Vehicle lateral steering control method, device, commercial vehicle, machine readable medium and equipment

Abstract

This invention provides a vehicle lateral steering control method, comprising: acquiring vehicle driving environment information and performing target detection on the vehicle driving environment information to obtain a detected target; predicting the vehicle's driving trajectory based on the detected target to obtain a predicted driving trajectory; predicting the vehicle's target heading angle based on the predicted driving trajectory and the vehicle's state information; determining the target steering wheel angular velocity based on the vehicle's current speed, and determining the target steering wheel angle based on the target heading angle and the vehicle's current speed; controlling the vehicle's steering wheel according to the target steering angle and target steering velocity, thereby completing the vehicle's lateral steering control. This invention employs a perception system to perceive the environment, then makes decisions based on the perceived data, sending data commands to the control system and execution system in real time to achieve steering angle and angular velocity control, and providing real-time feedback correction, thus realizing automatic vehicle steering control.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and specifically to a vehicle lateral steering control method, device, machine-readable medium, and equipment. Background Technology

[0002] In today's automotive industry, which is accelerating its transformation and upgrading towards electrification, intelligentization, connectivity, and sharing, automotive intelligence is evolving along two directions: driving automation and intelligent cockpits. Driving automation focuses on solving intelligent driving problems, while intelligent cockpits focus on solving connectivity and human-machine interaction problems. According to the initial consensus in the industry, GB / T40429-2021, "Classification of Driving Automation for Automobiles," defines different levels of autonomous driving for vehicles, generally divided into two categories: assisted driving (Levels 1 and 2) and high-level autonomous driving (Levels 3, 4, and 5). A common requirement across these different driving modes is the realization of steer-by-wire systems in the chassis; steer-by-wire becomes a prerequisite for achieving intelligent driving. Steer-by-wire mainly involves applications in assisted driving and advanced autonomous driving. Existing steering systems cannot yet meet the demands of intelligent driving for lateral movement control of the vehicle. This is mainly reflected in:

[0003] The input methods for perception, decision-making, and commands cannot meet the needs of intelligent driving, as can the steering control strategies and methods. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a vehicle lateral steering control method, device, commercial vehicle, machine-readable medium and equipment to solve the problems existing in the prior art.

[0005] To achieve the above and other related objectives, the present invention provides a vehicle lateral steering control method, comprising:

[0006] Acquire vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detected targets;

[0007] Based on the one or more detection targets, the driving trajectory of the vehicle is predicted to obtain the predicted driving trajectory;

[0008] The target heading angle of the vehicle is predicted based on the predicted driving trajectory and the vehicle's state information;

[0009] The target steering wheel angular velocity is determined based on the vehicle's current speed, and the target steering wheel angular angle is determined based on the target heading angle and the vehicle's current speed.

[0010] The vehicle's steering wheel is controlled according to the target turning angle and target turning velocity, thereby completing the vehicle's lateral steering control.

[0011] In one embodiment of the present invention, the method further includes:

[0012] The actual steering angle value of the wheel is obtained by using a wheel steering angle sensor, and the actual steering angle value is compared with the target steering angle value to obtain the comparison result;

[0013] The actual steering angle of the wheel is controlled based on the comparison result. Controlling the actual steering angle of the wheel includes: increasing the actual steering angle of the wheel, decreasing the actual steering angle of the wheel, and maintaining the actual steering angle of the wheel. The control of the actual steering angle of the wheel is achieved by changing the steering angle of the steering wheel.

[0014] In one embodiment of the present invention, determining the target steering wheel angle based on the target heading angle and the vehicle's current speed includes:

[0015] The first steering angle is calculated based on the vehicle's current heading angle and the target heading angle;

[0016] Map the vehicle's current speed to a second steering angle;

[0017] The first steering angle is compared with the second steering angle, and the target steering angle of the steering wheel is determined based on the comparison result.

[0018] In one embodiment of the present invention, after calculating the first steering angle based on the vehicle's current heading angle and the target heading angle, the method further includes:

[0019] The first steering angle is compared with the angle range of the steering wheel steering angle. If the first steering angle is within the angle range, the first steering angle is used as the target steering angle. If the first steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the first steering angle.

