Vehicle steering control method and device, equipment, storage medium and program product

Abstract

The invention provides a vehicle steering control method and device, equipment, a storage medium and a program product, and the vehicle steering control method comprises the steps: determining at least two control points on a vehicle, and determining a reference path corresponding to each control point; determining a feed-forward angle and a deviation correction angle corresponding to each control point based on each control point and the corresponding reference path; determining a steering angle corresponding to each control point based on the feed-forward angle and the deviation correction angle of each control point; and the vehicle rotates based on the steering angle of each control point so as to walk according to a new path. According to the method, the multiple control points are arranged, the corresponding reference path is determined based on the multiple control points, the steering angle of the automatic guided vehicle is calculated, the overall transverse deviation of the vehicle can be reduced, and the automatic guided vehicle can conveniently take and place boxes.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle path tracking control, and in particular to a vehicle steering control method, device, equipment, storage medium and program product. Background Art

[0002] During port operations, vehicle operations are indispensable. For example, an Automated Guided Vehicle (AGV) can be used for picking up and placing boxes. However, AGVs are relatively large in size and have high requirements for parking posture when picking up and placing boxes.

[0003] In straight-line driving scenarios, the vehicle needs to follow the centerline of the lane, and there will be a posture deviation between the vehicle control point and the reference path. Due to the large size of the AGV itself, the deviation between the position of the vehicle body far from the vehicle control point and the centerline of the lane will be magnified, resulting in a decrease in the efficiency of the pick-and-place operation. Summary of the invention

[0004] In view of this, the present invention provides a vehicle steering control method, device, equipment, storage medium and program product, which can solve the problem that when the automatic guided vehicle is driving, the position of the vehicle body far away from the vehicle control point has a large deviation from the lane center line, resulting in low efficiency in picking and placing boxes.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides a vehicle steering control method, comprising:

[0007] Determine at least two control points on the vehicle, and determine a reference path corresponding to each control point;

[0008] Determine a feedforward angle and a correction angle corresponding to each control point based on each control point and a corresponding reference path;

[0009] Determine the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point;

[0010] The vehicle turns based on the steering angle of each control point to follow the new path.

[0011] In one embodiment of the present invention, the control point includes a first control point and a second control point.

[0012] Identify at least two control points on the vehicle including:

[0013] Determine the center of mass of the vehicle;

[0014] A first control point and a second control point are determined based on the centroid, wherein a line between the first control point and the second control point passes through the centroid, and the first control point and the second control point are two points farthest along the length direction of the vehicle.

[0015] In one embodiment of the present invention, determining a reference path corresponding to each control point includes:

[0016] A global coordinate system is established with the center of mass as the origin, the length direction of the vehicle as the horizontal axis, and the width direction of the vehicle as the vertical axis. The global coordinate system is a plane rectangular coordinate system.

[0017] Determine the center of mass reference path corresponding to the center of mass, as well as the coordinate value of the center of mass reference path in the global coordinate system and the vehicle orientation;

[0018] The reference path corresponding to each control point is determined based on the coordinate value of the centroid reference path and the vehicle orientation.

[0019] In one embodiment of the present invention, determining a reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation includes:

[0020] Determine a first distance between each control point and the centroid;

[0021] A reference path corresponding to each control point is determined based on the first distance corresponding to each control point and the centroid reference path.

[0022] In one embodiment of the present invention, determining a feedforward angle and a correction angle corresponding to each control point based on each control point and a corresponding reference path includes:

[0023] Determine a reference point on the reference path corresponding to each control point based on a preset condition, wherein the preset condition is that the distance from the reference path to the corresponding control point is the shortest;

[0024] The feedforward angle corresponding to each control point is determined based on a reference point and a reference path corresponding to each control point.

