A dynamic adjustment method for straight-going steering angle of an autonomous vehicle

Abstract

The application relates to the technical field of automatic driving of vehicles, and provides a dynamic adjustment method for straight driving steering angles of an automatic driving vehicle, which comprises the following steps: determining a driving route and a plurality of target path points corresponding to the driving route, determining a current coordinate point of the vehicle, and calculating distances from the current coordinate point to all the target path points; determining a reference point, a reference heading and a reference curvature of the vehicle; calculating a lateral deviation and a heading deviation of the vehicle; judging whether the speed, the lateral deviation, the heading deviation and the reference curvature of the current vehicle satisfy a set condition; when the set condition is satisfied, recording the value and the quantity of the lateral deviation; when the quantity satisfies a cumulative lateral deviation quantity threshold value of the vehicle, calculating an average lateral deviation according to the recorded lateral deviation data and quantity; when the average lateral deviation is not less than a lateral deviation threshold value, adjusting the straight driving steering angle according to the average lateral deviation, and the path following precision under different load distribution, different road roll angles and uneven tire air pressure conditions is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle. Background Technology

[0002] In recent years, autonomous driving technology has developed rapidly. Assisted driving technologies such as cruise control, adaptive cruise control, and lane keeping have gradually entered people's daily transportation lives, demonstrating enormous development potential and broad application prospects. Lateral control technology is one of the key technologies in the field of autonomous driving. It changes the vehicle's heading and yaw rate by controlling the steering system, while ensuring comfort, safety, and following accuracy. Following accuracy is an important indicator for evaluating lateral control technology.

[0003] Current research mainly focuses on vehicle dynamics modeling and algorithm optimization, emphasizing the solution of upper-level control algorithm problems. However, as the actuator of the upper-level control algorithm, the accurate measurement of the straight-line steering angle of the steering system directly affects the following accuracy of autonomous vehicles under high-speed conditions. Current methods for determining the straight-line steering angle of autonomous vehicles mainly utilize a combination of yaw rate sensors, wheel angle sensors, and desired wheel angles, which involves a large number of sensors and is costly. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle, thereby improving path-following accuracy under conditions such as different load distributions, different road tilt angles, and uneven tire pressure.

[0005] This invention provides a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle, comprising the following steps:

[0006] S1: Determine the driving route and multiple target waypoints along the driving route. P j ,in, P j For the first j Target path points, j The value can be an integer greater than or equal to 1;

[0007] S2: Determine the vehicle's current coordinates. Q Calculate the current coordinates. Q and each target path point P j Distance between l j ;

[0008] S3: Identify current coordinates Q and each target path pointP j Distance between l j minimum value l i And determine the target path point corresponding to the minimum value. P j As a reference point P i The driving heading corresponding to the reference point is used as the vehicle's reference heading, and the curvature of the driving route corresponding to the reference point is used as the current coordinate point on the vehicle's driving route. Q Reference curvature at that point;

[0009] S4: Calculate the lateral deviation and heading deviation of the vehicle based on the coordinates and heading of the vehicle and the reference point;

[0010] S5: Obtain the current speed of the vehicle, and determine whether the current speed of the vehicle, the lateral deviation, the heading deviation, and the reference curvature meet the set conditions. If the set conditions are not met, return to step S2.

[0011] S6: If the set conditions are met, record the value of the vehicle's lateral deviation and the number of the vehicle's cumulative lateral deviations. Determine whether the number of the cumulative lateral deviations reaches the threshold of the number of the vehicle's cumulative lateral deviations. If not, return to step S2.

[0012] S7: After reaching the threshold for the number of cumulative lateral deviations of the vehicle, calculate the average lateral deviation based on the recorded value of the lateral deviation of the vehicle and the number of cumulative lateral deviations of the vehicle. When the absolute value of the average lateral deviation is less than the lateral deviation threshold, return to step S2.

[0013] S8: When the absolute value of the average lateral deviation is not less than the lateral deviation threshold, the straight-line steering angle of the vehicle is adjusted according to the average lateral deviation. After the adjustment is completed, the vehicle moves.

[0014] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein S2 includes the following steps:

[0015] Calculate the current coordinates. Q and each target path point P j Distance between l j The formula is as follows:

[0016]

[0017] in, Current coordinates of the vehicle Q Reaching the j Distance between target path points Indicates the vehicle's current coordinates. Q x-coordinate Indicates the vehicle's current coordinates. Q The ordinate, Indicates the target waypoint P j x-coordinate Indicates the target waypoint P j The ordinate.