[0020] After mapping the vehicle's current speed to a second steering angle, the method further includes:

[0021] The second steering angle is compared with the angle range of the steering wheel steering angle. If the second steering angle is within the angle range, the second steering angle is used as the target steering angle. If the second steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the second target steering angle.

[0022] Wherein, the maximum limit angle is the maximum value of the steering angle at which the vehicle will not skid or roll over, the minimum limit angle is the minimum value of the steering angle at which the vehicle will not skid or roll over, and the target steering angle of the steering wheel is the minimum value between the first target steering angle and the second target steering angle.

[0023] In one embodiment of the present invention, determining the target steering wheel angular velocity based on the vehicle's current speed includes:

[0024] Map the current vehicle speed to the current steering wheel angular velocity;

[0025] The current angular velocity is compared with the angular velocity range. If the current angular velocity is within the angular velocity range, the current angular velocity is taken as the target angular velocity. If the current angular velocity is greater than the maximum angular velocity in the angular velocity range, the maximum angular velocity is taken as the target angular velocity. If the current angular velocity is less than the minimum angular velocity in the angular velocity range, the minimum angular velocity is taken as the target angular velocity.

[0026] To achieve the above and other related objectives, the present invention provides a vehicle lateral steering control device, comprising:

[0027] The target detection module is used to acquire vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detected targets;

[0028] The first prediction module is used to predict the driving trajectory of the vehicle based on the one or more detection targets, and obtain the predicted driving trajectory.

[0029] The second prediction module is used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information.

[0030] The parameter determination module is used to determine the target angular velocity of the steering wheel based on the current vehicle speed, and to determine the target angular angle of the steering wheel based on the target heading angle and the current vehicle speed.

[0031] The steering control module is used to control the vehicle's steering wheel according to the target turning angle and the target turning velocity, thereby completing the vehicle's lateral steering control.

[0032] To achieve the above and other related objectives, the present invention provides a vehicle lateral steering control device, comprising: an environmental perception sensing module, a data processing module, an intelligent driving controller, and a steering motor controller;

[0033] The environmental perception sensing module is used to collect information about the vehicle's driving environment.

[0034] The data processing module is used to perform target detection on the vehicle driving environment information to obtain one or more detection targets;

[0035] The intelligent driving controller is used to predict the driving trajectory of the vehicle based on the one or more detected targets to obtain a predicted driving trajectory; the intelligent driving controller is also used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information, and to determine the target turning speed of the steering wheel based on the vehicle's current speed, and to determine the target turning angle of the steering wheel based on the target heading angle and the vehicle's current speed.

[0036] The steering motor controller is used to receive the target steering angle and the target steering velocity, and control the steering wheel of the vehicle with the target steering angle and the target steering velocity to complete the lateral steering control of the vehicle.

[0037] To achieve the above and other related objectives, the present invention provides a commercial vehicle including the aforementioned vehicle lateral steering control device.

[0038] To achieve the above and other related objectives, the present invention also provides a vehicle lateral steering control device, comprising:

[0039] One or more processors; and

[0040] One or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the device to perform one or more of the aforementioned vehicle lateral steering control methods.

[0041] To achieve the above and other related objectives, the present invention also provides one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause a device to perform one or more of the aforementioned vehicle lateral steering control methods.

[0042] As described above, the vehicle lateral steering control method, device, commercial vehicle, machine-readable medium, and equipment provided by the present invention have the following beneficial effects:

[0043] A vehicle lateral steering control method of the present invention includes: acquiring vehicle driving environment information and performing target detection on the vehicle driving environment information to obtain one or more detected targets; predicting the vehicle's driving trajectory based on the one or more detected targets to obtain a predicted driving trajectory; predicting the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information; determining the target angular velocity of the steering wheel based on the vehicle's current speed, and determining the target turning angle of the steering wheel based on the target heading angle and the vehicle's current speed; controlling the vehicle's steering wheel according to the target turning angle and the target angular velocity, thereby completing the vehicle's lateral steering control. This invention uses a perception system to perceive the environment, then makes decisions based on the perceived data, and sends data commands to the control system and execution system in real time to achieve steering angle and angular velocity control, and provides real-time feedback correction, thus realizing automatic vehicle steering control.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the 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.