[0025] In one embodiment of the present invention, determining a feedforward angle corresponding to each control point based on a reference point and a reference path corresponding to each control point includes:

[0026] Determine a reference vector based on the reference points corresponding to the two control points, where the reference vector is a line between the reference points;

[0027] Determine the deviation angle based on the angle between the reference vector and the horizontal axis of the global coordinate system;

[0028] Determine the tangent angle based on the angle between the tangent of the reference point corresponding to each control point on the corresponding reference path and the horizontal axis;

[0029] The feedforward angle corresponding to each control point is determined based on the tangent angle and the deviation angle corresponding to each control point.

[0030] In one embodiment of the present invention, determining a feedforward angle and a correction angle corresponding to each control point based on each control point and a corresponding reference path includes:

[0031] Determine the lateral deviation corresponding to each control point based on each control point and the corresponding reference point;

[0032] Determine the speed of the vehicle at each control point;

[0033] The correction angle corresponding to each control point is determined based on the lateral deviation and running speed corresponding to each control point.

[0034] In one embodiment of the present invention, determining the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point includes:

[0035] determining a second distance between the center of mass and a front wheel of the vehicle;

[0036] Determine a steering angle of the first control point based on the first spacing, the second spacing, the feedforward angle and the correction angle of the first control point and the second control point;

[0037] determining a third distance between the center of mass and the rear wheels of the vehicle;

[0038] The steering angle of the second control point is determined based on the first spacing, the third spacing, the feedforward angle and the correction angle of the first control point and the second control point.

[0039] The present invention also provides a vehicle steering control device, comprising:

[0040] A confirmation module, used to determine at least two control points on the vehicle and determine a reference path corresponding to each control point;

[0041] A processing module, used for determining a feedforward angle and a correction angle corresponding to each control point based on each control point and a corresponding reference path;

[0042] Determine the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point;

[0043] The control module is used to control the vehicle to rotate based on the steering angle of each control point so as to walk along a new path.

[0044] The present invention also provides an electronic device, comprising:

[0045] Memory for storing computer programs;

[0046] The processor is used to execute the computer program in the memory to implement the above-mentioned vehicle steering control method.

[0047] The present invention also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the above-mentioned vehicle steering control method.

[0048] The present invention provides a computer program product. When the computer program product is run on an electronic device, the electronic device is enabled to execute the above-mentioned vehicle steering control method.

[0049] The above technical solution of the present invention has at least the following beneficial effects:

[0050] The vehicle steering control method of the embodiment of the present invention realizes the calculation of the steering angle of the automatic guided vehicle by setting multiple control points and determining the reference paths of the multiple control points. Compared with the prior art that calculates the steering angle of the vehicle by one control point and the reference path of the control point, the present invention can reduce the overall lateral deviation of the vehicle, facilitate the automatic guided vehicle to carry out the box picking and placing operation, and help improve the operation efficiency of the automatic guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A scene diagram of a vehicle picking up and placing a box according to an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the structure of an automatic control system according to an embodiment of the present invention;

[0053] Figure 3 A flow chart of a method for controlling vehicle steering according to an embodiment of the present invention;

[0054] Figure 4 A flowchart of determining at least two control points on a vehicle according to an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of the structure of a vehicle according to an embodiment of the present invention Figure 1 ;

[0056] Figure 6 A flowchart of determining a reference path corresponding to each control point according to an embodiment of the present invention;

[0057] Figure 7 A flowchart of determining a reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation according to an embodiment of the present invention;

[0058] Figure 8 A flow chart of determining a feedforward angle corresponding to each control point based on each control point and a corresponding reference path according to an embodiment of the present invention;

[0059] Fig. 9A schematic diagram of the structure of a vehicle according to an embodiment of the present invention Figure 2 ;

[0060] Fig.10 A flowchart of determining a feedforward angle corresponding to each control point based on a reference point and a reference path corresponding to each control point according to an embodiment of the present invention;

[0061] Fig.11 A flowchart of determining the correction angle corresponding to each control point based on each control point and the corresponding reference path according to an embodiment of the present invention;

[0062] Fig.12 A flow chart of determining the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point according to an embodiment of the present invention;

[0063] Fig.13 A schematic diagram of the structure of a vehicle according to an embodiment of the present invention Figure 3 ;

[0064] Fig.14 FIG. 4 is a block diagram of a SoC according to an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0066] First of all, it should be explained that the vehicles in the port include automatic guided vehicles and intelligent guided vehicles, etc. The present invention takes the automatic guided vehicle (AGV) as an example for explanation.

