A vehicle lateral path tracking method, device, equipment and storage medium

Abstract

This invention discloses a method, apparatus, device, and storage medium for vehicle lateral path tracking. The method includes: determining the transmission parameters of the current vehicle based on its overall vehicle parameters and speed; determining a first steering wheel angle based on a first lateral distance deviation, a pre-aiming point parameter, a target heading angle deviation of the current vehicle, its speed, and the transmission parameters; acquiring first and second controller parameters; determining a second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first and second controller parameters, the current vehicle's speed, and the transmission parameters; determining a target steering wheel angle based on the first and second steering wheel angles; and performing tracking control on the current vehicle based on the target steering wheel angle. This invention improves the accuracy and stability of vehicle lateral path tracking.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, apparatus, device and storage medium for tracking lateral paths of a vehicle. Background Technology

[0002] During the operation of intelligent vehicles, lateral path tracking technology is used to keep the vehicle within the lane. This typically involves categorizing the vehicle's speed into corresponding speed ranges and setting a calibrated torque coefficient for each requested torque range within that range. The torque coefficient and the requested torque value are then transmitted to the motor, which in turn actuates the steering mechanism to keep the vehicle within the lane. However, this method relies entirely on manually calibrated torque coefficients to maintain lane control, making it difficult to guarantee a smooth and stable lane position. This results in low stability in lateral path tracking and, in severe cases, can cause driver panic. Summary of the Invention

[0003] This invention provides a vehicle lateral path tracking method, apparatus, device, and storage medium, which can solve the problem in the prior art where the lateral path tracking stability is low because relying on the calibrated torque coefficient is difficult to ensure that the vehicle stays smoothly and stably in the lane, which can cause driver panic in severe cases.

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

[0005] The system acquires the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall vehicle parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path.

[0006] The transmission parameters of the current vehicle are determined based on the current vehicle parameters and the current vehicle speed.

[0007] The first steering wheel angle is determined based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle.

[0008] Obtain the parameters of the first controller and the second controller;

[0009] The second steering wheel angle is determined based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters.

[0010] The target steering wheel angle is determined based on the first steering wheel angle and the second steering wheel angle, and the current vehicle is tracked and controlled based on the target steering wheel angle.

[0011] According to another aspect of the present invention, a vehicle lateral path tracking device is provided, the vehicle lateral path tracking device comprising:

[0012] The data acquisition module is used to acquire the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path.

[0013] The parameter determination module is used to determine the transmission parameters of the current vehicle based on the vehicle's overall parameters and speed.

[0014] The first determining module is used to determine the first steering wheel angle based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle.

[0015] The parameter acquisition module is used to acquire the parameters of the first controller and the second controller.

[0016] The second determining module is used to determine the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters.

[0017] The vehicle tracking module is used to determine the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and to track and control the current vehicle based on the target steering wheel angle.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle lateral path tracking method according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle lateral path tracking method according to any embodiment of the present invention.

[0023] This invention embodiment acquires the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall vehicle parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path. The transmission parameters of the current vehicle are determined based on the current vehicle's overall vehicle parameters and current vehicle speed. The first steering wheel angle is determined based on the first lateral distance deviation, aiming point parameters, the current vehicle's target heading angle deviation, the current vehicle speed, and the current vehicle's transmission parameters. The system acquires first and second controller parameters; determines a second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters; determines a target steering wheel angle based on the first and second steering wheel angles, and performs tracking control on the current vehicle based on the target steering wheel angle. This solves the problem that relying on the calibrated torque coefficient makes it difficult to ensure the vehicle stays smoothly and stably on the lane line, resulting in low stability of lateral path tracking and potentially causing driver panic in severe cases. It improves the accuracy and stability of lateral path tracking.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a vehicle lateral path tracking method according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a schematic diagram of a vehicle's lateral path relative to a target in Embodiment 1 of the present invention;

[0028] Figure 3This is a schematic diagram of a vehicle lateral path tracking method according to Embodiment 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of the lateral displacement, lateral velocity, and lateral acceleration curves in Embodiment 1 of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of a vehicle lateral path tracking device according to Embodiment 2 of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of an electronic device according to Embodiment 3 of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0035] Example 1

[0036] Figure 1 This is a flowchart of a vehicle lateral path tracking method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle is controlled to perform stable and accurate lateral path tracking. The method can be executed by the vehicle lateral path tracking device in this embodiment, which can be implemented in software and / or hardware, such as... Figure 1As shown, the method specifically includes the following steps:

[0037] S110, acquire the target lateral path of the current vehicle, the speed of the current vehicle, the lateral velocity of the current vehicle, the aiming point parameters of the current vehicle, the first lateral distance deviation between the current vehicle and the target lateral path, the overall vehicle parameters of the current vehicle, and the target heading angle deviation of the current vehicle, wherein the aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path.

