Lateral control method and device for automatic driving, electronic equipment and medium

Abstract

The application provides a lateral control method and device for automatic driving, electronic equipment and medium. The method comprises the following steps: determining a first initial lateral deviation based on the current position and the planned route of the vehicle; comparing the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result; if it is determined that the vehicle needs to adjust the turning angle based on the deviation comparison result, determining an adjusted turning angle based on a second initial lateral deviation and the preset deviation threshold, adjusting the initial feedback turning angle based on the adjusted turning angle to obtain an adjusted feedback turning angle; determining a feedforward turning angle of the vehicle, calculating a vehicle turning angle of the vehicle based on the feedforward turning angle, the adjusted feedback turning angle and the adjusted turning angle, and controlling the vehicle to turn based on the vehicle turning angle. The method improves the stability and safety of the vehicle lateral control.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a lateral control method, device, electronic device and medium for autonomous driving. Background Technology

[0002] Path tracking control for autonomous vehicles is one of the key technologies for achieving autonomous driving. This involves lateral control of the autonomous vehicle to enable it to travel along a planned route. Specifically, lateral control primarily involves reducing the vehicle's tracking deviation (which may include lateral deviation) to achieve accurate driving.

[0003] In related technologies, the main approach is to determine the vehicle's steering angle by assigning a weight to the lateral deviation after determining the vehicle's lateral deviation. This allows the vehicle to reduce its lateral deviation and achieve accurate driving after steering based on the steering angle.

[0004] In scenarios requiring significant changes in vehicle turning angle, such as left turns, right turns, and U-turns, the vehicle's lateral deviation increases. In such cases, relying solely on the weighting information of this lateral deviation to determine the vehicle's turning angle would necessitate a larger turning angle from the autonomous vehicle to minimize lateral deviation. However, such significant changes in turning angle can easily cause vehicle vibration, impacting the stability and safety of the autonomous vehicle. Summary of the Invention

[0005] This application provides a lateral control method, device, electronic device, and medium for autonomous driving, to solve the technical problems of poor stability and low safety of existing lateral control methods in lateral control scenarios that require large turning angles.

[0006] In a first aspect, this application provides a lateral control method for autonomous driving, comprising:

[0007] Based on the vehicle's current position and the planned route, a first initial lateral deviation is determined; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0008] The first initial lateral deviation is compared with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; the adjustment of the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is the steering angle determined based on the first initial lateral deviation;

[0009] If, based on the deviation comparison result, it is determined that the vehicle needs to adjust its steering angle, then based on the second initial lateral deviation and the preset deviation threshold, the adjusted steering angle is determined, and the initial feedback steering angle is adjusted based on the adjusted steering angle to obtain the adjusted feedback steering angle; wherein, the second initial lateral deviation represents the lateral deviation after limiting the first initial lateral deviation.

[0010] The feedforward steering angle of the vehicle is determined, and the vehicle steering angle of the vehicle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle. The vehicle steering angle is then used to control the vehicle to steer. The feedforward steering angle represents the current position of the vehicle.

[0011] In one example, determining the adjusted rotation angle based on a second initial lateral deviation and the preset deviation threshold includes:

[0012] If the first initial lateral deviation is positive and the first initial lateral deviation is greater than the preset deviation threshold, then the difference between the second initial lateral deviation and the preset deviation threshold is determined.

[0013] An adjustment coefficient is determined, and the product of the adjustment coefficient and the difference is calculated to obtain the adjusted turning angle; wherein the adjustment coefficient is used to determine the adjusted turning angle.

[0014] In one example, determining the adjusted rotation angle based on a second initial lateral deviation and the preset deviation threshold includes:

[0015] If the first initial lateral deviation is negative, and the first initial lateral deviation is less than the preset deviation threshold, then the summation result between the second initial lateral deviation and the preset deviation threshold is determined.

[0016] The adjusted rotation angle is obtained by multiplying the adjustment coefficient and the summation result.

[0017] In one example, the adjustment factor is determined according to the following steps:

[0018] Based on the range of the adjusted rotation angle and the third initial lateral deviation determined based on the first initial lateral deviation constraint, a first coefficient is determined; wherein the third initial lateral deviation represents the maximum value after the first initial lateral deviation is constrained; the first coefficient is used to constrain the value of the adjusted rotation angle.

[0019] The current driving speed of the vehicle is obtained, and a second coefficient matching the current driving speed is determined; wherein the second coefficient represents the turning angle limit of the vehicle at the current driving speed;

[0020] The adjustment coefficient is determined based on the first coefficient and the second coefficient.

[0021] In one example, before calculating the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, the method further includes:

[0022] The adjusted angle is filtered to obtain the filtered adjusted angle;

[0023] The vehicle steering angle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

[0024] In one example, the filtering process is used to adjust the value of the adjusted angle and / or the rate of change of the adjusted angle.

