desired state information of the target vehicle;

[0038] The control module is used to input the current state information and the desired state information into the control model to obtain the output parameters of the control model, and use the output parameters as the control input of the vehicle actuator to perform path tracking control on the target vehicle.

[0039] This application also provides an electronic device, including: 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. When the machine-readable instructions are executed by the processor, the steps of the vehicle path tracking control method described above are performed.

[0040] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the vehicle path tracking control method described above.

[0041] This application provides a vehicle path tracking control method, device, electronic device, and storage medium. By reverse modeling the lateral movement process of a vehicle under manual operation, a control model including at least three series control loops is established, making the control model more refined and consistent with the vehicle's motion characteristics. This helps in tuning the model parameters and thus improves the performance of path tracking control.

[0042] 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

[0043] 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.

[0044] Figure 1 A flowchart of a vehicle path tracking control method provided in an embodiment of this application is shown;

[0045] Figure 2 This illustration shows one of the structural schematic diagrams of a control model provided in an embodiment of this application;

[0046] Figure 3 This shows a second schematic diagram of the structure of a control model provided in an embodiment of this application;

[0047] Figure 4 A schematic diagram of a path tracing method provided in an embodiment of this application is shown;

[0048] Figure 5 This illustration shows a structural schematic diagram of a vehicle path tracking control device provided in an embodiment of this application;

[0049] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0050] 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. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally 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 represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0051] Research has found that vehicle path tracking is one of the core issues in the research of vehicle lateral motion control in intelligent driving. It reflects the ability to control an autonomous vehicle to travel smoothly and accurately along a predetermined desired trajectory.

[0052] While existing control methods can meet certain control performance requirements, their control processes are inconsistent with vehicle dynamics and their modeling is coarse, making it difficult to tune the controller parameters. Furthermore, they lack robustness in high-speed and cornering conditions, and the steering wheel is prone to vibration or even vehicle swerving, resulting in poor control performance.

[0053] Based on this, embodiments of this application provide a vehicle path tracking control method, device, electronic device, and storage medium, which establishes a control model including at least three series control loops by reverse modeling the lateral movement process of a vehicle under manual operation. This makes the control model more refined and consistent with the vehicle's motion characteristics, which helps in tuning the model parameters and thus improves the performance of path tracking control.

[0054] Please see Figure 1 , Figure 1 This is a flowchart illustrating a vehicle path tracking control method provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the control method includes:

[0055] S101. Based on the types of control inputs received by the vehicle actuators, reverse modeling is performed on the lateral movement process of the vehicle under manual operation to obtain the control model for vehicle path tracking.

[0056] It should be noted that in vehicle path tracking control, the upstream path planning module provides the desired path information. This desired path information includes the state information of multiple discrete location points, one or more of which are designated as the desired location points. By fitting the position coordinates from the state information of these discrete location points, the desired path can be obtained. The control objective of vehicle path tracking control is to control the vehicle to move from its current location P to the desired location P1 and to quickly and stably track the given desired path.

[0057] Here, the vehicle actuators include steering actuators, whose acceptable control inputs include front wheel angle and / or torque; based on the execution logic of the steering actuators, and combining vehicle dynamics and kinematics theories, the lateral movement process of the vehicle under manual operation is obtained, that is, the movement process from the driver giving torque (turning the steering wheel) to the vehicle moving laterally includes: the driver gives torque - the steering wheel turns - a yaw rate is generated when the vehicle has longitudinal velocity, the vehicle rotates around the z-axis - the vehicle's heading changes - the vehicle's lateral position changes.

[0058] Therefore, by reverse-engineering the lateral movement process of the vehicle under manual operation under different control input types, a control model for vehicle path tracking can be obtained. The control model includes at least three control loops in series; each control loop corresponds to a motion element in the lateral movement process of the vehicle under manual operation, and the control algorithms that the control loops can execute include PID control algorithm, LQR control algorithm, and MPC control algorithm, etc.

[0059] In a first possible implementation, when the control input type acceptable to the vehicle actuator is the front wheel steering angle, the established control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series. The lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information. The heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information. The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate, the current state information, and the desired state information. The desired front wheel steering angle determined by the output front wheel steering angle and the desired state information is used as the output parameter of the control model.

