Transverse and longitudinal coordinated control method for distributed corner module chassis configuration

Abstract

The application relates to a transverse-longitudinal collaborative control method of a distributed angle module chassis configuration. The method comprises the following steps: in the case that a target vehicle deviates from a planned path trajectory, determining a current control mode of the target vehicle, then based on the current control mode of the target vehicle, acquiring steering control information and differential control information of the target vehicle, and finally collaboratively controlling the driving of the target vehicle according to the steering control information and the differential control information. The method can improve the path tracking performance of the vehicle in the automatic driving process.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a lateral and longitudinal cooperative control method for a distributed corner module chassis configuration. Background Technology

[0002] Vehicle path tracking technology is one of the key technologies in the field of autonomous driving, and it is of great significance for improving traffic safety and efficiency.

[0003] In related technologies, when controlling autonomous vehicles, it is usually necessary to control each wheel of the vehicle in order to improve the vehicle's path tracking ability during the autonomous driving process.

[0004] However, the vehicle control methods in related technologies are relatively simple, resulting in poor path tracking performance during autonomous driving. Summary of the Invention

[0005] Therefore, it is necessary to provide a lateral and longitudinal cooperative control method for a distributed corner module chassis configuration to address the above-mentioned technical problems, which can improve the path tracking performance of vehicles during autonomous driving.

[0006] In a first aspect, this application provides a vehicle control method, the method comprising:

[0007] If the target vehicle is detected to have deviated from the planned path, determine the current control mode of the target vehicle;

[0008] Based on the current control mode of the target vehicle, obtain the steering control information and differential control information of the target vehicle;

[0009] The target vehicle's movement is controlled collaboratively based on steering control information and differential control information.

[0010] In one embodiment, based on the target vehicle's current control mode, steering control information and differential control information of the target vehicle are obtained, including:

[0011] If the current control mode is steering control mode, the steering angle of the target vehicle is determined as steering control information, and differential control information is determined based on the steering angle of the target vehicle.

[0012] In one embodiment, differential control information is determined based on the steering angle of the target vehicle, including:

[0013] Based on the turning angle of the target vehicle, obtain the predicted path trajectory;

[0014] The path tracking error is determined based on the predicted path trajectory and the planned path trajectory;

[0015] The path tracking error is input into the preset differential compensation model to obtain the differential control information of the target vehicle.

[0016] In one embodiment, based on the target vehicle's current control mode, steering control information and differential control information of the target vehicle are obtained, including:

[0017] If the current control mode is differential control mode, the driving force of the target vehicle is determined as differential control information, and the steering control information is determined based on the driving force of the target vehicle.

[0018] In one embodiment, steering control information is determined based on the driving force of the target vehicle, including:

[0019] Based on the driving force of the target vehicle, obtain the predicted path trajectory;

[0020] The path tracking error is determined based on the predicted path trajectory and the planned path trajectory;

[0021] The path tracking error is input into the preset steering compensation model to obtain the steering control information of the target vehicle.

[0022] In one embodiment, the coordinated control of the target vehicle's movement based on steering control information and differential control information includes:

[0023] Based on the steering control information and differential control information, a compensation command is generated;

[0024] The compensation command is sent to the drive system of the target vehicle to instruct the drive system to coordinate the driving of the target vehicle based on the compensation command.

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

[0026] Obtain the path trajectory of the target vehicle;

[0027] If the planned path trajectory meets the preset conditions, determine whether the target vehicle deviates from the planned path trajectory.

[0028] In one embodiment, the planned path trajectory includes planned position coordinates and planned heading angle; the path trajectory includes position coordinates and heading angle; preset conditions include:

[0029] The distance between the planned position coordinates and the position coordinates is greater than a distance threshold; and / or, the difference between the planned heading angle and the heading angle is greater than a heading angle threshold.

[0030] Secondly, this application also provides a vehicle control device, the device comprising:

[0031] The response module is used to determine the current control mode of the target vehicle when it is detected that the target vehicle has deviated from the planned path trajectory;

[0032] The determination module is used to obtain the steering control information and differential control information of the target vehicle based on the current control mode of the target vehicle;

[0033] The control module is used to coordinate the driving of the target vehicle based on steering control information and differential control information.

[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 implement the steps of the method in any of the embodiments of the first aspect described above.

[0035] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the embodiments of the first aspect described above.

[0036] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method in any of the embodiments of the first aspect described above.

