Vehicle control method and device, computer device and storage medium

Abstract

The application relates to a vehicle control method and device, computer equipment and a storage medium. The method comprises the following steps: during vehicle driving, according to a planned track of the vehicle and positioning information of the vehicle at a current time, determining a desired steering angle of a steering wheel of the vehicle at the current time; if a compensation angle updating condition is met at the current time, updating a current zero compensation angle of the steering wheel according to the desired steering angles of the vehicle at all times recorded in a current sampling period; and controlling the vehicle according to the updated current zero compensation angle and the desired steering angle of the steering wheel of the vehicle at the current time. The method considers the deviation of the steering wheel of the vehicle during automatic driving, and the current zero compensation angle is updated and adjusted in time when a large error of the current zero compensation angle is generated, so that the accuracy of vehicle control is further improved, and the safety of automatic driving of the vehicle is further improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle control method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of autonomous driving technology, a method has emerged that uses a linear quadratic regulator to control the steering wheel of an autonomous vehicle, thereby achieving autonomous driving.

[0003] While this method enables autonomous driving, the roads vehicles travel on in real-world applications are not simply unobstructed straight lines. The steering wheel frequently needs to request angle updates. Therefore, adjusting the parameters of the linear quadratic regulator solely based on the vehicle-road position relationship can only address the scenario where the steering wheel's zero-position deviation is 0 degrees when the vehicle is traveling in a straight line. However, in reality, there is a deviation between the steering wheel and the zero position (0 degrees) when the vehicle is traveling in a straight line; that is, the steering wheel's zero-position deviation is not 0 degrees. Therefore, the method of controlling the steering wheel of an autonomous vehicle based on a linear quadratic regulator results in inaccurate autonomous driving control, further leading to lower safety levels. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, and storage medium that can improve the accuracy and safety of autonomous driving in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a vehicle control method. The method includes:

[0006] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0007] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0008] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0009] In one embodiment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering wheel angle of the vehicle at each moment recorded during the current sampling period, including:

[0010] Obtain the expected steering wheel angle of the vehicle at each time point recorded within the current sampling period;

[0011] Based on the desired turning angles, determine the zero-position deviation angle of the steering wheel at the current moment;

[0012] The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle.

[0013] In one embodiment, determining the zero-position deviation angle of the steering wheel at the current moment based on each desired steering angle includes:

[0014] The average of all desired turning angles is taken as the zero-position deviation angle of the steering wheel at the current moment.

[0015] In one embodiment, the vehicle is controlled based on the updated current zero-position compensation angle and the desired steering angle of the vehicle at the current moment, including:

[0016] The sum of the updated current zero-position compensation angle and the vehicle's expected steering wheel angle at the current moment is used as the target steering wheel angle at the current moment.

[0017] The vehicle is controlled by using the target turning angle.

[0018] In one embodiment, based on the vehicle's planned trajectory and the vehicle's current location information, the desired steering angle of the vehicle at the current moment is determined, including:

[0019] Based on the vehicle's planned trajectory and its current location information, determine the vehicle's lateral deviation and heading deviation at the current moment.

[0020] Based on the lateral deviation and heading deviation, determine the expected steering angle of the vehicle at the current moment.

[0021] In one embodiment, the method further includes:

[0022] If the vehicle's driving information at the current moment meets the set driving threshold, the expected steering angle of the vehicle at the current moment is recorded.

[0023] In one embodiment, the method further includes:

[0024] If the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than the set value, then the current time is determined to meet the compensation angle update condition.

[0025] Secondly, this application also provides a vehicle control device. The device includes:

[0026] The steering angle determination module is used to determine the desired steering angle of the vehicle at the current moment based on the vehicle's planned trajectory and the vehicle's current positioning information during vehicle operation.

[0027] The compensation update module is used to update the current zero-position compensation angle of the steering wheel based on the expected steering angle of the vehicle at each time point recorded in the current sampling period, provided that the compensation angle update conditions are met at the current time. The current sampling period is the sampling period corresponding to the current time.

