A vehicle control method, system, electronic device and storage medium

Abstract

The application provides a vehicle control method, system, electronic equipment and storage medium, the method comprises the following steps: firstly, obtaining the speed and rotation angle of the four wheels of the vehicle based on the control information given in the current period; then, obtaining the equivalent rotation angle of the current rotation angle, and comparing the current rotation angle, the corresponding equivalent rotation angle and the preset rotation angle range; and determining the target speed and target rotation angle based on the comparison result. The application can make the wheels rotate at the minimum rotation angle, thereby ensuring the smoothness of vehicle motion switching and the stability of the vehicle, and ensuring that the vehicle does not tilt due to large-angle wheel steering during the motion process.

Description

A vehicle control method, system, electronic device, and storage medium Technical Field

[0001] This invention relates to the field of computer motion control, and in particular to a vehicle control method, system, electronic device, and storage medium. Background Technology

[0002] Most existing four-wheeled vehicle control schemes are based on the Ackerman method to decompose velocity and obtain the control velocity of each wheel. However, this control method cannot meet the steering requirements in confined spaces, and there is also the problem of large-angle jumps in a single wheel during operation, which has a significant impact on the stability and smoothness of the vehicle's rotation. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0004] This invention provides a vehicle control method, wherein the vehicle is a four-wheeled vehicle, and the method includes the following steps:

[0005] S100, Obtain the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L 4 and rotation angle θ L 1 to θ L 4; where V L i and θ L i These are the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle, respectively; the value of i ranges from 1 to 4.

[0006] S200, Obtain the control information sent to the target vehicle in the current cycle, the control information includes Vx, Vy and w, where Vx is the longitudinal velocity of the target vehicle, Vy is the lateral velocity of the target vehicle, and w is the angular velocity of the target vehicle;

[0007] S300, based on the control information, obtain the candidate speed V of the i-th wheel of the target vehicle in the current cycle. C i and candidate rotation angle θ C i ;

[0008] S400, obtain θ C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θC1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°;V i and θ i These are the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function;

[0009] S500, based on V i and θ i Control the i-th round of the target vehicle.

[0010] This invention provides a vehicle control system, comprising:

[0011] The first acquisition module is used to acquire the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L 4. Rotation angle θ L 1 to θ L 4, V L i and θ L i These are the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle, respectively; the value of i ranges from 1 to 4.

[0012] The second acquisition module is used to acquire control information sent to the target vehicle in the current cycle. The control information includes Vx, Vy and w, where Vx is the longitudinal velocity of the target vehicle, Vy is the lateral velocity of the target vehicle, and w is the angular velocity of the target vehicle.

[0013] The first calculation objective is to calculate, based on the control information, the candidate speed V of the i-th wheel of the target vehicle in the current cycle. C i and candidate rotation angle θ Ci ;

[0014] The second calculation module is used to obtain θ. C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θ C1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°;V i and θ i These are the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function;

[0015] Control module, used for V-based i and θ i Control the i-th round of the target vehicle.

[0016] This invention also provides a non-transitory computer-readable storage medium storing at least one instruction or at least one program segment, wherein the at least one instruction or the at least one program segment is loaded and executed by a processor to implement the aforementioned method.

[0017] This invention also provides an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0018] The present invention has at least the following beneficial effects:

[0019] The vehicle control method provided in this invention first obtains the speed and rotation angle of the four wheels of the vehicle based on the control information given in the current cycle. Then, it obtains the equivalent rotation angle. When either the current rotation angle or the corresponding equivalent rotation angle is within a preset rotation angle range, the rotation angle and corresponding speed within the preset range are selected as the target speed and target rotation angle. When both the current rotation angle and the corresponding equivalent rotation angle are within the preset rotation angle range, the target speed and target rotation angle are determined based on the weights of speed and angle, making the setting of the target speed and target rotation angle more reasonable. This allows for the acquisition of new speed and rotation angle components for each wheel, resulting in the minimum rotation angle of the wheel and ensuring the smoothness and stability of the vehicle. It also solves the problem of large angle jumps in vehicle wheels caused by switching between different operating conditions. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a flowchart of the vehicle control method provided in an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of the steering state of the four wheels of the target vehicle in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The technical idea of ​​this invention is to provide a vehicle control method that solves the problem of large-angle jumps that may occur during the movement of a single wheel.