[0037] The aforementioned distributed corner module chassis configuration's lateral and longitudinal cooperative control method, upon detecting a deviation of the target vehicle from its planned path, determines the target vehicle's current control mode. Then, based on this current control mode, it acquires the target vehicle's steering and differential control information. Finally, it collaboratively controls the target vehicle's movement based on this steering and differential control information. In this method, determining steering and differential control information based on the target vehicle's current control mode and collaboratively controlling its movement based on this information is equivalent to performing lateral and longitudinal cooperative control on the target vehicle by controlling its steering and driving force when it deviates from its planned path, thereby improving the vehicle's path tracking performance during autonomous driving. Attached Figure Description

[0038] 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.

[0039] Figure 1 This is an internal structural diagram of a computer device in one embodiment;

[0040] Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment;

[0041] Figure 3 This is a flowchart illustrating the control information acquisition step in one embodiment;

[0042] Figure 4 This is a schematic diagram of a target vehicle model in one embodiment;

[0043] Figure 5 This is a flowchart illustrating the control information acquisition step in another embodiment;

[0044] Figure 6 This is a flowchart illustrating the vehicle control method in another embodiment;

[0045] Figure 7 This is a flowchart illustrating the steps for determining vehicle deviation from trajectory in one embodiment;

[0046] Figure 8 This is a flowchart illustrating the vehicle control method in another embodiment;

[0047] Figure 9 This is a structural block diagram of a vehicle control device in one embodiment. Detailed Implementation

[0048] 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.

[0049] The vehicle control method provided in this application embodiment can be applied to a computer device, which can be a server, and its internal structure diagram can be as follows. Figure 1 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, 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 operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle 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 vehicle control method.

[0050] Those skilled in the art will understand that Figure 1 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.

[0051] Vehicle path tracking is a crucial technology for achieving autonomous driving, and its application in the field of autonomous driving is becoming increasingly widespread.

[0052] In related technologies, controlling autonomous vehicles typically requires controlling each wheel to improve the vehicle's path tracking capability during autonomous driving. However, due to constraints on the vehicle's steering mechanism and limitations of differential steering, using a single control method often fails to improve the vehicle's path tracking performance.

[0053] Based on this, in the embodiments of this application, when the target vehicle is detected to deviate from the planned path trajectory, the steering control information and differential control information of the target vehicle are obtained based on the current control mode of the target vehicle, and the steering control information and differential control information are used to perform coordinated control on the target vehicle to improve the path tracking performance of the target vehicle.

[0054] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0055] In one exemplary embodiment, such as Figure 2 As shown, a vehicle control method is provided. Taking the application of this method to a server as an example, it can be understood that this method can also be applied to a target vehicle, or to a system including both the target vehicle and the server, and is implemented through the interaction between the target vehicle and the server. The method includes the following steps:

[0056] S201, when the target vehicle is detected to have deviated from the planned path trajectory, determine the current control mode of the target vehicle.

[0057] In the field of autonomous driving, a planned path trajectory for the target vehicle is usually pre-set before it begins to travel, instructing the target vehicle to follow the planned path. In other words, ideally, the actual path trajectory of the target vehicle should be within a small distance range from the planned path trajectory, or even overlap.

[0058] In practical applications, the path tracking performance of a target vehicle represents how closely its actual path trajectory matches its planned path trajectory, and is a crucial parameter characterizing the safety performance of the target vehicle during autonomous driving. Specifically, the closer the actual path trajectory of the target vehicle is to the planned path trajectory, the stronger the path tracking performance, and the safer the autonomous driving process of the target vehicle.

[0059] Therefore, during the driving process of the target vehicle, it is necessary to detect in real time whether the actual path trajectory of the target vehicle deviates from the planned path trajectory. If the target vehicle deviates from the planned path trajectory, the target vehicle should be compensated in a timely manner based on the current control mode of the target vehicle to ensure that the target vehicle drives according to the planned path trajectory.

[0060] The current control mode of the target vehicle represents the control method of the target vehicle at the current moment, such as steering control mode and differential control mode. Steering control mode indicates that the target vehicle is currently moving by controlling the steering angle of each wheel, while differential control mode indicates that the target vehicle is currently moving by controlling the driving force of each wheel.

[0061] S202, based on the current control mode of the target vehicle, acquire the steering control information and differential control information of the target vehicle.

[0062] It should be noted that the target vehicle has only one current control mode during the autonomous driving process, that is, either the target vehicle's current control mode is the rotation control mode or the target vehicle's current control mode is the differential control mode.

[0063] In this embodiment, considering the constraints of the target vehicle's steering mechanism and the limitations of differential steering, a single control method is often insufficient to improve vehicle path tracking performance. Therefore, regardless of whether the target vehicle's current control mode is steering control or differential control, it is necessary to determine both steering control information and differential control information based on the current control mode.

[0064] Among them, steering control information is used to control the heading angle of the target vehicle, and differential control information is used to control the driving force of the target vehicle.

