Articulated vehicle control method and apparatus, articulated vehicle and storage medium

Abstract

The application relates to the technical field of automatic driving, and discloses a control method and device for an articulated vehicle, the articulated vehicle, and a storage medium. The method comprises the following steps: obtaining a target driving path of the articulated vehicle and a vehicle body heading angle of the articulated vehicle with a hinge joint of the articulated vehicle as a control point; determining a first path point on the target driving path in the driving direction of the target driving path; calculating a vector formed by the hinge joint and the first path point; taking the direction of the vector as a target heading, determining a turning angle control amount of the articulated vehicle based on the angle relationship between the vehicle body heading angle and the vector; and controlling the articulated vehicle to turn based on the turning angle control amount. The control point of the articulated vehicle is converted to the hinge joint, the vector formed by the hinge joint and the point on the driving path is taken as the target heading, the turning angle control amount of the articulated vehicle is determined, the stability of the control process is enhanced, the hinge joint is taken as the control point, the overshoot amount of the whole path tracking process is minimized, the method has strong practicability, and meets the needs of engineering scenarios.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more specifically to articulated vehicle control methods, devices, articulated vehicles, and storage media. Background Technology

[0002] Articulated vehicles are wheeled and tracked vehicles composed of two or more body sections connected by an articulation device. Using a specialized hydraulic mechanism, they can move relative to each other in a horizontal or vertical longitudinal (or transverse) plane, changing direction by the relative rotation of the connecting rings between the body sections. Taking a loader as an example, due to its articulated mechanical structure, such as... Figure 1 As shown, when turning, the front and rear of the vehicle body will produce relative yaw motion. The original purpose of this design was to reduce the turning radius of the loader and increase its mobility. However, in the process of unmanned automatic control, this structure causes the loader to have greater instability when tracking the path. Such articulated vehicles are prone to zigzagging driving paths during driving, resulting in poor path tracking performance. Summary of the Invention

[0003] In view of this, the present invention provides an articulated vehicle control method, device, articulated vehicle, and storage medium to solve the problem of poor path tracking performance of articulated vehicles in related technologies.

[0004] In a first aspect, the present invention provides an articulated vehicle control method, the method comprising:

[0005] Obtain the target driving path of the articulated vehicle and the vehicle heading angle with the articulated point of the articulated vehicle as the control point.

[0006] Determine a first path point on the target driving path along the driving direction of the target driving path;

[0007] Calculate the vector formed by the hinge point and the first path point;

[0008] Taking the direction of the vector as the target heading, the steering angle control amount of the articulated vehicle is determined based on the angular relationship between the vehicle heading angle and the vector.

[0009] The articulated vehicle is steered based on the angle control value.

[0010] By converting the control point of the articulated vehicle to the articulation point and using the vector formed by the articulation point and the points on the driving path as the target heading, the turning angle control quantity of the articulated vehicle is determined, and the vehicle is then steered accordingly. This enhances the stability of the control process. Since the articulation point is used as the control point, the overshoot of the entire path tracking process is minimized, making it highly practical and meeting the actual needs of engineering application scenarios.

[0011] In one optional implementation, obtaining the vehicle heading angle with the articulated vehicle articulation point as the control point includes:

[0012] Obtain a preset positioning point and its corresponding first heading angle on the articulated vehicle, wherein the preset positioning point is a steering control point set on the articulated vehicle;

[0013] The vehicle heading angle is calculated based on the articulation angle of the articulated vehicle and the first heading angle.

[0014] By calculating the heading angle of the vehicle body at the articulated point using the heading angle and articulation angle of the steering control point, the path tracking control of the vehicle at the articulated point can be performed, thereby improving the accuracy of path tracking.

[0015] In one optional implementation, determining a first waypoint on the target driving path along the driving direction of the target driving path includes:

[0016] Determine the second path point on the target driving path that is closest to the hinge point;

[0017] Starting from the second path point, the first path point is determined by traveling a set distance from the second path point along the direction of travel of the target driving path.

[0018] This allows for the selection of the first path point based on the point closest to the articulation point on the driving path and a certain forward sight distance, ensuring that the vehicle's path tracking is more consistent with the actual driving scenario.