[0025] In one example, the method further includes:

[0026] If, based on the deviation comparison results, it is determined that the vehicle does not need to adjust its steering angle, then, based on the initial feedback steering angle and the feedforward steering angle, the vehicle's steering angle is calculated, and based on the vehicle's steering angle, the vehicle is controlled to steer.

[0027] Secondly, this application provides a lateral control device for autonomous driving, comprising:

[0028] The first determining unit is configured to determine a first initial lateral deviation based on the vehicle's current position and the planned route; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0029] A comparison unit is used to compare the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; the adjustment of the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is a steering angle determined based on the first initial lateral deviation;

[0030] The second determining unit is used to determine the adjusted steering angle based on the second initial lateral deviation and the preset deviation threshold if it is determined that the vehicle needs to adjust its steering angle based on the deviation comparison result.

[0031] An adjustment unit is used to adjust the initial feedback angle based on the adjusted angle to obtain the adjusted feedback angle; wherein, the second initial lateral deviation represents the lateral deviation after limiting the first initial lateral deviation;

[0032] The control unit is configured to determine the feedforward steering angle of the vehicle, and calculate the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, and control the vehicle to steer based on the vehicle steering angle; wherein the feedforward steering angle represents the current position of the vehicle.

[0033] In one example, the second determining unit is used for:

[0034] If the first initial lateral deviation is positive and the first initial lateral deviation is greater than the preset deviation threshold, then the difference between the second initial lateral deviation and the preset deviation threshold is determined.

[0035] An adjustment coefficient is determined, and the product of the adjustment coefficient and the difference is calculated to obtain the adjusted turning angle; wherein the adjustment coefficient is used to determine the adjusted turning angle.

[0036] In one example, the second determining unit is used for:

[0037] If the first initial lateral deviation is negative, and the first initial lateral deviation is less than the preset deviation threshold, then the summation result between the second initial lateral deviation and the preset deviation threshold is determined.

[0038] The adjusted rotation angle is obtained by multiplying the adjustment coefficient and the summation result.

[0039] In one example, the second determining unit is used for:

[0040] Based on the range of the adjusted rotation angle and the third initial lateral deviation determined based on the first initial lateral deviation constraint, a first coefficient is determined; wherein the third initial lateral deviation represents the maximum value after the first initial lateral deviation is constrained; the first coefficient is used to constrain the value of the adjusted rotation angle.

[0041] The current driving speed of the vehicle is obtained, and a second coefficient matching the current driving speed is determined; wherein the second coefficient represents the turning angle limit of the vehicle at the current driving speed;

[0042] The adjustment coefficient is determined based on the first coefficient and the second coefficient.

[0043] In one example, the device also includes:

[0044] A filtering module is used to filter the adjusted angle before calculating the vehicle angle based on the feedforward angle, the adjusted feedback angle, and the adjusted angle, so as to obtain the filtered adjusted angle.

[0045] The vehicle steering angle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

[0046] In one example, the filtering process is used to adjust the value of the adjusted angle and / or the rate of change of the adjusted angle.

[0047] In one example, the device is also used for:

[0048] If, based on the deviation comparison results, it is determined that the vehicle does not need to adjust its steering angle, then, based on the initial feedback steering angle and the feedforward steering angle, the vehicle's steering angle is calculated, and based on the vehicle's steering angle, the vehicle is controlled to steer.

[0049] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0050] The memory stores computer-executed instructions;

[0051] The processor executes computer execution instructions stored in the memory to implement the method described in the first aspect.

[0052] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect.

[0053] Fifthly, this application provides a computer program product comprising: computer execution instructions stored in a readable storage medium, wherein at least one processor of an electronic device can read the computer execution instructions from the readable storage medium, and the at least one processor executes the computer execution instructions to cause the electronic device to perform the method described in the first aspect.

[0054] The lateral control method, device, electronic device, and medium for autonomous driving provided in this application can determine a first initial lateral deviation based on the vehicle's current position and the planned route, and then compare the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result. This implementation determines the deviation between the vehicle's current position and the planned route by comparing the first initial lateral deviation with the preset deviation threshold, and can adjust the vehicle's steering angle based on this deviation to enable the vehicle to travel more accurately along the planned route. If the first initial lateral deviation is large, the deviation comparison result indicates that the vehicle needs to adjust its steering angle. In this case, the adjusted steering angle can be determined based on a second initial lateral deviation and the preset deviation threshold. Then, the initial feedback steering angle is adjusted based on this adjusted steering angle to obtain an adjusted feedback steering angle. Afterwards, the vehicle's feedforward steering angle can be determined. Then, based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, the vehicle's steering angle is calculated, and the vehicle is controlled to steer based on the vehicle steering angle. This implementation method, by introducing a preset deviation threshold, determines the adjustment angle by using a second initial lateral deviation (after limiting the first initial lateral deviation) and the preset deviation threshold when the initial lateral deviation is large. This adjusted angle reduces the vertical distance between the vehicle and the planned route, simplifying the process of reducing lateral deviation and lowering computational complexity. Furthermore, in scenarios requiring large steering angles, the adjusted angle controls the vehicle's steering angle, ensuring stability and safety, and improving comfort. Attached Figure Description