[0065] Taking a distributed electric drive vehicle as an example, the wheels of a distributed electric drive vehicle have independent steering, driving, and braking capabilities. The steering control information includes the steering angles of the four wheels of the distributed electric drive vehicle, and the differential control information includes the driving force of the four wheels of the distributed electric drive vehicle.

[0066] S203 coordinates the driving of the target vehicle based on steering control information and differential control information.

[0067] It should be noted that the embodiments of this application use steering control information and differential control information to control the target vehicle simultaneously. That is, while controlling the heading angle of the target vehicle according to the steering control information, the driving force of the target vehicle is controlled according to the differential control information.

[0068] In this embodiment, when a target vehicle is detected to deviate from the planned path, the current control mode of the target vehicle is determined. Then, based on the current control mode, the steering control information and differential control information of the target vehicle are obtained. Finally, the driving of the target vehicle is coordinated and controlled according to the steering control information and differential control information. In this method, determining the steering control information and differential control information based on the current control mode of the target vehicle, and coordinating the driving of the target vehicle according to the steering control information and differential control information, is equivalent to performing lateral and longitudinal coordinated control on the target vehicle by controlling the steering and driving force when the target vehicle deviates from the planned path, thereby improving the path tracking performance of the vehicle during autonomous driving.

[0069] During autonomous driving, the target vehicle's current control mode can be either steering control mode or differential control mode. Different control modes correspond to different path compensation methods, resulting in different steering control information and differential control information. Based on this, the following embodiment illustrates a feasible method for obtaining the target vehicle's steering control information and differential control information.

[0070] In an exemplary embodiment, based on the target vehicle's current control mode, the steering control information and differential control information of the target vehicle are obtained, including:

[0071] If the current control mode is steering control mode, the steering angle of the target vehicle is determined as steering control information, and differential control information is determined based on the steering angle of the target vehicle.

[0072] If the current control mode is steering control mode, the steering angles of the four wheels of the target vehicle are determined as steering control information, and the driving force of the target vehicle is determined based on the steering angles to obtain differential control information. This is equivalent to compensating for the path trajectory deviation of the target vehicle in steering control mode by controlling the driving force of the target vehicle while keeping the current steering angle unchanged, thereby achieving coordinated control of the target vehicle by steering and driving force.

[0073] In this embodiment of the application, there are no restrictions on the method of determining differential control information based on steering angle. For example, the steering angle of the target vehicle is converted into differential information, and then the differential deviation value is obtained based on the differential information and the standard differential information. The differential deviation value is then inverted to obtain the differential control information.

[0074] In this embodiment, when the current control mode is steering control mode, the turning angle of the target vehicle is determined as the steering control information, which is equivalent to keeping the steering information of the target vehicle unchanged. Furthermore, differential control information is determined based on the turning angle of the target vehicle, which is equivalent to compensating for the target vehicle's deviation from the steering path through differential control information. In summary, the control method provided in this embodiment performs coordinated control of the target vehicle from two dimensions: turning angle and driving force. This enables flexible control of the target vehicle, ensuring its safety while supporting autonomous driving in various scenarios.

[0075] The foregoing embodiments do not limit the method of determining differential control information. That is, when the steering angle is obtained, differential control information can be obtained through various methods such as fitting, prediction, and empirical values. Based on this, the following embodiment illustrates one possible way to obtain differential control information.

[0076] In one exemplary embodiment, such as Figure 3 As shown, differential control information is determined based on the steering angle of the target vehicle, including:

[0077] S301, based on the turning angle of the target vehicle, obtain the predicted path trajectory.

[0078] The steering angle of the target vehicle is input into a preset steering dynamics model. The steering dynamics model then fits the steering angle of the target vehicle to a path, outputting the steering path trajectory, which is the predicted path trajectory corresponding to the steering angle. The steering dynamics model is a model that characterizes the relationship between the vehicle's steering angle and its path trajectory.

[0079] S302, determine the path tracking error based on the predicted path trajectory and the planned path trajectory.

[0080] The path tracking error is obtained by subtracting the predicted path trajectory from the planned path trajectory.

[0081] Taking the predicted path trajectory, which includes predicted position coordinates and predicted heading angle, and the planned path trajectory, which includes planned position coordinates and planned heading angle, as an example, the method for determining the path tracking error is explained: the coordinate tracking error is obtained by calculating the difference between the predicted position coordinates and the planned position coordinates, and the heading angle tracking error is obtained by calculating the difference between the predicted heading angle and the planned heading angle. The coordinate tracking error and the heading angle tracking error are determined as the path tracking error.

[0082] S303 inputs the path tracking error into the preset differential compensation model to obtain the differential control information of the target vehicle.

[0083] The path tracking error is input into a preset differential compensation model. The path tracking error is analyzed through the differential compensation model to obtain the driving force of the target vehicle that meets the constraints, i.e., the differential control information of the target vehicle.