[0038] The target lateral path is a preset, optimal path determined based on the vehicle's current lane information and its own motion state, designed to smoothly and stably keep the vehicle within the lane lines. This path can be a Bézier curve, a fifth-order polynomial, or a spline curve. The aiming point parameters include the aiming distance and the lateral distance between the aiming point and the target lateral path. It should be noted that the aiming distance needs to be calibrated based on the vehicle's current performance, following the principles of: longer aiming distances on straightaways and shorter aiming distances on curves, decreasing with increasing curve curvature; higher vehicle speeds require longer aiming distances, and lower speeds require shorter aiming distances. The aiming point can be calculated based on the vehicle's current speed and the target lateral path, for example, by linear interpolation based on the target lateral path and vehicle speed. The target heading angle deviation of the current vehicle is the deviation between the current vehicle's heading angle and the heading angle of the current vehicle's projection point on the target lateral path.

[0039] Specifically, the target lateral path, vehicle speed, lateral velocity, aiming point parameters, first lateral distance deviation between the current vehicle and the target lateral path, vehicle parameters, and target heading angle deviation of the current vehicle can be obtained through the vehicle controller. For example, it could be... Figure 2 This is a schematic diagram of the lateral path between a vehicle and a target according to Embodiment 1 of the present invention, as shown below. Figure 2 As shown, the Desired Path is the target lateral path of the current vehicle, and the first lateral distance deviation between the current vehicle and the target lateral path is ΔY. e The current target heading angle deviation of the vehicle is Δψ, and the lateral distance between the aiming point and the target's lateral path in the aiming point parameters is Y. L The aiming distance is L. p .

[0040] S120 determines the transmission parameters of the current vehicle based on the vehicle's overall parameters and speed.

[0041] The transmission parameters of the current vehicle are the transmission relationship parameters between the vehicle's rotational angular rate and the angles of the front wheels and the steering wheel. The vehicle parameters include: steering system transmission ratio, vehicle mass, front wheel lateral stiffness, rear wheel lateral stiffness, front axle length, and rear axle length.

[0042] Specifically, the calculation method for determining the transmission parameters of the current vehicle based on the current vehicle's overall parameters and current vehicle speed can be as follows:

[0043]

[0044] Where SteerRatio is the steering system gear ratio, m is the vehicle mass, and C is the weight of the vehicle. f For the front wheel lateral stiffness, C r For the rear wheel lateral stiffness, l f l is the length of the front axle. r Where is the rear axle length, and Gain is the current vehicle's transmission parameter.

[0045] S130, determine the first steering wheel angle based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle.

[0046] The first steering wheel angle can be the steering wheel angle based on the influence of road curvature.

[0047] Specifically, the lateral distance deviation caused by the road curvature is calculated based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle. Then, the angular rate caused by the road curvature is determined based on the current vehicle speed, the lateral distance deviation caused by the road curvature, and the aiming point parameters. Finally, the first steering wheel angle is determined based on the angular rate caused by the road curvature and the transmission parameters of the current vehicle.

[0048] S140, obtain the first controller parameters and the second controller parameters.

[0049] The first and second controllers can be PID controllers. Specifically, the parameters of the first and second controllers are calibrated according to the current vehicle specifications.

[0050] S150, determine the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters.

[0051] The second steering wheel angle can be the steering wheel angle that eliminates the lateral distance deviation between the current vehicle and the target lateral path.

[0052] Specifically, the first lateral distance deviation is passed through the first controller, and the target lateral velocity is determined by the parameters of the first controller. The lateral velocity difference is calculated by the target lateral velocity and the current vehicle's lateral velocity. The lateral velocity difference is input to the second controller, and the target lateral acceleration is determined by the parameters of the second controller. Then, the angular rate corresponding to eliminating the lateral distance deviation from the current vehicle to the target lateral path is determined based on the target lateral acceleration and the current vehicle's speed. The second steering wheel angle is determined based on the angular rate and the current vehicle's transmission parameters.

[0053] S160, determine the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and perform tracking control on the current vehicle based on the target steering wheel angle.

[0054] The target steering wheel angle is the sum of the first steering wheel angle and the second steering wheel angle.

[0055] Specifically, the sum of the first and second steering wheel angles is determined as the target steering wheel angle. Based on the target steering wheel angle, the vehicle's steering wheel is autonomously steered to allow the vehicle to track the target lateral path.

[0056] By acquiring the target lateral path, current vehicle speed, current vehicle lateral velocity, current vehicle aiming point parameters, first lateral distance deviation between the current vehicle and the target lateral path, current vehicle overall parameters, and current vehicle target heading angle deviation, the transmission parameters of the current vehicle are determined based on the current vehicle overall parameters and current vehicle speed. The first steering wheel angle is determined based on the first lateral distance deviation, aiming point parameters, current vehicle target heading angle deviation, current vehicle speed, and current vehicle transmission parameters. First controller parameters and second controller parameters are acquired. The second steering wheel angle is determined based on the first lateral distance deviation, current vehicle lateral velocity, first controller parameters, second controller parameters, current vehicle speed, and current vehicle transmission parameters. The target steering wheel angle is determined based on the first and second steering wheel angles, and the current vehicle is tracked and controlled based on the target steering wheel angle. This approach enables more accurate lateral path tracking and higher vehicle control stability.

[0057] Optionally, the first steering wheel angle is determined based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle, including:

[0058] The target lateral distance deviation is determined based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle.

