Steering control method and device, computer device and storage medium

Abstract

The application relates to a steering control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a steering radius corresponding to a target vehicle from a current position to a target position, and acquiring a first lane width corresponding to the current position and a second lane width corresponding to the target position; in the case that a first parameter value is greater than a first threshold value, acquiring an offset range of a projection point relative to a geometric center of an axle according to the steering radius; the first parameter value is an absolute value corresponding to a difference between the first lane width and the second lane width; the projection point is used for representing a projection of a steering center on a vehicle longitudinal axis; according to the steering radius, a vehicle wheelbase and a vehicle width of the target vehicle, a target offset value is determined from the offset range; a target steering parameter is acquired according to the target offset value, and steering control is performed on the target vehicle according to the target steering parameter. The method can improve the steering efficiency of a four-wheel steering vehicle.

Description

Technical Field

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

[0002] With the continuous development of the automotive industry, four-wheel steering technology has emerged, which enables the rear wheels and front wheels of a vehicle to participate in steering simultaneously.

[0003] In related technologies, vehicle steering control is mainly achieved through front-wheel steering. However, when applying front-wheel steering to four-wheel steering vehicles, multiple reversing and forward maneuvers are still required to change the vehicle's position when encountering road conditions such as narrow lanes or small turning radii. This fails to fully utilize the steering flexibility of four-wheel steering vehicles, resulting in lower steering efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a steering control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the steering efficiency of four-wheel steering vehicles in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a steering control method, including:

[0006] Obtain the turning radius of the target vehicle from its current position to the target position, and obtain the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position;

[0007] If the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle;

[0008] Based on the turning radius, as well as the wheelbase and width of the target vehicle, determine the target offset value from the offset range;

[0009] Based on the target offset value, obtain the target steering parameters, and then perform steering control on the target vehicle based on the target steering parameters.

[0010] In one embodiment, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius, including:

[0011] The first offset value is the product of the turning radius and the tangent corresponding to the maximum steering angle of the target vehicle's axle.

[0012] The difference between the first offset value and half of the vehicle wheelbase is taken as the second offset value;

[0013] The offset range is obtained based on the vehicle wheelbase and the second offset value.

[0014] In one embodiment, determining a target offset value from an offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width includes:

[0015] Based on the offset step value, obtain the optional offset value from the offset range;

[0016] Based on the turning radius, vehicle wheelbase, vehicle width, and optional offset value, a first distance and a second distance are obtained; the first distance is the horizontal distance between the midpoint of the first axle and the turning center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the turning center corresponding to the optional offset value.

[0017] The second parameter value is obtained based on the first distance, the second distance, and the first parameter value;

[0018] If the value of the second parameter is less than the second threshold, the optional offset value will be used as the target offset value.

[0019] In one embodiment, obtaining a first distance and a second distance based on the turning radius, vehicle wheelbase, vehicle width, and an optional offset value includes:

[0020] Based on the vehicle wheelbase and the optional offset value, obtain the third distance and the fourth distance; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value.

[0021] Based on the third distance, the distance between the projection point corresponding to the optional offset value and the end point of the first axle is obtained as the fifth distance;

[0022] Based on the fourth distance, the distance between the projection point corresponding to the optional offset value and the end point of the second axle is obtained as the sixth distance;

[0023] Using the law of cosines, the first distance is obtained based on the fifth distance and the turning radius, and the second distance is obtained based on the sixth distance and the turning radius.

[0024] In one embodiment, the method further includes:

[0025] If the second parameter value corresponding to all optional offset values ​​is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value is taken as the target offset value.

[0026] In one embodiment, target steering parameters are obtained based on the target offset value, and steering control of the target vehicle is performed based on the target steering parameters, including:

[0027] Based on the target offset value, turning radius, and vehicle wheelbase, obtain the front axle steering angle and rear axle steering angle of the target vehicle;

[0028] Steering control is applied to the target vehicle based on the front axle steering angle and the rear axle steering angle.

[0029] Secondly, this application also provides a steering control device, comprising:

[0030] The interaction module is used to obtain the turning radius of the target vehicle from its current position to the target position, and to obtain the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position.