[0067] To facilitate understanding of the technical solution of the present invention, the technical problem of the present invention is explained below.

[0068] First, the application scenarios of port automated guided vehicles are described.

[0069] refer to Figure 1 , Figure 1 FIG. 1 shows a scene diagram of a vehicle picking up and placing a box according to an embodiment of the present invention. Figure 1 As shown, the vehicle 100 may be a transport vehicle equipped with an electromagnetic or optical automatic guidance device, such as an automatic guided vehicle AGV. When the vehicle 100 is traveling in the port, it can perform handling tasks according to the instructions issued by the control center 200, and deliver the container according to the planned route, thereby completing the pick-up and delivery operation.

[0070] refer to Figure 2 , Figure 2 FIG. 1 is a schematic diagram showing the structure of an automatic control system according to an embodiment of the present invention. Figure 2 As shown, the automated control system includes a control center 200 and a vehicle 100. The automated control system can be applied to automated port operations, optimize port operation processes through intelligent means, and improve overall operational efficiency. The control center 200 is used to assign tasks to the vehicle 100, send instructions, and receive completion signals or feedback from the vehicle 100. The vehicle 100 includes a planning module 110. After receiving the task instruction from the control center 200, the vehicle 100 autonomously drives according to the path given by the planning module 110 to complete the task, and feeds back the task results to the control center 200, thereby realizing the automation of the port pick-up and delivery operations.

[0071] In some embodiments, the method for laterally controlling an automated guided vehicle is: selecting the center of mass of the vehicle body as a control point, the AGV planning module provides a center of mass reference path, and based on the deviation between the control point and the center of mass reference path in the lateral direction and the orientation of the vehicle at the next moment, calculates the steering angle required for the front and rear wheels of the automated guided vehicle to reduce the lateral deviation.

[0072] In the above embodiment, since only one control point is used, the deviation between the vehicle body position far away from the vehicle control point and the center line of the lane in which the vehicle is traveling will be magnified, which is not conducive to the AGV's box picking and placing operations, thereby affecting the efficiency of the box picking and placing operations.

[0073] In order to solve the above technical problems, the present invention provides a vehicle steering control method, which calculates the steering angle of the automatic guided vehicle by setting multiple control points and determining the reference paths of the multiple control points. This can reduce the overall lateral deviation of the vehicle and facilitate the automatic guided vehicle to perform box picking and placing operations.

[0074] A method for controlling vehicle steering according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0075] refer to Figure 3 , Figure 3 FIG. 1 is a flow chart showing a method for controlling vehicle steering according to an embodiment of the present invention. Figure 3 As shown, the vehicle steering control method includes S301-S304.

[0076] In S301 , at least two control points are determined on the vehicle, and a reference path corresponding to each control point is determined.

[0077] For example, a control point is a point set by the AGV based on path tracking and navigation technology. The reference path is the reference position of the control point given by the AGV at the next moment. Multiple control points are determined on the automatic guided vehicle. The planning module of the AGV can give a corresponding reference path based on a single control point (e.g., a mass point). Based on the reference path given by the planning module, the reference paths of multiple other control points can be determined.

[0078] In S302, a feedforward angle and a correction angle corresponding to each control point are determined based on each control point and a corresponding reference path.

[0079] For example, the feedforward angle is a form of feedforward control. Feedforward control can directly control the controlled variable by predicting the input or disturbance signal of the system to reduce or eliminate the impact of the disturbance on the system. The correction angle can correct the deviation caused by the vehicle's prediction system.

[0080] In S303, the steering angle corresponding to each control point is determined based on the feedforward angle and the correction angle of each control point. This will be described in detail in the following embodiments.

[0081] In S304 , the vehicle turns based on the steering angle of each control point to travel along a new path.