[0059] The first angular velocity is determined based on the current vehicle speed, the target lateral distance deviation, and the pre-aiming point parameters;

[0060] The first steering wheel angle is determined based on the first angular velocity and the current vehicle transmission parameters.

[0061] Among them, the target lateral distance deviation can be: Figure 2 ΔY c The first angular velocity is the angular velocity caused by the road curvature, and the first steering wheel angle can be the steering wheel angle based on the influence of the road curvature.

[0062] Specifically, the calculation method for determining the target lateral distance deviation based on the first lateral distance deviation, the aiming point parameters, and the current vehicle's target heading angle deviation can be as follows:

[0063] ΔY c =Y L -ΔY e -ΔY ψ =Y L -ΔY e -L p *sin(Δψ);

[0064] Among them, Y L The lateral distance ΔY between the aiming point and the target's lateral path in the aiming point parameters. e L represents the first lateral distance deviation between the current vehicle and the target's lateral path, Δψ represents the target heading angle deviation of the current vehicle, and L represents the first lateral distance deviation between the current vehicle and the target's lateral path. p The aiming distance ΔY is the aiming distance in the aiming point parameters. ψ ΔY represents the lateral distance traveled by the vehicle at its current sideslip and heading angles. c The target lateral distance deviation.

[0065] Specifically, the calculation method for determining the first angular velocity based on the current vehicle speed, the target lateral distance deviation, and the aiming point parameters can be as follows:

[0066]

[0067] in, Let V be the first angular velocity, V be the current vehicle speed, and ΔY be the angular velocity. c L represents the lateral distance deviation of the target. p This refers to the aiming distance in the aiming point parameters.

[0068] Specifically, the calculation method for determining the first steering wheel angle based on the first angular velocity and the current vehicle transmission parameters can be as follows:

[0069]

[0070] Wherein, PinionAngle1 is the first steering wheel angle, and Gain is the transmission parameter of the current vehicle. This is the first angular velocity.

[0071] By determining the target lateral distance deviation based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle; determining the first angular rate based on the current vehicle speed, the target lateral distance deviation, and the aiming point parameters; and determining the first steering wheel angle based on the first angular rate and the current vehicle's transmission parameters, the problem of swaying during vehicle lateral path tracking can be avoided, resulting in higher stability of vehicle lateral path tracking.

[0072] Optionally, the second steering wheel angle is determined based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters, including:

[0073] The target lateral velocity of the current vehicle is determined based on the first controller parameters and the first lateral distance deviation.

[0074] The difference in lateral velocity of the current vehicle is determined based on the target lateral velocity and the current lateral velocity of the current vehicle.

[0075] The target lateral acceleration of the current vehicle is determined based on the parameters of the second controller and the lateral velocity difference of the current vehicle.

[0076] The second angular rate is determined based on the target lateral acceleration and the current vehicle speed.

[0077] The second steering wheel angle is determined based on the second angular rate and the current vehicle's transmission parameters.

[0078] Wherein, the second angular rate is the angular rate that eliminates the lateral distance deviation between the current vehicle and the target lateral path, and the second steering wheel angle can be the steering wheel angle that eliminates the lateral distance deviation between the current vehicle and the target lateral path.

[0079] Specifically, the method for determining the target lateral velocity of the current vehicle based on the first controller parameters and the first lateral distance deviation can be as follows: The target lateral velocity of the current vehicle is determined by mapping the gain of the first controller parameters and the first lateral distance deviation; the calculation method can be as follows:

[0080] V y_tar =K p1 *ΔY e ;

[0081] Among them, V y_tar Let K be the target lateral velocity of the current vehicle. p1 For the first controller parameter, ΔY e This represents the first lateral distance deviation.

[0082] Specifically, the method for determining the lateral speed difference of the current vehicle based on the target lateral speed and the current vehicle's lateral speed can be as follows: the difference between the target lateral speed and the feedback lateral speed of the current vehicle is determined as the lateral speed difference of the current vehicle.

[0083] Specifically, the method for determining the target lateral acceleration of the current vehicle based on the second controller parameters and the current vehicle's lateral velocity difference can be as follows: the second controller parameters may include K. p2 K i and K d It can also include T i T i The control algorithm's execution cycle for the second controller can be set according to actual needs, for example, it can be set to 20ms. The calculation method for determining the target lateral acceleration of the current vehicle by using the second controller algorithm to determine the current vehicle's lateral velocity difference can be as follows:

[0084]

[0085] Among them, a y_tar V is the target lateral acceleration of the current vehicle. y_err K represents the current lateral speed difference of the vehicle. p2 K i K d And T i These are the parameters for the second controller.

[0086] Specifically, the calculation method for determining the second angular velocity based on the current vehicle's target lateral acceleration and current vehicle speed can be as follows:

[0087] YawRate_Add=a y_tar / V;

[0088] Where YawRate_Add is the second angular velocity, a y_tar V represents the target lateral acceleration of the current vehicle, and V represents the current vehicle speed.