[0018] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, which identifies the current coordinate point. Q and each target path point P j Distance between l j minimum value l i The following formula is used:

[0019]

[0020] in, The vehicle's current coordinates Q Distance to the last target path point For reference point P i The corresponding target path point number, The value is an integer greater than or equal to 1.

[0021] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the lateral deviation is calculated using the following formula:

[0022]

[0023] in, Indicates the lateral deviation of the vehicle. Indicates the vehicle's current coordinates. Q The ordinate, y i Indicates reference point P i The ordinate, Indicates reference point P i The heading angle, X Indicates the vehicle's current coordinates. Q x-coordinate x i Indicates reference point P i The x-coordinate.

[0024] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the heading deviation is calculated using the following formula:

[0025]

[0026] in, Indicates the vehicle's heading deviation. Indicates the vehicle's current heading angle. Indicates reference point P i The heading angle.

[0027] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein step S5 includes the following steps:

[0028] The vehicle speed threshold lower limit, lateral deviation threshold lower limit, heading deviation threshold upper limit, and reference curvature threshold upper limit are determined, and the conditions are set to simultaneously satisfy the following: the current speed of the vehicle is not less than the vehicle speed threshold lower limit, the lateral deviation is not less than the lateral deviation threshold lower limit, the heading deviation is not greater than the heading deviation threshold upper limit, and the reference curvature is not greater than the reference curvature threshold upper limit.

[0029] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the average lateral deviation is calculated using the following formula:

[0030]

[0031] in, The average lateral deviation, For the recorded number r One lateral deviation value. r To record the cumulative number of lateral deviations of the vehicle, This is the threshold for the cumulative lateral deviation of the vehicle.

[0032] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle includes the following steps:

[0033] Set a base adjustment value. If the average lateral deviation is positive, add the base adjustment value to the straight-ahead steering angle. If the average lateral deviation is negative, subtract the base adjustment value from the straight-ahead steering angle.

[0034] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein the range of the basic adjustment value is 0.01% to 0.05% of the straight-line steering angle.

[0035] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided. S7 includes the following steps: after calculating the average lateral deviation, the recorded lateral deviation data is deleted, and the current lateral deviation data is recorded.

[0036] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0037] The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to an embodiment of the present invention improves the path-following accuracy of the vehicle by dynamically adjusting the straight-line steering angle of the autonomous vehicle using a feedback-correction method.

[0038] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating the method for dynamically adjusting the straight-line steering angle of an autonomous vehicle provided by the present invention.

[0041] Figure 2(a) shows the relationship between the lateral deviation and the current speed and travel distance under the uniform working condition of an 8-ton load in the dynamic adjustment method of the straight-going steering angle of the autonomous vehicle provided by the present invention.

[0042] Figure 2(b) shows the relationship between the center angle correction and the current speed and travel distance under uniform working conditions with an 8-ton load in the dynamic adjustment method for the straight-line steering angle of autonomous vehicles provided by the present invention.

[0043] Figure 3(a) shows the relationship between the lateral deviation and the current speed and travel distance under the uneven load condition of an 8-ton autonomous vehicle straight-line steering angle dynamic adjustment method provided by the present invention.

[0044] Figure 3(b) shows the relationship between the center angle correction amount and the current speed and travel distance in the dynamic adjustment method of straight-line steering angle of autonomous vehicles provided by the present invention under the condition of uneven 8-ton load. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0046] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0047] Figure 1 This is a flowchart illustrating the method for dynamically adjusting the straight-line steering angle of an autonomous vehicle provided by the present invention.

[0048] This invention provides a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle, comprising the following steps:

[0049] S1: Determine the driving route and multiple target waypoints along the driving route. P j ,in, P j For the first j Target path points, j The value can be an integer greater than or equal to 1;

[0050] S2: Determine the vehicle's current coordinates. Q Calculate the current coordinates. Q and each target path point P j Distance between l j ;

[0051] S3: Identify current coordinates Q and each target path point P j Distance between l j minimum value l iAnd determine the target path point corresponding to the minimum value. P j As a reference point P i The driving heading corresponding to the reference point is used as the vehicle's reference heading, and the curvature of the driving route corresponding to the reference point is used as the current coordinate point on the vehicle's driving route. Q Reference curvature at that point;

[0052] S4: Calculate the lateral deviation and heading deviation of the vehicle based on the coordinates and heading of the vehicle and the reference point;

[0053] S5: Obtain the current speed of the vehicle, and determine whether the current speed of the vehicle, the lateral deviation, the heading deviation, and the reference curvature meet the set conditions. If the set conditions are not met, return to step S2.

