Vehicle control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a vehicle control method and device, computer equipment, a readable storage medium and a program product, and is used for a target vehicle, and the target vehicle comprises a plurality of action components and driving components corresponding to the action components. The method comprises the steps that in the steering process of a target vehicle, the current vehicle angle of the target vehicle and the current running speed corresponding to each action assembly are obtained, the expected vehicle angle of the target vehicle can be determined according to the current vehicle angle, the steering running speed corresponding to each action assembly is determined according to the expected vehicle angle, and then the steering running speed corresponding to each action assembly is determined. Therefore, according to each steering running speed and each current running speed, each driving assembly is controlled to drive each action assembly to steer and run. By adopting the method, the accuracy of vehicle control can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, computer equipment, readable storage medium and program product. Background Art

[0002] With the increasing demand for environmental protection, electric drive technology is applied to tractor trailers to meet the environmental protection needs during the operation of tractor trailers.

[0003] The conventional control method of an electric-driven tractor trailer is to configure an electric drive unit on the wheels of the front vehicle of the tractor trailer, and control the speed of the wheels of the front vehicle of the tractor trailer by driving the electric drive unit.

[0004] However, the above control method has the problem of poor control accuracy. Summary of the invention

[0005] Based on this, it is necessary to provide a vehicle control method, device, computer equipment, readable storage medium and program product that can improve control flexibility in response to the above technical problems.

[0006] In a first aspect, the present application provides a vehicle control method for a target vehicle, wherein the target vehicle includes a plurality of action components and a driving component corresponding to each action component, including:

[0007] During the turning process of the target vehicle, the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component are obtained;

[0008] Determine the desired vehicle angle of the target vehicle according to the current vehicle angle, and determine the steering speed corresponding to each action component according to the desired vehicle angle;

[0009] According to each turning driving speed and each current driving speed, each driving component is controlled to drive each action component to turn and drive.

[0010] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include multiple action components and multiple drive components, the current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during steering.

[0011] In one embodiment, determining the steering speed corresponding to each action component according to the desired vehicle angle includes:

[0012] Determine the instantaneous steering center position corresponding to the steering process according to the desired vehicle angle;

[0013] The driving speed of each turn is determined according to the desired vehicle angle and the instantaneous steering center position.

[0014] In one embodiment, determining each steering speed according to the desired vehicle angle and the instantaneous steering center position includes:

[0015] Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle;

[0016] Obtaining a first vehicle attribute parameter of a front vehicle and a second vehicle attribute parameter of a rear vehicle;

[0017] Each steering travel speed is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

[0018] In one embodiment, determining each steering speed according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate includes:

[0019] Determine the position type of each action component according to the position relationship between the instantaneous steering center position and each action component;

[0020] Get the steering speed calculation formula corresponding to each position type;

[0021] Each steering speed is determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate and each steering speed calculation formula.

[0022] In one embodiment, the method further comprises:

[0023] When the target vehicle is moving straight, the speed of the preceding vehicle is obtained;

[0024] Determine the rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determine the front vehicle estimated speed of the front vehicle and the rear vehicle estimated speed of the rear vehicle according to the current driving data;

[0025] According to the straight-moving speed of the front vehicle, the straight-moving speed of the rear vehicle, the estimated speed of the front vehicle and the estimated speed of the rear vehicle, each driving component is controlled to drive each action component to drive straight-moving.

[0026] In a second aspect, the present application further provides a vehicle control device for a target vehicle, wherein the target vehicle includes a plurality of action components and a driving component corresponding to each action component, including:

[0027] An acquisition module, used to acquire the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component during the turning process of the target vehicle;

[0028] A determination module, used to determine the desired vehicle angle of the target vehicle according to the current vehicle angle, and to determine the steering speed corresponding to each action component according to the desired vehicle angle;

[0029] The driving module is used to control each driving component to drive each action component to turn and drive according to each turning driving speed and each current driving speed.

[0030] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method of the first aspect described above.

[0032] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method in the first aspect are implemented.