[0019] In one optional implementation, the set distance is determined in the following manner:

[0020] Obtain the current speed of the articulated vehicle and its lateral error relative to the second path point;

[0021] The set distance is determined based on the lateral error, the preset minimum distance, and the current vehicle speed.

[0022] By comprehensively considering the impact of lateral error and vehicle speed on the control effect when selecting the set distance, the vehicle can be controlled to quickly approach the path when it is far away from the path, and to track more stably and smoothly when it is close to the path. This selection method ensures both the speed and stability of the tracking path.

[0023] In one optional implementation, determining the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle body heading angle and the vector includes:

[0024] Calculate the angle between the vehicle body heading angle and the vector;

[0025] Based on the included angle and the set approximation speed, the steering angle control amount of the articulated vehicle is calculated.

[0026] By using the angle between the vehicle's heading angle and the vector as the deviation for current path tracking, and then calculating the vehicle's turning angle control value according to the set approximation speed, the vehicle can adapt to different road scenarios and enhance its path tracking adaptability by setting the approximation speed.

[0027] In one alternative implementation, the set approximation speed is determined as follows:

[0028] Obtain the path curvature of the target driving path at the first path point;

[0029] The preset approximation speed is adjusted based on the path curvature to obtain the set approximation speed.

[0030] By adjusting the approach speed based on the path curvature at various locations along the driving path, the vehicle can achieve greater turning speed and higher turning angle when approaching a curve, and lower turning speed when approaching a straight line, by introducing curvature information.

[0031] In one optional implementation, controlling the steering of the articulated vehicle based on the steering angle control amount includes:

[0032] The steering angle control value is input into the steering actuator of the articulated vehicle to control the steering of the articulated vehicle.

[0033] By using the steering angle control quantity to control the vehicle's steering actuator, precise steering control of articulated vehicles can be achieved.

[0034] In a second aspect, the present invention provides an articulated vehicle control device, the device comprising:

[0035] The acquisition module is used to acquire the target driving path of the articulated vehicle and the vehicle heading angle with the articulated point of the articulated vehicle as the control point.

[0036] The first processing module is used to determine a first path point on the target driving path along the driving direction of the target driving path;

[0037] The second processing module is used to calculate the vector formed by the hinge point and the first path point;

[0038] The third processing module is used to determine the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle body heading angle and the vector, with the vector direction as the target heading.

[0039] The fourth processing module is used to control the steering of the articulated vehicle based on the steering angle control amount.

[0040] Thirdly, the present invention provides an articulated vehicle, comprising:

[0041] A controller, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the articulated vehicle control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0042] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the articulated vehicle control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a loader according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic flowchart of an articulated vehicle control method according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic flowchart of another articulated vehicle control method according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram showing the positional relationship between the hinge point, the positioning point, and the driving path according to an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the path tracking process of an articulated vehicle according to an embodiment of the present invention;

[0049] Figure 6 This is a structural block diagram of an articulated vehicle control device according to an embodiment of the present invention;

[0050] Figure 7 This is a structural block diagram of an articulated vehicle according to an embodiment of the present invention;

[0051] Figure 8This is a schematic diagram of the controller in an articulated vehicle according to an embodiment of the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0053] Precise path tracking control is an indispensable part of unmanned operation of loaders, and the quality of tracking performance directly affects the progress and safety of unmanned electric loader projects. Loaders have an articulated mechanical structure, such as... Figure 1 As shown, when turning, the front and rear of the vehicle body will produce relative yaw motion. The original purpose of this design was to reduce the turning radius of the loader and increase its mobility. However, in the process of unmanned automatic control, this structure causes the loader to have greater instability when tracking the path. This type of articulated motion control is different from the traditional vehicle chassis and is more prone to problems such as erratic movement, serious overshoot when tracking the path, and inability to converge.

[0054] To address the aforementioned problems, this invention provides an embodiment of an articulated vehicle control method. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0055] This embodiment provides a control method for articulated vehicles, which can be used in controllers of articulated vehicles, such as MCUs and microcontrollers. Figure 2 This is a flowchart of an articulated vehicle control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0056] Step S201: Obtain the target driving path of the articulated vehicle and the vehicle heading angle with the articulated point as the control point.