[0031] The calculation module is used to obtain the offset range of the projection point relative to the geometric center of the axle based on the turning radius when the first parameter value is greater than the first threshold value; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to represent the projection of the turning center on the longitudinal axis of the vehicle.

[0032] The determination module is used to determine the target offset value from the offset range based on the turning radius, the wheelbase and width of the target vehicle;

[0033] The control module is used to obtain the target steering parameters based on the target offset value, and to perform steering control on the target vehicle based on the target steering parameters.

[0034] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0035] Obtain the turning radius of the target vehicle from its current position to the target position, and obtain the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position;

[0036] If the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle;

[0037] Based on the turning radius, as well as the wheelbase and width of the target vehicle, determine the target offset value from the offset range;

[0038] Based on the target offset value, obtain the target steering parameters, and then perform steering control on the target vehicle based on the target steering parameters.

[0039] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0040] Obtain the turning radius of the target vehicle from its current position to the target position, and obtain the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position;

[0041] If the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle;

[0042] Based on the turning radius, as well as the wheelbase and width of the target vehicle, determine the target offset value from the offset range;

[0043] Based on the target offset value, obtain the target steering parameters, and then perform steering control on the target vehicle based on the target steering parameters.

[0044] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0045] Obtain the turning radius of the target vehicle from its current position to the target position, and obtain the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position;

[0046] If the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle;

[0047] Based on the turning radius, as well as the wheelbase and width of the target vehicle, determine the target offset value from the offset range;

[0048] Based on the target offset value, obtain the target steering parameters, and then perform steering control on the target vehicle based on the target steering parameters.

[0049] The aforementioned steering control method, device, computer equipment, storage medium, and computer program product first obtain the turning radius of the target vehicle from its current position to the target position, and obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position. If the first parameter value is greater than a first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius. Based on the turning radius, the wheelbase and width of the target vehicle, the target offset value is determined from the offset range. Then, the target steering parameters are obtained based on the target offset value, and the target vehicle is steered according to the target steering parameters. In this way, the steering center can be flexibly adjusted according to road information, and the orientation of the target vehicle during the steering process can be adjusted according to the appropriate steering center, reducing the number of steering adjustments and thus improving steering efficiency. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a diagram illustrating the application environment of the steering control method in one embodiment;

[0052] Figure 2 This is a flowchart illustrating a steering control method in one embodiment;

[0053] Figure 3 This is a schematic diagram of the steering of the target vehicle in one embodiment;

[0054] Figure 4 This is a schematic diagram of the steering center without offset in one embodiment;

[0055] Figure 5 This is a schematic diagram of the rearward offset of the steering center in one embodiment;

[0056] Figure 6 This is a schematic diagram illustrating the forward offset of the steering center in one embodiment;

[0057] Figure 7 This is a flowchart illustrating the steering control method in another embodiment;

[0058] Figure 8 This is a structural block diagram of the steering control device in one embodiment;

[0059] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The steering control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, controller 102 and steering system 104 are connected. Controller 102 first obtains the turning radius of the target vehicle from its current position to the target position, as well as the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position. If the first parameter value is greater than a first threshold, it obtains the offset range of the projection point relative to the geometric center of the axle based on the turning radius. Then, based on the turning radius, the wheelbase and width of the target vehicle, it determines the target offset value from the offset range. Finally, based on the target offset value, it obtains the target steering parameters and sends them to steering system 104 to control steering system 104 to steer the target vehicle according to the target steering parameters.

[0062] In one exemplary embodiment, such as Figure 2 As shown, a steering control method is provided, which is applied to Figure 1 Taking controller 102 as an example, the following steps are included:

[0063] S202: Obtain the turning radius of the target vehicle from the current position to the target position, and obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position.

[0064] The target vehicle refers to a four-wheel steering vehicle with two axles, each of which can serve as either a steering or drive axle, such as a port container horizontal transport vehicle. Furthermore, the curvature of the curve from the current location to the target location is not specifically limited here; it could be the curvature of a turning road such as a crossroads, T-junction, or Y-junction.

[0065] Optionally, during the driving process of the target vehicle, the controller first obtains the road information corresponding to the future driving path of the target vehicle within a preset distance based on the target vehicle's positioning information and high-precision map.