[0033] The vehicle control method, device, computer equipment, readable storage medium and program product for the target vehicle are described above. The target vehicle includes a plurality of action components and a driving component corresponding to each action component. During the turning process of the target vehicle, by obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component, the desired vehicle angle of the target vehicle can be determined according to the current vehicle angle, and the turning driving speed corresponding to each action component can be determined according to the desired vehicle angle. Then, each driving component can be controlled to drive each action component to turn and drive according to each turning driving speed and each current driving speed. In this way, the action components of the target vehicle are configured with corresponding driving components. During the turning process of the target vehicle, the desired vehicle angle for the desired target vehicle to turn is determined according to the current vehicle angle, so that the turning driving speed of each action component is determined in a targeted manner according to the desired vehicle angle, and the driving components of each action component are controlled by using each turning driving speed, so that each action component is driven according to the corresponding turning driving speed, so that the control process is more targeted and the control accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] FIG1 is an application environment diagram of a vehicle control method according to an embodiment;

[0036] Figure 2 A schematic flow chart of a vehicle control method in one embodiment;

[0037] Figure 3 is a structural diagram of a target vehicle in another embodiment;

[0038] Figure 4 is a structural diagram of a target vehicle turning in another embodiment;

[0039] Figure 5 is a flow chart of step 202 in another embodiment;

[0040] Figure 6 A schematic diagram of an Ackerman steering principle based on a target vehicle in another embodiment;

[0041] Figure 7 is a structural block diagram of a vehicle control device in one embodiment;

[0042] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] In the field of modern transportation and logistics, with the increasing requirements for environmental protection and energy efficiency, electric drive technology has received extensive attention. As a new mode of transportation, the core of distributed electric drive tractor trailers is to apply electric drive systems to tractor trailers to improve the power and energy efficiency of vehicles. Traditional electric drive tractor trailers usually have electric drive units configured on the wheels of the front vehicle of the tractor trailer. When controlling the electric drive tractor trailer to travel, it is usually by driving the electric drive unit of the front vehicle to control the speed of the wheels of the front vehicle of the tractor trailer.

[0045] However, the above control method has the problem of poor control accuracy.

[0046] In view of this, the present application provides a vehicle control method, device, computer equipment, readable storage medium and program product for a target vehicle, wherein the target vehicle includes a plurality of action components and a driving component corresponding to each action component. During the turning process of the target vehicle, by obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component, the desired vehicle angle of the target vehicle can be determined according to the current vehicle angle, and the turning driving speed corresponding to each action component can be determined according to the desired vehicle angle. Then, each driving component can be controlled to drive each action component to turn and drive according to each turning driving speed and each current driving speed. In this way, the action components of the target vehicle are configured with corresponding driving components. During the turning process of the target vehicle, the desired vehicle angle of the desired target vehicle is determined according to the current vehicle angle, so that the turning driving speed of each action component is determined in a targeted manner according to the desired vehicle angle, and the driving components of each action component are controlled by using each turning driving speed, so that each action component is driven according to its corresponding turning driving speed, so that the control process is more targeted and the control accuracy is improved.

[0047] The vehicle control method provided in the embodiment of the present application can be applied in the application environment shown in Figure 1. The target vehicle 100 includes multiple motion components 102, each motion component 102 has its corresponding drive component 101, and the target vehicle 100 can control the speed of each drive component 101 to control the driving of each corresponding motion component 102.

[0048] In an exemplary embodiment, Figure 2 As shown, a vehicle control method is provided, which is described by taking the method applied to the target vehicle 100 in FIG. 1 as an example, and includes the following steps 201 to 203. Among them:

[0049] Step 201, during the turning process of the target vehicle, the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component are obtained.

[0050] The target vehicle may be a vehicle to be controlled. In an embodiment of the present application, the target vehicle may include computing components such as a controller and a processor for processing data and controlling the operation of drive components. When the target vehicle turns, the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component may be obtained.

[0051] The current vehicle angle may reflect the current driving direction of the target vehicle. Optionally, the current vehicle angle may be the angle between the driving direction of the target vehicle and a reference axis. Optionally, the current vehicle angle may be the angle between a line between the head and tail of the target vehicle and the reference axis.