[0084] Among them, the constraint condition of the differential compensation model is that the driving force of the target vehicle is between the upper limit and the lower limit of the driving force, and the cost function of the differential compensation model is minimized.

[0085] by Figure 4 Taking the target vehicle model shown as an example, the construction process of the differential compensation model is as follows:

[0086] (1) Constructing a vehicle model under differential control mode:

[0087] (Equation 1)

[0088] In the above formula, M is the inertia matrix, q is the state variable, and Q is the inertia matrix. c It is a generalized control input.

[0089] (Equation 2)

[0090] (Equation 3)

[0091] (Equation 4)

[0092] (Equation 5)

[0093] In the above formula, Indicates the force of the wheel. Indicates the wheel steering angle. This indicates the distance from the front axle to the vehicle's center of gravity. This indicates the distance from the rear axle to the vehicle's center of gravity. It indicates the distance from the vehicle's center of gravity to the side of the vehicle.

[0094] (2) Transform the vehicle model under differential control mode into state-space equations:

[0095] (Equation 6)

[0096] in, A represents the state variables, A is the state matrix (i.e., the coefficients before x), u is the control input (i.e., the driving force of the target vehicle), and B is the input matrix (i.e., the coefficients before u).

[0097] (Equation 7)

[0098] The constraints on the driving force are:

[0099] (Equation 8)

[0100] In the above formula, u min and u max This refers to the minimum and maximum driving force values ​​of the target vehicle under differential control mode.

[0101] (3) Output the differential control information of the target vehicle while satisfying the path tracking error and differential control cost function.

[0102] The differential control cost function is expressed as follows:

[0103] (Equation 9)

[0104] In the above formula, The path tracking error is based on the predicted turning path trajectory of the target vehicle at the current turning angle, where Q and R are weighting coefficient matrices.

[0105] (Equation 10)

[0106] (Equation 11)

[0107] In the above formula, e ye Let (x, y) represent the position tracking error of the target vehicle, where (x, y) is the planned position of the target vehicle. e y e ) is the predicted location of the target vehicle. This represents the heading angle tracking error of the target vehicle. It is the planned heading angle of the target vehicle. It is the predicted heading angle of the target vehicle.

[0108] In this embodiment, the predicted path trajectory is obtained based on the turning angle of the target vehicle, and the path tracking error is further obtained to accurately characterize the degree of trajectory deviation of the target vehicle under the steering control mode. Then, based on the path tracking error, the differential control information of the target vehicle is determined to compensate for the target vehicle's deviation from the path and improve the target vehicle's path tracking capability.

[0109] The foregoing embodiments described the methods for acquiring target vehicle steering control information and differential control information in steering control mode. The following embodiments, parallel to the foregoing embodiments, describe the feasible methods for acquiring target vehicle steering control information and differential control information in differential control mode.

[0110] In an exemplary embodiment, based on the target vehicle's current control mode, the steering control information and differential control information of the target vehicle are obtained, including:

[0111] If the current control mode is differential control mode, the driving force of the target vehicle is determined as differential control information, and the steering control information is determined based on the driving force of the target vehicle.

[0112] If the current control mode is differential control mode, the driving force of the four wheels of the target vehicle is determined as differential control information, and the steering angle of the target vehicle is determined based on the driving force of the target vehicle to obtain steering control information. This is equivalent to compensating for the path trajectory deviation of the target vehicle in differential control mode by controlling the steering angle of the target vehicle while keeping the current driving force of the target vehicle unchanged, so as to achieve coordinated control of the target vehicle by steering and driving force.

[0113] In this embodiment, there are no restrictions on the method of determining steering control information based on driving force. For example, the driving force of the target vehicle is converted into steering angle information, and then the steering angle deviation value is obtained based on the steering angle information and the standard differential information. The steering angle deviation value is then inverted to obtain the steering control information.

[0114] In this embodiment, when the current control mode is differential control, the driving force of the target vehicle is determined as the differential control information, which is equivalent to keeping the driving force information of the target vehicle unchanged. Furthermore, steering control information is determined based on the driving force of the target vehicle, which is equivalent to compensating for the differential deviation of the target vehicle from its path through the steering control information. In summary, the control method provided in this embodiment performs coordinated control of the target vehicle from two dimensions: steering angle and driving force. This enables flexible control of the target vehicle, ensuring its safety while supporting autonomous driving in various scenarios.

[0115] The foregoing embodiments do not limit the method of determining steering control information. That is, given the driving force, steering control information can be obtained through various methods such as fitting, prediction, and empirical values. Based on this, the following embodiment illustrates one possible method for obtaining steering control information.