[0055] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0056] Figure 1 A flowchart illustrating a lateral control method for autonomous driving provided in an embodiment of this application;

[0057] Figure 2 A flowchart illustrating another lateral control method for autonomous driving provided in an embodiment of this application;

[0058] Figure 3 A schematic diagram of a lateral control device for autonomous driving provided in an embodiment of this application;

[0059] Figure 4 A schematic diagram of another lateral control device for autonomous driving provided in an embodiment of this application;

[0060] Figure 5This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0061] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0062] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0063] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0064] In the prior art, when performing lateral control on autonomous vehicles (e.g., fully autonomous vehicles or driver-assisted vehicles), the accurate driving of the vehicle is mainly achieved by reducing the tracking deviation of the vehicle (e.g., the tracking deviation may include lateral deviation).

[0065] In one example, the tracking deviation of a vehicle may include lateral deviation, heading deviation, the rate of change of lateral deviation, and the rate of change of heading deviation. After determining the above tracking deviations of the autonomous vehicle, the minimum value of the vehicle's tracking deviation can be obtained by adjusting the weight parameters of the above four tracking deviations, thereby obtaining the adjusted weight parameters. Then, the corresponding vehicle turning angle of the autonomous vehicle can be determined according to the adjusted weight parameters, so that the tracking deviation can be minimized when the autonomous vehicle turns based on the vehicle turning angle. At this time, it is possible to control the autonomous vehicle to drive along the planned route.

[0066] Research has found that lateral deviation plays a more important role in the lateral control of autonomous vehicles. Therefore, the process of determining the minimum tracking deviation of the vehicle can be transformed into the problem of reducing lateral deviation.

[0067] In scenarios requiring significant changes in vehicle turning angle, such as left turns, right turns, and U-turns, the lateral deviation of the vehicle increases. If the lateral deviation is reduced using the methods described above, the autonomous vehicle would need to make larger turns, resulting in a greater change in the vehicle's turning angle. Such a large change in turning angle can easily cause the autonomous vehicle to vibrate, thus affecting its stability and safety.

[0068] The method for lateral control of autonomous driving provided in this application aims to solve the above-mentioned technical problems of the prior art.

[0069] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0070] Figure 1 A flowchart illustrating a lateral control method for autonomous driving provided in this application embodiment is shown below. Figure 1 As shown, the lateral control method for autonomous driving specifically includes the following steps:

[0071] S101. Based on the vehicle's current position and planned route, determine the first initial lateral deviation.

[0072] The planned route represents the route the vehicle will travel; the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0073] In one example, the vehicle's current position can be understood as the center position of the vehicle.

[0074] In one example, a vehicle's planned route can be understood as the route the vehicle is expected to take. For instance, when a vehicle needs to turn right, its planned route can be designed based on the vehicle's planning module. This expected route can then be defined as the vehicle's planned route.

[0075] In one example, after determining the vehicle's current location and the planned route, the nearest point on the planned route to the vehicle can be found based on the current location. Then, a first initial lateral deviation can be determined based on the vertical distance between the planned route point and the current location.

[0076] In one example, the lateral control method for autonomous driving provided in this application can, after determining a first initial lateral deviation, determine whether it is necessary to adjust the lateral deviation used to calculate the vehicle's steering angle based on the magnitude of the first initial lateral deviation. In this case, if the first initial lateral deviation is large, the lateral deviation used to calculate the vehicle's steering angle can be reduced, thereby obtaining a smaller vehicle steering angle. This ensures the stability of the vehicle's steering during steering control based on the smaller vehicle steering angle, preventing vehicle vibration. The specific implementation process can be found in the steps described in S102-S104 below.

[0077] S102. Compare the initial lateral deviation with the preset deviation threshold to obtain the deviation comparison result.

[0078] In one example, the deviation comparison result characterizes whether the vehicle needs to adjust the steering angle, where adjusting the steering angle characterizes adjusting the initial feedback steering angle of the vehicle, wherein the initial feedback steering angle is the steering angle determined based on a first initial lateral deviation.

[0079] In one example, the preset deviation threshold can be determined based on the lane width, vehicle width, and safe distance between the vehicle and the road boundary. For instance, assuming the lane width is 3.3 meters, the vehicle width is 2 meters, and the safe distance between the vehicle and the road boundary is 0.4 meters, the preset deviation threshold can be determined as (3.3-2) / 2-0.4 = 0.25 meters. In another example, assuming the lane width is 2 meters, the vehicle width is 1 meter, and the safe distance between the vehicle and the road boundary is 0.2 meters, the preset deviation threshold can be determined as 0.3 meters. Here, the lane width, vehicle width, safe distance between the vehicle and the road boundary, and the final determined preset deviation threshold are not specifically limited; the achievable condition is the primary consideration.