[0057] Specifically, in this embodiment of the invention, an articulated vehicle is used as an example. Figure 1The illustration uses a loader as an example. In practical applications, the articulated vehicle can also be other vehicles with articulated structures, such as road rollers, and this invention is not limited to these. The target travel path can be a pre-planned travel path for the articulated vehicle, or it can be a travel path planned in real time by the vehicle's controller after setting a destination. The specific path planning process is existing technology and will not be elaborated here; it is only used as an example, and this invention is not limited to this. The vehicle heading angle mentioned above is the current heading angle of the articulated vehicle at the articulation point.

[0058] Step S202: Determine the first path point on the target driving path along the driving direction of the target driving path.

[0059] Specifically, the first path point is the point on the driving path in which the articulated vehicle will travel in the future direction.

[0060] Step S203: Calculate the vector formed by the hinge point and the first path point.

[0061] Specifically, the vector is the vector formed by the hinge point and the first path point in the world coordinate system.

[0062] Step S204: Using the vector direction as the target heading, determine the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle heading angle and the vector.

[0063] Specifically, the relationship between the vehicle's heading angle and the vector's angle represents the deviation between the vehicle and the target heading. Based on this deviation, the steering angle control quantity of the articulated vehicle is obtained. The larger the deviation, the larger the steering angle control quantity, and vice versa.

[0064] Step S205: Control the steering of the articulated vehicle based on the angle control amount.

[0065] By converting the control point of the articulated vehicle to the articulation point and using the vector formed by the articulation point and the points on the driving path as the target heading, the turning angle control quantity of the articulated vehicle is determined, and the vehicle is then steered accordingly. This enhances the stability of the control process. Since the articulation point is used as the control point, the overshoot of the entire path tracking process is minimized, making it highly practical and meeting the actual needs of engineering application scenarios.

[0066] This embodiment also provides an articulated vehicle control method, which can be used in the controller of the aforementioned articulated vehicle, such as an MCU or microcontroller. Figure 3 This is a flowchart of an articulated vehicle control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0067] Step S301: Obtain the target driving path of the articulated vehicle and the vehicle heading angle with the articulated point as the control point.

[0068] Specifically, the process of obtaining the vehicle heading angle with the articulated point as the control point in step S301 above includes the following steps:

[0069] Step S3011: Obtain the preset positioning point on the articulated vehicle and its corresponding first heading angle.

[0070] The preset positioning point is a steering control point set on an articulated vehicle. For example, such as... Figure 1 As shown, the loader's positioning point is at the center of the rear axle, denoted as (x1, y1, θ1). The first heading angle is the heading angle published by the vehicle positioning module built into the articulated vehicle, which is existing technology and will not be elaborated here.

[0071] Step S3012: Based on the articulation angle and the first heading angle of the articulated vehicle, the heading angle of the vehicle body is calculated.

[0072] For example, such as Figure 4 As shown, the coordinates of the above positioning points are transformed to the hinge point (x2, y2, θ2) as the control points of the loader. The specific coordinate transformation formula is shown in formula (1):

[0073] (x2, y2, θ2)=(x1+Lcosθ1, x2+Lcosθ2, θ1+γ) (1)

[0074] Where L is the distance from the center of the loader's rear axle to the hinge point, which can be obtained directly from the loader's 3D model; γ is the loader's hinge angle, which can be obtained from a Hall-type non-contact sensor installed at the hinge; θ2 is the vehicle's heading angle; and θ1 is the first heading angle.

[0075] By calculating the heading angle of the vehicle body at the articulated point using the heading angle and articulation angle of the steering control point, the path tracking control of the vehicle at the articulated point can be performed, thereby improving the accuracy of path tracking.

[0076] Step S302: Determine the first path point on the target driving path along the driving direction of the target driving path.

[0077] Specifically, step S302 above includes the following steps:

[0078] Step S3021: Determine the second path point on the target driving path that is closest to the articulation point.

[0079] Step S3022: Starting from the second path point, determine the first path point by setting a distance from the second path point along the driving direction of the target driving path.

[0080] This allows for the selection of the first path point based on the point closest to the articulation point on the driving path and a certain forward sight distance, ensuring that the vehicle's path tracking is more consistent with the actual driving scenario.