[0116] In one exemplary embodiment, such as Figure 5 As shown, steering control information is determined based on the driving force of the target vehicle, including:

[0117] S501, based on the driving force of the target vehicle, obtains the predicted path trajectory.

[0118] The driving force of the target vehicle is input into a pre-defined differential model. The differential model then performs path fitting on the driving force of the target vehicle, outputting the differential path trajectory, which is the predicted path trajectory corresponding to the driving force. The differential model is a model representing the relationship between the vehicle's driving force and its path trajectory.

[0119] S502, determine the path tracking error based on the predicted path trajectory and the planned path trajectory.

[0120] The path tracking error is obtained by subtracting the predicted path trajectory from the planned path trajectory.

[0121] Taking the predicted path trajectory, which includes predicted position coordinates and predicted heading angle, and the planned path trajectory, which includes planned position coordinates and planned heading angle, as an example, the method for determining the path tracking error is explained: the coordinate tracking error is obtained by calculating the difference between the predicted position coordinates and the planned position coordinates, and the heading angle tracking error is obtained by calculating the difference between the predicted heading angle and the planned heading angle. The coordinate tracking error and the heading angle tracking error are determined as the path tracking error.

[0122] S503 inputs the path tracking error into the preset steering compensation model to obtain the steering control information of the target vehicle.

[0123] The path tracking error is input into the preset steering compensation model. The path tracking error is analyzed through the steering compensation model to obtain the steering angle of the target vehicle that meets the constraints, i.e., the steering control information of the target vehicle.

[0124] Among them, the constraint condition of the steering compensation model is that the steering angle of the target vehicle is between the upper limit value and the lower limit value of the steering angle, and the cost function of the steering compensation model has the minimum value.

[0125] Still with Figure 4 Taking the target vehicle model shown as an example, the process of constructing the steering compensation model is as follows:

[0126] (1) Constructing a vehicle model under steering control mode:

[0127] (Equation 12)

[0128] (Equation 13)

[0129] in:

[0130] (Equation 14)

[0131] (Equation 15)

[0132] (Equation 16)

[0133] (Equation 17)

[0134] (Equation 18)

[0135] (Equation 19)

[0136] (Equation 20)

[0137] (Equation 21)

[0138] In the above formula, Indicates quality, Indicates the longitudinal speed of the vehicle. This represents the lateral force on the wheel, and I represents the moment of inertia. Indicates the lateral displacement of the vehicle. Indicates the vehicle's yaw angle. Indicates the wheel steering angle. This indicates the distance from the front axle to the vehicle's center of gravity. This indicates the distance from the rear axle to the vehicle's center of gravity. This indicates the distance from the vehicle's center of gravity to the side of the vehicle. Indicates the lateral stiffness of the vehicle tires. This indicates the tire slip angle of the vehicle.

[0139] (2) Transform the vehicle model in steering control mode into state-space equations:

[0140] (Equation 22)

[0141] In the above formula, It is a state variable. State matrix, i.e. The preceding coefficients, It is a control input. It is the input matrix, that is The coefficients mentioned earlier.

[0142] in:

[0143] (Equation 23)

[0144] The constraints for the corner are:

[0145] (Equation 24)

[0146] In the above formula, u min0 and u max0 This refers to the minimum and maximum steering angle values ​​of the target vehicle under steering control mode.

[0147] (3) Under the condition of satisfying the path tracking error and steering control cost function, output the differential control information of the target vehicle.

[0148] The cost function expression for steering control is as follows:

[0149] (Equation 25)

[0150] In the above formula, The path tracking error is based on the predicted steering path trajectory of the target vehicle under the driving force at the current moment. Q0 and R0 are weight coefficient matrices.

[0151] (Equation 26)

[0152] (Equation 27)

[0153] In the above formula, e y This represents the position tracking error of the target vehicle, (x p y p (x) is the predicted location of the target vehicle. d y d ) is the planned location of the target vehicle. This represents the heading angle tracking error of the target vehicle. It is the predicted heading angle of the target vehicle. It is the planned heading angle of the target vehicle.

[0154] In this embodiment, the predicted path trajectory is obtained based on the driving force of the target vehicle, and the path tracking error is further obtained to accurately characterize the degree of trajectory deviation of the target vehicle under differential control mode. Then, based on the path tracking error, the steering control information of the target vehicle is determined to compensate for the target vehicle's deviation from the path and improve the target vehicle's path tracking capability.

[0155] Having acquired the steering control information and differential control information of the target vehicle, the server can further perform path compensation for the target vehicle based on the aforementioned control information, so that the actual path trajectory of the target vehicle is as close as possible to the planned path trajectory. In an exemplary embodiment, such as... Figure 6 As shown, the driving of the target vehicle is controlled collaboratively based on steering control information and differential control information, including:

[0156] S601 generates compensation commands based on steering control information and differential control information.