[0052] The action component may be a component that enables the target vehicle to move, such as a wheel. In the embodiment of the present application, each action component has its corresponding drive component. Optionally, the server may obtain the current driving speed corresponding to each action component through a sensor. Optionally, the server may obtain the current driving speed of each drive component, such as the current rotation speed of the drive component, and determine the current driving speed of each corresponding action component according to the rotation speed calculation.

[0053] Step 202, determining the desired vehicle angle of the target vehicle according to the current vehicle angle, and determining the steering speed corresponding to each action component according to the desired vehicle angle.

[0054] In the embodiment of the present application, the target vehicle may be a tractor trailer, and therefore, the target vehicle may include a front vehicle and a rear vehicle, and the front vehicle and the rear vehicle may include a plurality of action components and a plurality of drive components, respectively. Figure 3 The current vehicle angle includes the current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes the expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0055] The current articulation angle can be the angle between the connecting axle between the front vehicle and the rear vehicle and the longitudinal reference axis. Figure 4 , where δ is the current articulation angle, and the desired vehicle angle is the angle at which the target vehicle is expected to turn. In this embodiment of the present application, the target vehicle can determine the desired vehicle angle based on the acquired target direction and the current articulation angle. The target direction can be the direction in which the target vehicle is expected to turn. Optionally, the target vehicle can be obtained through an external input device, such as a steering wheel.

[0056] After obtaining the expected vehicle angle of the target vehicle, the target vehicle can determine the turning speed that each action component should travel when turning based on the expected vehicle angle. In this embodiment of the present application, the turning speed can be the speed that the target vehicle wants each action component to turn during the current steering process.

[0057] In a possible implementation, a pre-trained processing model is deployed in the target vehicle, and the target vehicle can input the determined expected vehicle angle into the processing model to obtain the steering speed of each action component output by the processing model.

[0058] In another possible implementation, there are different calculation formulas for steering speeds for different action components. The target vehicle can obtain the calculation formula for the steering speeds corresponding to each action component, and substitute the expected vehicle angle to determine the steering speeds corresponding to each action component.

[0059] Step 203, according to each turning speed and each current driving speed, control each driving component to drive each action component to turn and drive.

[0060] After obtaining the steering speed corresponding to each action component, the target vehicle can control each action component to turn and drive. In the embodiment of the present application, for each action component, the target vehicle can first determine its corresponding drive component. Optionally, different drive components have unique component identifiers, and the target vehicle can determine the drive component corresponding to each action component based on the component identifier.

[0061] After determining the driving component, optionally, the target vehicle can send the turning speed and the current driving speed corresponding to the current action component to the driving component, so that the driving component operates based on the turning speed and the current driving speed, thereby controlling the action component to turn and travel; optionally, the target vehicle can calculate the rotational speed required by the driver based on the turning speed and the current driving speed, and then send the rotational speed to the driving component, so that the driving component operates based on the rotational speed, thereby controlling the action component to turn and travel.

[0062] In the above embodiment, a corresponding driving component is configured for the action component of the target vehicle. During the turning process of the target vehicle, the expected vehicle angle for the desired target vehicle to turn is determined based on the current vehicle angle, thereby specifically determining the turning speed of each action component during the current turning process based on the expected vehicle angle. The driving components of each action component are controlled by using each turning speed, thereby driving each action component according to its corresponding turning speed, thereby making the control process more targeted and improving the accuracy of control.

[0063] In one embodiment, when the target vehicle is in the process of moving straight, the process of the target vehicle controlling each action component to move straight can refer to the following embodiment:

[0064] When the target vehicle is moving straight, the target vehicle can obtain the front vehicle straight speed of the front vehicle, and then determine the rear vehicle straight speed of the rear vehicle according to the front vehicle straight speed, and determine the front vehicle estimated speed of the front vehicle and the rear vehicle estimated speed of the rear vehicle according to the current driving data. In this way, the target vehicle can control each driving component to drive each action component to move straight according to the front vehicle straight speed, the rear vehicle straight speed, the front vehicle estimated speed and the rear vehicle estimated speed.