[0081] Step a1: Obtain the current speed of the articulated vehicle and its lateral error relative to the second path point.

[0082] Step a2: Determine the set distance based on the lateral error, the preset minimum distance, and the current vehicle speed.

[0083] Specifically, the search path continues to search for the point p that is closest to the hinge point, and then searches for the path point pr(px1, py1) with a forward distance (i.e., a set distance) of l.

[0084] The above-mentioned distance is determined by the following formula (2):

[0085] l = fix pre +fabs(err lat )*k1+v*k2 (2)

[0086] Among them, fix pre For a fixed forward sight distance, err lat Let k1 be the lateral error between the loader and the point closest to the loader on the target travel path, and k1 be the forward sight coefficient, which is a negative value. If err lat A larger value indicates that the vehicle is farther from the path. In this case, the forward look-ahead distance is smaller, allowing the vehicle to get onto the path more quickly. If err... lat When the value is smaller, the forward look-ahead distance value is larger, which allows the vehicle to enter the lane more smoothly when approaching the path. v is the vehicle speed, and k2 is the forward look-ahead speed coefficient.

[0087] By comprehensively considering the impact of lateral error and vehicle speed on the control effect when selecting the set distance, the vehicle can be controlled to quickly approach the path when it is far away from the path, and to track more stably and smoothly when it is close to the path. This selection method ensures both the speed and stability of the tracking path.

[0088] Step S303: Calculate the vector formed by the hinge point and the first path point. See below for details. Figure 2 The relevant description of step S203 shown will not be repeated here.

[0089] Step S304: Using the vector direction as the target heading, determine the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle heading angle and the vector.

[0090] Specifically, step S304 above includes the following steps:

[0091] Step S3041: Calculate the angle between the vehicle heading angle and the vector.

[0092] Step S3042: Calculate the steering angle control amount of the articulated vehicle based on the included angle and the set approximation speed.

[0093] For example, the connection between the loader's hinge point (x2, y2) and the forward viewpoint (px1, py1) is denoted as vector f. The loader's front wheels (front body) are controlled to travel with f as the target heading, and the angle between the body heading angle and vector f is denoted as α. Then, formula (3) holds:

[0094] α=θ3-θ2 (3)

[0095] Where θ3 is the angle of vector f, and θ2 is the heading angle of the vehicle body.

[0096] The control quantity u is shown in formula (4):

[0097] u=α*k3 (4)

[0098] Here, k3 is the set approach speed, used to adjust the vehicle's heading angle towards the target heading. The larger the k3, the more drastic the vehicle's directional adjustment; the smaller the k3, the smoother the vehicle's directional adjustment.

[0099] By using the angle between the vehicle's heading angle and the vector as the deviation for current path tracking, and then calculating the vehicle's turning angle control value according to the set approximation speed, the vehicle can adapt to different road scenarios and enhance its path tracking adaptability by setting the approximation speed.

[0100] Specifically, the approximation velocity is determined as follows:

[0101] Step b1: Obtain the path curvature of the target driving path at the first path point.

[0102] Step b2: Adjust the preset approximation speed based on the path curvature to obtain the set approximation speed.

[0103] In actual debugging, a smoother control is preferred on straight sections, while faster steering is desired on curves. The above adjustment of k3 cannot accommodate both situations. Therefore, the path curvature ε is introduced as an adjustment factor. k3 is proportional to the curvature of the forward viewpoint, as shown in formula (5):

[0104] k3=kε (5)

[0105] Where k is the preset approximation speed and ε is the path curvature at the first path point. When approaching a curve, the larger the curvature ε at the forward view point, the larger k3 becomes, which in turn affects the control quantity u and the vehicle turns faster. On a straight line, the smaller the curvature ε becomes, the smaller the vehicle turns. Introducing curvature information can increase the vehicle's adaptability to curves.

[0106] By adjusting the approach speed based on the path curvature at various locations along the driving path, the vehicle can achieve greater turning speed and higher turning angle when approaching a curve, and lower turning speed when approaching a straight line, by introducing curvature information.

[0107] Step S305: Control the steering of the articulated vehicle based on the angle control amount.