[0066] When the controller determines that the target vehicle needs to turn based on the road information, it obtains the turning radius required for the target vehicle to turn from the current position to the target position through a high-precision map, as well as the width of the first lane corresponding to the current position and the width of the second lane corresponding to the target position.

[0067] For example, such as Figure 3As shown, when the target vehicle needs to turn from the current lane to the target lane, the controller obtains the turning radius required to turn from the current lane to the target lane, as well as the lane width of the current lane and the lane width of the target lane through a high-precision map.

[0068] S204: When the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained according to the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle.

[0069] Optionally, after obtaining the first lane width and the second lane width, the controller first obtains the first parameter value, and the specific calculation method is as follows:

[0070] ΔW=|W1-W2|

[0071] Where ΔW represents the first parameter value, W1 represents the first lane width, W2 represents the second lane width, and |·| represents taking the absolute value.

[0072] Then, based on the relationship between the first parameter value and the first threshold, the positional relationship between the projection point of the steering center on the longitudinal axis of the vehicle and the geometric center of the axle is determined.

[0073] Figure 4 This is a schematic diagram of the steering center without offset, where A represents the right end point of the vehicle's rear axle; B represents the right end point of the vehicle's front axle; C represents the left end point of the vehicle's rear axle; D represents the left end point of the vehicle's front axle; M represents the midpoint of the vehicle's rear axle; N represents the midpoint of the vehicle's front axle; O represents the geometric center of the axle; P represents the steering center; Q represents the projection point of the steering center; μ represents the rear wheel steering angle; and θ represents the front wheel steering angle. Figure 5 and Figure 6 The annotation instructions can be found in the following text. Figure 4 If the value of the first parameter is not greater than the first threshold, such as Figure 4 As shown, the projection point Q coincides with the geometric center O of the axle.

[0074] If the first parameter value is greater than the first threshold and the first lane width is less than the second lane width, then... Figure 5 The projection point Q is located between the midpoint M of the rear axle of the vehicle and the geometric center O of the axle.

[0075] If the first parameter value is greater than the first threshold and the first lane width is greater than the second lane width, then... Figure 6 The projection point Q is located between the midpoint N of the front axle of the vehicle and the geometric center O of the axle.

[0076] In addition, the steering performance of the target vehicle may limit the offset range of the steering center. Therefore, the controller needs to obtain the range of the offset value d of the projection point Q relative to the geometric center O of the axle based on the steering radius R.

[0077] S206: Determine the target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width.

[0078] Among them, the wheelbase refers to the distance between the midpoint of the front axle and the midpoint of the rear axle of the vehicle, and the width of the vehicle can be characterized by the axle length.

[0079] Optionally, after determining the offset range, the controller determines a suitable target offset value for steering from the offset range based on the steering radius, vehicle wheelbase, and vehicle width.

[0080] S208: Obtain the target steering parameters based on the target offset value, and perform steering control on the target vehicle based on the target steering parameters.

[0081] The target steering parameters may include front wheel steering angle, front wheel speed, rear wheel steering angle, and rear wheel speed, etc., which are not specifically limited here.

[0082] Optionally, after obtaining the target offset value, the controller obtains the target steering parameters based on the target offset value and sends the target steering parameters to the steering system to control the steering system to perform steering control on the target vehicle based on the target steering parameters.

[0083] It should be noted that if the turning radius is not fixed during the turning process, the above process can be repeated according to different turning radii to update the target turning parameters in real time.

[0084] In the aforementioned steering control method, the turning radius of the target vehicle from its current position to its target position is first obtained, along with the first lane width corresponding to the current position and the second lane width corresponding to the target position. If the first parameter value is greater than a first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained based on the turning radius. Then, based on the turning radius, the wheelbase, and the width of the target vehicle, the target offset value is determined from the offset range. Subsequently, the target steering parameters are obtained based on the target offset value, and the steering of the target vehicle is controlled according to the target steering parameters. In this way, the steering center can be flexibly adjusted according to road information, and the orientation of the target vehicle during the steering process can be adjusted according to a suitable steering center, reducing the number of steering adjustments and thus improving steering efficiency.

[0085] In one embodiment, obtaining the offset range of the projection point relative to the geometric center of the axle based on the steering radius includes: taking the product of the steering radius and the tangent value corresponding to the maximum steering angle of the target vehicle's axle as a first offset value; taking the difference between the first offset value and half of the vehicle's wheelbase as a second offset value; and obtaining the offset range based on the vehicle's wheelbase and the second offset value.