[0054] S6: If the set conditions are met, record the value of the vehicle's lateral deviation and the number of the vehicle's cumulative lateral deviations. Determine whether the number of the cumulative lateral deviations reaches the threshold of the number of the vehicle's cumulative lateral deviations. If not, return to step S2.

[0055] S7: After reaching the threshold for the number of cumulative lateral deviations of the vehicle, calculate the average lateral deviation based on the recorded value of the lateral deviation of the vehicle and the number of cumulative lateral deviations of the vehicle. When the absolute value of the average lateral deviation is less than the lateral deviation threshold, return to step S2.

[0056] S8: When the absolute value of the average lateral deviation is not less than the lateral deviation threshold, the straight-line steering angle of the vehicle is adjusted according to the average lateral deviation. After the adjustment is completed, the vehicle moves.

[0057] In this embodiment, by employing a feedback-correction method, the straight-line steering angle of the autonomous vehicle is dynamically adjusted, thereby improving the vehicle's path-following accuracy.

[0058] According to some embodiments of the present invention, after the starting point and ending point of the vehicle are determined, multiple target path points are generated based on the vehicle's pre-stored data. Based on the vehicle's current coordinates, the distance from the current coordinates of the vehicle to each target path point is calculated, and the target path point with the minimum value is determined as a reference point. The lateral deviation and heading deviation of the vehicle are calculated to determine whether the set conditions are met. If the set conditions are not met, the process returns to the second step for recalculation until the set conditions are met. Only then is the lateral deviation recorded to improve the calculation accuracy of the lateral deviation. The average value of the lateral deviation data is obtained by recording the data multiple times to reduce the error of the lateral deviation during the calculation process, thereby improving the control accuracy of the steering angle. If the absolute value of the average lateral deviation is small, the steering angle is not adjusted. If the absolute value of the lateral deviation exceeds the lateral deviation threshold, the steering angle is adjusted based on the average lateral deviation.

[0059] According to some preferred embodiments of the present invention, the threshold value for the cumulative lateral deviation of the vehicle is 100 to 300.

[0060] According to some preferred embodiments of the present invention, the lateral deviation threshold ranges from 0.1m to 0.12m.

[0061] According to some preferred embodiments of the present invention, the vehicle speed ranges from 20 km / h to 40 km / h.

[0062] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein S2 includes the following steps:

[0063] Calculate the current coordinates. Q and each target path point P j Distance between l j The formula is as follows:

[0064]

[0065] in, Current coordinates of the vehicle Q Reaching the j Distance between target path points Indicates the vehicle's current coordinates. Q x-coordinate Indicates the vehicle's current coordinates. Q The ordinate, Indicates the target waypoint P j x-coordinate Indicates the target waypoint P j The ordinate, j The value is an integer greater than or equal to 1.

[0066] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, which identifies the current coordinate point. Q and each target path point P j Distance between l j minimum value l i The following formula is used:

[0067]

[0068] in, Current coordinates of the vehicle Q Distance to the last target path point For reference point P i The corresponding target path point number, The value is an integer greater than or equal to 1.

[0069] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the lateral deviation is calculated using the following formula:

[0070]

[0071] in, Indicates the lateral deviation of the vehicle. Indicates the vehicle's current coordinates. Q The ordinate, y i Indicates reference point P i The ordinate, Indicates reference point P i The heading angle, X Indicates the vehicle's current coordinates. Q x-coordinate x i Indicates reference point P i The x-coordinate.

[0072] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the heading deviation is calculated using the following formula:

[0073]

[0074] in, Indicates the vehicle's heading deviation. Indicates the vehicle's current heading angle. Indicates reference point P i The heading angle.

[0075] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein step S5 includes the following steps:

[0076] The vehicle speed threshold lower limit, lateral deviation threshold lower limit, heading deviation threshold upper limit, and reference curvature threshold upper limit are determined, and the conditions are set to simultaneously satisfy the following: the current speed of the vehicle is not less than the vehicle speed threshold lower limit, the lateral deviation is not less than the lateral deviation threshold lower limit, the heading deviation is not greater than the heading deviation threshold upper limit, and the reference curvature is not greater than the reference curvature threshold upper limit.

[0077] According to some embodiments of the present invention, the expression that satisfies the set conditions is as follows:

[0078]

[0079] in, The vehicle's current speed. This is the lower limit of the vehicle speed threshold. This is the lower limit of the lateral deviation threshold. This is the upper limit of the heading deviation threshold. As a reference for the upper limit of curvature threshold, For reference point P i The curvature of the corresponding driving route.