[0025] This invention provides a vehicle control method for controlling a four-wheeled vehicle. In one illustrative embodiment, the vehicle can be a four-wheel drive robot, specifically used to control the chassis of the four-wheel drive robot. Those skilled in the art will understand that the four-wheel drive chassis structure can be an existing structure.

[0026] Further, as shown in Figure 1, the method may include the following steps:

[0027] S100, Obtain the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L 4 and rotation angle θ L 1 to θ L 4; where V L i and θ L i These are the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle, respectively; the value of i ranges from 1 to 4.

[0028] In this embodiment of the invention, the speed and rotation angle of the four wheels of the target vehicle in the previous cycle can be obtained based on feedback from the feedback system installed in the target vehicle. Specifically, existing methods can be used to obtain the speed and rotation angle of each wheel.

[0029] In an illustrative embodiment of the present invention, the first wheel may be the left front wheel, the second wheel may be the left rear wheel, the third wheel may be the right front wheel, and the fourth wheel may be the right rear wheel.

[0030] S200, acquire the control information sent to the target vehicle in the current cycle, the control information includes Vx, Vy and w, where Vx is the longitudinal velocity of the target vehicle, Vy is the lateral velocity of the target vehicle, and w is the angular velocity of the target vehicle.

[0031] In this embodiment of the invention, the control information sent to the target vehicle in the current cycle can be calculated by a control algorithm used to control the movement of the target vehicle; the specific calculation method is existing technology. The control algorithm acquires the movement state of the target vehicle in each cycle according to a set cycle, and generates corresponding control information based on the acquired movement state.

[0032] In this embodiment of the invention, a coordinate system is established with the direction of the target vehicle's front as the x-axis, the direction of the vehicle's left side as the y-axis, and the center of the vehicle's body as the origin. That is, the x-axis is perpendicular to the front of the target vehicle, with the forward direction being positive; the y-axis is parallel to the front of the target vehicle, with the leftward direction being positive. In this embodiment, the longitudinal velocity of the target vehicle is the velocity along the x-axis, i.e., the forward speed of the target vehicle; the lateral velocity of the target vehicle is the velocity along the y-axis, i.e., the leftward speed of the target vehicle. The origin of the rectangular coordinate system used in this embodiment is the center of the target vehicle's body.

[0033] In this embodiment of the invention, counterclockwise is the positive direction for angular velocity.

[0034] In this embodiment of the invention, during the movement of the target vehicle, at a certain moment, the steering state of the four wheels of the target vehicle conforms to Ackermann steering geometry, as shown in Figure 2. In Figure 2, o is the rotation center of the target vehicle, and p is the geometric center of the target vehicle, i.e., the center of the vehicle body.

[0035] S300, based on the control information, obtain the candidate speed V of the i-th wheel of the target vehicle in the current cycle. C i and candidate rotation angle θ C i .

[0036] In this embodiment of the invention, the rotation angle is the angle between the wheel and the x-axis. Specifically, with the front direction defined as 0°, the rotation angle on the left side of the vehicle body ranges from 0° to 180°, and the rotation angle on the right side of the vehicle body ranges from -180° to 0°.

[0037] For a vehicle, all four wheels are equidistant from the geometric center p. According to the right-hand rule, the vehicle's forward direction is the x-axis, and the positive y-axis is perpendicular to the x-axis to its left. The coordinates of the four wheels are: wheel 1 (x, y), wheel 2 (-x, y), wheel 3 (x, -y), and wheel 4 (-x, -y). x represents the relative longitudinal distance between the wheel and the geometric center, and y represents the relative lateral distance between the wheel and the geometric center.

[0038] According to the analysis method of planar rigid body motion, each wheel is composed of the central velocity Vc (the resultant velocity of Vx and Vy) and the angular velocity w, which is a vector operation. Specifically, for the i-th wheel, its velocity... Among them, R i Let p be the vector from the geometric center p to the point of contact between the i-th wheel and the ground. This represents the velocity generated by the i-th spin according to the angular velocity w. This indicates a cross product.