[0065] When the target vehicle is executing, braking, acceleration and other working conditions may occur. The target vehicle can obtain the straight-ahead speed of the preceding vehicle that the driver expects the preceding vehicle to achieve through an external input device, and the external input device can be a brake pedal, an accelerator pedal and the like.

[0066] Optionally, the target vehicle can directly obtain the straight-ahead speed of the vehicle involved through an external input device. Optionally, the data obtained by the target vehicle through the external input device can be a position signal generated by the driver stepping on the brake pedal, accelerator pedal, etc. The target wheel can perform relevant processing on the position signal to obtain the straight-ahead speed of the vehicle in front.

[0067] In the embodiment of the present application, after the target vehicle obtains the straight-moving speed of the preceding vehicle, the straight-moving speed of the following vehicle can be determined based on the following formula.

[0068] (1)

[0069] Among them, v r is the straight-ahead speed of the following vehicle, v f is the straight-line speed of the front vehicle, and δ is the current articulation angle between the front vehicle and the rear vehicle.

[0070] Then, the target vehicle can obtain the current driving data. In this embodiment of the present application, the current driving data may include the current driving speed of each action component and the longitudinal acceleration of the preceding vehicle. Regarding the process of the target vehicle obtaining the current driving data, optionally, the target vehicle can directly obtain relevant data signals through sensors; optionally, the target vehicle has a built-in data storage space, and the current driving data will be archived in the data storage space in real time, and the target device can read the current driving data from the data storage space.

[0071] After acquiring the current driving data, the target vehicle can determine the estimated front vehicle speed of the front vehicle and the estimated rear vehicle speed of the rear vehicle based on the current driving data. In this embodiment of the present application, the estimated front vehicle speed is the current driving speed of the front vehicle estimated by the target vehicle, and the estimated rear vehicle speed is the current driving speed of the rear vehicle estimated by the target vehicle.

[0072] The calculation formula for the estimated speed of the vehicle ahead can refer to the following formula:

[0073] (2)

[0074] in, is the estimated speed of the preceding vehicle, i represents the identifier of each action component, n is the number of action components, ki is the preset action component weight coefficient corresponding to each action component, is the current driving speed signal corresponding to each action component, n is the sampling time, is the attribute parameter corresponding to the action component. In the embodiment of the present application, when the action component is a wheel, is the wheel radius, is the preset acceleration weight coefficient, Ts is the sampling time, is the longitudinal acceleration signal of the front vehicle, is the correction parameter corresponding to the longitudinal acceleration signal of the preceding vehicle.

[0075] After determining the estimated speed of the leading vehicle, the target vehicle can determine the estimated speed of the following vehicle. Optionally, the target vehicle can substitute the estimated speed of the leading vehicle into the parameter corresponding to the straight-ahead speed of the leading vehicle based on Formula 1, and the result obtained is the estimated speed of the following vehicle.

[0076] After determining the straight-moving speed of the front vehicle, the straight-moving speed of the rear vehicle, the estimated speed of the front vehicle and the estimated speed of the rear vehicle, the target vehicle can control the driving components of the front vehicle to drive their corresponding action components to drive straight according to the straight-moving speed of the front vehicle and the estimated speed of the front vehicle, and control the driving components of the rear vehicle to drive their corresponding action components to drive straight according to the straight-moving speed of the rear vehicle and the estimated speed of the rear vehicle.

[0077] In one embodiment, based on the above Figure 2 The embodiment shown, see Figure 5 This embodiment relates to a process of determining the steering speed corresponding to each action component according to the desired vehicle angle. Figure 5 As shown, step 202 may include step 501 and step 502 .

[0078] Step 501, determining an instantaneous steering center position corresponding to a steering process according to a desired vehicle angle.

[0079] In an embodiment of the present application, the instantaneous turning center position can be the center of the circle when the front and rear vehicles turn when the target vehicle turns. In an embodiment of the present application, the target vehicle can determine the instantaneous turning center according to the expected vehicle angle. Regarding the method of determining the instantaneous turning center, the target vehicle can determine the instantaneous turning center based on the Ackerman steering principle.