[0082] For example, the AGV determines the direction of the vehicle based on the steering angles corresponding to multiple control points, and drives in the determined direction to complete the box picking and placing operation.

[0083] In an embodiment of the present invention, by setting multiple control points and determining the reference paths of the multiple control points, the feedforward angle, the correction angle and the steering angle of the automatic guided vehicle are calculated so that the vehicle can travel according to the steering angle. Compared with the prior art in which the steering angle of the vehicle is calculated by one control point and the reference path of the control point, the present invention uses multiple control points for calculation to reduce the overall lateral deviation of the vehicle, facilitates the automatic guided vehicle to carry out the box picking and placing operation, and is conducive to improving the operation efficiency of the automatic guided vehicle.

[0084] The following describes in detail the steps of the above embodiments of the present invention in conjunction with specific embodiments.

[0085] Combine the following Figure 3 , and refer to Figure 4 , Figure 5 A specific embodiment of the present invention is described below. Figure 4 A flow chart of determining at least two control points on a vehicle according to an embodiment of the present invention is shown. Figure 5 A schematic diagram showing the structure of a vehicle according to an embodiment of the present invention Figure 1 .

[0086] like Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment of the present invention, the control points include a first control point and a second control point. In S301, at least two control points are determined on the vehicle, which may include the following steps S401-S402.

[0087] Step S401: Determine the center of mass of the vehicle.

[0088] For example, the center of mass is the mass center of an object, that is, the mass balance point of the object. When the gravitational field of an object is uniform, the center of mass and the center of gravity of the object coincide. When the gravitational field of an object is uneven, the center of mass and the center of gravity of the object are often not in the same position. The center of mass of an AGV can be at the center of gravity or not.

[0089] Step S402: Determine a first control point and a second control point based on the centroid.

[0090] like Figure 5 As shown, the first control point (such as Figure 5 The front control point of Figure 5 The line between the first control point and the second control point passes through the centroid, and the first control point and the second control point are the two points farthest along the length of the vehicle. Setting the two points farthest along the length of the vehicle as the front control point and the rear control point helps to improve the accuracy of the calculation of the turning angle control amount of the AGV.

[0091] Combine the following Figure 3 , Figure 5 , and refer to Figure 6 , to illustrate a specific embodiment of the present invention. Figure 6 A flow chart of determining a reference path corresponding to each control point according to an embodiment of the present invention is shown.

[0092] like Figure 3 and Figure 6 As shown, in S301, determining a reference path corresponding to each control point may include the following steps S601-S603.

[0093] Step S601: Establish a global coordinate system with the center of mass as the origin, the length direction of the vehicle as the horizontal axis, and the width direction of the vehicle as the vertical axis.

[0094] For example, the global coordinate system (not shown) is a plane rectangular coordinate system, with the horizontal axis being the x-axis and the vertical axis being the y-axis. In addition, in other embodiments of the present invention, the global coordinate system may be established with the center of mass as the origin, the width direction of the vehicle as the horizontal axis, and the length direction as the vertical axis. The present invention does not limit the method for establishing the global coordinate system.

[0095] Step S602: Determine the centroid reference path corresponding to the centroid, as well as the coordinate value of the centroid reference path in the global coordinate system and the vehicle orientation.

[0096] like Figure 5 As shown, the planning module of the AGV can give a centroid reference path corresponding to the centroid of the vehicle. At the same time, based on the given centroid reference path, its coordinates in the global coordinate system and the vehicle orientation of the AGV can be determined, that is, the driving trajectory of the centroid of the AGV at the next moment can be determined. The centroid reference path can be a set representing the positions of multiple points.

[0097] For example, the reference path at a given centroid could be:

[0098] {(x o1 ,y o1 ,heading o1 ),(x o2 ,y o2 ,heading o2 ),…,(x on ,y on ,heading on )}.

[0099] Among them, x and y are the coordinate values ​​of multiple points on the centroid reference path in the global coordinate system, and heading is the value of the angle between the vehicle direction of multiple points on the centroid reference path and the coordinate axis in the global coordinate system.