[0028] The vehicle control module is used to control the vehicle based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0029] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0030] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0031] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0032] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0033] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0034] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0035] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0036] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0037] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0038] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0039] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0040] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0041] The aforementioned vehicle control method, device, computer equipment, and storage medium calculate the desired steering angle in real time during vehicle operation. When the compensation angle update condition is met at the current moment, the current zero-position compensation angle is updated based on all desired steering angles recorded within the current sampling period. The vehicle is then controlled based on the updated current zero-position compensation angle and the desired steering angle at the current moment. This method considers the steering wheel deviation during autonomous driving and promptly updates and adjusts the current zero-position compensation angle when the compensation angle update condition is met (i.e., the current zero-position compensation angle has a significant error). This improves the accuracy of vehicle control, solves the problem of inaccurate autonomous driving control when the steering wheel zero-position deviation is not 0 degrees, and further enhances the safety of autonomous driving. Attached Figure Description

[0042] Figure 1 This is an application environment diagram of a vehicle control method provided in this embodiment;

[0043] Figure 2 This is a flowchart illustrating the first vehicle control method provided in this embodiment;

[0044] Figure 3 This embodiment provides a schematic diagram of a process for updating the current zero-position compensation angle;

[0045] Figure 4 This is a flowchart illustrating the second vehicle control method provided in this embodiment;

[0046] Figure 5 This is a structural block diagram of the first vehicle control device provided in this embodiment;

[0047] Figure 6This is a structural block diagram of the first vehicle control device provided in this embodiment;

[0048] Figure 7 This is a structural block diagram of the first vehicle control device provided in this embodiment;

[0049] Figure 8 This is a structural block diagram of the first vehicle control device provided in this embodiment;

[0050] Figure 9 This is an internal structural diagram of a computer device provided in this embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] The vehicle control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, in one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 1 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0053] In one embodiment, such as Figure 2 As shown, a vehicle control method is provided, which is applied to... Figure 1 Taking a terminal such as an in-vehicle terminal as an example, the explanation includes the following steps:

[0054] S201, during vehicle operation, based on the vehicle's planned trajectory and its current location information, determines the desired steering wheel angle at the current moment.

[0055] The planned trajectory can be a pre-planned driving path for the vehicle. The positioning information can include the vehicle's actual coordinates and direction at the current moment. The desired turning angle can be the ideal angle the steering wheel should turn at the current moment.

[0056] Optionally, during vehicle operation, there are multiple ways to determine the desired steering wheel angle at the current moment based on the vehicle's planned trajectory and its current location information, and this application does not limit such methods.

[0057] One possible implementation is to obtain the vehicle's positioning information in real time during the vehicle's operation, and extract the vehicle's planned coordinate information and planned direction information at the current moment from the vehicle's planned trajectory; then, input the vehicle's planned coordinate information, planned direction information, and positioning information at the current moment into the vehicle's Arman motion model, and have the vehicle's Arman motion model calculate the expected steering angle of the vehicle at the current moment.

[0058] Another possible implementation is to determine the vehicle's lateral deviation and heading deviation at the current moment based on the vehicle's planned trajectory and its current positioning information; and to determine the vehicle's desired steering wheel angle at the current moment based on the lateral deviation and heading deviation.

[0059] Specifically, the vehicle's planned coordinates and planned direction information at the current moment are extracted from the vehicle's planned trajectory. A first distance between the planned coordinates and the actual coordinates is determined, and this first distance is used as the vehicle's lateral deviation at the current moment. A second distance between the planned and actual directions is determined, and this second distance is used as the vehicle's heading deviation at the current moment. Based on the determined lateral and heading deviations, the expected steering angle of the vehicle at the current moment is calculated using a dynamic model (e.g., calculating the sum of the lateral and heading deviations).

[0060] S202, if the compensation angle update condition is met at the current moment, update the current zero-position compensation angle of the steering wheel according to the expected steering angle of the vehicle at each moment recorded in the current sampling period.

[0061] The current sampling period is the sampling period corresponding to the current moment.

[0062] The compensation angle update condition can be used to determine whether the steering wheel deviation angle during autonomous driving needs to be updated. Optionally, the compensation angle update condition can be configured according to actual conditions. For example, the compensation angle update condition can be the current time being the end time of the current sampling period, or it can be the receipt of a compensation angle update request, etc.