[0157] The steering control information includes the identification information of each wheel of the target vehicle, and the differential control information also includes the identification information of each wheel of the target vehicle. Based on the identification information of each wheel, the steering control information and the differential control information are summarized to obtain the compensation command.

[0158] Taking a distributed electric drive vehicle as an example, the steering control information includes the steering angle of each wheel of the target vehicle, and the differential control information includes the driving force of each wheel of the target vehicle. Based on this, the steering angle and driving force of each wheel are combined to obtain the control command corresponding to each wheel, and the control command of each wheel is used as the compensation command for the target vehicle.

[0159] S602 sends a compensation command to the drive system of the target vehicle to instruct the drive system to coordinate the driving of the target vehicle based on the compensation command.

[0160] Taking the target vehicle as a distributed electric drive vehicle as an example, since each wheel is an independent drive system, the target vehicle's drive system can control each wheel independently.

[0161] The server sends the generated compensation command to the target vehicle's drive system. Based on the wheel identification information in the compensation command, the drive system generates the driving force and driving angle corresponding to each wheel, instructing the target vehicle to drive with the aforementioned driving force and driving angle.

[0162] In this embodiment, a compensation command generated based on steering control information and differential control information is sent to the drive system, instructing the drive system to perform dual control of steering and differential on the target vehicle, thereby achieving coordinated control of the target vehicle and improving the path tracking performance of the target vehicle.

[0163] The foregoing embodiments described how to control the target vehicle's movement when it deviates from the planned path. It should be noted that the target vehicle's deviation from the planned path is a prerequisite for triggering vehicle control. Based on this, the following embodiment illustrates one feasible method for determining whether the target vehicle has deviated from the planned path.

[0164] In one exemplary embodiment, such as Figure 7 As shown, the method also includes:

[0165] S701, Obtain the path trajectory of the target vehicle.

[0166] The target vehicle is equipped with a radar system to perceive road conditions such as its path and speed during autonomous driving in real time. The server can communicate with the radar system on the target vehicle to receive the path information transmitted by the radar system in real time.

[0167] S702, under the condition that the planned path trajectory and the path trajectory meet the preset conditions, determine that the target vehicle deviates from the planned path trajectory.

[0168] For example, the similarity between the current path trajectory and the planned path trajectory can be calculated, with a preset condition that the similarity is less than a preset threshold. In this case, if the similarity between the current path trajectory and the planned path trajectory is less than the preset threshold, it is determined that the planned path trajectory and the current path trajectory meet the preset condition, that is, the target vehicle deviates from the planned path trajectory; conversely, if the similarity between the current path trajectory and the planned path trajectory is greater than or equal to the preset threshold, the planned path trajectory and the current path trajectory do not meet the preset condition, and the target vehicle can drive according to the current control mode, without the need for additional external force control.

[0169] In an exemplary embodiment, the planned path trajectory includes planned position coordinates and planned heading angle; the path trajectory includes position coordinates and heading angle; preset conditions include:

[0170] The distance between the planned position coordinates and the position coordinates is greater than a distance threshold; and / or, the difference between the planned heading angle and the heading angle is greater than a heading angle threshold.

[0171] If the distance between the planned position coordinates and the current position coordinates is greater than a distance threshold, the target vehicle is determined to have deviated from the planned path trajectory; if the difference between the planned heading angle and the heading angle is greater than a heading angle threshold, the target vehicle is determined to have deviated from the planned path trajectory; if the distance between the planned position coordinates and the current position coordinates is greater than a distance threshold, and the difference between the planned heading angle and the heading angle is greater than a heading angle threshold, the target vehicle is determined to have deviated from the planned path trajectory.

[0172] If the distance between the planned position coordinates and the actual position coordinates is less than or equal to the distance threshold, and the difference between the planned heading angle and the heading angle is less than or equal to the heading angle threshold, it is determined that the target vehicle has not deviated from the planned path trajectory. The target vehicle will then continue to drive according to the control mode at that time, and no vehicle control is required.

[0173] In this embodiment, the distance between the planned position coordinates and the difference between the planned heading angle and the heading angle are used as the basis to determine whether the target vehicle deviates from the planned path trajectory. In this way, the judgment results obtained from the two dimensions of distance and angle are more timely and accurate, so as to facilitate timely and effective control of target vehicles that deviate from the planned path trajectory.

[0174] In one exemplary embodiment, a vehicle control method is provided, as shown in FIG8, comprising the following steps:

[0175] S801, obtain the target vehicle's path trajectory and planned path trajectory.

[0176] S802, determine whether the target vehicle has deviated from the planned path trajectory.

