Vehicle control method and device, terminal equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, terminal equipment and a storage medium. The vehicle control method comprises the steps that vehicle pose data and track point data of a plurality of track points are acquired; the vehicle pose data comprises the current position of the vehicle; in the automatic parking process of the vehicle, determining a current preview point based on the current position of the vehicle and the trajectory point data; obtaining current preview point data from the trajectory point data based on the current preview point, and determining a current preview trajectory; acquiring a front wheel turning angle, and transverse deviation and course deviation between the vehicle and a current preview track based on the vehicle pose data and the current preview point data; converting and correcting the front wheel turning angle based on the transverse deviation and the course deviation to obtain a steering wheel turning angle control quantity; and controlling the vehicle according to the steering wheel angle control quantity. According to the invention, the control precision and trajectory tracking precision of the vehicle can be improved, and a smaller transverse error and a smaller course error are achieved, so that the tracking effect of the vehicle on the planned trajectory is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle control method, device, terminal equipment and storage medium. Background Art

[0002] Vehicle control plays an important role in automatic parking systems. In low-speed scenarios such as automatic parking, general vehicle control uses multi-PID for longitudinal control and Pure Pursuit algorithm for lateral control. Longitudinal control outputs vehicle speed control signal, and lateral control outputs steering wheel angle control signal. Among them, the Pure Pursuit algorithm is a commonly used trajectory tracking algorithm, which is particularly suitable for the field of autonomous driving. Its core idea is to simulate human driving behavior, select a preview point, and adjust the steering wheel angle to control the vehicle to drive along a circular trajectory to the preview point, thereby achieving trajectory tracking.

[0003] However, the pure tracking algorithm only introduces the position, direction and current position of the vehicle's preview point. It considers the arc formed between the two points. Therefore, the vehicle's driving path will be inscribed when turning, resulting in increased lateral and heading errors between the vehicle and the planned path, resulting in poor vehicle control accuracy and trajectory tracking accuracy, and cannot achieve a good tracking effect of the vehicle on the planned trajectory. Summary of the invention

[0004] The present invention provides a vehicle control method, device, terminal equipment and storage medium to solve the above-mentioned technical problems, effectively improve the tracking accuracy of the vehicle for the planned trajectory, and thus improve the tracking effect of the vehicle for the planned trajectory.

[0005] In order to solve the above technical problems, the present invention provides a vehicle control method, comprising:

[0006] Acquire vehicle posture data and track point data of several track points; the vehicle posture data includes the current position of the vehicle;

[0007] During the automatic parking process of the vehicle, determining a current preview point based on the current position of the vehicle and the track point data;

[0008] Acquire current preview point data in the trajectory point data based on the current preview point, and determine the current preview trajectory;

[0009] Based on the vehicle posture data and the current preview point data, the front wheel steering angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track are obtained;

[0010] The front wheel angle is converted and corrected based on the lateral deviation and the heading deviation to obtain a steering wheel angle control amount;

[0011] The vehicle is controlled according to the steering wheel angle control amount.

[0012] The beneficial effects of the present invention are:

[0013] The present invention obtains the lateral deviation and heading deviation between the vehicle and the current preview trajectory by calculation, converts and corrects the front wheel angle based on the lateral deviation and heading deviation, obtains the steering wheel angle control amount, and controls the vehicle according to the steering wheel angle control amount. During the automatic parking process of the vehicle, the steering wheel angle control amount can be dynamically adjusted in combination with the current heading deviation and lateral deviation of the vehicle, which can improve the control accuracy and trajectory tracking accuracy of the vehicle, achieve smaller lateral error and heading error, thereby improving the vehicle's tracking effect on the planned trajectory, and avoiding the risk of vehicle collision due to insufficient control accuracy, making the parking posture more centered.

[0014] As a preferred solution, the determining of the current preview point based on the current position of the vehicle and the track point data includes:

[0015] Calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data to obtain the curvature of the curve of each trajectory point;

[0016] Determine n trajectory points that the vehicle will pass through based on the vehicle's current position and trajectory point data; n is a preset positive integer;

[0017] Based on the curve curvature of each trajectory point, obtain the curve curvature of n trajectory points;

[0018] Get the current preview distance based on the curve curvature of n trajectory points;

[0019] The current preview point is determined among several trajectory points based on the current preview distance and the current position of the vehicle.