[0063] The current zero-position compensation angle can be used to compensate for the deviation of the steering wheel during autonomous driving. Optionally, the current zero-position compensation angle can be the zero-position compensation angle stored after the last time the vehicle was driven; or it can be the zero-position compensation angle updated in the previous sampling period during the current driving process.

[0064] Optionally, if the compensation angle update condition is met at the current moment, the number of expected steering wheel angles of the vehicle recorded at each moment in the current sampling period is determined. When the number of expected steering angles is one, the current zero-position compensation angle of the steering wheel is updated based on the sum of the expected steering angle and the current zero-position compensation angle. When the number of expected steering angles is greater than one, the average value of the expected steering wheel angles of the vehicle recorded at each moment in the current sampling period is calculated, and the current zero-position compensation angle of the steering wheel is updated based on the sum of the average value and the current zero-position compensation angle.

[0065] S203 controls the vehicle based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0066] Optionally, there are various ways to control the vehicle based on the updated current zero-position compensation angle and the vehicle's desired steering wheel angle at the current moment, and this application does not limit this one.

[0067] One possible approach is to first adjust the steering wheel angle based on the updated current zero-position compensation angle, and then adjust the steering wheel angle again based on the vehicle's desired steering angle at the current moment, thereby completing vehicle control.

[0068] Another option is to use the sum of the updated current zero-position compensation angle and the vehicle's desired steering wheel angle at the current moment as the target steering wheel angle at the current moment; and use the target steering angle to control the vehicle.

[0069] Specifically, the updated current zero-position compensation angle is calculated and summed with the vehicle's desired steering wheel angle at the current moment. This sum is then used as the target steering wheel angle at the current moment, and the vehicle's steering wheel angle is adjusted using this target angle to achieve vehicle control.

[0070] The aforementioned vehicle control method calculates the desired steering angle in real time during vehicle operation. If the compensation angle update condition is met at the current moment, it updates the current zero-position compensation angle using all desired steering angles recorded within the current sampling period. Finally, it controls the vehicle based on the updated current zero-position compensation angle and the desired steering angle at the current moment. This method considers the steering wheel deviation that may occur during autonomous driving and introduces a compensation angle update condition. When this condition is met, the current zero-position compensation angle is updated and adjusted promptly, further improving the accuracy of vehicle control and enhancing the safety of autonomous driving.

[0071] For example, after determining the desired steering angle of the vehicle at the current moment, it is also possible to determine whether the vehicle's driving information at the current moment meets the set driving threshold; furthermore, if the vehicle's driving information at the current moment meets the set driving threshold, the desired steering angle of the vehicle at the current moment is recorded.

[0072] The driving information may include, but is not limited to, the vehicle's acceleration and speed at the current moment, as well as the lane curvature at the vehicle's current location.

[0073] Specifically, if the vehicle's acceleration is less than a preset acceleration threshold (e.g., 0.5 m / ss), the vehicle's speed is greater than a preset speed threshold (e.g., 10 m / s), and the lane curvature is less than a preset curvature threshold (e.g., 0.001), the expected steering wheel angle at the current moment is recorded in the local device. Furthermore, if the vehicle's driving information at the current moment does not meet the set driving threshold, the expected steering wheel angle at the current moment is not recorded.

[0074] The advantage of this setup is that by judging whether the vehicle's current driving information meets the set driving threshold, it is possible to determine whether the vehicle is in a constant-speed straight-line driving state at the current moment, and record it, so as to quickly and accurately obtain the expected turning angle of the vehicle in a constant-speed straight-line driving state later.

[0075] It should be noted that, since the steering wheel is not always at zero angle during the automatic driving process on a straight lane, a certain deviation will occur between the steering wheel and the zero angle due to the long-term driving of the vehicle, changes in the vehicle structure, or the influence of the complex surrounding environment. Furthermore, the current zero compensation angle may change as the vehicle moves. In order to ensure the accuracy of the determined current zero compensation angle, this embodiment can also determine whether the current zero compensation angle needs to be updated by using the compensation angle update condition. Therefore, the way to determine whether the compensation angle update condition is met at the current moment can be: if the current moment is the end of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than a set value, then the current moment is determined to meet the compensation angle update condition.