[0080] In one example, if the initial lateral deviation is large—that is, the absolute value of the initial lateral deviation exceeds a preset deviation threshold—it indicates that the vehicle's current lateral deviation is significant. This results in a larger vehicle steering angle, which can easily lead to vehicle vibration and affect vehicle safety. In this case, the lateral deviation needs to be adjusted; that is, the lateral deviation can be reduced. After reducing the lateral deviation, the vehicle steering angle is determined based on the reduced lateral deviation.

[0081] Based on this, the deviation comparison result can be any one of the following: "the first initial lateral deviation is greater than the preset deviation threshold", "the first initial lateral deviation is greater than or equal to the negative preset deviation threshold, and less than or equal to the preset deviation threshold", and "the first initial lateral deviation is less than the negative preset deviation threshold".

[0082] In one example, if the deviation comparison result is "the first initial lateral deviation is greater than or equal to the negative preset deviation threshold, or less than or equal to the preset deviation threshold", it indicates that the vehicle does not need to adjust the steering angle. If the deviation comparison result is "the first initial lateral deviation is greater than the preset deviation threshold" or "the first initial lateral deviation is less than the negative preset deviation threshold", it indicates that the vehicle needs to adjust the steering angle.

[0083] In one example, if it is determined that the vehicle needs to adjust its steering angle, the vehicle can be laterally controlled according to the process described in S103 to S104 below.

[0084] S103. If it is determined that the vehicle needs to adjust its steering angle based on the deviation comparison result, then the steering angle to be adjusted is determined based on the second initial lateral deviation and the preset deviation threshold, and the initial feedback steering angle is adjusted based on the adjusted steering angle to obtain the adjusted feedback steering angle.

[0085] The second initial lateral deviation represents the lateral deviation after the first initial lateral deviation has been constrained.

[0086] In one example, if the initial lateral deviation is positive and relatively large, a second initial lateral deviation can be obtained by setting a corresponding positive lateral deviation peak value. For instance, if the initial lateral deviation is greater than the positive lateral deviation peak value, then limiting the initial lateral deviation will result in the second initial lateral deviation being the positive lateral deviation peak value. If the initial lateral deviation is less than or equal to the positive lateral deviation peak value, then there is no need to limit the initial lateral deviation; in this case, the second initial lateral deviation is the same as the first initial lateral deviation.

[0087] In another example, if the initial lateral deviation is negative and relatively small, a second initial lateral deviation can be obtained by setting a corresponding negative lateral deviation peak value. For instance, if the initial lateral deviation is less than the negative lateral deviation peak value, then limiting the initial lateral deviation will result in the second initial lateral deviation being the negative lateral deviation peak value. If the initial lateral deviation is greater than or equal to the negative lateral deviation peak value, then there is no need to limit the initial lateral deviation; in this case, the second initial lateral deviation is the same as the first initial lateral deviation.

[0088] Here, the positive lateral deviation peak value and the negative lateral deviation peak value are opposites of each other.

[0089] In one example, the peak value of the lateral deviation can be determined based on the lane width of the lane in which the vehicle is located, the vehicle's width, and the safe distance between the vehicle and the road boundary. For example, assuming the lane width is 2 meters, the vehicle width is 1 meter, and the safe distance between the vehicle and the road boundary is 0.2 meters, the adjustment range of the vehicle can be determined to be 0.5 meters. In this case, since the initial lateral deviation of the vehicle will only be adjusted if the initial lateral deviation is greater than the preset deviation threshold, the peak value of the lateral deviation can be determined to be 0.5 - 0.2 = 0.3 meters.

[0090] In this scenario, assuming the initial lateral deviation is determined to be 0.4 meters based on the vehicle's current position and planned route, then the second initial lateral deviation, after limiting the first initial lateral deviation, is 0.3 meters.

[0091] In one example, after determining the second initial lateral deviation and the preset deviation threshold, the angle to be adjusted can be determined based on the second initial lateral deviation and the preset deviation threshold.

[0092] Then, the initial feedback angle can be adjusted based on the adjusted angle to obtain the adjusted feedback angle. In one example, the interpolation between the initial feedback angle and the adjusted angle can be used to determine the adjusted feedback angle.

[0093] S104. Determine the vehicle's feedforward steering angle, and based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, calculate the vehicle's steering angle, and control the vehicle to steer based on the vehicle steering angle.

[0094] The feedforward steering angle represents the vehicle's current position.

[0095] In one example, the feedforward angle can be the angle determined by the vehicle's planning module based on the vehicle's current position. The adjusted feedback angle can be the initial feedback angle minus the adjusted angle.

[0096] In one example, the vehicle's steering angle can be the sum of the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle.

[0097] In one example, after obtaining the vehicle's turning angle, the vehicle can be steered according to that angle to reduce lateral deviation and allow it to follow the planned route as closely as possible.