[0039] Calculating the components of angular velocity w along the x and y axes, we can see that:

[0040] Vx C i =V C i ×cosθ C i =Vx-w×dy i (1)

[0041] Vy C i =V C i ×sinθ Ci =Vy + w × dx i (2)

[0042] Among them, Vx C i Let Vy be the longitudinal velocity of the target vehicle at the i-th wheel in the current cycle. C i Let θ be the lateral velocity of the target vehicle's i-th wheel in the current cycle. C i Let dx be the rotation angle of the i-th wheel of the target vehicle in the current cycle. i and dy i These represent the relative lateral and relative vertical distances between the i-th round and the center of the vehicle in the current cycle, respectively. × indicates a multiplication operation.

[0043] Specifically, for round 1:

[0044] Vx C 1 = V C 1×cosθ C 1 = Vx - w × y; Vy C i =V C i ×sinθ C i =Vy + w × x.

[0045] For Round 2:

[0046] Vx C 2 = V C 2×cosθ C 2 = Vx - w × y; Vy C 2 = V C 2×sinθ C 2 = Vy - w × x.

[0047] For Round 3:

[0048] Vx C 3 = V C 3×cosθ C 3 = Vx - w × y; Vy C 3 = V C 3×sinθ C 3 = Vy - w × x.

[0049] For Round 4:

[0050] Vx C 4 = V C 4×cosθ C 4 = Vx - w × y; Vy C 4 = V C 4×sinθC 4 = Vy + w × x.

[0051] According to formulas (1) and (2) above, V C i =(Vx C i 2 +Vy C i 2 ) 1 / 2 V C x i =Vx-w×dy i Vy C i =Vy + w × dx i θ C i =arccos(Vx C i / (Vx C i 2 +Vy C i 2 ) 1 / 2 ).

[0052] S400, obtain θ C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θ C1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°;V iand θ i These are the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function.

[0053] In this embodiment of the invention, the round function is used to round a numerical value to a specified number of digits. Based on this correction method, angles that are outside the preset rotation angle range can be redistributed to this range, thereby obtaining the minimum rotation angle of the wheel; for example, a 30-degree rotation is equivalent to a -330-degree rotation.

[0054] In this embodiment of the invention, the preset rotation angle range can be [-θmax, θmax], where θmax is the preset maximum rotation angle. θmax can be set based on actual needs. In one illustrative embodiment, 90°≤|θmax|≤180°. In this embodiment of the invention, || represents taking the absolute value.

[0055] Furthermore, in this embodiment of the invention, the first determination method is as follows:

[0056] Set V i =V m i θ i =θ m i If θ C i Within the preset rotation angle range, V m i =V C i θ m i =θ C i If θ C1 i Within the preset rotation angle range, V m i =-V C i θ m i =θ C1 i .

[0057] Because the rotation is 360 degrees, and the wheel's speed can be either forward or backward, each wheel can exist in two different states of motion. If Vx C i If Vx > 0, it means the wheel is moving forward. C i <0 indicates that the wheels are moving backward.

[0058] In this embodiment of the invention, the second determination method is as follows:

[0059] S410, Obtain the first weighted value W1 in the i-th round. i =α×∣△v1 i | / (2×Vmax)+β×|△θ1 i | / (2×θmax) and the second weighted value W2=α×|△v2 i | / (2×Vmax)+β×|△θ2 i | / (2×|θmax|).

[0060] Where α is the preset velocity weight and β is the preset angle weight, α+β=1; the specific values ​​of α and β can be set according to actual needs and can be custom values.

[0061] Vmax is the preset maximum speed, which can be set according to actual needs.

[0062] △v1 i For the first velocity difference, Δv1 i =V C i -V L i ;△v2 i For the second velocity difference, Δv2 i =-V C i -V L i ; △θ1 i Let Δθ1 be the first angular difference. i =θ C i -θ L i ; △θ2 i The second angular difference, Δθ2 i =θ C1 i -θ L i .