[0076] Specifically, when the current sampling period ends, if the number of expected turning angles recorded in the current sampling period is greater than the set value (e.g., 800), then the current time is determined to meet the compensation angle update condition.

[0077] It should be noted that if the current time is the end time of the current sampling period, and the number of expected turns recorded in the current sampling period is less than the set value, then the expected turns of all times stored in the local device are cleared, and the judgment process of the next sampling period is restarted. That is, the process of S201-S203 is restarted.

[0078] The advantage of this setting is that when judging the compensation angle update conditions, it takes into account whether the current time has reached the end time of the current sampling period and whether the number of recorded expected turning angles is greater than the set value. It can obtain as many expected turning angles as possible, which provides a guarantee for determining the current zero position compensation angle through the expected turning angle, and reduces the error of the calculated current zero position compensation angle.

[0079] Figure 3 This is a flowchart illustrating the process of updating the current zero-position compensation angle in one embodiment. Since the current zero-position compensation angle may deviate during autonomous driving, this embodiment introduces an update to the current zero-position compensation angle to ensure its accuracy and enable precise vehicle control. Specifically, this embodiment provides an optional method for updating the current zero-position compensation angle, including the following steps:

[0080] S301, obtain the expected steering wheel angle of the vehicle at each time point recorded in the current sampling period.

[0081] Optionally, if the compensation angle update condition is met at the current moment, the expected steering angle of the vehicle at each moment recorded in the current sampling period can be obtained from the local device.

[0082] S302, determine the zero-position deviation angle of the steering wheel at the current moment based on each desired turning angle.

[0083] The zero-position deviation angle can be the difference between the steering wheel angle and the initial angle (0°) during straight-line driving. It's important to note that the desired steering wheel angle is usually based on controlling the vehicle's left and right turns when the steering wheel angle is 0°. However, in reality, the steering wheel angle is not always at 0° during straight-line driving. Inaccurate four-wheel alignment, inaccurate steering wheel calibration, or structural changes due to long-term driving can cause errors in the steering wheel angle. This error is the steering wheel zero-position deviation.

[0084] Optionally, the average of all desired turning angles can be used as the zero-position deviation angle of the steering wheel at the current moment.

[0085] Specifically, the mean of the expected steering wheel angle of the vehicle at each moment recorded in the current sampling period is calculated, and this mean is used as the current zero-position deviation angle.

[0086] It should be noted that since the zero-position deviation angle generated during vehicle operation is usually impossible to eliminate, but when the zero-position deviation angle is small, it will not have a significant impact on the current zero-position compensation angle, so it can be ignored. Therefore, it is possible to further determine whether the zero-position deviation angle meets the deviation angle threshold (e.g., 3°). Optionally, when the zero-position deviation angle meets the preset deviation angle threshold, the current zero-position compensation angle is updated; when the zero-position deviation angle does not meet the preset deviation angle threshold, the current zero-position compensation angle is not updated, reducing the consumption of computing resources.

[0087] S303 uses the sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel as the updated current zero-position compensation angle.

[0088] Optionally, the sum between the zero-position deviation angle and the current zero-position compensation angle of the steering wheel corresponding to the current sampling period is calculated, and this sum is used as the updated current zero-position compensation angle.

[0089] It should be noted that after each new current zero-position compensation angle is determined, the new current zero-position compensation angle can be written into the flash memory. In subsequent sampling periods during vehicle operation (such as the next sampling period), or when the vehicle's autonomous driving function is activated again, the current zero-position compensation angle recorded in the flash memory can be used directly to ensure the accuracy of the vehicle's autonomous driving. Only when the vehicle has been used for a long time or the vehicle structure is deformed, and the steering wheel zero-position deviation angle is greater than the threshold again, will the steering wheel zero-position deviation compensation angle be rewritten.

[0090] The above-described method for updating the current zero-position compensation angle determines the current zero-position deviation angle based on all expected turning angles within the current sampling period. The sum of this zero-position deviation angle and the current zero-position compensation angle is then used as the updated current zero-position compensation angle. This method takes into account the deviation between the steering wheel and the zero position during straight-line driving and adjusts the current zero-position compensation angle based on this deviation angle. This improves the accuracy of determining the current zero-position compensation angle, ensuring more precise calculation of the target turning angle, guaranteeing the accuracy of autonomous driving, and further enhancing the safety of autonomous driving.