[0108] For example, the final control input for the turning angle can be represented by formula (6):

[0109] u=α*k3=(θ3-θ2)*kε (6)

[0110] Specifically, the articulated vehicle's steering is controlled by inputting the steering angle control quantity *u* into the steering solenoid valve actuator of the loader; that is, the loader's steering is controlled by inputting the aforementioned control quantity *u* into the steering solenoid valve actuator. At this point, one control cycle ends, and the process returns to step S301 to calculate the control quantity for the next cycle, thereby achieving real-time path tracking control of the articulated vehicle. The loader's path tracking control process is as follows: Figure 5 As shown, Figure 5 ① to ④ represent four consecutive control cycles.

[0111] By utilizing the steering angle control quantity to control the vehicle's steering actuator, precise steering control of articulated vehicles can be achieved. The articulated vehicle control method provided in this embodiment of the invention can be extended to the control of all articulated vehicles; this control method is highly adaptable, and can output reasonable control quantities for straight lines, curves with different curvatures, and vehicle speeds; in addition, this control method has a low CPU utilization rate, requires less computation compared to optimal control strategies, and is more suitable for practical engineering applications.

[0112] This embodiment also provides an articulated vehicle control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0113] This embodiment also provides an articulated vehicle control device, such as... Figure 6 As shown, the device includes:

[0114] The acquisition module 601 is used to acquire the target driving path of the articulated vehicle and the vehicle heading angle with the articulated point of the articulated vehicle as the control point.

[0115] The first processing module 602 is used to determine a first path point on the target driving path along the driving direction of the target driving path;

[0116] The second processing module 603 is used to calculate the vector formed by the hinge point and the first path point;

[0117] The third processing module 604 is used to determine the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle body heading angle and the vector, with the vector direction as the target heading.

[0118] The fourth processing module 605 is used to control the steering of articulated vehicles based on the angle control quantity.

[0119] In some optional implementations, the acquisition module 601 includes:

[0120] The first acquisition unit is used to acquire a preset positioning point on the articulated vehicle and its corresponding first heading angle. The preset positioning point is a steering control point set on the articulated vehicle.

[0121] The first processing unit is used to calculate the vehicle body heading angle based on the articulation angle and the first heading angle of the articulated vehicle.

[0122] In some optional implementations, the first processing module 602 includes:

[0123] The second processing unit is used to determine the second path point on the target driving path that is closest to the articulation point;

[0124] The third processing unit is used to determine the first path point by taking the second path point as the starting point and traveling at a set distance from the second path point along the direction of travel of the target driving path.

[0125] In some alternative embodiments, the articulated vehicle control device further includes:

[0126] The second acquisition unit is used to acquire the current speed of the articulated vehicle and its lateral error relative to the second path point;

[0127] The fourth processing unit is used to determine the set distance based on the lateral error, the preset minimum distance, and the current vehicle speed.

[0128] In some optional implementations, the third processing module 604 described above includes:

[0129] The fifth processing unit is used to calculate the angle between the vehicle's heading angle and the vector;

[0130] The sixth processing unit is used to calculate the steering angle control quantity of the articulated vehicle based on the included angle and the set approximation speed.

[0131] In some alternative embodiments, the articulated vehicle control device further includes:

[0132] The third acquisition unit is used to acquire the path curvature of the target driving path at the first path point;

[0133] The seventh processing unit is used to adjust the preset approximation speed based on the path curvature to obtain the set approximation speed.

[0134] In some optional implementations, the fourth processing module 605 includes:

[0135] The eighth processing unit is used to input the steering angle control quantity into the steering actuator of the articulated vehicle to control the steering of the articulated vehicle.

[0136] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0137] In this embodiment, the resonant circuit control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0138] This embodiment also provides an articulated vehicle, such as Figure 7 As shown, the articulated vehicle includes a controller 701, which is used to execute the method provided in the above-described method embodiments.

[0139] Specifically, the articulated vehicle mentioned above can be a loader, forklift, road roller, mining vehicle, etc., but this invention is not limited thereto.

[0140] In some alternative implementations, taking an articulated vehicle as an example of a loader, the loader further includes: a positioning device such as a GPS signal receiver, which obtains the vehicle's positioning information through real-time dynamic carrier phase differential technology. For example, the GPS signal receiver is installed on the top of the cab. Under normal circumstances, the vehicle positioning module will publish the horizontal coordinate, vertical coordinate, and heading angle of the rear axle of the vehicle for use by other modules of the vehicle.