[0080] According to some preferred embodiments of the present invention, the heading deviation threshold ranges from 0 degrees to 5 degrees.

[0081] According to some preferred embodiments of the present invention, the reference curvature threshold ranges from 0.0005 to 0.001.

[0082] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, and the average lateral deviation is calculated using the following formula:

[0083]

[0084] in, The average lateral deviation, For the recorded number r One lateral deviation value. r To record the cumulative number of lateral deviations of the vehicle, This is the threshold for the cumulative lateral deviation of the vehicle.

[0085] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle includes the following steps:

[0086] Set a base adjustment value. If the average lateral deviation is positive, add the base adjustment value to the straight-ahead steering angle. If the average lateral deviation is negative, subtract the base adjustment value from the straight-ahead steering angle.

[0087] According to some embodiments of the present invention, the straight-ahead steering angle is calculated using the following formula:

[0088]

[0089] in, For straight-going turning angle, The original straight-ahead steering angle. The average lateral deviation, Adjust the value based on the base value.

[0090] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided, wherein the range of the basic adjustment value is 0.01% to 0.05% of the straight-line steering angle.

[0091] According to the present invention, a method for dynamically adjusting the straight-line steering angle of an autonomous vehicle is provided. S7 includes the following steps: after calculating the average lateral deviation, the recorded lateral deviation data is deleted, and the current lateral deviation data is recorded.

[0092] The technical solution of the present invention will be further explained below with reference to a specific embodiment. It should be noted that the specific embodiment is only for the purpose of enabling those skilled in the art to better understand the technical solution of the present invention, and should not be regarded as an unreasonable limitation on the scope of protection of the present invention.

[0093] Example 1

[0094] The parameter settings of this invention are shown in Table 1.

[0095] Table 1

[0096]

[0097] First, the target path point closest to the current vehicle position is determined. Then, the lateral and heading deviations between the vehicle and the path are calculated to determine the reference curvature. Next, based on the above information, it is determined whether the straight-ahead steering angle needs to be adjusted. If adjustment is needed, the adjustment direction is determined based on the deviation information and accumulated to the historical straight-ahead steering angle value. This invention is tested on a real vehicle platform.

[0098] Test results

[0099] (1) 8-ton uniform load condition

[0100] Figure 2(a) shows the relationship between the lateral deviation and the current speed and travel distance under a uniform 8-ton load condition in the dynamic adjustment method for the straight-line steering angle of the autonomous vehicle provided by the present invention. Figure 2(b) shows the relationship between the center angle correction and the current speed and travel distance under a uniform 8-ton load condition in the dynamic adjustment method for the straight-line steering angle of the autonomous vehicle provided by the present invention.

[0101] Eight tons of cargo were loaded and evenly distributed on both sides of the vehicle. The target speed was set to 70 km / h. The experimental vehicle activated its automatic driving function and automatically followed the center line of the road. The test results are shown in Figure 2(a) and Figure 2(b).

[0102] Throughout the process, as shown in Figure 2(a), the lateral deviation was less than 0.3m. As shown in Figure 2(b), however, the correction of the center angle changed with the speed. At 70km / h, the correction value was 1.18%.

[0103] (2) 8-ton uneven load condition

[0104] Figure 3(a) shows the relationship between the lateral deviation and the current speed and travel distance under an 8-ton uneven load condition in the dynamic adjustment method for the straight-line steering angle of the autonomous vehicle provided by the present invention. Figure 3(b) shows the relationship between the center angle correction and the current speed and travel distance under an 8-ton uneven load condition in the dynamic adjustment method for the straight-line steering angle of the autonomous vehicle provided by the present invention.

[0105] The vehicle was loaded with 8 tons of cargo, with 4.5 tons on the left and 3.5 tons on the right. The target speed was set to 70 km / h. The experimental vehicle activated its automatic driving function and automatically followed the center line of the road. The test results are shown in Figure 3(a) and Figure 3(b).

[0106] Throughout the process, as shown in Figure 3(a), the lateral deviation was less than 0.3m. As shown in Figure 3(b), the correction amount of the center angle changed with the speed. At 70km / h, the correction value was 0.5%. Compared with uniform load, the correction amount decreased and converged to the right (positive value to the left, negative value to the right), effectively eliminating the problem of the vehicle deviating to the left when the load was "heavy on the left and light on the right".