[0080] For the Ackerman steering principle diagram based on the target vehicle, please refer to Figure 6 , where the position corresponding to point O is the instantaneous steering center, B f is the distance between the action components in the same row of the front vehicle, B r is the distance between the same row of action components of the following vehicle. When the leading vehicle includes two rows of action components, L f is the wheelbase between the two rows of moving components in the front vehicle, L r represents the distance between the center of mass of the action components of the front and rear vehicles, u f is the target speed of the preceding vehicle, u r is the target speed of the following vehicle, is the first yaw velocity of the rear vehicle, is the second yaw angular velocity of the following vehicle, and V1-V6 are the steering speeds of the six action components of the target vehicle.

[0081] In the embodiment of the present application, u fThe target vehicle can obtain the straight-ahead speed of the preceding vehicle that the driver expects the preceding vehicle to achieve through an external input device, and the external input device can be a brake pedal, an accelerator pedal, and the like.

[0082] The instantaneous turning radius of each action component can be represented by the above data and R1-R4 respectively.

[0083] Step 502, determining each turning speed according to the desired vehicle angle and the instantaneous turning center position.

[0084] For different action components, the target vehicle can determine the steering speed corresponding to each action component based on the expected vehicle angle and the instantaneous steering center position.

[0085] In one possible implementation, a pre-trained processing model is deployed in the target vehicle, and the target vehicle can input the determined desired vehicle angle and each instantaneous steering center into the processing model to obtain the steering speed of each action component output by the processing model.

[0086] In another possible implementation, the target vehicle can determine the first yaw angular velocity corresponding to the leading vehicle and the second yaw angular velocity corresponding to the trailing vehicle according to the expected vehicle angle, and obtain the first vehicle attribute parameter of the leading vehicle and the second vehicle attribute parameter of the trailing vehicle, and thus determine each turning driving speed according to the expected vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw angular velocity and the second yaw angular velocity.

[0087] The calculation formula for the yaw angular velocity can refer to the following formula:

[0088] (3)

[0089] in, is the integral of the desired vehicle angle, is the first yaw velocity of the rear vehicle, is the second yaw rate of the following vehicle.

[0090] The first vehicle attribute parameter of the preceding vehicle may include B f The distance B between the action components in the same row of the front vehicle f , When the front vehicle includes two rows of moving components, the wheelbase L between the two rows of moving components of the front vehicle f 、Target speed of the preceding vehicle u f etc.; the second vehicle attribute parameter of the rear vehicle may include the distance B between the action components in the same row of the rear vehicle r , the distance L between the center of mass of the front and rear vehicle action components r 、The target speed of the following vehicle u r wait.

[0091] In this way, the target vehicle can determine each turning speed according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw angular velocity, and the second yaw angular velocity.

[0092] In a possible implementation, there are different pre-trained speed determination models for different action components. The target vehicle can determine each steering speed by inputting the expected vehicle angle, instantaneous steering center position, first vehicle attribute parameter, second vehicle attribute parameter, first yaw angular velocity and second yaw angular velocity into the speed determination model corresponding to each action component, thereby determining the steering speed corresponding to each action component.

[0093] In another possible implementation, the server can determine the position type of each action component based on the positional relationship between the instantaneous steering center position and each action component, and obtain the steering speed calculation formula corresponding to each position type. In this way, each steering driving speed can be determined according to the expected vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw angular velocity, the second yaw angular velocity and each steering speed calculation formula.

[0094] In the implementation mode of the present application, there are different speed calculation formulas for action components of different position types, and there is a relationship between the position type and the relative position of each action component and the instantaneous turning center, including the first type of the front vehicle, the second type of the front vehicle, the first type of the rear vehicle, and the second type of the rear vehicle. When the action component is in the front vehicle and is closer to the instantaneous turning center than the action components in the same row, the position type of the action component can be determined to be the first type of the front vehicle; correspondingly, when the action component is in the front vehicle and is farther away from the instantaneous turning center than the action components in the same row, the position type of the action component is the second type of the front vehicle; when the action component is in the rear vehicle and is closer to the instantaneous turning center than the action components in the same row, the position type of the action component can be determined to be the first type of the rear vehicle; when the action component is in the rear vehicle and is farther away from the instantaneous turning center than the action components in the same row, the position type of the action component is the second type of the rear vehicle.