[0177] S803 determines whether the target vehicle's current control mode is steering control mode when the target vehicle deviates from the planned path trajectory.

[0178] S804, if so, then obtain the steering path trajectory corresponding to the turning angle of the target vehicle.

[0179] S805 obtains differential control information of the target vehicle based on the turning angle.

[0180] S806 performs path compensation for the target vehicle based on differential control information.

[0181] S807, if not, obtain the differential path trajectory corresponding to the driving force of the target vehicle.

[0182] S808 obtains steering control information for the target vehicle based on the driving force.

[0183] S809 performs path compensation for the target vehicle based on steering control information.

[0184] S810: Obtain the actual path of the target vehicle after path compensation.

[0185] In this embodiment, when the target vehicle is detected to deviate from the planned path trajectory, steering control information and differential control information are determined, and the target vehicle is controlled in a coordinated manner based on the steering control information and differential control information. This is equivalent to controlling the target vehicle in a coordinated manner in the lateral and longitudinal directions by controlling the steering and driving force of the target vehicle when it deviates from the planned path trajectory, so as to improve the path tracking performance of the vehicle in the autonomous driving process.

[0186] In one exemplary embodiment, a vehicle control method is provided, comprising the following steps:

[0187] (1) Obtain the path trajectory of the target vehicle;

[0188] (2) If the planned path trajectory and the path trajectory meet the preset conditions, determine the deviation of the target vehicle from the planned path trajectory and determine the current control mode of the target vehicle;

[0189] (3) If the current control mode is steering control mode, the turning angle of the target vehicle is determined as steering control information.

[0190] (4) Obtain the predicted path trajectory based on the turning angle of the target vehicle; determine the path tracking error based on the predicted path trajectory and the planned path trajectory; input the path tracking error into the preset differential compensation model to obtain the differential control information of the target vehicle.

[0191] (5) If the current control mode is differential control mode, the driving force of the target vehicle is determined as differential control information.

[0192] (6) Obtain the predicted path trajectory based on the driving force of the target vehicle; determine the path tracking error based on the predicted path trajectory and the planned path trajectory; input the path tracking error into the preset steering compensation model to obtain the steering control information of the target vehicle.

[0193] (7) Generate compensation commands based on steering control information and differential control information;

[0194] (8) Send the compensation command to the drive system of the target vehicle to instruct the drive system to coordinate the driving of the target vehicle based on the compensation command.

[0195] In this embodiment, when a target vehicle is detected to deviate from the planned path, the current control mode of the target vehicle is determined. Then, based on the current control mode, the steering control information and differential control information of the target vehicle are obtained. Finally, the driving of the target vehicle is coordinated and controlled according to the steering control information and differential control information. In this method, determining the steering control information and differential control information based on the current control mode of the target vehicle, and coordinating the driving of the target vehicle according to the steering control information and differential control information, is equivalent to performing lateral and longitudinal coordinated control on the target vehicle by controlling the steering and driving force when the target vehicle deviates from the planned path, thereby improving the path tracking performance of the vehicle during autonomous driving.

[0196] 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.

[0197] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle 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 vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0198] In one exemplary embodiment, such as Figure 9 As shown, a vehicle control device is provided, including: a response module 901, a determination module 902, and a control module 903, wherein:

[0199] The response module 901 is used to determine the current control mode of the target vehicle when the target vehicle is detected to deviate from the planned path trajectory.

[0200] The determination module 902 is used to obtain the steering control information and differential control information of the target vehicle based on the current control mode of the target vehicle;

[0201] The control module 903 is used to coordinate the driving of the target vehicle based on steering control information and differential control information.

[0202] In an exemplary embodiment, the determining module 902 includes a first determining unit, configured to determine the turning angle of the target vehicle as steering control information if the current control mode is a steering control mode, and to determine differential control information based on the turning angle of the target vehicle.

[0203] In an exemplary embodiment, the first determining unit includes a first predicting subunit, a first determining subunit, and a first acquiring subunit, wherein:

[0204] The first prediction subunit is used to obtain the predicted path trajectory based on the turning angle of the target vehicle;

[0205] The first determining sub-unit is used to determine the path tracking error based on the predicted path trajectory and the planned path trajectory;

[0206] The first acquisition subunit is used to input the path tracking error into the preset differential compensation model to obtain the differential control information of the target vehicle.

[0207] In an exemplary embodiment, the determining module 902 includes a second determining unit, configured to determine the driving force of the target vehicle as differential control information if the current control mode is a differential control mode, and to determine steering control information based on the driving force of the target vehicle.

[0208] In an exemplary embodiment, the second determining unit includes a second prediction subunit, a second determining subunit, and a second obtaining subunit, wherein:

[0209] The second prediction subunit is used to obtain the predicted path trajectory based on the driving force of the target vehicle.