[0086] Among them, the maximum steering angle of the axle refers to the maximum steering angle that the wheels of the target vehicle can achieve during the steering process.

[0087] Optionally, in the process of obtaining the offset range, the controller first obtains the first offset value, and the specific calculation method is as follows:

[0088] d1=R×tanδ max

[0089] Where d1 represents the first offset value, R represents the turning radius, and δ max This indicates the maximum steering angle of the axle.

[0090] Then, based on the first offset value, the second offset value is obtained, and the specific calculation method is as follows:

[0091]

[0092] Where d2 represents the second offset value and L represents the vehicle wheelbase.

[0093] Finally, based on the vehicle wheelbase and the second offset value, the offset range is obtained, as shown below:

[0094]

[0095] in, Indicates taking The smaller value in d2.

[0096] In this embodiment, the first offset value is obtained by multiplying the turning radius and the tangent value corresponding to the maximum steering angle of the target vehicle's axle, and the second offset value is obtained by the difference between the first offset value and half of the vehicle's wheelbase. Then, the offset range is obtained based on the vehicle's wheelbase and the second offset value. In this way, the offset range of the steering center can be quickly determined based on the steering performance and turning radius of the target vehicle, avoiding the selection of a steering center that exceeds the offset range, which would cause the target vehicle to fail to turn, thereby improving the steering efficiency of the target vehicle.

[0097] In one embodiment, determining a target offset value from an offset range based on the turning radius, the wheelbase, and the width of the target vehicle includes: obtaining optional offset values ​​from the offset range based on offset step values; obtaining a first distance and a second distance based on the turning radius, wheelbase, width, and optional offset values; the first distance being the horizontal distance between the midpoint of the first axle and the turning center corresponding to the optional offset value; the second distance being the horizontal distance between the midpoint of the second axle and the turning center corresponding to the optional offset value; obtaining a second parameter value based on the first distance, the second distance, and a first parameter value; if the second parameter value is less than a second threshold, using the optional offset value as the target offset value; if the second parameter values ​​corresponding to all optional offset values ​​are not less than the second threshold, using the optional offset value corresponding to the smallest second parameter value as the target offset value.

[0098] Specifically, when the steering center shifts backward, the rear axle is the first axle and the front axle is the second axle; when the steering center shifts forward, the front axle is the first axle and the rear axle is the second axle.

[0099] Optionally, in determining the target offset value, the controller first determines the offset step value Δd, sequentially from the offset range [d...]. min d max In the [], retrieve the optional offset value, such as d min d min +Δd、d min +2×Δd etc.

[0100] Then, the first distance and the second distance corresponding to each optional offset value are obtained sequentially, and the second parameter value corresponding to each optional offset value is obtained based on the first distance and the second distance corresponding to each optional offset value. The specific calculation method is as follows:

[0101] ΔL=|L2-L1-ΔW|

[0102] Where ΔL represents the second parameter value, L1 represents the first distance, L2 represents the second distance, ΔW represents the first parameter value, and |·| represents taking the absolute value.

[0103] If there is an optional offset value whose corresponding second parameter value is less than the second threshold, the optional offset value corresponding to the second parameter value that is less than the second threshold shall be used as the target offset value; if the second parameter values ​​corresponding to each optional offset value are not less than the second threshold, the optional offset value corresponding to the smallest second parameter value shall be used as the target offset value.

[0104] In this embodiment, by determining the relationship between the second parameter value and the second threshold, a suitable offset value can be selected from the offset range to flexibly adjust the steering center, thereby improving the steering efficiency of the target vehicle.

[0105] In one embodiment, obtaining a first distance and a second distance based on the turning radius, vehicle wheelbase, vehicle width, and an optional offset value includes: obtaining a third distance and a fourth distance based on the vehicle wheelbase and the optional offset value; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; based on the third distance, obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle as a fifth distance; based on the fourth distance, obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle as a sixth distance; using the law of cosines, obtaining the first distance based on the fifth distance and the turning radius, and obtaining the second distance based on the sixth distance and the turning radius.