[0046] Figure 1 This is a schematic diagram of the functional logic architecture of a steer-by-wire system as shown in an exemplary embodiment of the present invention;

[0047] Figure 2 A flowchart illustrating a vehicle lateral steering control method as an exemplary embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of a lateral control model shown in an exemplary embodiment of the present invention;

[0049] Figure 4 A flowchart illustrating the determination of a target rotation angle in a direction, as shown in an exemplary embodiment of the present invention;

[0050] Figure 5 A block diagram illustrating a vehicle lateral steering control device as shown in an exemplary embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of the structure of a computer system for a vehicle lateral steering control device, as shown in an exemplary embodiment of the present invention. Detailed Implementation

[0052] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0054] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0055] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the functional logic architecture of a steer-by-wire system according to an exemplary embodiment of the present invention. In this architecture, the steer-by-wire system includes: a perception layer, a decision / control layer, and an execution layer; the perception layer includes various high-precision sensors used to collect various information; the decision / control layer is a data processing controller with an algorithm, which makes decisions based on the various information collected by the sensors to obtain different control strategies for different vehicle actions; the execution layer executes different actions under different control strategies, that is, different actuator components move to achieve vehicle control.

[0056] In this steer-by-wire system, the sensors include: a vision sensor, a wheel angle sensor, a yaw rate sensor, a steering wheel angle sensor, a torque sensor, and other sensors. The data processing controller includes: an image and video data processing MCU, an auxiliary driving controller, an autonomous driving controller, and a steering motor controller. The steer-by-wire actuators include the steering column and steering wheel, a steering or road feel feedback motor, a mechanical steering gear, and a steering trapezoidal mechanism.

[0057] for Figure 1The steer-by-wire system shown, when the vehicle is turning laterally, senses the environment ahead based on manual or sensor input, detecting and identifying lane lines, traffic lights, vehicles, pedestrians, and obstacles. The fused environmental feature data is sent to the corresponding driver assistance controller or autonomous driving controller to determine if there is sufficient safe passage space. Simultaneously, based on current vehicle speed and other status information, the target heading angle is calculated. After confirming no fault alarms in the electrical and mechanical actuators, the target steering wheel angle is sent to the steering motor controller, which then drives the steer-by-wire actuator to complete the lateral turn. Throughout the process, wheel angle sensors continuously feed back the actual wheel angle values ​​to the driver assistance controller or autonomous driving controller. The controller then uses a PI control algorithm designed in the control model to determine whether the actual steering system response meets the target angle requirement, completing closed-loop control.

[0058] When the vehicle is turning laterally, with the torque sensor at 0 torque input, the steering wheel angle sensor sends the steering wheel angle to the steering motor controller, calculates the deflection angle relative to the steering center position, and drives the steering motor to perform positive and negative angle compensation. This ensures that the steering wheel and front wheels are always in the center position as initially calibrated, guaranteeing the vehicle's straight-line driving function.

[0059] The embodiments of the present invention provide a vehicle lateral steering control method, a vehicle lateral steering control device, a commercial vehicle including a vehicle lateral steering control device, a vehicle lateral steering control equipment, and a computer-readable storage medium, which will be described in detail below.

[0060] Please see Figure 2 , Figure 2 This is a flowchart illustrating a vehicle lateral steering control method according to an exemplary embodiment of the present invention. The vehicle lateral steering control method includes at least steps S210 to S270, which are described in detail below:

[0061] Step S210: Obtain vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detection targets;

[0062] It should be noted that the vehicle driving environment refers to the road environment in which the vehicle travels, and the vehicle driving environment information refers to information about the road environment in which the vehicle travels. This driving environment information can be collected by forward-looking vision sensors installed on the vehicle; specifically, video sensors can be cameras, etc. During vehicle operation, the camera acquires images of the road ahead of the vehicle, and then sends these images to the image and vision data processing controller (MCU) of the decision layer / control layer for data processing. Specifically, vision processing includes: performing target detection on the image of the road ahead of the vehicle to obtain one or more detected targets. The detected targets can include vehicles, pedestrians, obstacles, lane lines, traffic lights, etc., on the road. A detected target can be one or more of these four elements; there is no limit to the number of detected targets.