[0098] As described above, in this embodiment, after determining the first initial lateral deviation based on the vehicle's current position and the planned route, the first initial lateral deviation can be compared with a preset deviation threshold to obtain a deviation comparison result. This implementation determines the deviation between the vehicle's current position and the planned route by comparing the first initial lateral deviation with the preset deviation threshold, allowing for adjustment of the vehicle's turning angle to enable more accurate driving along the planned route. If the first initial lateral deviation is large, the deviation comparison result indicates that the vehicle needs to adjust its turning angle. In this case, the adjusted turning angle can be determined based on the second initial lateral deviation and the preset deviation threshold. Then, the initial feedback turning angle is adjusted based on this adjusted turning angle to obtain the adjusted feedback turning angle. Afterward, the vehicle's feedforward turning angle can be determined. Then, based on the feedforward turning angle, the adjusted feedback turning angle, and the adjusted turning angle, the vehicle's turning angle is calculated, and the vehicle is controlled to steer based on the turning angle. This implementation method, by introducing a preset deviation threshold, determines the adjustment angle by using a second initial lateral deviation (after limiting the first initial lateral deviation) and the preset deviation threshold when the initial lateral deviation is large. This adjusted angle reduces the vertical distance between the vehicle and the planned route, simplifying the process of reducing lateral deviation and lowering computational complexity. Furthermore, in scenarios requiring large steering angles, the adjusted angle controls the vehicle's steering angle, ensuring stability and safety, and improving comfort.

[0099] Figure 2 A flowchart illustrating another lateral control method for autonomous driving provided in this application embodiment is shown below. Figure 2 As shown, the lateral control method for autonomous driving specifically includes the following steps:

[0100] S201. Based on the vehicle's current position and planned route, determine the first initial lateral deviation.

[0101] The planned route represents the route the vehicle will travel; the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0102] In one example, this step can be referred to the content described in S101 above, and will not be repeated in detail here.

[0103] S202. Compare the initial lateral deviation with the preset deviation threshold to obtain the deviation comparison result.

[0104] Among them, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle, and the adjustment steering angle indicates the adjustment of the vehicle's initial feedback steering angle, which is the steering angle determined based on the first initial lateral deviation.

[0105] In one example, the initial feedback angle can be used to adjust the vehicle's current position and its positional relationship with the planned route, thereby reducing the vertical distance between the vehicle's current position and the planned route.

[0106] In one example, this step can be referred to the content described in S102 above, and will not be repeated in detail here.

[0107] S203. If, based on the deviation comparison results, it is determined that the vehicle needs to adjust its steering angle, then, based on the second initial lateral deviation and the preset deviation threshold, the steering angle to be adjusted is determined.

[0108] In one example, if the vehicle needs to adjust its steering angle based on the deviation comparison result, that is, if the absolute value of the first initial lateral deviation is greater than the preset deviation threshold, then when controlling the vehicle to steer based on the initial feedback steering angle determined based on the first initial lateral deviation, a larger vehicle steering angle is required. This can easily cause the vehicle body to vibrate, thereby affecting the vehicle's stability and safety.

[0109] Based on this, the adjustment angle can be determined in the following two ways, so that the initial feedback angle can be adjusted based on the adjustment angle.

[0110] Method 1: If the first initial lateral deviation is positive and the first initial lateral deviation is greater than the preset deviation threshold, then first determine the difference between the second initial lateral deviation and the preset deviation threshold, then determine the adjustment coefficient, and multiply the adjustment coefficient and the above difference to obtain the determined adjustment angle.

[0111] Method 2: If the first initial lateral deviation is negative and the first initial lateral deviation is less than the preset deviation threshold, then first determine the sum of the second initial lateral deviation and the preset deviation threshold, and then multiply the adjustment coefficient and the above sum to obtain the adjusted turning angle.

[0112] The adjustment coefficient is used to determine the angle of adjustment.

[0113] In one example, the adjustment factor can be determined according to the following steps.

[0114] Step 1: Determine the range of values ​​for the adjusted angle.

[0115] In one example, to ensure the effectiveness of adjusting the initial feedback angle, the range of values ​​for the adjusted angle can be determined based on the range of values ​​for the initial feedback angle.

[0116] In one example, assuming the initial feedback angle ranges from 0 to 30 degrees, the range of the adjusted angle can be determined from this initial range. For example, the range of the adjusted angle can be set to 0 to 20 degrees, or it can be set to 0 to 10 degrees.

[0117] In another example, the range of the adjusted steering angle can be determined by combining the vehicle's stability / comfort during steering with the initial range of the feedback angle. For instance, if the vehicle's steering angle is less than or equal to 15 degrees, the steering is comfortable and stable. In this case, if the initial feedback angle ranges from 0 to 30 degrees, the range of the adjusted steering angle can be determined to be 0 to 15 degrees.

[0118] The range of values ​​for the adjusted angle is not specifically limited here; the standard is that it can be achieved.

[0119] Step 2: Determine the first coefficient based on the range of the adjusted rotation angle and the third initial lateral deviation determined based on the first initial lateral deviation constraint. The first coefficient is used to constrain the range of the adjusted rotation angle.

[0120] In one example, the third initial lateral deviation represents the maximum value after limiting the first initial lateral deviation, which is the positive lateral deviation peak mentioned above.