[0089] Specifically, the calculation method for determining the second steering wheel angle based on the second angular velocity and the current vehicle transmission parameters can be as follows:

[0090] PinionAngle2=Gain*YawRate_Add;

[0091] Wherein, PinionAngle is the second steering wheel angle, Gain is the current vehicle's transmission parameter, and YawRate_Add is the second angular rate.

[0092] In a specific example Figure 3This is a schematic diagram of vehicle lateral path tracking according to Embodiment 1 of the present invention, as shown below. Figure 3 As shown, Figure 3 The actuator in the diagram can be the one that controls the steering wheel angle during lateral path tracking. y_tar represents the target lateral path, and y_act represents the current actual position of the vehicle. Based on the current actual position and the target lateral path, the first lateral distance deviation ΔY can be obtained. e After passing through the first PID controller, the target lateral velocity V can be mapped via gain. y_tar V y_act The actual lateral velocity of the vehicle is obtained from the actuator feedback, based on the target lateral velocity V. y_tar And actual lateral velocity V y_act The difference can be used to obtain the lateral velocity difference V. y_err The target lateral acceleration 'a' can be obtained through parameter calculation in the second PID controller. y_ta Through the target lateral acceleration a y_tar The second angular rate YawRate_Add can be obtained from the vehicle speed V, and at the same time, the target lateral distance deviation ΔY is fed back by the actuator. c The first angular velocity is obtained by calculating the pre-aiming distance and vehicle speed. First angular velocity By combining the second angular rate YawRate_Add with the current vehicle's transmission parameters, the target steering wheel angle PinionAngle can be obtained. After filtering, the actuator controls the vehicle's movement based on the target steering wheel angle. This example can obtain a more accurate steering wheel angle using PID control, and then control the vehicle to perform target lateral path tracking through the steering wheel angle, thereby improving the accuracy and stability of the vehicle's lateral path tracking.

[0093] By determining the target lateral velocity of the current vehicle based on the first controller parameters and the first lateral distance deviation; determining the lateral velocity difference of the current vehicle based on the target lateral velocity and the current vehicle's lateral velocity; determining the target lateral acceleration of the current vehicle based on the second controller parameters and the current vehicle's lateral velocity difference; determining the second angular rate based on the target lateral acceleration and the current vehicle's speed; and determining the second steering wheel angle based on the second angular rate and the current vehicle's transmission parameters, the accuracy and adaptability of vehicle control can be improved, the steering wheel angle can be determined more accurately, and thus the accuracy and stability of vehicle lateral path tracking can be improved.

[0094] Optionally, obtain the target lateral path of the current vehicle, including:

[0095] Obtain the state parameters of the initial control point and the target control point of the current vehicle;

[0096] The state parameters of the intermediate control points and the target driving time of the current vehicle are determined based on the state parameters of the initial control point and the target control point.

[0097] A set of control points is determined based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, and the target driving time. The set of control points includes: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point.

[0098] The target lateral path of the current vehicle is generated based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, the state parameters of each control point in the control point set, and the target travel time.

[0099] The initial control point is the vehicle's starting point, and the target control point is the ideal endpoint for the vehicle when the lane keeping assist system disengages. The state parameters of the initial control point include initial lateral acceleration and may also include initial lateral velocity. The state parameters of the target control point include final lateral acceleration and may also include final lateral velocity. The state parameter of the intermediate control point is the lateral acceleration at that point, which is the maximum value of the lateral acceleration during the predicted target lateral path. It should be noted that the travel time from the initial control point to the intermediate control point is the same as the travel time from the intermediate control point to the target control point. The target travel time is the ideal travel time from the initial control point to the target control point.

[0100] Specifically, the state parameters of the initial control point and the target control point of the current vehicle can be obtained as follows: the state parameters of the initial control point can be obtained through the vehicle's whole-vehicle controller, and the ideal lateral acceleration in the state parameters of the target control point is ay_end = 0.

[0101] Specifically, the method for determining the state parameters of the intermediate control point and the target travel time of the current vehicle based on the state parameters of the initial control point and the target control point can be as follows: establish a simultaneous equation based on the state parameters of the initial control point and the target control point, and the state parameters of the intermediate control point and the target travel time of the current vehicle can be obtained directly.

[0102] Specifically, the method for determining the set of control points based on the state parameters of the initial control point, the intermediate control points, the target control point, and the target travel time can be as follows: The state parameters of the first and second control points are determined based on the state parameters of the initial and intermediate control points; the state parameters of the third and fourth control points are determined based on the state parameters of the intermediate and target control points. Specifically, the travel time from the initial control point to the first control point is equal to the travel time from the second control point to the intermediate control point; the travel time from the intermediate control point to the third control point is equal to the travel time from the fourth control point to the target control point; the initial lateral acceleration of the initial control point is equal to the lateral acceleration of the first control point; the lateral accelerations of the second, intermediate, and third control points are equal; and the lateral acceleration of the fourth control point is equal to the lateral acceleration of the target control point. For example, the coordinates of the initial control point are set as P0(0, ay_start), where ay_start is the initial lateral acceleration; the coordinates of the first control point are P1(t / 4, ay_start), where t is the target travel time; the coordinates of the second control point are P2(t / 4, ay_max), where ay_max is the maximum value of the lateral acceleration in the predicted target lateral path; the coordinates of the intermediate control point are P3(t / 2, ay_max); the coordinates of the third control point are P4(3*t / 4, ay_max); the coordinates of the fourth control point are P5(3*t / 4, ay_end); and the coordinates of the target control point are P6(t, ay_end), where ay_end is the lateral acceleration of the target control point.