[0063] Step S220: Based on the one or more detected targets, predict the driving trajectory of the vehicle to obtain the predicted driving trajectory;

[0064] After acquiring the detection targets on the road, the system determines whether there is enough safe passage space based on the position, speed, attitude and other state information of multiple detection targets, as well as the position, speed and attitude and other state information of the vehicle itself. Based on this, the system can predict the driving trajectory of a vehicle in the future.

[0065] It should be noted that those skilled in the art can predict the driving trajectory of a vehicle on the road using existing technologies, and will not be described in detail here.

[0066] Step S230: Predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information;

[0067] After obtaining the predicted driving trajectory of the vehicle, we know the vehicle's driving path in the next period of time. This can be understood as the vehicle needing to perform steering control in order to avoid detection targets on the road, which requires lateral steering control of the vehicle.

[0068] Specifically, while driving on the predicted trajectory, the vehicle's target heading angle is obtained based on the vehicle's speed, road turning radius, and other vehicle status information, thereby determining which direction the vehicle needs to turn next and by what angle.

[0069] Step S240: Determine the target steering wheel angular velocity based on the vehicle's current speed, and determine the target steering wheel angle based on the target heading angle and the vehicle's current speed.

[0070] Please see Figure 3 , Figure 3 This is a schematic diagram of a lateral control model illustrating an exemplary embodiment of the present invention. For example... Figure 3 As shown, the model includes: T_MaxSteerAngRate module, T_MaxStererAgn module, Saturation Dynamic module, Rate Limiter Dynamic module, V_LCProcess module, F_AngConversion module, and P_SteerConP module. The difference between the current heading angle and the target heading angle, V_AngError[rad], is used as the feedback control quantity for lateral control. Since V_AngError[rad]∈[-2π,2π], but the actual feedback control quantity V_ConAngErr[rad]∈[-π,π], it needs to be converted by the F_AngConversion module. The converted control quantity is then controlled by the proportional control module P_SteerConP to find a balance between lateral control efficiency and control stability in the actual vehicle's lateral control. To ensure the safety of the intelligent driving system's lateral control function, the Saturation Dynamic module and the Rate LimiterDynamic module are added to limit the steering wheel angle and steering wheel angular velocity. Furthermore, a refined lateral control limit, V_LCProcess, is implemented for the SaturationDynamic and Rate Limiter Dynamic modules, allowing the system to adjust the output range of the steering wheel angle and steering wheel angular velocity in real time based on the current vehicle speed. Finally, to ensure vehicle stability during lane change logic, the V_LCProcess module is added to determine whether the vehicle is in the process of changing lanes. By controlling the details of each module in the overall model, a smooth and comfortable lateral control output can be provided to the actuator V_DesSteerAng.

[0071] Please see Figure 4 , Figure 4 This is a flowchart illustrating the determination of a target turning angle in a direction, as shown in an exemplary embodiment of the present invention. Figure 4 In this process, determining the target steering wheel angle based on the target heading angle and the vehicle's current speed includes steps S410 to S430:

[0072] Step S410: Calculate the first steering angle based on the vehicle's current heading angle and the target heading angle;

[0073] The system acquires the vehicle's target heading angle V_DesAngle[rad] and current heading angle V_VehAng[rad]. Heading angle adjustment control is performed in the PI controller F_AngConversion module. This involves comparing the target heading angle with the current heading angle and adjusting the current heading angle based on the comparison result. If the current heading angle is less than the target heading angle, it is increased; if the current heading angle is greater than the target heading angle, it is decreased. This adjustment process completes real-time heading angle adjustment. Furthermore, the P_SteerConP module converts the heading angle into the required steering wheel angle V_DesSteerAng[rad](t) during real-time steering, i.e., the first steering angle.

[0074]

[0075] V_DesAngle[rad]: The target heading angle required by the vehicle, with due north as the origin and clockwise as positive, in radians;

[0076] V_VehAng[rad]: The vehicle's current heading angle, with due north as the origin and clockwise as positive, in radians;

[0077] P_SteerConP: is the conversion function between the steering wheel angle and the vehicle heading angle, which is the transmission ratio determined by the mechanical components of the steering system.