[0060] In a second possible implementation, when the control input is torque, the control model includes a lateral position deviation control loop, a heading deviation control loop, a yaw rate deviation control loop, and a front wheel steering angle deviation control loop connected in series. The lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information. The heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information. The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate, the current state information, and the desired state information. The front wheel steering angle deviation control loop outputs torque based on the input front wheel steering angle, the current state information, and the desired state information, and uses the output torque as the output parameter of the control model.

[0061] S102. Determine the current status information and desired status information of the target vehicle.

[0062] In this step, the current state information of the target vehicle includes current state information that can be directly measured by instruments such as sensors, as well as current state information that needs to be calculated based on the directly measured state information; the expected state information of the target vehicle includes expected state information that can be directly received from the upstream path planning module, as well as expected state information that needs to be calculated based on the directly received state information.

[0063] S103. Input the current state information and the desired state information into the control model to obtain the output parameters of the control model, and use the output parameters as the control input of the vehicle actuator to perform path tracking control on the target vehicle.

[0064] Please see Figure 2 , Figure 3 and Figure 4 , Figure 2 This is one of the structural schematic diagrams of a control model provided in an embodiment of this application; Figure 3 This is a second schematic diagram of the structure of a control model provided in an embodiment of this application; Figure 4 This is a schematic diagram of a path tracking method provided in an embodiment of this application.

[0065] In the first possible implementation, such as Figure 2As shown, when the control input type acceptable to the vehicle actuator is the front wheel steering angle, the established control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series. At this time, the current state information that needs to be input into the control model includes the coordinates of the current position point, the current heading angle, the current longitudinal speed, and the current yaw rate. The desired state information that needs to be input into the control model includes the coordinates of the desired position point, the tangent angle at the desired position point, the yaw rate at the desired position point, and the front wheel steering angle at the desired position point.

[0066] like Figure 4 As shown in the diagram, the vehicle's current position is P, and its desired position is P1. Current state information may include the coordinates (x, y) of the vehicle's current position P, the vehicle's current heading angle θ in the world coordinate system, and the vehicle's current longitudinal velocity v. x The current yaw rate w; the desired state information may include the coordinates (x1, y1) of the desired position point P1 of the vehicle, the tangent angle θ1 of the vehicle at the desired position point P1 in the world coordinate system, the yaw rate w1, and the front wheel rotation angle δ1.

[0067] Then, in step S103, the current state information and the desired state information are input into the control model to obtain the output parameters of the control model, which may include:

[0068] S1031, The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point.

[0069] In this step, the lateral position deviation can be determined by the dot product of the vector from the coordinates of the desired position point P1 to the coordinates of the current position point P and the normal vector of the desired position point; the formula can be expressed as:

[0070]

[0071] The derivation of the formula is as follows:

[0072]

[0073] In the formula, e l Indicates lateral positional deviation; This represents the vector from the coordinates of the desired location point P1 to the coordinates of the current location point P; This represents the normal vector of the desired location point. With tangent vector Perpendicular, the direction can be determined using the right-hand rule.

[0074] S1032, The lateral position deviation control loop outputs the lateral offset speed according to the input lateral position deviation.

[0075] In this step, the lateral position deviation controller in the lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation and the control algorithm.

[0076] S1033, The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed;

[0077]

[0078] In the formula, Indicates the lateral offset velocity; v x Represents the current longitudinal velocity; θ g This indicates the offset angle caused by the lateral offset velocity.

[0079] S1034. The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation. The formula can be expressed as:

[0080] Δθ=θ1+θ g –θ

[0081] In the formula, θ1 represents the tangent angle at the desired position point in the world coordinate system; θ represents the current heading angle; and Δθ represents the heading deviation.

[0082] S1035, The heading deviation control loop outputs the yaw rate based on the input heading deviation.

[0083] In this step, the heading deviation controller in the heading deviation control loop outputs the yaw rate based on the input heading deviation and the control algorithm.

[0084] S1036. The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation. The formula can be expressed as:

[0085] Δw=w1+w g –w=v x ×k+w g -w

[0086] w1 = v x ×k

[0087] In the formula, Δw represents the yaw rate deviation; w g w1 represents the input yaw rate; w1 represents the yaw rate at the desired position, which can be obtained directly from the trajectory planning module, or from the trajectory curvature k and the current longitudinal velocity v.x OK; w represents the current yaw rate; k represents the trajectory curvature at the desired position.

[0088] S1037, The yaw rate deviation control circuit outputs the front wheel steering angle based on the input yaw rate deviation.

[0089] In this step, the yaw rate deviation controller in the yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation and the control algorithm.