[0103] Specifically, the method for generating the target lateral path of the current vehicle based on the state parameters of the initial control point, the intermediate control point, the target control point, the state parameters of each control point in the control point set, and the target travel time can be as follows: A first Bézier curve is obtained using the state parameters of the initial control point, the intermediate control point, the first control point in the control point set, the second control point, and the target travel time; a second Bézier curve is obtained using the state parameters of the intermediate control point, the third control point in the control point set, the fourth control point, the target control point, and the target travel time; and the target lateral path of the current vehicle is obtained using the first and second Bézier curves.

[0104] By acquiring the state parameters of the initial control point and the target control point of the current vehicle; determining the state parameters of the intermediate control points and the target travel time based on the state parameters of the initial control point and the target control point; determining a set of control points based on the state parameters of the initial control point, the intermediate control points, the target control point, and the target travel time, wherein the set of control points includes: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point; and generating a target lateral path for the current vehicle based on the state parameters of the initial control point, the intermediate control points, the target control point, the state parameters of each control point in the set of control points, and the target travel time, a smooth lateral path that is easy for the vehicle to track and control can be obtained.

[0105] Optionally, the state parameters of the intermediate control points and the target travel time of the current vehicle are determined based on the state parameters of the initial control point and the target control point, including:

[0106] The lateral velocity change and lateral displacement change of the vehicle are determined based on the state parameters of the initial control point and the state parameters of the target control point.

[0107] The target displacement deviation between the initial control point and the target control point is obtained by querying the data table according to the state parameters of the initial control point. The data table includes: the state parameters of the control point and the displacement deviation corresponding to the state parameters of the control point.

[0108] The state parameters of the intermediate control point and the target travel time of the current vehicle are determined based on the current lateral velocity change, lateral displacement change, and target displacement deviation.

[0109] The state parameters of the control points in the data table and the corresponding displacement deviations are obtained from historical vehicle data. The target displacement deviation is the displacement deviation corresponding to the state parameters of the initial control point of the current vehicle in the data table.

[0110] It should be noted that before obtaining the current lateral velocity change and lateral displacement change of the vehicle, the definition of the Bezier point must be clarified. The Bezier point is defined as follows:

[0111]

[0112] in:

[0113]

[0114]

[0115] Among them, Bx,n (s) is called the Bernstein basis function, and s takes values ​​from 0 to 1. If the lateral acceleration curve is defined as a Bézier curve, and if P0, P1, P2, and P3 are set as control points for the first segment of the third-order Bézier curve, then the first segment of the lateral acceleration curve... for:

[0116]

[0117] in, When t1 varies in the interval [0, t / 2], s1 takes values ​​from 0 to 1. If P3, P4, P5, and P6 are set as control points for the second segment of the third-order Bézier curve, then the second segment of the lateral acceleration curve... for:

[0118]

[0119] in, When t2 varies in the interval [t / 2, t], s2 takes values ​​from 0 to 1.

[0120] Specifically, the method for determining the current lateral velocity change and lateral displacement change of the vehicle based on the state parameters of the initial control point and the target control point can be as follows:

[0121] The change in lateral velocity of the vehicle on the first segment of the Bézier curve can be calculated as follows:

[0122]

[0123] The change in lateral velocity of the vehicle on the second segment of the Bezier curve can be calculated as follows:

[0124]

[0125] The lateral velocity of the initial control point is vy_start, which can be obtained through the vehicle controller. The lateral velocity of the initial control point can also be considered as a state parameter of the initial control point. The ideal lateral velocity of the target control point... If the value is 0, then the first formula can be obtained:

[0126]

[0127] The lateral displacement change of the first segment of the Bézier curve of the current vehicle can be calculated as follows:

[0128]

[0129] The lateral displacement change of the second segment of the Bezier curve of the current vehicle can be calculated as follows:

[0130]

[0131] Therefore, according to the above formula, we know that:

[0132]

[0133] Specifically, the calculation method for the target displacement deviation between the initial control point and the target control point, corresponding to the state parameters of the initial control point obtained from the data table, can be as follows:

[0134] By querying the data table based on the state parameters of the initial control point of the vehicle when the correction assist function is activated, the target displacement deviation Δp between the initial control point and the target control point corresponding to different state parameters can be obtained, thus leading to the second formula:

[0135]

[0136] Specifically, the method for determining the state parameters of the intermediate control point and the target travel time of the current vehicle based on the current change in lateral velocity, change in lateral displacement, and target displacement deviation can be as follows: By simultaneously solving the first and second formulas above, the maximum value of the target travel time and lateral acceleration during the acquisition of the target lateral path can be obtained, which are the state parameters of the current vehicle's intermediate control point. For example, it could be... Figure 4 This is a schematic diagram of lateral displacement, lateral velocity, and lateral acceleration curves according to Embodiment 1 of the present invention. If the initial lateral velocity of the current vehicle is vy_start = 0.5 m / s, and the initial lateral acceleration is ay_start = 0.1 m / s², then... 2 The target displacement deviation Δp = 0.7m, and the final lateral velocity of the target control point. The final lateral acceleration is ay_end = 0. In this case, the curves of the vehicle's lateral displacement, lateral velocity, and lateral acceleration are as follows: Figure 4 As shown.