[0100] Step S603: Determine the reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation.

[0101] Determining the reference path corresponding to each control point through the centroid reference path helps to calculate the reference path corresponding to the control point (such as Figure 5 The steering angle required for the front and rear wheels (the front control point and the rear control point) are close to each other, which facilitates improving the accuracy of calculating the vehicle's turning angle control amount.

[0102] Combine the following Figure 5 , Figure 6 , and refer to Figure 7 , to illustrate an embodiment of the present invention. Figure 7 A flow chart of determining a reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation according to an embodiment of the present invention is shown.

[0103] like Figure 6 and Figure 7 As shown, in S603, determining the reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation may include the following steps S701-S702.

[0104] Step S701: Determine a first distance between each control point and the centroid.

[0105] like Figure 5 As shown, the distance between the center of mass and the front control point is l' f , the distance between the centroid and the rear control point is l' r .

[0106] Step S702: Determine a reference path corresponding to each control point based on the first distance corresponding to each control point and the centroid reference path.

[0107] like Figure 5 As shown, the reference path of the front control point is:

[0108] {(x f1 ,y f1 ,heading f1 ),(x f2 ,y f2 ,heading f2 ),…,(x fn ,y fn ,heading fn )},

[0109] The specific calculation of each parameter is as follows:

[0110]

[0111] The reference path of the rear control point is:

[0112] {(x r1 ,y r1 ,heading r1 ),(x r2 ,y r2 ,heading r2 ),…,(x rn ,y rn ,heading rn )},

[0113] The specific calculation of each parameter is as follows:

[0114]

[0115] The reference path at each control point is calculated by the distance between each control point and the centroid and the value of the centroid reference path, so that the calculation accuracy of the reference path corresponding to the control point can be improved.

[0116] Next, combine Figure 3 , and refer to Figure 8 and Fig. 9 , to illustrate a specific embodiment of the present invention. Figure 8 A flow chart of determining a feedforward angle corresponding to each control point based on each control point and a corresponding reference path according to an embodiment of the present invention is shown. Fig. 9 A schematic diagram showing the structure of a vehicle according to an embodiment of the present invention Figure 2 .

[0117] like Figure 3 and Figure 8 As shown, in S302, the feedforward angle and the correction angle corresponding to each control point are determined based on each control point and the corresponding reference path, which may include the following steps S801-S802.

[0118] Step S801: Determine a reference point on a reference path corresponding to each control point based on a preset condition.

[0119] like Fig. 9 As shown, the preset condition is that the distance between the reference path and the corresponding control point is the shortest. Point A is the reference point of the front control point of the AGV, that is, the point on the reference path corresponding to the front control point with the shortest distance from the front control point. Point B is the reference point of the rear control point of the AGV, that is, the point on the reference path corresponding to the rear control point with the shortest distance from the rear control point.

[0120] Step S802: Determine a feedforward angle corresponding to each control point based on a reference point and a reference path corresponding to each control point.

[0121] By determining the reference point corresponding to the control point and calculating the feedforward angle in combination with the corresponding reference path, the calculation accuracy of the feedforward angle can be improved.

[0122] Combine the following Figure 8 , Fig. 9 , and refer to Fig.10 , to illustrate a specific embodiment of the present invention. Fig.10 A flow chart of determining a feedforward angle corresponding to each control point based on a reference point and a reference path corresponding to each control point according to an embodiment of the present invention is shown.

[0123] like Figure 8 and Fig.10 As shown, in S802, the feedforward angle corresponding to each control point is determined based on the reference point and the reference path corresponding to each control point, which may include the following steps S1001-S1004.

[0124] Step S1001: Determine a reference vector based on reference points corresponding to two control points.

[0125] like Fig. 9 As shown, the reference vector is the line between the reference points, that is, the vector formed by the two closest points

[0126] Step S1002: Determine the deviation angle based on the angle between the reference vector and the horizontal axis of the global coordinate system.