[0121] In one example, after determining the range of values ​​for the adjusted angle, the first coefficient can be obtained by calculating the ratio between the maximum value within that range and the third initial lateral deviation (i.e., the positive peak value of the lateral deviation).

[0122] Assuming the adjusted angle ranges from 0 to 10 degrees, and the peak positive lateral deviation is 0.3 meters, then the first coefficient can be determined as 10 / 0.3 = 33.3. Assuming the adjusted angle ranges from 0 to 15 degrees, and the peak positive lateral deviation is 0.4 meters, then the first coefficient can be determined as 15 / 0.4 = 37.5.

[0123] Step 3: Obtain the vehicle's current speed.

[0124] Step 4: Determine the second coefficient that matches the current driving speed.

[0125] The second coefficient represents the limit of the vehicle's turning angle at the current driving speed.

[0126] In one example, a second coefficient table can be pre-set based on the vehicle's turning angle limit. Then, after obtaining the vehicle's current driving speed, the second coefficient that matches the current driving speed can be determined by querying the second coefficient table.

[0127] In one example, the second coefficient table can be determined based on the vehicle's own state. Here, the second coefficient table is not specifically limited, as long as it can be implemented.

[0128] For example, assuming the vehicle's current speed is 100 m / s, the second coefficient can be determined to be 0.1 by consulting the second coefficient table. Assuming the vehicle's current speed is 10 m / s, the second coefficient can be determined to be 0.4, etc., by consulting the second coefficient table.

[0129] Step 5: Determine the adjustment coefficient based on the first and second coefficients.

[0130] In one example, the product of the first coefficient and the second coefficient can be determined as the adjustment coefficient.

[0131] In one example, the angle to be adjusted as described above can also be calculated using the following formula (1):

[0132]

[0133] Where, δ le The angle of adjustment is indicated by le, which represents the second initial lateral deviation. th denoted by , p represents the first coefficient, and f(v) represents the second coefficient.

[0134] S204. Adjust the initial feedback angle based on the adjusted angle to obtain the adjusted feedback angle.

[0135] In one example, the interpolation between the initial feedback angle and the adjusted angle can be used to determine the adjusted feedback angle.

[0136] S205. Filter the adjusted angle to obtain the filtered adjusted angle.

[0137] In one example, if the adjusted steering angle is large, the calculated vehicle control angle will also be large. In this case, the adjusted steering angle needs to be filtered to reduce the degree of change in the corresponding vehicle control angle, thereby improving the vehicle's stability.

[0138] In one example, the filtering process performed on the adjusted angle can be understood as a process used to adjust the value of the adjusted angle and / or the rate of change of the adjusted angle.

[0139] For example, when the adjusted steering angle is 10 degrees, the adjusted steering angle can be filtered to make the resulting vehicle steering angle smaller, which helps to maintain the stability of the vehicle.

[0140] For example, the adjusted angle can be filtered using a filter, thereby filtering the value of the adjusted angle. The filter can be a low-pass filter or a mean filter, etc. The type of filter is not specifically limited here, as long as it can be implemented.

[0141] In one example, the rate of change of the adjusted steering angle can also be adjusted. For example, a filter can be used to set the rate of change of the adjusted steering angle to 1. In this case, the adjusted steering angle can be changed gradually to prevent the calculated vehicle steering angle from changing suddenly and causing the vehicle body to shake.

[0142] S206. Calculate the vehicle's steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

[0143] In one example, the vehicle's steering angle can be obtained by summing the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

[0144] In another example, when the adjusted steering angle is small, the vehicle's control steering angle can be calculated directly based on the adjusted steering angle, the feedforward steering angle, and the adjusted feedback steering angle.

[0145] In one example, the vehicle's turning angle can be calculated using the following formula (2).

[0146] δ=δ ff +δ fb +δ le (2)

[0147] Where δ represents the vehicle turning angle, δ ff Indicates the feedforward rotation angle, δ fb This indicates the adjusted feedback angle, δ. le Indicates the angle of adjustment (or, the angle of adjustment after filtering).

[0148] S207. Based on the vehicle's turning angle, control the vehicle to steer.

[0149] S208. If, based on the deviation comparison results, it is determined that the vehicle does not need to adjust its steering angle, then, based on the initial feedback steering angle and feedforward steering angle, the vehicle's steering angle is calculated, and the vehicle is steered based on the steering angle.

[0150] In one example, the vehicle's turning angle can be calculated using the following formula (3).

[0151] δ= δ ff +δ fb (3)

[0152] Where δ represents the vehicle turning angle, δ ff Indicates the feedforward rotation angle, δ fb This indicates the initial feedback angle.

[0153] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0154] Figure 3 A schematic diagram of a lateral control device for autonomous driving provided in an embodiment of this application is shown below. Figure 3 As shown, the lateral control device 300 for autonomous driving includes:

[0155] The first determining unit 301 is used to determine a first initial lateral deviation based on the vehicle's current position and the planned route; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0156] The comparison unit 302 is used to compare the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; adjusting the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is the steering angle determined based on the first initial lateral deviation.