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamically adjusting the straight-line steering angle of an autonomous vehicle, characterized in that, Includes the following steps: S1: Determine the driving route and multiple target waypoints along the driving route. P j ,in, P j For the first j Target path points, j The value can be an integer greater than or equal to 1; S2: Determine the vehicle's current coordinates. Q Calculate the current coordinates. Q and each target path point P j Distance between l j ; S3: Identify current coordinates Q and each target path point P j Distance between l j minimum value l i And determine the target path point corresponding to the minimum value. P j As a reference point P i The reference point P i The corresponding driving heading is used as the vehicle's reference heading, and the reference point is... P i The curvature of the corresponding driving route is used as the current coordinate point on the vehicle's driving route. Q Reference curvature at that point; S4: Based on vehicle and reference point P i Given the vehicle's coordinates and heading, calculate the vehicle's lateral and heading deviations. S5: Obtain the current speed of the vehicle, and determine whether the current speed of the vehicle, the lateral deviation, the heading deviation, and the reference curvature meet the set conditions. If the set conditions are not met, return to step S2. The vehicle speed threshold lower limit, lateral deviation threshold lower limit, heading deviation threshold upper limit, and reference curvature threshold upper limit are determined, and the conditions are set to simultaneously satisfy the following: the current speed of the vehicle is not less than the vehicle speed threshold lower limit, the lateral deviation is not less than the lateral deviation threshold lower limit, the heading deviation is not greater than the heading deviation threshold upper limit, and the reference curvature is not greater than the reference curvature threshold upper limit. S6: If the set conditions are met, record the value of the vehicle's lateral deviation and the number of the vehicle's cumulative lateral deviations. Determine whether the number of the cumulative lateral deviations reaches the threshold of the number of the vehicle's cumulative lateral deviations. If not, return to step S2. S7: After reaching the threshold for the number of cumulative lateral deviations of the vehicle, calculate the average lateral deviation based on the recorded value of the lateral deviation of the vehicle and the number of cumulative lateral deviations of the vehicle. When the absolute value of the average lateral deviation is less than the lateral deviation threshold, return to step S2. S8: When the absolute value of the average lateral deviation is not less than the lateral deviation threshold, the straight-line steering angle of the vehicle is adjusted according to the average lateral deviation. After the adjustment is completed, the vehicle moves.

2. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 1, characterized in that, S2 includes the following steps: Calculate the current coordinates. Q and each target path point P j Distance between l j The formula is as follows: in, Current coordinates of the vehicle Q Reaching the j Distance between target path points Indicates the vehicle's current coordinates. Q x-coordinate Indicates the vehicle's current coordinates. Q The ordinate, Indicates the target waypoint P j x-coordinate Indicates the target waypoint P j The ordinate.

3. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 2, characterized in that, Identify current coordinates Q and each target path point P j Distance between l j minimum value l i The following formula is used: in, The vehicle's current coordinates Q Distance to the last target path point For reference point P i The corresponding target path point number, The value is an integer greater than or equal to 1.

4. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 3, characterized in that, The lateral deviation is calculated using the following formula: in, Indicates the lateral deviation of the vehicle. Indicates the vehicle's current coordinates. Q The ordinate, y i Indicates reference point P i The ordinate, Indicates reference point P i The heading angle, X Indicates the vehicle's current coordinates. Q x-coordinate x i Indicates reference point P i The x-coordinate.

5. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 4, characterized in that, The following formula is used to calculate the heading deviation: in, Indicates the vehicle's heading deviation. Indicates the vehicle's current heading angle. Indicates reference point P i The heading angle.

6. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 5, characterized in that, The mean lateral deviation is calculated using the following formula: in, The average lateral deviation, For the recorded number r One lateral deviation value. r This represents the cumulative number of lateral deviations of the vehicle. This is the threshold for the cumulative lateral deviation of the vehicle.

7. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 6, characterized in that, Adjusting the vehicle's straight-line steering angle involves the following steps: Set a base adjustment value. If the average lateral deviation is positive, add the base adjustment value to the straight-ahead steering angle. If the average lateral deviation is negative, subtract the base adjustment value from the straight-ahead steering angle.

8. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 7, characterized in that, The basic adjustment value ranges from 0.01% to 0.05% of the straight-going steering angle.

9. The method for dynamically adjusting the straight-line steering angle of an autonomous vehicle according to claim 1, characterized in that, S7 includes the following steps: After calculating the average lateral deviation, delete the recorded lateral deviation data and record the current lateral deviation data.

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