[0091] In one embodiment, this embodiment provides an optional method for vehicle control, using the application of this method to a server as an example for illustration. For example... Figure 4 As shown, the method includes the following steps:

[0092] S401, during vehicle operation, determines the vehicle's lateral deviation and heading deviation at the current moment based on the vehicle's planned trajectory and its current positioning information.

[0093] S402, based on lateral deviation and heading deviation, determines the desired steering angle of the vehicle at the current moment.

[0094] S403 records the desired steering wheel angle of the vehicle at the current moment, provided that the vehicle's driving information meets the set driving threshold.

[0095] It should be noted that if the vehicle's driving information at the current moment does not meet the set driving threshold, all expected turning angles recorded in the current sampling period will be deleted.

[0096] S404, if the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than the set value, then it is determined that the current time meets the compensation angle update condition.

[0097] S405, if the compensation angle update condition is met at the current moment, obtain the expected steering wheel angle of the vehicle at each moment recorded in the current sampling period.

[0098] S406 uses the average of all desired steering angles as the zero-position deviation angle of the steering wheel at the current moment.

[0099] Optionally, since the zero-position deviation angle is objectively present and cannot be eliminated, but when the zero-position deviation angle is small, it will not have a significant impact on the current zero-position compensation angle, so it can be ignored. Therefore, in order to reduce the consumption of computing resources, this embodiment can also determine whether the zero-position deviation angle is greater than a preset deviation angle threshold (such as 3°) after the zero-position deviation angle is determined. If not, it proves that the zero-position deviation angle is small and can be ignored; if so, it proves that the zero-position deviation angle is large and cannot be ignored, and the current zero-position compensation angle needs to be updated. Therefore, step S407 is continued.

[0100] S407 uses the sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel as the updated current zero-position compensation angle.

[0101] The current sampling period is the sampling period corresponding to the current moment.

[0102] S408 uses the sum of the updated current zero-position compensation angle and the vehicle's desired steering wheel angle at the current moment as the target steering wheel angle at the current moment.

[0103] S409 uses a target turning angle to control the vehicle.

[0104] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0105] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0106] In one embodiment, such as Figure 5 As shown, a vehicle control device 1 is provided, including: a steering angle determination module 10, a compensation update module 11, and a vehicle control module 12, wherein:

[0107] The turning angle determination module 10 is used to determine the desired turning angle of the steering wheel of the vehicle at the current moment based on the planned trajectory of the vehicle and the positioning information of the vehicle at the current moment during the vehicle's driving process.

[0108] The compensation update module 11 is used to update the current zero-position compensation angle of the steering wheel based on the expected steering angle of the vehicle at each time point recorded in the current sampling period, provided that the compensation angle update conditions are met at the current time. The current sampling period is the sampling period corresponding to the current time.

[0109] The vehicle control module 12 is used to control the vehicle based on the updated current zero-position compensation angle and the vehicle's desired steering wheel angle at the current moment.

[0110] In one embodiment, such as Figure 6 As shown, Figure 5 The compensation update module 11 includes:

[0111] The compensation condition judgment unit 110 is used to determine that the current time meets the compensation angle update condition if the current time is the end time of the current sampling period and the number of expected turning angles recorded in the current sampling period is greater than a set value.

[0112] The expected acquisition unit 111 is used to acquire the expected steering angle of the vehicle at each time point recorded in the current sampling period, provided that the compensation angle update condition is met at the current time.

[0113] The deviation determination unit 112 is used to determine the zero deviation angle of the steering wheel at the current moment based on each desired turning angle;

[0114] The compensation update unit 113 is used to take the sum of the zero position deviation angle and the current zero position compensation angle of the steering wheel as the updated current zero position compensation angle.

[0115] In one embodiment, Figure 6 The deviation determination unit 111 is specifically used to take the average of each desired turning angle as the zero deviation angle of the steering wheel at the current moment.

[0116] In one embodiment, such as Figure 7 As shown, Figure 5 The vehicle control module 12 includes:

[0117] The steering angle determination unit 120 is used to take the updated current zero-position compensation angle and the expected steering angle of the vehicle at the current moment as the target steering angle of the steering wheel at the current moment.