[0157] The second determining unit 303 is used to determine the adjusted steering angle based on the second initial lateral deviation and the preset deviation threshold if it is determined that the vehicle needs to adjust its steering angle based on the deviation comparison result.

[0158] The adjustment unit 304 is used to adjust the initial feedback angle based on the adjusted angle to obtain the adjusted feedback angle; wherein, the second initial lateral deviation represents the lateral deviation after the first initial lateral deviation is limited.

[0159] The control unit 305 is used to determine the feedforward steering angle of the vehicle, and calculate the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle and the adjusted steering angle, and control the vehicle to steer based on the vehicle steering angle; wherein, the feedforward steering angle represents the current position of the vehicle.

[0160] Figure 4 A schematic diagram of another lateral control device for autonomous driving provided in this application embodiment is shown below. Figure 4 As shown, the lateral control device 400 for autonomous driving includes:

[0161] The first determining unit 401 is used to determine a first initial lateral deviation based on the vehicle's current position and the planned route; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route information.

[0162] The comparison unit 402 is used to compare the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; adjusting the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is the steering angle determined based on the first initial lateral deviation.

[0163] The second determining unit 403 is used to determine the adjusted steering angle based on the second initial lateral deviation and the preset deviation threshold if it is determined that the vehicle needs to adjust its steering angle based on the deviation comparison result.

[0164] The adjustment unit 404 is used to adjust the initial feedback angle based on the adjusted angle to obtain the adjusted feedback angle; wherein, the second initial lateral deviation represents the lateral deviation after the first initial lateral deviation is limited.

[0165] The control unit 405 is used to determine the feedforward steering angle of the vehicle, and calculate the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, and control the vehicle to steer based on the vehicle steering angle; wherein, the feedforward steering angle represents the current position of the vehicle.

[0166] In one example, the second determining unit 403 is used for:

[0167] If the first initial lateral deviation is positive and the first initial lateral deviation is greater than the preset deviation threshold, then the difference between the second initial lateral deviation and the preset deviation threshold is determined.

[0168] Determine the adjustment coefficient, and multiply the adjustment coefficient and the difference to obtain the adjusted turning angle; where the adjustment coefficient is used to determine the adjusted turning angle.

[0169] In one example, the second determining unit 403 is used for:

[0170] If the first initial lateral deviation is negative and the first initial lateral deviation is less than the preset deviation threshold, then the summation result between the second initial lateral deviation and the preset deviation threshold is determined.

[0171] The adjusted rotation angle is obtained by multiplying the adjustment coefficient and the summation result.

[0172] In one example, the second determining unit 403 is used for:

[0173] A first coefficient is determined based on the range of values ​​for the adjusted rotation angle and a third initial lateral deviation determined based on the first initial lateral deviation constraint; wherein the third initial lateral deviation characterizes the maximum value after constraining the first initial lateral deviation; the first coefficient is used to constrain the value of the adjusted rotation angle.

[0174] Obtain the vehicle's current speed and determine a second coefficient that matches the current speed; wherein the second coefficient represents the vehicle's turning angle limit at the current speed;

[0175] The adjustment coefficient is determined based on the first coefficient and the second coefficient.

[0176] In one example, the device also includes:

[0177] The filtering module 406 is used to filter the adjusted angle before calculating the vehicle angle based on the feedforward angle, the adjusted feedback angle, and the adjusted angle, so as to obtain the filtered adjusted angle.

[0178] The vehicle's steering angle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

[0179] In one example, filtering is used to adjust the value of the adjusted angle, and / or the rate of change of the adjusted angle.

[0180] In one example, the device is also used for:

[0181] If, based on the deviation comparison results, it is determined that the vehicle does not need to adjust its steering angle, then the vehicle's steering angle is calculated based on the initial feedback steering angle and feedforward steering angle, and the vehicle is steered based on the steering angle.

[0182] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 5 As shown, the electronic device 500 includes: a memory 501 and a processor 502.

[0183] Memory 501; a memory used to store computer-executed instructions in processor 502.

[0184] The processor 502 is configured to perform the method provided in the above embodiments.

[0185] The electronic device also includes a receiver 503 and a transmitter 504. The receiver 503 is used to receive instructions and data sent by an external device, and the transmitter 504 is used to send instructions and data to an external device.

[0186] This application also provides a computer-readable storage medium storing computer-executable instructions. These instructions, when executed by a processor, perform the steps of the lateral control method for autonomous driving described in the above-described method embodiments. The storage medium can be either volatile or non-volatile computer-readable storage.

[0187] This application also provides a computer program product that carries computer execution instructions. The computer execution instructions include instructions that can be used to perform the steps of the lateral control method for autonomous driving in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0188] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0189] It should be further noted that although the steps in the flowchart 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 flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0190] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0191] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0192] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0193] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0194] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as these combinations of technical features do not contradict each other, they should be considered within the scope of this specification.