[0106] For example, such as Figure 6 As shown, when the width of the first lane is greater than the width of the second lane, the controller first obtains the third and fourth distances based on the vehicle wheelbase and the optional offset value. The specific calculation method is as follows:

[0107]

[0108]

[0109] Where L3 represents the third distance, L4 represents the fourth distance, L represents the vehicle wheelbase, and d represents the distance between the two distances. option Indicates an optional offset value.

[0110] Then, based on the third distance, the distance between the projection point Q and the front axle endpoint B of the vehicle is obtained as the fifth distance, and based on the fourth distance, the distance between the projection point Q and the rear axle endpoint A of the vehicle is obtained as the sixth distance. The specific calculation method is as follows:

[0111]

[0112]

[0113] Where L5 represents the fifth distance, L6 represents the sixth distance, and width represents the vehicle width.

[0114] Furthermore, using the law of cosines, the first distance is obtained based on the fifth distance and the turning radius, and the second distance is obtained based on the sixth distance and the turning radius. The specific calculation method is as follows:

[0115]

[0116]

[0117] Where L1 represents the first distance, L2 represents the second distance, and QP represents the turning radius.

[0118] In this embodiment, a first distance and a second distance are obtained through the geometric relationship between the target vehicle and the steering center, so as to adjust the steering center according to the first distance and the second distance, thereby improving the steering efficiency of the target vehicle.

[0119] In one embodiment, obtaining target steering parameters based on the target offset value and performing steering control on the target vehicle based on the target steering parameters includes: obtaining the front axle steering angle and rear axle steering angle of the target vehicle based on the target offset value, steering radius, and vehicle wheelbase; and performing steering control on the target vehicle based on the front axle steering angle and rear axle steering angle.

[0120] Optionally, after determining the target offset value, the controller obtains the front axle steering angle and the rear axle steering angle based on the target offset value, the turning radius, and the vehicle wheelbase. The controller then controls the front wheel steering based on the front axle steering angle and the rear wheel steering based on the rear axle steering angle. The specific calculation method is as follows:

[0121]

[0122]

[0123] Where θ represents the front axle steering angle and μ represents the rear axle steering angle.

[0124] For example, such as Figure 6 As shown, when the width of the first lane is greater than the width of the second lane, the front axle steering angle and the rear axle steering angle are as follows:

[0125]

[0126]

[0127] Where, d target This represents the target offset value.

[0128] In one alternative implementation, after obtaining the front axle steering angle and the rear axle steering angle, fine adjustments can be made, for example, using a steering angle calibration table, to satisfy the Ackermann steering geometry, and the target vehicle can be steering controlled based on the finely adjusted front axle steering angle and the rear axle steering angle.

[0129] In this embodiment, the front axle steering angle and rear axle steering angle of the target vehicle are first obtained based on the target offset value, turning radius and vehicle wheelbase. Then, the steering control of the target vehicle is performed based on the front axle steering angle and rear axle steering angle, which can flexibly adjust the position of the target vehicle during the steering process, thereby improving steering efficiency.

[0130] In one embodiment, such as Figure 7 As shown, a steering control method is provided, which includes the following steps:

[0131] S702: Obtain the turning radius of the target vehicle from the current position to the target position, and obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position.

[0132] S704: If the first parameter value is greater than the first threshold, the product of the turning radius and the tangent value corresponding to the maximum steering angle of the target vehicle axle is used as the first offset value; the difference between the first offset value and half of the vehicle wheelbase is used as the second offset value; the offset range is obtained based on the vehicle wheelbase and the second offset value.

[0133] S706: Obtain an optional offset value from the offset range based on the offset step value.

[0134] S708: Based on the vehicle wheelbase and optional offset value, obtain the third distance and the fourth distance; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; based on the third distance, obtain the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle, as the fifth distance; based on the fourth distance, obtain the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle, as the sixth distance; using the cosine theorem, based on the fifth distance and the turning radius, obtain the first distance, and based on the sixth distance and the turning radius, obtain the second distance; based on the first distance, the second distance, and the first parameter value, obtain the second parameter value.

[0135] S710: If there is an optional offset value whose corresponding second parameter value is less than the second threshold, the optional offset value corresponding to the second parameter value that is less than the second threshold shall be used as the target offset value; if the second parameter value corresponding to each optional offset value is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value shall be used as the target offset value.