[0127] For example, the vector The angle between (ie, the reference vector) and the horizontal axis (ie, the x-axis) of the global coordinate system is the deviation angle θ' (not shown).

[0128] Step S1003: Determine the tangent angle based on the angle between the tangent of the reference point corresponding to each control point on the corresponding reference path and the horizontal axis.

[0129] For example, the angle between the tangent direction at point A (i.e., the reference point of the AGV front control point) and the x-axis is θ' f0 (first tangent angle), the angle between the tangent direction at point B (i.e. the reference point of the rear control point of the AGV) and the x-axis is θ' r0 (Second tangent angle).

[0130] Step S1004: Determine the feedforward angle corresponding to each control point based on the tangent angle and the deviation angle corresponding to each control point.

[0131] For example, the feedforward angle θ' at the front control point f1 for:

[0132] θ' f1 =θ' f0 -θ',

[0133] Feedforward angle θ' at the rear control point r1 for:

[0134] θ' r1 =θ' r0 -θ'.

[0135] By determining the reference point and the reference vector on the reference path, the deviation angle and the tangent angle are calculated, which helps to further improve the calculation accuracy of the feedforward angle.

[0136] Combine the following Figure 3 , Fig. 9 , and refer to Fig.11 , to illustrate a specific embodiment of the present invention. Fig.11 A flow chart of determining the correction angle corresponding to each control point based on each control point and the corresponding reference path according to an embodiment of the present invention is shown.

[0137] like Figure 3 and Fig.11 As shown, in S302, in one embodiment of the present invention, the feedforward angle and the correction angle corresponding to each control point are determined based on each control point and the corresponding reference path, which may further include the following steps S1101-S1103.

[0138] Step S1101: Determine the lateral deviation corresponding to each control point based on each control point and the corresponding reference point.

[0139] like Fig. 9 As shown, the lateral deviation value d of the front control point is determined according to the front control point and the corresponding reference path. f ;

[0140] Determine the lateral deviation value d of the rear control point based on the rear control point and the corresponding reference path r .

[0141] Step S1102: Determine the running speed of the vehicle at each control point.

[0142] For example, determine the speed v of the AGV at the front control point f and the vehicle speed v at the rear control point r .

[0143] Step S1103: Determine the correction angle corresponding to each control point based on the lateral deviation and running speed corresponding to each control point.

[0144] For example, the correction angle θ' of the front control point f2 :

[0145]

[0146] Wherein, k is a coefficient, and the value of k can refer to the prior art and will not be described in detail here.

[0147] Correction angle θ' of the rear control point r2 :

[0148]

[0149] Wherein, k is a coefficient, and the value of k can refer to the prior art and will not be described in detail here.

[0150] The calculation accuracy of the correction angle can be improved by calculating the correction angle by determining the lateral deviation and running speed of each control point.

[0151] Combine the following Figure 3 , and refer to Fig.12 and Fig.13 , to illustrate a specific embodiment of the present invention. Fig.12 A flow chart of determining the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point according to an embodiment of the present invention is shown. Fig.13 A schematic diagram showing the structure of a vehicle according to an embodiment of the present invention Figure 3 .

[0152] like Figure 3 and Fig.12 As shown, in S303, in one embodiment of the present invention, determining the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point may include the following steps S1201-S1204.

[0153] Step S1201: Determine a second distance between the center of mass and the front wheels of the vehicle.

[0154] like Fig.13 As shown, the distance from the center of mass to the center of the front wheel of the AGV is l f .

[0155] Step S1202: Determine the steering angle of the first control point based on the first spacing, the second spacing, the feedforward angle and the correction angle of the first control point and the second control point.

[0156] For example, the steering angle of the front control point is:

[0157]

[0158] Among them, θ' f =θ' f1 +θ' f2 ,

[0159] θ' r =θ' r1 +θ' r2 ,

[0160]

[0161] Step S1203: Determine a third distance between the center of mass and the rear wheels of the vehicle.