[0195] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0196] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A lateral control method for autonomous driving, characterized in that, include: Based on the vehicle's current position and the planned route, a first initial lateral deviation is determined; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route. The first initial lateral deviation is compared with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; the adjustment of the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is the steering angle determined based on the first initial lateral deviation; If, based on the deviation comparison result, it is determined that the vehicle needs to adjust its steering angle, then based on the second initial lateral deviation and the preset deviation threshold, the adjusted steering angle is determined, and the initial feedback steering angle is adjusted based on the adjusted steering angle to obtain the adjusted feedback steering angle; wherein, the second initial lateral deviation represents the lateral deviation after limiting the first initial lateral deviation. The feedforward steering angle of the vehicle is determined, and the vehicle steering angle of the vehicle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle. The vehicle steering angle is then used to control the vehicle to steer. The feedforward steering angle represents the current position of the vehicle. The determination of the adjusted rotation angle based on the second initial lateral deviation and the preset deviation threshold includes: If the first initial lateral deviation is positive and the first initial lateral deviation is greater than the preset deviation threshold, then the difference between the second initial lateral deviation and the preset deviation threshold is determined; an adjustment coefficient is determined, and the adjustment coefficient and the difference are multiplied to obtain the adjusted angle; wherein the adjustment coefficient is used to determine the adjusted angle. If the first initial lateral deviation is negative and the first initial lateral deviation is less than the preset deviation threshold, then the summation result between the second initial lateral deviation and the preset deviation threshold is determined; the adjustment coefficient and the summation result are multiplied to obtain the adjusted rotation angle.

2. The method according to claim 1, characterized in that, The adjustment factor is determined according to the following steps: Based on the range of the adjusted rotation angle and the third initial lateral deviation determined based on the first initial lateral deviation constraint, a first coefficient is determined; wherein the third initial lateral deviation represents the maximum value after the first initial lateral deviation is constrained; the first coefficient is used to constrain the value of the adjusted rotation angle. The current driving speed of the vehicle is obtained, and a second coefficient matching the current driving speed is determined; wherein the second coefficient represents the turning angle limit of the vehicle at the current driving speed; The adjustment coefficient is determined based on the first coefficient and the second coefficient.

3. The method according to claim 1 or 2, characterized in that, Before calculating the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, the method further includes: The adjusted angle is filtered to obtain the filtered adjusted angle; The vehicle steering angle is calculated based on the feedforward steering angle, the adjusted feedback steering angle, and the filtered adjusted steering angle.

4. The method according to claim 3, characterized in that, The filtering process is used to adjust the value of the adjusted angle and / or the rate of change of the adjusted angle.

5. The method according to claim 1, characterized in that, The method further includes: If, based on the deviation comparison results, it is determined that the vehicle does not need to adjust its steering angle, then, based on the initial feedback steering angle and the feedforward steering angle, the vehicle's steering angle is calculated, and based on the vehicle's steering angle, the vehicle is controlled to steer.

6. A lateral control device for autonomous driving, characterized in that, include: The first determining unit is configured to determine a first initial lateral deviation based on the vehicle's current position and the planned route; wherein the planned route represents the route the vehicle will travel; and the first initial lateral deviation represents the vertical distance between the vehicle's current position and the planned route. A comparison unit is used to compare the first initial lateral deviation with a preset deviation threshold to obtain a deviation comparison result; wherein, the deviation comparison result indicates whether the vehicle needs to adjust the steering angle; the adjustment of the steering angle indicates adjusting the initial feedback steering angle of the vehicle; the initial feedback steering angle is a steering angle determined based on the first initial lateral deviation; The second determining unit is used to determine the adjusted steering angle based on the second initial lateral deviation and the preset deviation threshold if it is determined that the vehicle needs to adjust its steering angle based on the deviation comparison result. An adjustment unit is used to adjust the initial feedback angle based on the adjusted angle to obtain the adjusted feedback angle; wherein, the second initial lateral deviation represents the lateral deviation after limiting the first initial lateral deviation; A control unit is configured to determine the feedforward steering angle of the vehicle, and calculate the vehicle steering angle based on the feedforward steering angle, the adjusted feedback steering angle, and the adjusted steering angle, and control the vehicle to steer based on the vehicle steering angle; wherein the feedforward steering angle represents the current position of the vehicle. The second determining unit is specifically configured to: if the first initial lateral deviation is positive and greater than the preset deviation threshold, determine the difference between the second initial lateral deviation and the preset deviation threshold; determine an adjustment coefficient and multiply the adjustment coefficient and the difference to obtain the adjusted angle; wherein the adjustment coefficient is used to determine the adjusted angle; if the first initial lateral deviation is negative and less than the preset deviation threshold, determine the summation result between the second initial lateral deviation and the preset deviation threshold; and multiply the adjustment coefficient and the summation result to obtain the adjusted angle.

7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the lateral control method for autonomous driving as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the lateral control method for autonomous driving as described in any one of claims 1 to 5.

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