[0137] By determining the lateral velocity change and lateral displacement change of the current vehicle based on the state parameters of the initial control point and the target control point, and obtaining the target displacement deviation between the initial control point and the target control point corresponding to the state parameters of the initial control point from the data table, the state parameters of the intermediate control point and the target driving time of the current vehicle can be determined based on the lateral velocity change, lateral displacement change and target displacement deviation of the current vehicle. This method can obtain the state parameters of the intermediate control point and the target driving time more quickly and accurately.

[0138] Optionally, the target lateral path of the current vehicle is generated based on the state parameters of the initial control point, the state parameters of the intermediate control points, the state parameters of the target control point, the state parameters of each control point in the control point set, and the target travel time, including:

[0139] The first lateral path of the current vehicle is generated based on the state parameters of the initial control point, the intermediate control point, the first control point, the second control point, and the target travel time.

[0140] The second lateral path of the current vehicle is generated based on the state parameters of the intermediate control point, the third control point, the fourth control point, the target control point, and the target driving time.

[0141] The target lateral path for the current vehicle is generated based on the first lateral path and the second lateral path.

[0142] The first lateral path of the current vehicle is the first segment of the Bézier curve, and the second lateral path is the second segment of the Bézier curve.

[0143] Specifically, the state parameters of the initial control point, the intermediate control point, the first control point, and the second control point are input into the formula for the first lateral acceleration Bezier curve to obtain the corresponding first lateral acceleration curve. The first lateral acceleration curve is then integrated based on half the target travel time to obtain the first lateral path.

[0144] Specifically, the state parameters of the intermediate control point, the third control point, the fourth control point, and the target control point are input into the formula for the second lateral acceleration Bezier curve to obtain the corresponding second lateral acceleration curve. The second lateral acceleration curve is then integrated based on half the target travel time to obtain the second lateral path.

[0145] Specifically, the first lateral path and the second lateral path are aggregated to generate the target lateral path. Alternatively, the state parameters of the initial control point, intermediate control point, first control point, and second control point can be input into the first segment of the lateral acceleration Bezier curve formula to obtain the corresponding first lateral acceleration curve. The state parameters of the intermediate control point, third control point, fourth control point, and target control point can be input into the second segment of the lateral acceleration Bezier curve formula to obtain the corresponding second lateral acceleration curve. The first and second lateral acceleration curves are aggregated to obtain the third lateral acceleration curve. The third lateral acceleration curve is then integrated based on the target travel time to obtain the third lateral acceleration curve.

[0146] By generating the first lateral path of the current vehicle based on the state parameters of the initial control point, the intermediate control point, the first control point, the second control point, and the target travel time; generating the second lateral path of the current vehicle based on the state parameters of the intermediate control point, the third control point, the fourth control point, the target control point, and the target travel time; and generating the target lateral path of the current vehicle based on the first and second lateral paths, a continuous and smooth target lateral path can be obtained with low computational load and high real-time performance.

[0147] The technical solution of this embodiment obtains the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall vehicle parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path. The transmission parameters of the current vehicle are determined based on the current vehicle's overall vehicle parameters and current vehicle speed. The first steering wheel is determined based on the first lateral distance deviation, aiming point parameters, the current vehicle's target heading angle deviation, the current vehicle speed, and the current vehicle's transmission parameters. The system involves: determining the steering wheel angle; acquiring first and second controller parameters; determining the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters; determining the target steering wheel angle based on the first and second steering wheel angles; and performing tracking control on the current vehicle based on the target steering wheel angle. This solves the problem of low stability in lateral path tracking caused by relying on the calibrated torque coefficient, which makes it difficult to ensure the vehicle stays smoothly and stably in the lane, and can even cause driver panic in severe cases. This system improves the accuracy and stability of lateral path tracking.

[0148] Example 2

[0149] Figure 5 This is a schematic diagram of a vehicle lateral path tracking device according to Embodiment 2 of the present invention. This embodiment is applicable to vehicle lateral path tracking. The device can be implemented using software and / or hardware, and can be integrated into any device that provides vehicle lateral path tracking functionality, such as... Figure 5 As shown, the vehicle lateral path tracking device specifically includes: a data acquisition module 210, a parameter determination module 220, a first determination module 230, a parameter acquisition module 240, a second determination module 250, and a vehicle tracking module 260.

[0150] The data acquisition module 210 is used to acquire the target lateral path of the current vehicle, the speed of the current vehicle, the lateral velocity of the current vehicle, the aiming point parameters of the current vehicle, the first lateral distance deviation between the current vehicle and the target lateral path, the overall vehicle parameters of the current vehicle, and the target heading angle deviation of the current vehicle. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path.