[0078] By debugging and calibrating the proportional coefficient P and integral coefficient I in the F_AngConversion module, the speed of vehicle heading angle adjustment and control can be achieved.

[0079] In one embodiment, after calculating the first steering angle based on the vehicle's current heading angle and the target heading angle, the method further includes:

[0080] The first steering angle is compared with the angle range of the steering wheel. If the first steering angle is within the angle range, the first steering angle is used as the target steering angle. If the first steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the first steering angle.

[0081] Step S420: Map the vehicle's current speed to a second steering angle;

[0082] Specifically, the current vehicle speed is collected by a vehicle speed sensor, and then mapped to the corresponding steering wheel angle, i.e., the second steering angle, through a mapping relationship.

[0083] The transfer function for the current vehicle speed V_VehSpdm / s and the corresponding steering wheel angle V_DesSteerAng[rad], i.e., the mapping relationship, is as follows:

[0084] V_VehSpd=min(min((V_DesSteerAng[rad](t)-V_DesSteerAng[rad](t-1)),F ΔAngelalim ),((V_DesSteerAng[rad](t)-V_DesSteerAng[rad](t-1))*Δt),F Angelalim )

[0085] V_DesSteerAng[rad](t): The steering wheel angle of the vehicle at the current moment;

[0086] V_DesSteerAng[rad](t-1): The steering wheel angle of the vehicle at the previous moment;

[0087] V_VehSpd: The vehicle's current speed, in m / s;

[0088] F Angelalim The maximum steering angle that prevents the vehicle from skidding or overturning under centrifugal force at the current speed is represented by T_MaxSteerAng in the model.

[0089] F ΔAngelalim The maximum steering angle at which the vehicle can turn the steering wheel without skidding or overturning at the current speed is represented by T_MaxSteerAngRate in the model.

[0090] In one embodiment, the calculated angular velocity value is assigned to a set angular velocity limit (the angular velocity limit is calculated based on the vehicle's center of gravity, road radius, road adhesion coefficient, and vehicle speed). Lim =f2(H,R,u,V) Vehspd Perform a difference comparison to determine whether the steering wheel angular velocity is within a safe range.

[0091] If the current steering angle is within the steering angle range, then the steering wheel steering angle is within the safe range, and the current steering angle is taken as the target steering angle. If the current steering angle is greater than the maximum steering angle within the steering angle range, then the steering wheel steering angle is within the unsafe range, and the maximum steering angle is taken as the target steering angle. If the current steering angle is less than the minimum steering angle within the steering angle range, then the steering wheel steering angle is within the unsafe range, and the minimum steering angle is taken as the target steering angle.

[0092] In one embodiment, after mapping the vehicle's current speed to a second steering angle, the method further includes:

[0093] The second steering angle is compared with the angle range of the steering wheel steering angle. If the second steering angle is within the angle range, the second steering angle is used as the target steering angle. If the second steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the second target steering angle.

[0094] The maximum limit angle is the maximum value of the steering angle at which the vehicle will not skid or roll over, and the minimum limit angle is the minimum value of the steering angle at which the vehicle will not skid or roll over.

[0095] Step S430: Compare the first steering angle with the second steering angle, and determine the target steering angle of the steering wheel based on the comparison result.

[0096] The target turning angle of the steering wheel is the minimum value between the first target turning angle and the second target turning angle.

[0097] Step S250: Control the vehicle's steering wheel according to the target turning angle and target turning speed, thereby completing the vehicle's lateral steering control.

[0098] In one embodiment, determining the target steering wheel angular velocity based on the vehicle's current speed includes:

[0099] Map the current vehicle speed to the current steering wheel angular velocity;

[0100] The current angular velocity is compared with the angular velocity range. If the current angular velocity is within the angular velocity range, the current angular velocity is taken as the target angular velocity. If the current angular velocity is greater than the maximum angular velocity in the angular velocity range, the maximum angular velocity is taken as the target angular velocity. If the current angular velocity is less than the minimum angular velocity in the angular velocity range, the minimum angular velocity is taken as the target angular velocity.