[0095] After determining the position type corresponding to each action component, the target vehicle can determine the steering speed calculation formula corresponding to each action component. Figure 6 Taking the target vehicle in as an example, the derivation principle of each steering speed calculation formula can refer to the following embodiment.

[0096] Reference Figure 6, it can be seen that action components 1 and action components 3 are the first type of the front vehicle, action components 2 and 4 are the second type of the front vehicle, action component 5 is the first type of the rear vehicle, and action component 6 is the second type of the rear vehicle. The instantaneous angular velocity of each action component around the instantaneous turning center is equal. For details, please refer to the following formula:

[0097] (4)

[0098] The instantaneous turning radius of action component 1 is R1, and the instantaneous turning radius of action component 2 is (R1+B f ), the instantaneous turning radius of action component 3 is R3, the instantaneous turning radius of action component 4 is R2, the instantaneous turning radius of action component 5 is R4, and the instantaneous turning radius of action component 6 is (R4+B r ), the instantaneous turning radius corresponding to the center of mass of the front vehicle is R f , the instantaneous turning radius corresponding to the center of mass of the rear vehicle is R r .

[0099] About R4, R f , R r The geometric conditions can refer to the following formula:

[0100] (5)

[0101] Combining formulas (3)-(5), the steering speed calculation formula corresponding to each action component of the rear vehicle can be determined:

[0102] (6)

[0103] Among them, the calculation formula corresponding to V5 is the steering speed calculation formula corresponding to action component 5, that is, the steering speed calculation formula corresponding to the first type of the following vehicle. The calculation formula corresponding to V6 is the steering speed calculation formula corresponding to action component 6, that is, the steering speed calculation formula corresponding to the second type of the following vehicle. The target speed of the following vehicle can be calculated through the calculation formula corresponding to uf-ur.

[0104] Combining formulas (3)-(5), the steering speed calculation formula corresponding to each action component of the front vehicle can also be determined:

[0105] (7)

[0106] Among them, the calculation formula corresponding to V1 and V3 is the steering speed calculation formula corresponding to action components 1 and 3, that is, the steering speed calculation formula corresponding to the first type of the preceding vehicle; the calculation formula corresponding to V2 and V4 is the steering speed calculation formula corresponding to action components 2 and 4, that is, the steering speed calculation formula corresponding to the second type of the preceding vehicle.

[0107] After determining the steering speed calculation formulas corresponding to each action component, the target vehicle will substitute the expected vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw angular velocity, the second yaw angular velocity and each steering speed calculation formula to determine the steering driving speed.

[0108] In one embodiment, an exemplary vehicle control method is provided, which can be applied in the implementation environment shown in FIG. 1 .

[0109] Among them, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include multiple action components and multiple drive components, the current vehicle angle includes the current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes the expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0110] Step a: During the turning process of the target vehicle, the current vehicle angle of the target vehicle and the current driving speed corresponding to each action component are obtained.

[0111] Step b, determining the desired vehicle angle of the target vehicle based on the current vehicle angle.

[0112] Step c: determining the instantaneous steering center position corresponding to the steering process according to the expected vehicle angle.

[0113] Step d: determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle.

[0114] Step e: obtaining a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle.

[0115] Step f, determining the position type of each action component according to the positional relationship between the instantaneous steering center position and each action component.

[0116] Step g, obtaining the steering speed calculation formula corresponding to each position type.

[0117] Step h: determining each steering speed according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate and each steering speed calculation formula.

[0118] Step i, according to each turning speed and each current driving speed, controls each driving component to drive each action component to turn and drive.

[0119] Step j, when the target vehicle is moving straight, obtain the front vehicle moving straight speed of the front vehicle.