[0020] As a preferred solution, the step of calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data includes:

[0021] For each trajectory point, determine the two trajectory points before and after the current trajectory point as adjacent trajectory points;

[0022] In the track point data, first coordinate data of the current track point and second coordinate data of the adjacent track point are obtained;

[0023] determining a circle based on the first coordinate data and the second coordinate data;

[0024] Get the radius of the circle;

[0025] Get the curve curvature of the current trajectory point based on the circle radius.

[0026] As a preferred solution, the current preview distance is obtained by the following formula:

[0027]

[0028] In the above formula, L is the preview distance; V is the current speed of the vehicle; α is the preset first lookup coefficient, β is the preset second lookup coefficient, the first lookup coefficient and the second lookup coefficient are used to control the preview distance within the preset range; n is the number of trajectory points that the vehicle will pass; K i+n-1 is the curvature of the curve at the nth trajectory point that the vehicle will pass.

[0029] As a preferred solution, the method of obtaining the steering wheel angle feedforward control amount, the lateral deviation between the vehicle and the current preview trajectory, and the heading deviation between the vehicle and the current preview trajectory based on the vehicle posture data and the current preview point data includes:

[0030] Obtain the current preview point position based on the current preview point data;

[0031] A bicycle model is constructed according to the current position of the vehicle and the current preview point position, and then the front wheel turning angle is obtained based on the bicycle model;

[0032] The current vehicle orientation is obtained based on the vehicle posture data, a first extension line is drawn along the current vehicle orientation, a vertical line segment passing through the current preview point is drawn on the first extension line, and the length of the vertical line segment is obtained to obtain the lateral deviation between the vehicle and the current preview track;

[0033] The current preview point direction is obtained based on the current preview point data, a second extension line is made along the current preview point direction, and the intersection angle between the first extension line and the second extension line is obtained to obtain the heading deviation between the vehicle and the current preview track.

[0034] As a preferred solution, the method of converting and correcting the front wheel turning angle based on the lateral deviation and the heading deviation includes:

[0035] Convert the front wheel angle to obtain the steering wheel angle feedforward control value;

[0036] The steering wheel angle feedforward control amount is converted and corrected based on the lateral deviation and the heading deviation to obtain the steering wheel angle control amount.

[0037] As a preferred solution, the steering wheel angle control amount is obtained by the following formula:

[0038] ang2=ang2′+α1*d+β1*Δθ;

[0039] In the above formula, ang2' is the steering wheel angle feedforward control quantity; ang2 is the steering wheel angle control quantity; d is the lateral deviation; Δθ is the heading deviation; α1 is the preset first correction coefficient; β1 is the preset second correction coefficient.

[0040] Accordingly, in order to solve the above technical problems, the present invention also provides a vehicle control device, comprising: a data acquisition module, a data processing module, a deviation acquisition module, a control correction module and a vehicle control module;

[0041] Wherein, the data acquisition module is used to acquire vehicle posture data and track point data of several track points; the vehicle posture data includes the current position of the vehicle;

[0042] The data processing module is used to determine the current preview point based on the current position of the vehicle and the track point data during the automatic parking process of the vehicle; obtain the current preview point data from the track point data based on the current preview point, and determine the current preview track;

[0043] The deviation acquisition module is used to acquire the front wheel angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data;

[0044] The control correction module is used to correct the front wheel angle based on the lateral deviation and the heading deviation to obtain the steering wheel angle control value;

[0045] The vehicle control module is used to control the vehicle according to the steering wheel angle control amount.

[0046] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the vehicle control method described in any one of the above items are implemented.

[0047] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method as described in any one of the above items are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 : A flow chart of an embodiment of a vehicle control method provided by the present invention;

[0049] Figure 2 : A schematic diagram of the planning trajectory provided by the present invention;

[0050] Figure 3 : A schematic diagram of a bicycle model provided by the present invention;

[0051] Figure 4 : A schematic diagram of the lateral deviation and the heading deviation between the vehicle provided by the present invention and the current preview trajectory;

[0052] Figure 5 : A schematic structural diagram of an embodiment of a vehicle control device provided by the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Embodiment 1

[0055] In order to solve the existing technical problems, the present invention provides a vehicle control method, device, terminal equipment and storage medium, which can effectively improve the tracking accuracy of the vehicle for the planned trajectory, thereby improving the tracking effect of the vehicle for the planned trajectory.