[0090] S1038. Add the output front wheel steering angle to the front wheel steering angle at the desired position point, and use the obtained desired front wheel steering angle as the output parameter of the control model. The formula can be expressed as:

[0091] δ t =δ1+δ g

[0092] δ1=l×k+K v ×a y

[0093] In the formula, δ t δ represents the desired front wheel steering angle. g δ1 represents the front wheel steering angle output by the yaw rate deviation control loop; δ1 represents the front wheel steering angle at the desired position point, which can be obtained directly from the trajectory planning module, or from the wheelbase l, trajectory curvature k, and understeer gradient K. v And actual lateral acceleration a y Determined; l represents the wheelbase of the target vehicle; K v This represents the understeer gradient of the target vehicle; a y This represents the actual lateral acceleration of the target vehicle, where the understeer gradient K is... v It is related to factors such as the vehicle's center of gravity position and lateral stiffness, and can be measured in advance.

[0094] In the second possible implementation, such as Figure 3 As shown, when the control input type acceptable to the vehicle actuator is the front wheel steering angle, the established control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series. At this time, the current state information that needs to be input into the control model includes the coordinates of the current position point, the current heading angle, the current longitudinal velocity, the current yaw rate, and the current front wheel steering angle. The desired state information that needs to be input into the control model includes the coordinates of the desired position point, the tangent angle at the desired position point, the yaw rate at the desired position point, and the front wheel steering angle at the desired position point.

[0095] Similarly, such as Figure 4As shown, the current status information may include the coordinates (x, y) of the vehicle's current position P, the vehicle's current heading angle θ in the world coordinate system, and the vehicle's current longitudinal velocity v. x The current yaw rate w and the current front wheel angle δ; the desired state information may include the coordinates (x1, y1) of the desired position point P1 of the vehicle, the tangent angle θ1 of the vehicle at the desired position point P1 in the world coordinate system, the yaw rate w1 at the desired position point P1, and the front wheel angle δ1 at the desired position point P1.

[0096] Then, in step S103, the current state information and the desired state information are input into the control model to obtain the output parameters of the control model, which may include:

[0097] Step 1: The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point.

[0098] Step 2: The lateral position deviation control loop outputs the lateral offset speed according to the input lateral position deviation.

[0099] Step 3: The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed.

[0100] Step 4: The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation.

[0101] Step 5: The heading deviation control loop outputs the yaw rate based on the input heading deviation.

[0102] Step 6: The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation.

[0103] Step 7: The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation.

[0104] The descriptions of steps 1 to 7 can be referenced from those of S1031 to S1037, and the same technical effect can be achieved, so they will not be repeated here.

[0105] Step 8: The front wheel steering angle deviation control loop uses the input front wheel steering angle as the gain, the front wheel steering angle at the desired position point as the feedforward, and the current front wheel steering angle as the feedback to determine the input front wheel steering angle deviation. The formula can be expressed as:

[0106] Δδ=δt -δ=δ1+δ g –δ=l×k+K v ×a y +δ g -δ

[0107] In the formula, δ represents the current front wheel steering angle; Δδ represents the input front wheel steering angle deviation.

[0108] Step 9: The front wheel steering angle deviation control circuit outputs torque gain based on the input front wheel steering angle deviation.

[0109] In this step, the front wheel angle deviation controller in the front wheel angle deviation control loop outputs the torque gain based on the input front wheel angle deviation and the control algorithm.

[0110] Step 10: The front wheel steering angle deviation control loop determines the torque feedforward amount based on the pre-calibrated mapping relationship between front wheel steering angle and torque at different longitudinal speeds, corresponding to the current longitudinal speed and current front wheel steering angle. The formula can be expressed as:

[0111] T1=f(v x ,δ t )

[0112] In the formula, T1 represents the current longitudinal velocity v x The desired front wheel steering angle command δ is determined by the current front wheel steering angle. t The corresponding torque; f represents the pre-calibrated mapping relationship between the front wheel steering angle and the torque at different longitudinal speeds.

[0113] Step 11: The front wheel steering angle deviation control loop adds the torque gain and torque feedforward to obtain the output torque, and uses the output torque as the output parameter of the control model.

[0114] T = T1 + T g =f(v x ,δ t )+T g

[0115] In the formula, T g This indicates the torque gain output of the front wheel steering angle deviation control circuit; T represents the output torque.