[0120] Step k, determining the rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determining the front vehicle estimated speed of the front vehicle and the rear vehicle estimated speed of the rear vehicle according to the current driving data.

[0121] Step 1: Control each driving component to drive each action component to drive straight-line according to the straight-line speed of the front vehicle, the straight-line speed of the rear vehicle, the estimated speed of the front vehicle and the estimated speed of the rear vehicle.

[0122] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a vehicle control device for implementing the vehicle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations on the vehicle control method above, and will not be repeated here.

[0124] In an exemplary embodiment, Figure 7 As shown, a vehicle control device is provided for a target vehicle, wherein the target vehicle includes a plurality of action components and a driving component corresponding to each of the action components. The device includes: an acquisition module 701, a determination module 702 and a driving module 703, wherein:

[0125] An acquisition module 701 is used to acquire the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components during the turning process of the target vehicle;

[0126] A determination module 702, configured to determine an expected vehicle angle of the target vehicle according to the current vehicle angle, and determine a steering speed corresponding to each of the action components according to the expected vehicle angle;

[0127] The driving module 703 is used to control each of the driving components to drive each of the action components to turn and drive according to each of the turning driving speeds and each of the current driving speeds.

[0128] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include a plurality of the action components and a plurality of the drive components, the current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0129] In one embodiment, the determination module 702 includes:

[0130] a center determination unit, configured to determine an instantaneous steering center position corresponding to the steering process according to the desired vehicle angle;

[0131] A speed determination unit is used to determine each of the turning travel speeds according to the desired vehicle angle and the instantaneous steering center position.

[0132] In one embodiment, the speed determination unit is specifically configured to perform:

[0133] Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle;

[0134] Acquire a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle;

[0135] Each of the steering travel speeds is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

[0136] In one embodiment, the speed determination unit is specifically configured to perform:

[0137] Determining the position type of each of the action components according to the positional relationship between the instantaneous steering center position and each of the action components;

[0138] Obtaining a steering speed calculation formula corresponding to each of the position types;

[0139] The steering travel speeds are determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the steering speed calculation formulas.

[0140] In one embodiment, the apparatus further comprises:

[0141] A straight-moving acquisition module, used for acquiring the straight-moving speed of the preceding vehicle during the straight-moving process of the target vehicle;

[0142] a straight-ahead determining module, configured to determine a rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and to determine a front vehicle estimated speed of the front vehicle and a rear vehicle estimated speed of the rear vehicle according to current driving data;

[0143] The straight driving module is used to control each of the driving components to drive each of the action components to travel straight according to the straight speed of the front vehicle, the straight speed of the rear vehicle, the estimated speed of the front vehicle and the estimated speed of the rear vehicle.

[0144] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0145] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle control data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle control method is implemented.

[0146] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0148] During the turning process of the target vehicle, obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components;

[0149] Determining the desired vehicle angle of the target vehicle according to the current vehicle angle, and determining the steering speed corresponding to each of the action components according to the desired vehicle angle;

[0150] According to each of the turning travel speeds and each of the current travel speeds, each of the driving components is controlled to drive each of the action components to perform turning travel.

[0151] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include a plurality of the action components and a plurality of the drive components, the current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0152] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0153] Determining an instantaneous steering center position corresponding to the steering process according to the expected vehicle angle;

[0154] Each of the steering travel speeds is determined according to the desired vehicle angle and the instantaneous steering center position.

[0155] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0156] Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle;

[0157] Acquire a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle;

[0158] Each of the steering travel speeds is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

[0159] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0160] Determining the position type of each of the action components according to the positional relationship between the instantaneous steering center position and each of the action components;

[0161] Obtaining a steering speed calculation formula corresponding to each of the position types;

[0162] The steering travel speeds are determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the steering speed calculation formulas.