[0063] S420, if W1 < W2, it means V is used. C i and θ C i The jump angles generated by the target velocity and the target rotation angle respectively are smaller than those generated by using -V. C i and θ C1 i Let V be the jump angle caused by the target velocity and the target rotation angle, respectively. i =V C i θ i =θC i If W1 > W2, it means V is used. C i and θ C i The jump angles generated by the target velocity and the target rotation angle, respectively, are greater than those generated by using -V. C i and θ C1 i Let V be the jump angle caused by the target velocity and the target rotation angle, respectively. i =-V C i θ i =θ C1 i .

[0064] S500, based on V i and θ i Control the i-th round of the target vehicle.

[0065] In this embodiment of the invention, the specific control of each wheel can be carried out in an existing manner, and the invention does not impose any particular limitation.

[0066] The vehicle control method provided in this invention first obtains the speed and rotation angle of the four wheels of the vehicle based on the control information given in the current cycle. Then, it obtains the equivalent rotation angle. When either the current rotation angle or the corresponding equivalent rotation angle is within a preset rotation angle range, the rotation angle and corresponding speed within the preset range are selected as the target speed and target rotation angle. When both the current rotation angle and the corresponding equivalent rotation angle are within the preset rotation angle range, the target speed and target rotation angle are determined based on the weights of speed and angle, making the setting of the target speed and target rotation angle more reasonable. This allows for the acquisition of new speed and rotation angle components for each wheel, resulting in the minimum rotation angle of the wheel and ensuring the smoothness and stability of the vehicle. It also solves the problem of large angle jumps in vehicle wheels caused by switching between different operating conditions.

[0067] Compared with the previous embodiments, this embodiment considers the weights of both speed and angle when determining the target speed and target rotation angle, making the setting of the target speed and target rotation angle more reasonable and further improving the control accuracy.

[0068] Another embodiment of the present invention provides a vehicle control system, comprising:

[0069] The first acquisition module is used to acquire the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L4. Rotation angle θ L 1 to θ L 4, V L i and θ L i These are the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle, respectively; the value of i ranges from 1 to 4.

[0070] The second acquisition module is used to acquire control information sent to the target vehicle in the current cycle. The control information includes Vx, Vy and w, where Vx is the longitudinal velocity of the target vehicle, Vy is the lateral velocity of the target vehicle, and w is the angular velocity of the target vehicle.

[0071] The first calculation objective is to calculate, based on the control information, the candidate speed V of the i-th wheel of the target vehicle in the current cycle. C i and candidate rotation angle θ C i ;

[0072] The second calculation module is used to obtain θ. C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θ C1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°;V i and θ i These are the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function;

[0073] Control module, used for V-based i and θ i Control the i-th round of the target vehicle.

[0074] The system provided in this embodiment of the invention is used to execute the aforementioned method. To avoid redundancy, a detailed description of it is omitted.

[0075] Embodiments of the present invention also provide a non-transitory computer-readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a method in the method embodiments, wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiments.

[0076] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0077] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above in various exemplary embodiments of the present invention.

[0078] While specific embodiments of the invention have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention. The scope of this invention is defined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The vehicle is a four-wheeled vehicle, and the method includes the following steps: S100, obtaining the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L 4 and rotation angle θ L 1 to θ L 4; Among them, V L i and θ L i These represent the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle; i ranges from 1 to 4; S200, obtain the control information sent to the target vehicle in the current cycle, the control information including Vx, Vy, and w, where Vx is the longitudinal speed of the target vehicle, Vy is the lateral speed of the target vehicle, and w is the angular velocity of the target vehicle; S300, based on the control information, obtain the candidate speed V of the i-th wheel of the target vehicle in the current cycle. C i and candidate rotation angle θ C i S400, obtain θ C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θ C1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°; V i and θ i Let V be the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function; S500, based on V i and θ i Control the i-th wheel of the target vehicle; the first determination method is: set V i =V m i θ i =θ m i If θ C i Within the preset rotation angle range, V m i =V C i θ m i =θ C i If θ C1 i Within the preset rotation angle range, V m i =-V C i θ m i =θ C1 i The second determination method is as follows: S410, obtain the first weighted value W1 corresponding to the i-th round. i =α×∣△v1 i | / (2×Vmax)+β×|△θ1 i | / (2×|θmax|)and the second weighted value W2=α×|△v2 i | / (2×Vmax)+β×|△θ2 i | / (2×|θmax|;where α is the preset velocity weight, β is the preset angle weight, α+β=1; Vmax is the preset maximum velocity, θmax is the preset maximum rotation angle, △v1 i For the first velocity difference, Δv1 i =V C i -V L i ;△v2 i For the second velocity difference, Δv2 i =-V C i -V L i ; △θ1 i Let Δθ1 be the first angular difference. i =θ C i -θ L i ; △θ2 i The second angular difference, Δθ2 i =θ C1 i -θ L i S420, if W1 < W2, set V i =V C i θ i =θ C i If W1 > W2, set V. i =-V C i θ i =θ C1 i .