[0210] The second determining subunit is used to determine the path tracking error based on the predicted path trajectory and the planned path trajectory;

[0211] The second acquisition subunit is used to input the path tracking error into the preset steering compensation model to obtain the steering control information of the target vehicle.

[0212] In an exemplary embodiment, the control module 903 includes an instruction generation unit and a driving control unit, wherein:

[0213] The instruction generation unit is used to generate compensation instructions based on steering control information and differential control information;

[0214] The driving control unit is used to send compensation commands to the drive system of the target vehicle, so as to instruct the drive system to coordinate the driving of the target vehicle based on the compensation commands.

[0215] In one exemplary embodiment, the vehicle control device further includes: a trajectory acquisition module and a trajectory determination module, wherein:

[0216] The trajectory acquisition module is used to acquire the path trajectory of the target vehicle;

[0217] The trajectory determination module is used to determine whether the target vehicle deviates from the planned path trajectory, provided that the planned path trajectory and the path trajectory meet preset conditions.

[0218] In one embodiment, the preset conditions include: the distance between the planned position coordinates and the position coordinates is greater than a distance threshold; and / or, the difference between the planned heading angle and the heading angle is greater than a heading angle threshold.

[0219] Each module in the aforementioned vehicle 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 in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0220] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0221] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0222] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0223] 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.

[0224] Those skilled in the art will understand that all or part of the processes in 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. When executed, the computer program can include the processes of the embodiments described above. 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.

[0225] 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.

[0226] 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 patent 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 vehicle control method, characterized in that, The method includes: If the target vehicle is detected to have deviated from the planned path, the current control mode of the target vehicle is determined. If the current control mode of the target vehicle is steering control mode, the turning angle of the target vehicle is determined as steering control information, and a predicted path trajectory is obtained based on the turning angle of the target vehicle; the path tracking error is determined based on the predicted path trajectory and the planned path trajectory; the path tracking error is input into a preset differential compensation model to obtain the differential control information of the target vehicle. If the current control mode of the target vehicle is differential control mode, the driving force of the target vehicle is determined as differential control information, and the predicted path trajectory is obtained based on the driving force of the target vehicle; the path tracking error is determined based on the predicted path trajectory and the planned path trajectory; the path tracking error is input into a preset steering compensation model to obtain the steering control information of the target vehicle. The target vehicle's movement is controlled collaboratively based on the steering control information and the differential control information.

2. The method according to claim 1, characterized in that, The method of coordinating the driving of the target vehicle based on the steering control information and the differential control information includes: Based on the steering control information and the differential control information, a compensation command is generated; The compensation command is sent to the drive system of the target vehicle to instruct the drive system to coordinate the driving of the target vehicle based on the compensation command.

3. The method according to claim 2, characterized in that, The step of generating compensation commands based on the steering control information and the differential control information includes: Based on the identification information of each wheel, the steering control information and the differential control information are summarized to obtain the compensation command.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the path trajectory of the target vehicle; If the planned path trajectory and the path trajectory meet preset conditions, it is determined that the target vehicle deviates from the planned path trajectory.

5. The method according to claim 4, characterized in that, The planned path trajectory includes planned position coordinates and planned heading angle; the path trajectory includes position coordinates and heading angle. The preset conditions include: The distance between the planned location coordinates and the location coordinates is greater than a distance threshold; And / or, the difference between the planned heading angle and the heading angle is greater than the heading angle threshold.

6. A vehicle control device, characterized in that, The device includes: The response module is used to determine the current control mode of the target vehicle when it is detected that the target vehicle deviates from the planned path trajectory; The determination module is used to determine the turning angle of the target vehicle as steering control information if the current control mode of the target vehicle is steering control mode, and obtain the predicted path trajectory based on the turning angle of the target vehicle; determine the path tracking error based on the predicted path trajectory and the planned path trajectory; and input the path tracking error into a preset differential compensation model to obtain the differential control information of the target vehicle. If the current control mode of the target vehicle is differential control mode, the driving force of the target vehicle is determined as differential control information, and the predicted path trajectory is obtained based on the driving force of the target vehicle; the path tracking error is determined based on the predicted path trajectory and the planned path trajectory; the path tracking error is input into a preset steering compensation model to obtain the steering control information of the target vehicle. The control module is used to coordinate the driving of the target vehicle based on the steering control information and the differential control information.

7. The apparatus according to claim 6, characterized in that, The device further includes: The trajectory acquisition module is used to acquire the path trajectory of the target vehicle; The trajectory determination module is used to determine whether the target vehicle deviates from the planned path trajectory if the planned path trajectory and the path trajectory meet preset conditions.

8. 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 5.

9. 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 5.

10. 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 5.

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