[0101] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0102] Please see Figure 5 , Figure 5 This is a block diagram illustrating a vehicle lateral steering control device according to an exemplary embodiment of the present invention. Figure 5 As shown, a vehicle lateral steering control device includes:

[0103] The target detection module 510 is used to acquire vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detected targets.

[0104] The first prediction module 520 is used to predict the driving trajectory of the vehicle based on the one or more detection targets, and obtain the predicted driving trajectory.

[0105] The second prediction module 530 is used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information.

[0106] The parameter determination module 540 is used to determine the target angular velocity of the steering wheel based on the current vehicle speed, and to determine the target angular angle of the steering wheel based on the target heading angle and the current vehicle speed.

[0107] The steering control module 550 is used to control the steering wheel of the vehicle according to the target turning angle and the target turning speed, thereby completing the lateral steering control of the vehicle.

[0108] It should be noted that the vehicle lateral steering control device and the vehicle lateral steering control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the functions provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0109] The present invention also provides a vehicle lateral steering control device, comprising: an environmental perception sensing module, a data processing module, an intelligent driving controller, and a steering motor controller;

[0110] The environmental perception sensing module is used to collect information about the vehicle's driving environment.

[0111] The data processing module is used to perform target detection on the vehicle driving environment information to obtain one or more detection targets;

[0112] The intelligent driving controller is used to predict the driving trajectory of the vehicle based on the one or more detected targets to obtain a predicted driving trajectory; the intelligent driving controller is also used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information, and to determine the target turning speed of the steering wheel based on the vehicle's current speed, and to determine the target turning angle of the steering wheel based on the target heading angle and the vehicle's current speed.

[0113] The steering motor controller is used to receive the target steering angle and the target steering velocity, and control the steering wheel of the vehicle with the target steering angle and the target steering velocity to complete the lateral steering control of the vehicle.

[0114] It should be noted that the vehicle lateral steering control device and the vehicle lateral steering control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the functions provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0115] Embodiments of the present invention also provide a commercial vehicle, including as follows: Figure 5 The vehicle lateral steering control device shown is shown.

[0116] Embodiments of the present invention also provide a vehicle lateral steering control device, comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle lateral steering control method provided in the above embodiments.

[0117] Figure 6 A schematic diagram of a computer system suitable for implementing a vehicle lateral steering control device according to embodiments of the present invention is shown. It should be noted that... Figure 6 The computer system for the vehicle lateral steering control device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0118] like Figure 6 As shown, the computer system includes a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) or loaded from storage into Random Access Memory (RAM), such as executing the methods described in the above embodiments. The RAM also stores various programs and data required for system operation. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0119] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard drives; and communication sections including network interface cards such as LAN (Local Area Network) cards and modems. The communication sections perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required.

[0120] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including instructions for performing the processes. Figure 2 The computer program for the vehicle lateral steering control method is shown. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU), it performs various functions defined in the system of the present invention.

[0121] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0123] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0124] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the vehicle lateral steering control method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0125] Another aspect of the present invention provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle lateral steering control method provided in the various embodiments described above.

[0126] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for controlling lateral steering of a vehicle, characterized in that, include: Acquire vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detected targets; Based on the one or more detection targets, the driving trajectory of the vehicle is predicted to obtain the predicted driving trajectory; The target heading angle of the vehicle is predicted based on the predicted driving trajectory and the vehicle's state information; The target steering wheel angular velocity is determined based on the vehicle's current speed, and the target steering wheel angular angle is determined based on the target heading angle and the vehicle's current speed. The vehicle's steering wheel is controlled according to the target turning angle and the target turning velocity, thereby completing the vehicle's lateral steering control; Determining the target steering wheel angle based on the target heading angle and the vehicle's current speed includes: The first steering angle is calculated based on the vehicle's current heading angle and the target heading angle; Map the vehicle's current speed to a second steering angle; The first steering angle is compared with the second steering angle, and the target steering angle of the steering wheel is determined based on the comparison result.