[0116] Thus, the embodiments of this application comprehensively consider vehicle kinematics, vehicle dynamics, and steering system characteristics, calculate or calibrate the feedforward quantity, which can improve the efficiency and accuracy of path tracking control; a feedback + feedforward control method is adopted, which reduces the lag of control algorithms such as PID by ensuring control accuracy through feedback.

[0117] Please see Figure 5, Figure 5 This is a schematic diagram of the structure of a vehicle path tracking control device provided in an embodiment of this application. Figure 5 As shown, the control device 400 includes:

[0118] The modeling module is used to reverse model the lateral movement process of the vehicle under manual operation based on the types of control inputs received by the vehicle actuators, and obtain a control model for vehicle path tracking; wherein, the control model includes at least three control loops in series; each control loop corresponds to a motion link in the lateral movement process of the vehicle under manual operation;

[0119] The determination module is used to determine the current state information and desired state information of the target vehicle;

[0120] The control module is used to input the current state information and the desired state information into the control model to obtain the output parameters of the control model, and use the output parameters as the control input of the vehicle actuator to perform path tracking control on the target vehicle.

[0121] Furthermore, when the control input type is the front wheel steering angle, the control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series.

[0122] Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the desired front wheel angle determined by the front wheel angle output by the yaw rate deviation control loop and the desired state information is used as the output parameter of the control model.

[0123] Furthermore, when the control input is torque, the control model includes a lateral position deviation control loop, a heading deviation control loop, a yaw rate deviation control loop, and a front wheel steering angle deviation control loop connected in series.

[0124] Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the front wheel angle deviation control loop outputs torque based on the input front wheel angle, the current state information, and the desired state information, and uses the output torque as the output parameter of the control model.

[0125] Furthermore, the current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, and the current yaw rate; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position; the control module 320 is used for:

[0126] The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point;

[0127] The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation;

[0128] The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed.

[0129] The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation.

[0130] The heading deviation control loop outputs the yaw rate based on the input heading deviation;

[0131] The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation.

[0132] The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation;

[0133] The output front wheel steering angle is added to the front wheel steering angle at the desired position point, and the resulting desired front wheel steering angle is used as the output parameter of the control model.

[0134] Furthermore, the current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, the current yaw rate, and the current front wheel steering angle; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position; the control module 320 is used for:

[0135] The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point;

[0136] The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation;

[0137] The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed.

[0138] The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation.

[0139] The heading deviation control loop outputs the yaw rate based on the input heading deviation;

[0140] The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation.

[0141] The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation;

[0142] The front wheel steering angle deviation control loop uses the input front wheel steering angle as the gain, the front wheel steering angle at the desired position point as the feedforward, and the current front wheel steering angle as the feedback to determine the input front wheel steering angle deviation.

[0143] The front wheel steering angle deviation control circuit outputs a torque gain based on the input front wheel steering angle deviation.

[0144] The front wheel steering angle deviation control loop determines the torque feedforward amount based on the pre-calibrated mapping relationship between the front wheel steering angle and torque amount at different longitudinal speeds;

[0145] The front wheel steering angle deviation control loop adds the torque gain and torque feedforward to obtain the output torque, and uses the output torque as the output parameter of the control model.

[0146] Furthermore, the control algorithm executed by the control loop in the control model includes at least one of the following: PID control algorithm, LQR control algorithm, and MPC control algorithm.

[0147] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0148] 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. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1 The steps of a vehicle path tracking control method in the illustrated embodiment are described in detail in the method embodiment, and will not be repeated here.

[0149] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of a vehicle path tracking control method in the illustrated embodiment are described in detail in the method embodiment, and will not be repeated here.

[0150] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, 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 shown 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.

[0152] 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.

[0153] In addition, the functional units in the various embodiments of 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.

[0154] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, 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.

[0155] 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 scope of protection 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. Such 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, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle path tracking control method, characterized in that, The method includes: Based on the types of control inputs received by the vehicle actuators, the lateral movement process of the vehicle under manual operation is reverse-engineered to obtain a control model for vehicle path tracking; wherein, the control model includes at least three control loops in series; each control loop corresponds to a motion link in the lateral movement process of the vehicle under manual operation; Determine the current and desired status information of the target vehicle; The current state information and the desired state information are input into the control model to obtain the output parameters of the control model, and the output parameters are used as the control input of the vehicle actuator to perform path tracking control on the target vehicle. When the control input type is front wheel steering angle, the control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series. Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the desired front wheel angle determined by the output front wheel angle and the desired state information is used as the output parameter of the control model.