[0162] For example, the distance from the center of mass to the center of the rear wheel of the AGV is l r .

[0163] Step S1204: Determine the steering angle of the second control point based on the first spacing, the third spacing, the feedforward angle and the correction angle of the first control point and the second control point.

[0164] For example, the steering angle of the rear control point is:

[0165]

[0166] Among them, θ' f =θ' f1 +θ' f2 ,

[0167] θ' r =θ' r1 +θ' r2 ,

[0168]

[0169] By determining the distance from the center of mass to the front and rear wheels of the vehicle and calculating the steering angle in combination with the feedforward angle and the correction angle, the calculation accuracy of the steering angle can be improved, thereby reducing the deviation of the vehicle from the center line of the lane during driving, so that the vehicle can travel smoothly during the operation of picking up and placing boxes, reducing the probability of collision with other vehicles or objects, and thus improving the efficiency of the vehicle's picking up and placing box operations.

[0170] The present invention also provides a vehicle steering control device, comprising a confirmation module, a processing module and a control module.

[0171] The confirmation module is used to determine at least two control points on the vehicle and determine a reference path corresponding to each control point.

[0172] The processing module is used to determine the feedforward angle and the correction angle corresponding to each control point based on each control point and the corresponding reference path, and determine the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point.

[0173] The control module is used to control the vehicle to rotate based on the steering angle of each control point so as to walk along a new path.

[0174] The present invention also provides an electronic device, comprising a memory and a processor.

[0175] The memory is used to store computer programs.

[0176] The processor is used to execute the computer program in the memory to achieve Figure 3-Figure 13 The vehicle steering control method shown.

[0177] The present invention also provides a computer storage medium, the computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes Figure 3-Figure 13 The vehicle steering control method shown.

[0178] The present invention provides a computer program product, when the computer program product is run on an electronic device, the electronic device executes Figure 3-Figure 13 The vehicle steering control method shown.

[0179] In summary, the vehicle steering control method of the present invention realizes the calculation of the steering angle of the automatic guided vehicle by setting multiple control points and determining the reference paths of the multiple control points, which can reduce the overall lateral deviation of the vehicle, facilitate the automatic guided vehicle to carry out box picking and placing operations, and help improve the operating efficiency of the automatic guided vehicle.

[0180] Reference now Fig.14 , which is a block diagram of a SoC (System on Chip) 1300 according to an embodiment of the present application. Fig.14In the FIG, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Fig.14 In the embodiment, SoC 1300 includes: an interconnect unit 1350, which is coupled to an application processor 1310; a system agent unit 1380; a bus controller unit 1390; an integrated memory controller unit 1340; a group or one or more coprocessors 1320, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 1330; and a direct memory access (DMA) unit 1360. In one embodiment, the coprocessor 1320 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high throughput MIC processor, or an embedded processor.

[0181] The static random access memory (SRAM) unit 1330 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one unit in the processor, causing the Soc 1300 to execute the instructions according to the above embodiments. Figure 3-Figure 13 The methods explained will not be repeated here.

[0182] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device and at least one output device.

[0183] Program code can be applied to input instructions to perform the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0184] Program code can be implemented with high-level programming language or object-oriented programming language to communicate with the processing system. When necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0185] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including, but not limited to, floppy disks, optical disks, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible machine-readable memory for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in electrical, optical, acoustic, or other forms of propagation signals. Therefore, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0186] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0187] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation method of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed by the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce units / modules that are not closely related to solving the technical problems proposed by the present application, which does not mean that there are no other units / modules in the above-mentioned device embodiments.

[0188] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0189] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0190] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for controlling vehicle steering, characterized in that: include: Determine at least two control points on the vehicle, and determine a reference path corresponding to each of the control points; Determine a feedforward angle and a correction angle corresponding to each control point based on each control point and the corresponding reference path; Determine the steering angle corresponding to each of the control points based on the feedforward angle and the correction angle of each of the control points; The vehicle turns based on the steering angle of each of the control points to travel along a new path.