[0056] Please refer to the following Figure 1 , is a flow chart of an embodiment of a vehicle control method provided by an embodiment of the present invention. Figure 1 As shown, the vehicle control method includes steps 101 to 106, specifically:

[0057] Step 101: Acquire vehicle posture data and track point data of a plurality of track points; the vehicle posture data includes the current position of the vehicle;

[0058] Step 102: During the automatic parking process of the vehicle, determine the current preview point based on the current position of the vehicle and the track point data;

[0059] Step 103: obtaining current preview point data in the trajectory point data based on the current preview point, and determining the current preview trajectory;

[0060] Step 104: Acquire the front wheel turning angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data;

[0061] Step 105: converting and correcting the front wheel angle based on the lateral deviation and the heading deviation to obtain a steering wheel angle control value;

[0062] Step 106: Control the vehicle according to the steering wheel angle control amount.

[0063] In this embodiment, the vehicle posture data includes the current posture of the vehicle and the posture of the final parking point, and the two postures include x and y coordinates in the world coordinate system and the vehicle orientation angle θ.

[0064] In this embodiment, before obtaining the trajectory point data of several trajectory points, it is also necessary to use decision planning technology to calculate the planned trajectory of the vehicle when performing automatic parking based on the current posture of the vehicle and the posture of the final parking point.

[0065] Please refer to the following Figure 2 , Figure 2 A schematic diagram of the planning trajectory provided by the present invention.

[0066] like Figure 2 As shown, the planned trajectory consists of several trajectory points.

[0067] In this embodiment, an example distance between track points is 15 cm - 30 cm.

[0068] In this embodiment, after the planned trajectory is obtained, trajectory point data of a number of trajectory points may be obtained according to the planned trajectory, wherein the trajectory point information includes the x and y coordinates of the trajectory point and the orientation angle of the trajectory point.

[0069] The present invention obtains the lateral deviation and heading deviation between the vehicle and the current preview trajectory by calculation, converts and corrects the front wheel angle based on the lateral deviation and heading deviation, obtains the steering wheel angle control amount, and controls the vehicle according to the steering wheel angle control amount. During the automatic parking process of the vehicle, the steering wheel angle control amount can be dynamically adjusted in combination with the current heading deviation and lateral deviation of the vehicle, which can improve the control accuracy and trajectory tracking accuracy of the vehicle, achieve smaller lateral error and heading error, thereby improving the vehicle's tracking effect on the planned trajectory, and avoiding the risk of vehicle collision due to insufficient control accuracy, making the parking posture more centered.

[0070] Further, in step 102, determining the current preview point based on the current position of the vehicle and the track point data includes:

[0071] Calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data to obtain the curvature of the curve of each trajectory point;

[0072] Determine n trajectory points that the vehicle will pass through based on the vehicle's current position and trajectory point data; n is a preset positive integer;

[0073] Based on the curve curvature of each trajectory point, obtain the curve curvature of n trajectory points;

[0074] Get the current preview distance based on the curve curvature of n trajectory points;

[0075] The current preview point is determined among several trajectory points based on the current preview distance and the current position of the vehicle.

[0076] In this embodiment, one implementation method for determining the current preview point among several trajectory points based on the current preview distance and the current position of the vehicle is to determine a preview circle with the current position of the vehicle as the center and the current preview distance as the radius, and determine the trajectory point within the preview circle that is closest to the circumference of the preview circle as the current preview point.

[0077] Further, the calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data includes:

[0078] For each trajectory point, determine the two trajectory points before and after the current trajectory point as adjacent trajectory points;

[0079] In the track point data, obtain the first coordinate data of the current track point and the second coordinate data of the adjacent track point;

[0080] determining a circle based on the first coordinate data and the second coordinate data;

[0081] Get the radius of the circle;

[0082] Get the curve curvature of the current trajectory point based on the circle radius.