2. The method according to claim 1, characterized in that, When the control input is torque, the control model includes a lateral position deviation control loop, a heading deviation control loop, a yaw rate deviation control loop, and a front wheel steering angle deviation control loop connected in series. Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the front wheel angle deviation control loop outputs torque based on the input front wheel angle, the current state information, and the desired state information, and uses the output torque as the output parameter of the control model.

3. The method according to claim 1, characterized in that, The current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, and the current yaw rate; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position. The step of inputting the current state information and the desired state information into the control model to obtain the output parameters of the control model includes: The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point; The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation; The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed. The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation. The heading deviation control loop outputs the yaw rate based on the input heading deviation; The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation. The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation; The output front wheel steering angle is added to the front wheel steering angle at the desired position point, and the resulting desired front wheel steering angle is used as the output parameter of the control model.

4. The method according to claim 2, characterized in that, The current state information includes the coordinates of the current position, the current heading angle, the current longitudinal speed, the current yaw rate, and the current front wheel steering angle; the desired state information includes the coordinates of the desired position, the tangent angle at the desired position, the yaw rate at the desired position, and the front wheel steering angle at the desired position. The step of inputting the current state information and the desired state information into the control model to obtain the output parameters of the control model includes: The lateral position deviation control loop determines the input lateral position deviation based on the coordinates of the current position point and the coordinates of the desired position point; The lateral position deviation control loop outputs the lateral offset speed based on the input lateral position deviation; The heading deviation control loop determines the offset angle caused by the lateral offset speed based on the current longitudinal speed and the input lateral offset speed. The heading deviation control loop uses the offset angle caused by the lateral offset velocity as the gain, the tangent angle at the desired position point as the feedforward, and the current heading angle as the feedback to determine the input heading deviation. The heading deviation control loop outputs the yaw rate based on the input heading deviation; The yaw rate deviation control loop uses the input yaw rate as the gain, the yaw rate at the desired position point as the feedforward, and the current yaw rate as the feedback to determine the input yaw rate deviation. The yaw rate deviation control loop outputs the front wheel steering angle based on the input yaw rate deviation; The front wheel steering angle deviation control loop uses the input front wheel steering angle as the gain, the front wheel steering angle at the desired position point as the feedforward, and the current front wheel steering angle as the feedback to determine the input front wheel steering angle deviation. The front wheel steering angle deviation control circuit outputs a torque gain based on the input front wheel steering angle deviation. The front wheel steering angle deviation control loop determines the torque feedforward amount based on the pre-calibrated mapping relationship between the front wheel steering angle and torque amount at different longitudinal speeds; The front wheel steering angle deviation control loop adds the torque gain and torque feedforward to obtain the output torque, and uses the output torque as the output parameter of the control model.

5. The method according to claim 1, characterized in that, The control algorithm executed by the control loop in the control model includes at least one of the following: PID control algorithm, LQR control algorithm, and MPC control algorithm.

6. A vehicle path tracking control device, characterized in that, The device includes: The modeling module is used to reverse model the lateral movement process of the vehicle under manual operation based on the types of control inputs received by the vehicle actuators, and obtain a control model for vehicle path tracking; wherein, the control model includes at least three control loops in series; each control loop corresponds to a motion link in the lateral movement process of the vehicle under manual operation; The determination module is used to determine the current state information and desired state information of the target vehicle; The control module is used to input the current state information and the desired state information into the control model to obtain the output parameters of the control model, and use the output parameters as the control input of the vehicle actuator to perform path tracking control on the target vehicle; When the control input type is front wheel steering angle, the control model includes a lateral position deviation control loop, a heading deviation control loop, and a yaw rate deviation control loop connected in series. Specifically, the lateral position deviation control loop outputs a lateral offset velocity based on the current state information and the desired state information; the heading deviation control loop outputs a yaw rate based on the input lateral offset velocity, the current state information, and the desired state information; the yaw rate deviation control loop outputs a front wheel angle based on the input yaw rate, the current state information, and the desired state information; and the desired front wheel angle determined by the front wheel angle output by the yaw rate deviation control loop and the desired state information is used as the output parameter of the control model.

7. 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. The machine-readable instructions are executed by the processor to perform the steps of a vehicle path tracking control method as described in any one of claims 1 to 5.

8. 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 a vehicle path tracking control method as described in any one of claims 1 to 5.

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