[0136] S712: Based on the target offset value, turning radius, and vehicle wheelbase, obtain the front axle steering angle and rear axle steering angle of the target vehicle; perform steering control on the target vehicle based on the front axle steering angle and rear axle steering angle.

[0137] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0138] Based on the same inventive concept, this application also provides a steering control device for implementing the steering control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more steering control device embodiments provided below can be found in the limitations of the steering control method described above, and will not be repeated here.

[0139] In one exemplary embodiment, such as Figure 8 As shown, a steering control device is provided, including: an interaction module 810, a calculation module 820, a determination module 830, and a control module 840, wherein:

[0140] The interaction module 810 is used to obtain the turning radius of the target vehicle from the current position to the target position, and to obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position;

[0141] The calculation module 820 is used to obtain the offset range of the projection point relative to the geometric center of the axle based on the turning radius when the first parameter value is greater than the first threshold value; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to represent the projection of the turning center on the longitudinal axis of the vehicle.

[0142] The determination module 830 is used to determine the target offset value from the offset range based on the turning radius, the wheelbase and width of the target vehicle;

[0143] The control module 840 is used to obtain the target steering parameters based on the target offset value, and to perform steering control on the target vehicle based on the target steering parameters.

[0144] In one embodiment, the calculation module 820 is further configured to take the product of the turning radius and the tangent value corresponding to the maximum steering angle of the target vehicle axle as the first offset value; take the difference between the first offset value and half of the vehicle wheelbase as the second offset value; and obtain the offset range based on the vehicle wheelbase and the second offset value.

[0145] In one embodiment, the determination module 830 is further configured to obtain an optional offset value from the offset range based on the offset step value; obtain a first distance and a second distance based on the turning radius, vehicle wheelbase, vehicle width, and the optional offset value; the first distance is the horizontal distance between the midpoint of the first axle and the turning center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the turning center corresponding to the optional offset value; obtain a second parameter value based on the first distance, the second distance, and the first parameter value; and if the second parameter value is less than a second threshold, use the optional offset value as the target offset value.

[0146] In one embodiment, the determination module 830 is further configured to obtain a third distance and a fourth distance based on the vehicle wheelbase and an optional offset value; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; based on the third distance, the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle is obtained as a fifth distance; based on the fourth distance, the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle is obtained as a sixth distance; using the law of cosines, a first distance is obtained based on the fifth distance and the turning radius, and a second distance is obtained based on the sixth distance and the turning radius.

[0147] In one embodiment, the determination module 830 is further configured to take the optional offset value corresponding to the smallest second parameter value as the target offset value if the second parameter value corresponding to all optional offset values ​​is not less than the second threshold.

[0148] In one embodiment, the control module 840 is further configured to obtain the front axle steering angle and rear axle steering angle of the target vehicle based on the target offset value, the steering radius and the vehicle wheelbase; and to perform steering control on the target vehicle based on the front axle steering angle and the rear axle steering angle.

[0149] The various modules in the aforementioned steering control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0150] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle information and other control data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a steering control method.

[0151] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0152] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: obtaining the turning radius of a target vehicle from its current position to a target position, and obtaining a first lane width corresponding to the current position and a second lane width corresponding to the target position; if a first parameter value is greater than a first threshold, obtaining the offset range of a projection point relative to the geometric center of the vehicle axle based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle; determining a target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width; obtaining target steering parameters based on the target offset value, and performing steering control on the target vehicle based on the target steering parameters.

[0153] In one embodiment, when the processor executes the computer program, it further implements the following steps: taking the product of the turning radius and the tangent corresponding to the maximum steering angle of the target vehicle's axle as a first offset value; taking the difference between the first offset value and half of the vehicle's wheelbase as a second offset value; and obtaining the offset range based on the vehicle's wheelbase and the second offset value.

[0154] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining an optional offset value from the offset range based on the offset step value; obtaining a first distance and a second distance based on the steering radius, vehicle wheelbase, vehicle width, and the optional offset value; the first distance is the horizontal distance between the midpoint of the first axle and the steering center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the steering center corresponding to the optional offset value; obtaining a second parameter value based on the first distance, the second distance, and a first parameter value; and if the second parameter value is less than a second threshold, using the optional offset value as the target offset value.