2. The vehicle steering control method according to claim 1, characterized in that: The control points include a first control point and a second control point, Determining at least two control points on the vehicle includes: determining a center of mass of the vehicle; The first control point and the second control point are determined based on the centroid, wherein a line between the first control point and the second control point passes through the centroid, and the first control point and the second control point are two points farthest along the length direction of the vehicle.

3. The vehicle steering control method according to claim 2, characterized in that: The determining of a reference path corresponding to each of the control points includes: A global coordinate system is established with the mass center as the origin, the length direction of the vehicle as the horizontal axis, and the width direction of the vehicle as the vertical axis, wherein the global coordinate system is a plane rectangular coordinate system; Determine a center of mass reference path corresponding to the center of mass, and a coordinate value of the center of mass reference path in the global coordinate system and a vehicle orientation; The reference path corresponding to each of the control points is determined based on the coordinate value of the centroid reference path and the vehicle orientation.

4. The vehicle steering control method according to claim 3, characterized in that: The determining the reference path corresponding to each control point based on the coordinate value of the centroid reference path and the vehicle orientation includes: Determining a first distance between each of the control points and the centroid; The reference path corresponding to each of the control points is determined based on the first distance corresponding to each of the control points and the centroid reference path.

5. The vehicle steering control method according to claim 4, characterized in that: The determining the feedforward angle and the correction angle corresponding to each control point based on each control point and the corresponding reference path includes: Determine a reference point on the reference path corresponding to each control point based on a preset condition, wherein the preset condition is that the distance from the reference path to the corresponding control point is the shortest; The feedforward angle corresponding to each of the control points is determined based on the reference point and the reference path corresponding to each of the control points.

6. The vehicle steering control method according to claim 5, characterized in that: The determining the feedforward angle corresponding to each of the control points based on the reference point and the reference path corresponding to each of the control points comprises: Determine a reference vector based on the reference points corresponding to the two control points, wherein the reference vector is a line connecting the reference points; Determining a deviation angle based on an angle between the reference vector and the horizontal axis of the global coordinate system; Determine a tangent angle based on an angle between a tangent line of the reference point corresponding to each control point on the corresponding reference path and the horizontal axis; The feedforward angle corresponding to each of the control points is determined based on the tangent angle and the deviation angle corresponding to each of the control points.

7. The vehicle steering control method according to claim 5, characterized in that: The determining the feedforward angle and the correction angle corresponding to each control point based on each control point and the corresponding reference path includes: Determine the lateral deviation corresponding to each of the control points based on each of the control points and the corresponding reference point; determining the operating speed of the vehicle at each of the control points; The correction angle corresponding to each control point is determined based on the lateral deviation and the running speed corresponding to each control point.

8. The vehicle steering control method according to claim 4, characterized in that: The determining the steering angle corresponding to each control point based on the feedforward angle and the correction angle of each control point includes: determining a second distance between the center of mass and a front wheel of the vehicle; Determine the steering angle of the first control point based on the first spacing, the second spacing, the feedforward angles of the first control point and the second control point, and the correction angles; determining a third distance between the center of mass and a rear wheel of the vehicle; The steering angle of the second control point is determined based on the first spacing, the third spacing, the feedforward angles and the correction angles of the first control point and the second control point.

9. A vehicle steering control device, characterized in that: include: A confirmation module, used to determine at least two control points on the vehicle and determine a reference path corresponding to each of the control points; A processing module, configured to determine a feedforward angle and a correction angle corresponding to each control point based on each control point and the corresponding reference path; Determine the steering angle corresponding to each of the control points based on the feedforward angle and the correction angle of each of the control points; A control module is used to control the vehicle to rotate based on the steering angle of each control point so as to travel along a new path.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program in the memory to implement the vehicle steering control method as described in any one of claims 1-8.

11. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by the processor, the processor executes the vehicle steering control method according to any one of claims 1 to 8.

12. A computer program product, characterized in that When the computer program product runs on an electronic device, the electronic device executes the vehicle steering control method according to any one of claims 1 to 8.

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