2. The method according to claim 1, wherein the preset rotation angle range is [-θmax, θmax], and θmax is the preset maximum rotation angle.

3. The method according to claim 1 or 2, characterized in that, The target vehicle is a four-wheel drive robot.

4. A vehicle control system, characterized in that, include: The first acquisition module is used to acquire the speed V of the four wheels of the target vehicle in the previous cycle. L 1 to V L 4. Rotation angle θ L 1 to θ L 4, V L i and θ L i These are the speed and rotation angle of the i-th wheel of the target vehicle in the previous cycle, respectively; the value of i ranges from 1 to 4. The second acquisition module is used to acquire control information sent to the target vehicle in the current cycle. The control information includes Vx, Vy, and w, where Vx is the longitudinal velocity of the target vehicle, Vy is the lateral velocity of the target vehicle, and w is the angular velocity of the target vehicle. The first calculation target is used to calculate the candidate velocity V of the i-th wheel of the target vehicle in the current cycle based on the control information. C i and candidate rotation angle θ C i The second calculation module is used to obtain θ. C1 i and θ C i and θ C1 i Compared with the preset rotation angle range, if θ C i or θ C1 i If the rotation angle is within the preset range, then V is obtained based on the first determination method. i and θ i If θ C i and θ C1 i If all values ​​are within the preset rotation angle range, then V is obtained based on the second determination method. i and θ i ; where θ C1 i For θ C i The equivalent rotation angle, θ C1 i =θ C i -180°-(round[(θ C i -180°) / 360°])×360°; V i and θ i These represent the target velocity and target rotation angle in the current cycle of the i-th round, respectively; round() is the round function; the control module is used to base V... i and θ i Control the i-th wheel of the target vehicle; the first determination method is: set V i =V m i θ i =θ m i If θ C i Within the preset rotation angle range, V m i =V C i θ m i =θ C i If θ C1 i Within the preset rotation angle range, V m i =-V C i θ m i =θ C1 i The second determination method is: obtaining the first weighted value W1 corresponding to the i-th round. i =α×∣△v1 i | / (2×Vmax)+β×|△θ1 i | / (2×|θmax|)and the second weighted value W2=α×|△v2 i | / (2×Vmax)+β×|△θ2 i | / (2×|θmax|;where α is the preset velocity weight, β is the preset angle weight, α+β=1; Vmax is the preset maximum velocity, θmax is the preset maximum rotation angle, △v1 i For the first velocity difference, Δv1 i =V C i -V L i ;△v2 i For the second velocity difference, Δv2 i =-V C i -V L i ; △θ1 i Let Δθ1 be the first angular difference. i =θ C i -θ L i ; △θ2 i The second angular difference, Δθ2 i =θ C1 i -θ L i If W1 < W2, set V. i =V C i θ i =θ C i If W1 > W2, set V. i =-V C i θ i =θ C1 i 。 5. A non-transitory computer-readable storage medium, wherein the storage medium stores at least one instruction or at least one program segment, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the method as described in any one of claims 1-3.

6. An electronic device, characterized in that, Includes a processor and the non-transitory computer-readable storage medium as described in claim 5.

Images