[0155] In one embodiment, when the processor executes the computer program, it further implements the following steps: obtaining a third distance and a fourth distance based on the vehicle wheelbase and an optional offset value; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle based on the third distance, as a fifth distance; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle based on the fourth distance, as a sixth distance; and obtaining a first distance based on the fifth distance and the turning radius using the law of cosines, and obtaining a second distance based on the sixth distance and the turning radius.

[0156] In one embodiment, when the processor executes the computer program, it further performs the following steps: if the second parameter value corresponding to all optional offset values ​​is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value is taken as the target offset value.

[0157] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the front axle steering angle and rear axle steering angle of the target vehicle based on the target offset value, the steering radius, and the vehicle wheelbase; and performing steering control on the target vehicle based on the front axle steering angle and the rear axle steering angle.

[0158] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: obtaining the turning radius of the target vehicle from its current position to a target position, and obtaining the first lane width corresponding to the current position and the second lane width corresponding to the target position; if the first parameter value is greater than a first threshold, obtaining the offset range of the projection point relative to the geometric center of the axle based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle; determining a target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width; obtaining target steering parameters based on the target offset value, and performing steering control on the target vehicle based on the target steering parameters.

[0159] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the product of the turning radius and the tangent corresponding to the maximum steering angle of the target vehicle's axle as a first offset value; taking the difference between the first offset value and half of the vehicle's wheelbase as a second offset value; and obtaining the offset range based on the vehicle's wheelbase and the second offset value.

[0160] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining an optional offset value from the offset range based on the offset step value; obtaining a first distance and a second distance based on the steering radius, vehicle wheelbase, vehicle width, and the optional offset value; the first distance is the horizontal distance between the midpoint of the first axle and the steering center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the steering center corresponding to the optional offset value; obtaining a second parameter value based on the first distance, the second distance, and a first parameter value; and if the second parameter value is less than a second threshold, using the optional offset value as the target offset value.

[0161] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: obtaining a third distance and a fourth distance based on the vehicle wheelbase and an optional offset value; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle based on the third distance, as a fifth distance; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle based on the fourth distance, as a sixth distance; and obtaining a first distance based on the fifth distance and the turning radius using the law of cosines, and obtaining a second distance based on the sixth distance and the turning radius.

[0162] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the second parameter value corresponding to all optional offset values ​​is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value is taken as the target offset value.

[0163] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the front axle steering angle and rear axle steering angle of the target vehicle based on the target offset value, the steering radius, and the vehicle wheelbase; and performing steering control on the target vehicle based on the front axle steering angle and the rear axle steering angle.

[0164] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: obtaining the turning radius of a target vehicle from its current position to a target position, and obtaining a first lane width corresponding to the current position and a second lane width corresponding to the target position; if a first parameter value is greater than a first threshold, obtaining the offset range of a projection point relative to the geometric center of the vehicle axle based on the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle; determining a target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width; obtaining target steering parameters based on the target offset value, and performing steering control on the target vehicle based on the target steering parameters.

[0165] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the product of the turning radius and the tangent corresponding to the maximum steering angle of the target vehicle's axle as a first offset value; taking the difference between the first offset value and half of the vehicle's wheelbase as a second offset value; and obtaining the offset range based on the vehicle's wheelbase and the second offset value.

[0166] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining an optional offset value from the offset range based on the offset step value; obtaining a first distance and a second distance based on the steering radius, vehicle wheelbase, vehicle width, and the optional offset value; the first distance is the horizontal distance between the midpoint of the first axle and the steering center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the steering center corresponding to the optional offset value; obtaining a second parameter value based on the first distance, the second distance, and a first parameter value; and if the second parameter value is less than a second threshold, using the optional offset value as the target offset value.

[0167] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: obtaining a third distance and a fourth distance based on the vehicle wheelbase and an optional offset value; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the first axle based on the third distance, as a fifth distance; obtaining the distance between the projection point corresponding to the optional offset value and the endpoint of the second axle based on the fourth distance, as a sixth distance; and obtaining a first distance based on the fifth distance and the turning radius using the law of cosines, and obtaining a second distance based on the sixth distance and the turning radius.