[0151] The parameter determination module 220 is used to determine the transmission parameters of the current vehicle based on the overall vehicle parameters and the current vehicle speed.

[0152] The first determining module 230 is used to determine the first steering wheel angle based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle.

[0153] The parameter acquisition module 240 is used to acquire the parameters of the first controller and the parameters of the second controller.

[0154] The second determining module 250 is used to determine the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters.

[0155] The vehicle tracking module 260 is used to determine the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and to track and control the current vehicle based on the target steering wheel angle.

[0156] Optionally, the first determining module is specifically used for:

[0157] The target lateral distance deviation is determined based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle.

[0158] The first angular velocity is determined based on the current vehicle speed, the target lateral distance deviation, and the pre-aiming point parameters;

[0159] The first steering wheel angle is determined based on the first angular velocity and the current vehicle transmission parameters.

[0160] Optionally, the second determining module is specifically used for:

[0161] The target lateral velocity of the current vehicle is determined based on the first controller parameters and the first lateral distance deviation.

[0162] The difference in lateral velocity of the current vehicle is determined based on the target lateral velocity and the current lateral velocity of the current vehicle.

[0163] The target lateral acceleration of the current vehicle is determined based on the parameters of the second controller and the lateral velocity difference of the current vehicle.

[0164] The second angular rate is determined based on the target lateral acceleration and the current vehicle speed.

[0165] The second steering wheel angle is determined based on the second angular rate and the current vehicle's transmission parameters.

[0166] Optionally, the data acquisition module is specifically used for:

[0167] Obtain the state parameters of the initial control point and the target control point of the current vehicle;

[0168] The state parameters of the intermediate control points and the target driving time of the current vehicle are determined based on the state parameters of the initial control point and the target control point.

[0169] A set of control points is determined based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, and the target driving time. The set of control points includes: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point.

[0170] The target lateral path of the current vehicle is generated based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, the state parameters of each control point in the control point set, and the target travel time.

[0171] Optionally, the data acquisition module is specifically used for:

[0172] The lateral velocity change and lateral displacement change of the vehicle are determined based on the state parameters of the initial control point and the state parameters of the target control point.

[0173] The target displacement deviation between the initial control point and the target control point is obtained by querying the data table according to the state parameters of the initial control point. The data table includes: the state parameters of the control point and the displacement deviation corresponding to the state parameters of the control point.

[0174] The state parameters of the intermediate control point and the target travel time of the current vehicle are determined based on the current lateral velocity change, lateral displacement change, and target displacement deviation.

[0175] Optionally, the data acquisition module is specifically used for:

[0176] The first lateral path of the current vehicle is generated based on the state parameters of the initial control point, the intermediate control point, the first control point, the second control point, and the target travel time.

[0177] The second lateral path of the current vehicle is generated based on the state parameters of the intermediate control point, the third control point, the fourth control point, the target control point, and the target driving time.

[0178] The target lateral path for the current vehicle is generated based on the first lateral path and the second lateral path.

[0179] Optionally, the travel time from the initial control point to the first control point is equal to the travel time from the second control point to the intermediate control point, and the travel time from the intermediate control point to the third control point is equal to the travel time from the fourth control point to the target control point.

[0180] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0181] The technical solution of this embodiment obtains the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall vehicle parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path. The transmission parameters of the current vehicle are determined based on the current vehicle's overall vehicle parameters and current vehicle speed. The first steering wheel is determined based on the first lateral distance deviation, aiming point parameters, the current vehicle's target heading angle deviation, the current vehicle speed, and the current vehicle's transmission parameters. The system involves: determining the steering wheel angle; acquiring first and second controller parameters; determining the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters; determining the target steering wheel angle based on the first and second steering wheel angles; and performing tracking control on the current vehicle based on the target steering wheel angle. This solves the problem of low stability in lateral path tracking caused by relying on the calibrated torque coefficient, which makes it difficult to ensure the vehicle stays smoothly and stably in the lane, and can even cause driver panic in severe cases. This system improves the accuracy and stability of lateral path tracking.

[0182] Example 3

[0183] Figure 6This is a schematic diagram of an electronic device according to Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0184] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0185] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0186] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle lateral path tracking methods.

[0187] In some embodiments, the vehicle lateral path tracking method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle lateral path tracking method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle lateral path tracking method by any other suitable means (e.g., by means of firmware).