2. The vehicle lateral steering control method according to claim 1, characterized in that, The method further includes: The actual steering angle value of the wheel is obtained by using a wheel steering angle sensor, and the actual steering angle value is compared with the target steering angle value to obtain the comparison result; The actual steering angle of the wheel is controlled based on the comparison result. Controlling the actual steering angle of the wheel includes: increasing the actual steering angle of the wheel, decreasing the actual steering angle of the wheel, and maintaining the actual steering angle of the wheel. The control of the actual steering angle of the wheel is achieved by changing the steering angle of the steering wheel.

3. The vehicle lateral steering control method according to claim 1, characterized in that, After calculating the first steering angle based on the vehicle's current heading angle and the target heading angle, the method further includes: The first steering angle is compared with the angle range of the steering wheel steering angle. If the first steering angle is within the angle range, the first steering angle is used as the first target steering angle. If the first steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the first target steering angle. After mapping the vehicle's current speed to a second steering angle, the method further includes: The second steering angle is compared with the angle range of the steering wheel steering angle. If the second steering angle is within the angle range, the second steering angle is used as the second target steering angle. If the second steering angle is greater than the maximum limit angle of the angle range, the maximum limit angle is used as the second target steering angle. Wherein, the maximum limit angle is the maximum value of the steering angle at which the vehicle will not skid or roll over, the minimum limit angle is the minimum value of the steering angle at which the vehicle will not skid or roll over, and the target steering angle of the steering wheel is the minimum value between the first target steering angle and the second target steering angle.

4. The vehicle lateral steering control method according to claim 1, characterized in that, Determining the target steering wheel angular velocity based on the vehicle's current speed includes: Map the current vehicle speed to the current steering wheel angular velocity; The current angular velocity is compared with the angular velocity range. If the current angular velocity is within the angular velocity range, the current angular velocity is taken as the target angular velocity. If the current angular velocity is greater than the maximum angular velocity in the angular velocity range, the maximum angular velocity is taken as the target angular velocity. If the current angular velocity is less than the minimum angular velocity in the angular velocity range, the minimum angular velocity is taken as the target angular velocity.

5. A vehicle lateral steering control device based on the vehicle lateral steering control method according to any one of claims 1-4, characterized in that, include: The target detection module is used to acquire vehicle driving environment information and perform target detection on the vehicle driving environment information to obtain one or more detected targets; The first prediction module is used to predict the driving trajectory of the vehicle based on the one or more detection targets, and obtain the predicted driving trajectory. The second prediction module is used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information. The parameter determination module is used to determine the target angular velocity of the steering wheel based on the current vehicle speed, and to determine the target angular angle of the steering wheel based on the target heading angle and the current vehicle speed. The steering control module is used to control the vehicle's steering wheel according to the target turning angle and the target turning velocity, thereby completing the vehicle's lateral steering control.

6. A vehicle lateral steering control device based on the vehicle lateral steering control method according to any one of claims 1-4, characterized in that, include: Environmental perception sensor module, data processing module, intelligent driving controller, steering motor controller; The environmental perception sensing module is used to collect information about the vehicle's driving environment. The data processing module is used to perform target detection on the vehicle driving environment information to obtain one or more detection targets; The intelligent driving controller is used to predict the driving trajectory of the vehicle based on the one or more detected targets to obtain a predicted driving trajectory; the intelligent driving controller is also used to predict the target heading angle of the vehicle based on the predicted driving trajectory and the vehicle's state information, and to determine the target turning speed of the steering wheel based on the vehicle's current speed, and to determine the target turning angle of the steering wheel based on the target heading angle and the vehicle's current speed. The steering motor controller is used to receive the target steering angle and the target steering velocity, and control the steering wheel of the vehicle with the target steering angle and the target steering velocity to complete the lateral steering control of the vehicle.

7. A commercial vehicle, characterized in that, Includes the vehicle lateral steering control device as described in claim 5 or 6.

8. A vehicle lateral steering control device, characterized in that, include: One or more processors; and One or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the device to perform the vehicle lateral steering control method as described in any one of claims 1-4.

9. A machine-readable medium, characterized in that, It stores instructions that, when executed by one or more processors, cause the device to perform the vehicle lateral steering control method as described in any one of claims 1-4.

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