[0168] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the second parameter value corresponding to all optional offset values ​​is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value is taken as the target offset value.

[0169] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the front axle steering angle and rear axle steering angle of the target vehicle based on the target offset value, the steering radius, and the vehicle wheelbase; and performing steering control on the target vehicle based on the front axle steering angle and the rear axle steering angle.

[0170] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0171] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0172] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A steering control method, characterized in that, The method includes: Obtain the turning radius of the target vehicle from its current position to the target position, and obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position; When the first parameter value is greater than the first threshold, the offset range of the projection point relative to the geometric center of the axle is obtained according to the turning radius; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the turning center on the longitudinal axis of the vehicle, and the geometric center of the axle is used to characterize the midpoint of the line connecting the midpoint of the front axle and the midpoint of the rear axle of the vehicle; Based on the turning radius, and the wheelbase and width of the target vehicle, the target offset value is determined from the offset range; Based on the target offset value, the target steering parameters are obtained, and the target vehicle is steering controlled according to the target steering parameters; The step of obtaining the offset range of the projection point relative to the geometric center of the axle based on the turning radius includes: The product of the turning radius and the tangent corresponding to the maximum steering angle of the target vehicle's axle is used as the first offset value; The difference between the first offset value and half of the vehicle wheelbase is taken as the second offset value; The offset range is obtained based on the vehicle wheelbase and the second offset value; The step of determining the target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width includes: Based on the offset step value, obtain an optional offset value from the offset range; A first distance and a second distance are obtained based on the turning radius, the vehicle wheelbase, the vehicle width, and the optional offset value; the first distance is the horizontal distance between the midpoint of the first axle and the turning center corresponding to the optional offset value; the second distance is the horizontal distance between the midpoint of the second axle and the turning center corresponding to the optional offset value. The second parameter value is obtained based on the first distance, the second distance, and the first parameter value; If the value of the second parameter is less than the second threshold, the optional offset value is used as the target offset value.

2. The method according to claim 1, characterized in that, The step of obtaining the first distance and the second distance based on the turning radius, the vehicle wheelbase, the vehicle width, and the optional offset value includes: Based on the vehicle wheelbase and the optional offset value, a third distance and a fourth distance are obtained; the third distance is the horizontal distance between the midpoint of the first axle and the projection point corresponding to the optional offset value; the fourth distance is the horizontal distance between the midpoint of the second axle and the projection point corresponding to the optional offset value. Based on the third distance, the distance between the projection point corresponding to the optional offset value and the end point of the first axle is obtained as the fifth distance; Based on the fourth distance, the distance between the projection point corresponding to the optional offset value and the end point of the second axle is obtained as the sixth distance; Using the law of cosines, the first distance is obtained based on the fifth distance and the turning radius, and the second distance is obtained based on the sixth distance and the turning radius.

3. The method according to claim 1, characterized in that, The method further includes: If the second parameter value corresponding to all optional offset values ​​is not less than the second threshold, the optional offset value corresponding to the smallest second parameter value is taken as the target offset value.

4. The method according to claim 1, characterized in that, The step of obtaining target steering parameters based on the target offset value and performing steering control on the target vehicle based on the target steering parameters includes: Based on the target offset value, the turning radius, and the vehicle wheelbase, the front axle steering angle and rear axle steering angle of the target vehicle are obtained; The target vehicle is steering based on the front axle steering angle and the rear axle steering angle.

5. A steering control device for implementing the steering control method according to any one of claims 1 to 4, characterized in that, The device includes: The interaction module is used to obtain the turning radius of the target vehicle from its current position to the target position, and to obtain the first lane width corresponding to the current position and the second lane width corresponding to the target position; The calculation module is used to obtain the offset range of the projection point relative to the geometric center of the axle based on the steering radius when the first parameter value is greater than the first threshold value; the first parameter value is the absolute value corresponding to the difference between the first lane width and the second lane width; the projection point is used to characterize the projection of the steering center on the longitudinal axis of the vehicle. The determination module is used to determine the target offset value from the offset range based on the turning radius, the wheelbase of the target vehicle, and the vehicle width. The control module is used to obtain target steering parameters based on the target offset value, and to perform steering control on the target vehicle based on the target steering parameters.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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