[0118] The vehicle control unit 121 is used to control the vehicle by adopting a target turning angle.

[0119] In one embodiment, such as Figure 8 As shown, Figure 5 The corner determination module 10 includes:

[0120] The deviation information determination unit 100 is used to determine the lateral deviation and heading deviation of the vehicle at the current moment based on the vehicle's planned trajectory and the vehicle's positioning information at the current moment.

[0121] The desired steering angle determination unit 101 is used to determine the desired steering angle of the vehicle at the current moment based on the lateral deviation and heading deviation.

[0122] In one embodiment, Figure 5 The vehicle control device 1 includes:

[0123] The steering angle recording module is used to record the desired steering angle of the vehicle at the current moment, provided that the vehicle's driving information at the current moment meets the set driving threshold.

[0124] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0125] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data such as the current zero-position compensation angle and the desired steering angle. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method. Those skilled in the art will understand that... Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0126] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0127] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0128] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0129] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0130] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0131] Obtain the expected steering wheel angle of the vehicle at each time point recorded within the current sampling period;

[0132] Based on the desired turning angles, determine the zero-position deviation angle of the steering wheel at the current moment;

[0133] The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle.

[0134] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0135] The average of all desired turning angles is taken as the zero-position deviation angle of the steering wheel at the current moment.

[0136] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0137] The sum of the updated current zero-position compensation angle and the vehicle's expected steering wheel angle at the current moment is used as the target steering wheel angle at the current moment.

[0138] The vehicle is controlled by using the target turning angle.

[0139] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0140] Based on the vehicle's planned trajectory and its current location information, determine the vehicle's lateral deviation and heading deviation at the current moment.

[0141] Based on the lateral deviation and heading deviation, determine the expected steering angle of the vehicle at the current moment.

[0142] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0143] If the vehicle's driving information at the current moment meets the set driving threshold, the expected steering angle of the vehicle at the current moment is recorded.

[0144] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0145] If the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than the set value, then the current time is determined to meet the compensation angle update condition.

[0146] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0147] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0148] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0149] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0150] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0151] Obtain the expected steering wheel angle of the vehicle at each time point recorded within the current sampling period;

[0152] Based on the desired turning angles, determine the zero-position deviation angle of the steering wheel at the current moment;

[0153] The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle.

[0154] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0155] The average of all desired turning angles is taken as the zero-position deviation angle of the steering wheel at the current moment.

[0156] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0157] The sum of the updated current zero-position compensation angle and the vehicle's expected steering wheel angle at the current moment is used as the target steering wheel angle at the current moment.

[0158] The vehicle is controlled by using the target turning angle.

[0159] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0160] Based on the vehicle's planned trajectory and its current location information, determine the vehicle's lateral deviation and heading deviation at the current moment.

[0161] Based on the lateral deviation and heading deviation, determine the expected steering angle of the vehicle at the current moment.

[0162] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0163] If the vehicle's driving information at the current moment meets the set driving threshold, the expected steering angle of the vehicle at the current moment is recorded.

[0164] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0165] If the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than the set value, then the current time is determined to meet the compensation angle update condition.

[0166] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0167] During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined.

[0168] If the compensation angle update condition is met at the current moment, the current zero-position compensation angle of the steering wheel is updated based on the expected steering angle of the vehicle at each moment recorded in the current sampling period; where the current sampling period is the sampling period corresponding to the current moment.

[0169] The vehicle is controlled based on the updated current zero-position compensation angle and the vehicle's desired steering angle at the current moment.

[0170] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0171] Obtain the expected steering wheel angle of the vehicle at each time point recorded within the current sampling period;

[0172] Based on the desired turning angles, determine the zero-position deviation angle of the steering wheel at the current moment;

[0173] The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle.

[0174] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0175] The average of all desired turning angles is taken as the zero-position deviation angle of the steering wheel at the current moment.

[0176] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0177] The sum of the updated current zero-position compensation angle and the vehicle's expected steering wheel angle at the current moment is used as the target steering wheel angle at the current moment.

[0178] The vehicle is controlled by using the target turning angle.

[0179] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0180] Based on the vehicle's planned trajectory and its current location information, determine the vehicle's lateral deviation and heading deviation at the current moment.