[0141] For example, the loader also includes: a Hall-type non-contact sensor installed at the hinge to collect the angle information of the front and rear vehicle bodies. The sensor magnet part is installed at the hinge of the front vehicle body, and the sensor probe part is installed at the hinge of the rear vehicle body. When the front and rear vehicle bodies rotate relative to each other around the hinge axis, there will be a corresponding change in current to obtain the angle of the hinge angle. This angle is published by the hardware driver module for use by other modules.

[0142] For example, the loader also includes a scheduling decision module and a planning module. The scheduling decision module determines the starting point and ending point coordinates of the unmanned loader. The planning module plans a smooth drivable trajectory based on the starting point pose. The trajectory information includes the coordinates, direction, speed, curvature, and other information of each trajectory point. The planning module publishes this information, which is received by the controller and the loader travels strictly according to the planned trajectory.

[0143] Please see Figure 8 , Figure 8 This is a schematic diagram of the controller 701 for an articulated vehicle provided in an optional embodiment of the present invention, as shown below. Figure 8 As shown, the controller 701 includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions that execute within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 8 Take a processor 10 as an example.

[0144] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0145] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0146] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0147] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0148] The controller 701 also includes a communication interface 30 for the main control chip to communicate with other devices or communication networks.

[0149] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium after being downloaded via a network. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor main control chips, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0150] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling an articulated vehicle, characterized in that, The method includes: Obtain the target driving path of the articulated vehicle and the vehicle heading angle with the articulation point of the articulated vehicle as the control point. Determine a first path point on the target driving path along the driving direction of the target driving path; Calculate the vector formed by the hinge point and the first path point; Taking the direction of the vector as the target heading, the steering angle control amount of the articulated vehicle is determined based on the angular relationship between the vehicle body heading angle and the vector; The articulated vehicle is steered based on the angle control value.

2. The method according to claim 1, characterized in that, The step of obtaining the vehicle heading angle with the articulation point of the articulated vehicle as the control point includes: Obtain a preset positioning point and its corresponding first heading angle on the articulated vehicle, wherein the preset positioning point is a steering control point set on the articulated vehicle; The vehicle heading angle is calculated based on the articulation angle of the articulated vehicle and the first heading angle.

3. The method according to claim 1, characterized in that, The step of determining a first waypoint on the target driving path along the driving direction includes: Determine the second path point on the target driving path that is closest to the hinge point; Starting from the second path point, the first path point is determined by traveling a set distance from the second path point along the direction of travel of the target driving path.

4. The method according to claim 3, characterized in that, The set distance is determined in the following way: Obtain the current speed of the articulated vehicle and its lateral error relative to the second path point; The set distance is determined based on the lateral error, the preset minimum distance, and the current vehicle speed.

5. The method according to claim 1, characterized in that, The determination of the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle body heading angle and the vector includes: Calculate the angle between the vehicle body heading angle and the vector; Based on the included angle and the set approximation speed, the steering angle control amount of the articulated vehicle is calculated.

6. The method according to claim 5, characterized in that, The set approximation speed is determined in the following way: Obtain the path curvature of the target driving path at the first path point; The preset approximation speed is adjusted based on the path curvature to obtain the set approximation speed.

7. The method according to any one of claims 1-6, characterized in that, The method of controlling the steering of the articulated vehicle based on the steering angle control amount includes: The steering angle control value is input into the steering actuator of the articulated vehicle to control the steering of the articulated vehicle.

8. An articulated vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the target driving path of the articulated vehicle and the vehicle heading angle with the articulation point of the articulated vehicle as the control point. The first processing module is used to determine a first path point on the target driving path along the driving direction of the target driving path; The second processing module is used to calculate the vector formed by the hinge point and the first path point; The third processing module is used to determine the steering angle control amount of the articulated vehicle based on the angular relationship between the vehicle body heading angle and the vector, with the direction of the vector as the target heading. The fourth processing module is used to control the steering of the articulated vehicle based on the steering angle control amount.

9. An articulated vehicle, characterized in that, include: A controller comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

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