[0083] In this embodiment, when the coordinates of the current trajectory point P_i and its previous and next trajectory points P_i-1 and P_i+1 are known, a circle can be obtained through these three points. After the coordinates of the center of the circle are obtained, two points are connected according to the coordinates of the center of the circle and the coordinates of the current trajectory point P_i, and a perpendicular line is drawn to obtain the curvature of the curve at the current trajectory point P_i:

[0084] K_i=1 / R0;

[0085] In the above formula, K_i is the curvature of the curve of the current trajectory point P_i; R0 is the radius of the circle.

[0086] Furthermore, the current preview distance is obtained by the following formula:

[0087]

[0088] In the above formula, L is the preview distance; V is the current speed of the vehicle; α is the preset first lookup coefficient, β is the preset second lookup coefficient, the first lookup coefficient and the second lookup coefficient are used to control the preview distance within the preset range; n is the number of trajectory points that the vehicle will pass; K i+n-1 is the curvature of the curve at the nth trajectory point that the vehicle will pass.

[0089] In this embodiment, before calculating the current preview distance, it is also necessary to obtain the current speed V of the vehicle.

[0090] In this embodiment, the number n of trajectory points that the vehicle will pass through is set according to actual needs to meet actual accuracy requirements; in one implementation, to meet the accuracy requirements, the number n of trajectory points that the vehicle will pass through can be but is not limited to being set to 5.

[0091] In this embodiment, in order to avoid the situation where convergence fails when calculating the preview distance, or the vehicle has difficulty in planning curve tracking based on the calculated preview distance, it is necessary to set the first lookup coefficient and the second lookup coefficient to control the preview distance within an appropriate range.

[0092] The present invention combines the current speed of the vehicle and the curvature of the future trajectory, dynamically selects the preview distance, and adjusts the preview distance according to the table lookup coefficient, which can improve the tracking effect of the vehicle on the planned trajectory.

[0093] Further, in step 104, the obtaining of the steering wheel angle feedforward control amount, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data includes:

[0094] Obtain the current preview point position based on the current preview point data;

[0095] A bicycle model is constructed according to the current position of the vehicle and the current preview point position, and then the front wheel turning angle is obtained based on the bicycle model;

[0096] The current vehicle orientation is obtained based on the vehicle posture data, a first extension line is drawn along the current vehicle orientation, a vertical line segment passing through the current preview point is drawn on the first extension line, and the length of the vertical line segment is obtained to obtain the lateral deviation between the vehicle and the current preview track;

[0097] The current preview point direction is obtained based on the current preview point data, a second extension line is made along the current preview point direction, and the intersection angle between the first extension line and the second extension line is obtained to obtain the heading deviation between the vehicle and the current preview track.

[0098] In this embodiment, after the current position of the vehicle and the current preview point position are known, the turning radius and the front wheel turning angle required for the vehicle to pass the current preview point can be calculated based on the bicycle model.

[0099] Please refer to the following Figure 3 , Figure 3 A schematic diagram of a bicycle model provided by the present invention. Figure 3 Where P1 is the current preview point. Based on the bicycle model, the turning radius R and the front wheel turning angle ang1 required for the vehicle to pass through the current preview point P1 can be obtained.

[0100] Please refer to the following Figure 4 , Figure 4A schematic diagram of the lateral deviation and heading deviation between the vehicle and the current preview trajectory provided by the present invention.

[0101] like Figure 4 As shown, a first extension line is made along the current vehicle direction, and a vertical line segment passing through the current preview point is made on the first extension line to obtain the length of the vertical line segment. The length d of the vertical line segment is the lateral deviation. A second extension line is made along the current preview point direction to obtain the intersection angle of the first extension line and the second extension line. The intersection angle Δθ is the heading deviation.

[0102] Further, in step 105, the converting and correcting the front wheel turning angle based on the lateral deviation and the heading deviation includes:

[0103] Convert the front wheel angle to obtain the steering wheel angle feedforward control value;

[0104] The steering wheel angle feedforward control amount is converted and corrected based on the lateral deviation and the heading deviation to obtain the steering wheel angle control amount.

[0105] In this embodiment, after obtaining the front wheel angle, it is necessary to convert the front wheel angle to obtain the steering wheel angle, which is the steering wheel angle feedforward control quantity in the present invention, wherein the conversion of the front wheel angle to the steering wheel angle needs to be multiplied by a fixed conversion coefficient for conversion, and the conversion coefficient varies according to different vehicle models.