[0181] Based on the lateral deviation and heading deviation, determine the expected steering angle of the vehicle at the current moment.

[0182] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0183] If the vehicle's driving information at the current moment meets the set driving threshold, the expected steering angle of the vehicle at the current moment is recorded.

[0184] In one embodiment, the computer program, when executed by a processor, further performs the following steps.

[0185] If the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than the set value, then the current time is determined to meet the compensation angle update condition.

[0186] It should be noted that all information involved in this application (including but not limited to information used for analysis, information stored, information displayed, such as vehicle driving information and location information) is information authorized by the user or fully authorized by all parties.

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: During vehicle operation, based on the vehicle's planned trajectory and its current location information, the desired steering angle of the vehicle at the current moment is determined. If the compensation angle update condition is met at the current time, the expected steering angle of the vehicle at each time point recorded in the current sampling period is obtained; wherein, the current sampling period is the sampling period corresponding to the current time; and the compensation angle update condition is that the current time is the end time of the current sampling period. Based on the desired turning angles, determine the zero-position deviation angle of the steering wheel at the current moment; The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle; The vehicle is controlled based on the updated current zero-position compensation angle and the desired steering angle of the steering wheel at the current moment. The step of controlling the vehicle based on the updated current zero-position compensation angle and the desired steering wheel angle of the vehicle at the current moment includes: adjusting the steering wheel angle based on the updated current zero-position compensation angle; and adjusting the steering wheel angle again based on the desired steering wheel angle of the vehicle at the current moment to complete the control of the vehicle.

2. The method according to claim 1, characterized in that, The current zero-position compensation angle is the angle used to compensate for deviations in the steering wheel during autonomous driving.

3. The method according to claim 2, characterized in that, The step of determining the zero-position deviation angle of the steering wheel at the current moment based on each desired turning angle includes: The average of all desired turning angles is taken as the zero-position deviation angle of the steering wheel at the current moment.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle based on the updated current zero-position compensation angle and the desired steering wheel angle at the current moment includes: The updated current zero-position compensation angle is summed with the desired steering angle of the vehicle at the current moment, and this sum is taken as the target steering angle of the steering wheel at the current moment. The vehicle is controlled using the target turning angle.

5. The method according to claim 1, characterized in that, The step of determining the desired steering angle of the vehicle at the current moment based on the vehicle's planned trajectory and the vehicle's current location information includes: Based on the vehicle's planned trajectory and its current location information, determine the vehicle's lateral deviation and heading deviation at the current moment. Based on the lateral deviation and heading deviation, the desired steering angle of the vehicle at the current moment is determined.

6. The method according to claim 1, characterized in that, The method further includes: If the vehicle's driving information at the current moment meets the set driving threshold, the expected steering angle of the vehicle at the current moment is recorded.

7. The method according to claim 1, characterized in that, The method further includes: If the current time is the end time of the current sampling period, and the number of expected turning angles recorded in the current sampling period is greater than a set value, then the current time is determined to meet the compensation angle update condition.

8. A vehicle control device, characterized in that, The device includes: The steering angle determination module is used to determine the desired steering angle of the vehicle at the current moment based on the planned trajectory of the vehicle and the vehicle's current positioning information during vehicle operation. The compensation update module is used to obtain the expected steering angle of the vehicle at each time point recorded in the current sampling period, provided that the compensation angle update condition is met at the current time. The current sampling period is the sampling period corresponding to the current time. The compensation angle update condition is that the current time is the end time of the current sampling period. Based on each expected steering angle, the zero-position deviation angle of the steering wheel at the current time is determined. The sum of the zero-position deviation angle and the current zero-position compensation angle of the steering wheel is used as the updated current zero-position compensation angle. The vehicle control module is used to control the vehicle based on the updated current zero-position compensation angle and the desired steering wheel angle of the vehicle at the current moment; wherein, controlling the vehicle based on the updated current zero-position compensation angle and the desired steering wheel angle of the vehicle at the current moment includes: adjusting the angle of the vehicle's steering wheel based on the updated current zero-position compensation angle; and adjusting the angle of the vehicle's steering wheel again based on the desired steering wheel angle of the vehicle at the current moment to complete the control of the vehicle.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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