[0188] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0189] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0190] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0191] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0192] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0193] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0194] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0195] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for tracking the lateral path of a vehicle, characterized in that, include: The system acquires the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall vehicle parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path. The transmission parameters of the current vehicle are determined based on the current vehicle parameters and the current vehicle speed. The first steering wheel angle is determined based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle. Obtain the parameters of the first controller and the second controller; The second steering wheel angle is determined based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters. The target steering wheel angle is determined based on the first steering wheel angle and the second steering wheel angle, and the current vehicle is tracked and controlled based on the target steering wheel angle. The step of determining the first steering wheel angle based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle includes: The target lateral distance deviation is determined based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle. The first angular velocity is determined based on the current vehicle speed, the target lateral distance deviation, and the pre-aiming point parameters; The first steering wheel angle is determined based on the first angular velocity and the current vehicle transmission parameters; The step of determining the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters includes: The target lateral velocity of the current vehicle is determined based on the first controller parameters and the first lateral distance deviation. The difference in lateral velocity of the current vehicle is determined based on the target lateral velocity and the current lateral velocity of the current vehicle. The target lateral acceleration of the current vehicle is determined based on the parameters of the second controller and the lateral velocity difference of the current vehicle. The second angular rate is determined based on the target lateral acceleration and the current vehicle speed. The second steering wheel angle is determined based on the second angular rate and the current vehicle's transmission parameters.

2. The method according to claim 1, characterized in that, Obtain the target lateral path of the current vehicle, including: Obtain the state parameters of the initial control point and the target control point of the current vehicle; The state parameters of the intermediate control points and the target driving time of the current vehicle are determined based on the state parameters of the initial control point and the target control point. A set of control points is determined based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, and the target driving time. The set of control points includes: a first control point and a second control point between the initial control point and the intermediate control point, and a third control point and a fourth control point between the intermediate control point and the target control point. The target lateral path of the current vehicle is generated based on the state parameters of the initial control point, the state parameters of the intermediate control point, the state parameters of the target control point, the state parameters of each control point in the control point set, and the target travel time.

3. The method according to claim 2, characterized in that, The state parameters of the intermediate control points and the target travel time of the current vehicle are determined based on the state parameters of the initial control point and the target control point, including: The lateral velocity change and lateral displacement change of the vehicle are determined based on the state parameters of the initial control point and the state parameters of the target control point. The target displacement deviation between the initial control point and the target control point is obtained by querying the data table according to the state parameters of the initial control point. The data table includes: the state parameters of the control point and the displacement deviation corresponding to the state parameters of the control point. The state parameters of the intermediate control point and the target travel time of the current vehicle are determined based on the current lateral velocity change, lateral displacement change, and target displacement deviation.

4. The method according to claim 2, characterized in that, The target lateral path of the current vehicle is generated based on the state parameters of the initial control point, the intermediate control point, the target control point, the state parameters of each control point in the control point set, and the target travel time. The first lateral path of the current vehicle is generated based on the state parameters of the initial control point, the intermediate control point, the first control point, the second control point, and the target travel time. The second lateral path of the current vehicle is generated based on the state parameters of the intermediate control point, the third control point, the fourth control point, the target control point, and the target driving time. Generate the target lateral path for the current vehicle based on the first lateral path and the second lateral path.

5. The method according to claim 2, characterized in that, The travel time from the initial control point to the first control point is equal to the travel time from the second control point to the intermediate control point, and the travel time from the intermediate control point to the third control point is equal to the travel time from the fourth control point to the target control point.

6. A vehicle lateral path tracking device, characterized in that, include: The data acquisition module is used to acquire the target lateral path of the current vehicle, the current vehicle speed, the current vehicle lateral velocity, the current vehicle's aiming point parameters, the first lateral distance deviation between the current vehicle and the target lateral path, the current vehicle's overall parameters, and the current vehicle's target heading angle deviation. The aiming point parameters include: aiming distance and the lateral distance between the aiming point and the target lateral path. The parameter determination module is used to determine the transmission parameters of the current vehicle based on the vehicle's overall parameters and speed. The first determining module is used to determine the first steering wheel angle based on the first lateral distance deviation, the aiming point parameters, the target heading angle deviation of the current vehicle, the vehicle speed of the current vehicle, and the transmission parameters of the current vehicle. The parameter acquisition module is used to acquire the parameters of the first controller and the second controller. The second determining module is used to determine the second steering wheel angle based on the first lateral distance deviation, the current vehicle's lateral speed, the first controller parameters, the second controller parameters, the current vehicle's speed, and the current vehicle's transmission parameters. The vehicle tracking module is used to determine the target steering wheel angle based on the first steering wheel angle and the second steering wheel angle, and to track and control the current vehicle based on the target steering wheel angle. Specifically, the first determining module is used to: determine the target lateral distance deviation based on the first lateral distance deviation, the aiming point parameters, and the target heading angle deviation of the current vehicle; determine the first angular rate based on the current vehicle speed, the target lateral distance deviation, and the aiming point parameters; and determine the first steering wheel angle based on the first angular rate and the transmission parameters of the current vehicle. The second determining module is specifically used for: determining the target lateral velocity of the current vehicle based on the first controller parameters and the first lateral distance deviation; determining the lateral velocity difference of the current vehicle based on the target lateral velocity of the current vehicle and the lateral velocity of the current vehicle; determining the target lateral acceleration of the current vehicle based on the second controller parameters and the lateral velocity difference of the current vehicle; determining the second angular rate based on the target lateral acceleration of the current vehicle and the vehicle speed of the current vehicle; and determining the second steering wheel angle based on the second angular rate and the transmission parameters of the current vehicle.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle lateral path tracking method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle lateral path tracking method according to any one of claims 1-5.

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