[0106] In this embodiment, the steering wheel angle feedforward control amount obtained is a feedforward control amount, and the feedforward control amount needs to be corrected in combination with the lateral deviation and heading deviation of the vehicle from the preview trajectory to obtain the final steering wheel angle control amount.

[0107] The present invention combines the current heading deviation and lateral deviation of the vehicle to dynamically adjust the steering wheel angle control amount, which can improve the vehicle's tracking effect on the planned trajectory.

[0108] Furthermore, the steering wheel angle control value is obtained by the following formula:

[0109] ang2=ang2′+α1*d+β1*Δθ;

[0110] In the above formula, ang2' is the steering wheel angle feedforward control quantity; ang2 is the steering wheel angle control quantity; d is the lateral deviation; Δθ is the heading deviation; α1 is the preset first correction coefficient; β1 is the preset second correction coefficient.

[0111] The present invention corrects the steering wheel angle feedforward control amount based on the heading deviation and the lateral deviation, and also adjusts the heading deviation and the lateral deviation through the first correction coefficient and the second correction coefficient, so that the steering wheel angle control amount can achieve a smaller lateral error and heading error, thereby improving the vehicle control accuracy and the planning trajectory tracking accuracy.

[0112] In this embodiment, the first correction coefficient and the second correction coefficient can be obtained by looking up a table and making corresponding adjustments.

[0113] Furthermore, in step 106, the obtained steering wheel angle control amount is given to the vehicle chassis as a steering wheel angle request value to perform steering wheel angle control, thereby realizing lateral control in automatic parking.

[0114] Accordingly, an embodiment of the present invention further provides a vehicle control device. Figure 5 , which is a structural schematic diagram of an embodiment of a vehicle control device provided by the present invention.

[0115] like Figure 5 As shown, the vehicle control device 20 includes: a data acquisition module 201, a data processing module 202, a deviation acquisition module 203, a control correction module 204 and a vehicle control module 205;

[0116] Wherein, the data acquisition module 201 is used to acquire vehicle posture data and track point data of several track points; the vehicle posture data includes the current position of the vehicle;

[0117] The data processing module 202 is used to determine the current preview point based on the current position of the vehicle and the track point data during the automatic parking process of the vehicle; obtain the current preview point data from the track point data based on the current preview point, and determine the current preview track;

[0118] The deviation acquisition module 203 is used to acquire the front wheel angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data;

[0119] The control correction module 204 is used to correct the front wheel angle based on the lateral deviation and the heading deviation to obtain the steering wheel angle control value;

[0120] The vehicle control module 205 is used to control the vehicle according to the steering wheel angle control amount.

[0121] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the vehicle control method described in any one of the above items are implemented.

[0122] Exemplarily, in this embodiment, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the terminal device.

[0123] The terminal device may be a computing device such as a desktop computer, a notebook, a palmtop computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0124] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect the various parts of the entire terminal device. The memory may be used to store the computer program and / or module, and the processor implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, an internal memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0125] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method as described in any one of the above items are implemented.

[0126] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0127] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0128] Compared with the existing pure tracking algorithm, the present invention obtains the lateral deviation and heading deviation between the vehicle and the current preview trajectory by calculation, and corrects the front wheel angle based on the lateral deviation and heading deviation to obtain the steering wheel angle control amount, and controls the vehicle according to the steering wheel angle control amount. During the automatic parking process of the vehicle, the steering wheel angle control amount can be dynamically adjusted in combination with the current heading deviation and lateral deviation of the vehicle, which can improve the control accuracy and trajectory tracking accuracy of the vehicle, achieve smaller lateral error and heading error, thereby improving the vehicle's tracking effect on the planned trajectory, and avoiding the risk of vehicle collision due to insufficient control accuracy, making the parking posture more centered. The vehicle control method of the present invention is applied to the field of automatic parking, and can provide a more accurate vehicle control system for the entire parking system during the automatic parking process.

[0129] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Obtain vehicle posture data and trajectory point data of several trajectory points; The vehicle posture data includes the current position of the vehicle; During the automatic parking process of the vehicle, determining a current preview point based on the current position of the vehicle and the track point data; Acquire current preview point data in the trajectory point data based on the current preview point, and determine the current preview trajectory; Based on the vehicle posture data and the current preview point data, the front wheel steering angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track are obtained; The front wheel angle is converted and corrected based on the lateral deviation and the heading deviation to obtain a steering wheel angle control amount; The vehicle is controlled according to the steering wheel angle control amount.

2. A vehicle control method according to claim 1, characterized in that: The determining of the current preview point based on the current position of the vehicle and the track point data comprises: Calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data to obtain the curvature of the curve of each trajectory point; Determine n trajectory points that the vehicle will pass through based on the vehicle's current position and trajectory point data; n is a preset positive integer; Based on the curve curvature of each trajectory point, obtain the curve curvature of n trajectory points; Get the current preview distance based on the curve curvature of n trajectory points; The current preview point is determined among several trajectory points based on the current preview distance and the current position of the vehicle.

3. A vehicle control method as claimed in claim 2, characterized in that: The calculating the curvature of the curve of the trajectory corresponding to each trajectory point based on the trajectory point data includes: For each trajectory point, determine the two trajectory points before and after the current trajectory point as adjacent trajectory points; In the track point data, obtain the first coordinate data of the current track point and the second coordinate data of the adjacent track point; determining a circle based on the first coordinate data and the second coordinate data; Get the radius of the circle; Get the curve curvature of the current trajectory point based on the circle radius.

4. A vehicle control method as claimed in claim 2, characterized in that: The current preview distance is obtained by the following formula: In the above formula, L is the preview distance; V is the current speed of the vehicle; α is a preset first lookup table coefficient, and β is a preset second lookup table coefficient. The first lookup table coefficient and the second lookup table coefficient are used to control the preview distance within a preset range; n is the number of trajectory points that the vehicle will pass through; K i+n-1 is the curvature of the curve at the nth trajectory point that the vehicle will pass.

5. A vehicle control method as claimed in claim 1, characterized in that: The method of acquiring the steering wheel angle feedforward control amount, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data includes: Obtain the current preview point position based on the current preview point data; A bicycle model is constructed according to the current position of the vehicle and the current preview point position, and then the front wheel turning angle is obtained based on the bicycle model; The current vehicle orientation is obtained based on the vehicle posture data, a first extension line is drawn along the current vehicle orientation, a vertical line segment passing through the current preview point is drawn on the first extension line, and the length of the vertical line segment is obtained to obtain the lateral deviation between the vehicle and the current preview track; The current preview point direction is obtained based on the current preview point data, a second extension line is made along the current preview point direction, and the intersection angle between the first extension line and the second extension line is obtained to obtain the heading deviation between the vehicle and the current preview track.

6. A vehicle control method as claimed in claim 1, characterized in that: The converting and correcting the front wheel turning angle based on the lateral deviation and the heading deviation comprises: Convert the front wheel angle to obtain the steering wheel angle feedforward control value; The steering wheel angle feedforward control amount is converted and corrected based on the lateral deviation and the heading deviation to obtain a steering wheel angle control amount.

7. A vehicle control method as claimed in claim 6, characterized in that: The steering wheel angle control value is obtained by the following formula: ang2=ang2′+α1*d+β1*Δθ; In the above formula, ang2' is the steering wheel angle feedforward control quantity; ang2 is the steering wheel angle control quantity; d is the lateral deviation; Δθ is the heading deviation; α1 is the preset first correction coefficient; β1 is the preset second correction coefficient.

8. A vehicle control device, characterized in that: include: Data acquisition module, data processing module, deviation acquisition module, control correction module and vehicle control module; Wherein, the data acquisition module is used to acquire vehicle posture data and track point data of several track points; the vehicle posture data includes the current position of the vehicle; The data processing module is used to determine the current preview point based on the current position of the vehicle and the trajectory point data during the automatic parking process of the vehicle; Acquire current preview point data in the trajectory point data based on the current preview point, and determine the current preview trajectory; The deviation acquisition module is used to acquire the front wheel angle, the lateral deviation between the vehicle and the current preview track, and the heading deviation between the vehicle and the current preview track based on the vehicle posture data and the current preview point data; The control correction module is used to correct the front wheel angle based on the lateral deviation and the heading deviation to obtain the steering wheel angle control value; The vehicle control module is used to control the vehicle according to the steering wheel angle control amount.

9. A terminal device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle control method as claimed in any one of claims 1 to 7 when executing the program.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the vehicle control method as claimed in any one of claims 1 to 7 are implemented.

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