[0163] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0164] When the target vehicle is moving straight, obtaining the front vehicle moving straight speed of the front vehicle;

[0165] Determining a rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determining a front vehicle estimated speed of the front vehicle and a rear vehicle estimated speed of the rear vehicle according to current driving data;

[0166] According to the straight-moving speed of the leading vehicle, the straight-moving speed of the trailing vehicle, the estimated speed of the leading vehicle, and the estimated speed of the trailing vehicle, each of the driving components is controlled to drive each of the action components to travel in a straight line.

[0167] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0168] During the turning process of the target vehicle, obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components;

[0169] Determining the desired vehicle angle of the target vehicle according to the current vehicle angle, and determining the steering speed corresponding to each of the action components according to the desired vehicle angle;

[0170] According to each of the turning travel speeds and each of the current travel speeds, each of the driving components is controlled to drive each of the action components to perform turning travel.

[0171] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include a plurality of the action components and a plurality of the drive components, the current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0173] Determining an instantaneous steering center position corresponding to the steering process according to the expected vehicle angle;

[0174] Each of the steering travel speeds is determined according to the desired vehicle angle and the instantaneous steering center position.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0176] Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle;

[0177] Acquire a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle;

[0178] Each of the steering travel speeds is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0180] Determining the position type of each of the action components according to the positional relationship between the instantaneous steering center position and each of the action components;

[0181] Obtaining a steering speed calculation formula corresponding to each of the position types;

[0182] The steering travel speeds are determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the steering speed calculation formulas.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] When the target vehicle is moving straight, obtaining the front vehicle moving straight speed of the front vehicle;

[0185] Determining a rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determining a front vehicle estimated speed of the front vehicle and a rear vehicle estimated speed of the rear vehicle according to current driving data;

[0186] According to the straight-moving speed of the leading vehicle, the straight-moving speed of the trailing vehicle, the estimated speed of the leading vehicle, and the estimated speed of the trailing vehicle, each of the driving components is controlled to drive each of the action components to travel in a straight line.

[0187] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0188] During the turning process of the target vehicle, obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components;

[0189] Determining the desired vehicle angle of the target vehicle according to the current vehicle angle, and determining the steering speed corresponding to each of the action components according to the desired vehicle angle;

[0190] According to each of the turning travel speeds and each of the current travel speeds, each of the driving components is controlled to drive each of the action components to perform turning travel.

[0191] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include a plurality of the action components and a plurality of the drive components, the current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

[0192] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0193] Determining an instantaneous steering center position corresponding to the steering process according to the expected vehicle angle;

[0194] Each of the steering travel speeds is determined according to the desired vehicle angle and the instantaneous steering center position.

[0195] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0196] Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle;

[0197] Acquire a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle;

[0198] Each of the steering travel speeds is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] Determining the position type of each of the action components according to the positional relationship between the instantaneous steering center position and each of the action components;

[0201] Obtaining a steering speed calculation formula corresponding to each of the position types;

[0202] The steering travel speeds are determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the steering speed calculation formulas.

[0203] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0204] When the target vehicle is moving straight, obtaining the front vehicle moving straight speed of the front vehicle;

[0205] Determining a rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determining a front vehicle estimated speed of the front vehicle and a rear vehicle estimated speed of the rear vehicle according to current driving data;

[0206] According to the straight-moving speed of the leading vehicle, the straight-moving speed of the trailing vehicle, the estimated speed of the leading vehicle, and the estimated speed of the trailing vehicle, each of the driving components is controlled to drive each of the action components to travel in a straight line.

[0207] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0208] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0209] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0210] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: For a target vehicle, the target vehicle includes a plurality of action components and a driving component corresponding to each of the action components, the method comprising: During the turning process of the target vehicle, obtaining the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components; Determining the desired vehicle angle of the target vehicle according to the current vehicle angle, and determining the steering speed corresponding to each of the action components according to the desired vehicle angle; According to each of the turning travel speeds and each of the current travel speeds, each of the driving components is controlled to drive each of the action components to perform turning travel.

2. The method according to claim 1, characterized in that The target vehicle includes a front vehicle and a rear vehicle, and the front vehicle and the rear vehicle respectively include a plurality of the action components and a plurality of the drive components. The current vehicle angle includes a current articulation angle between the front vehicle and the rear vehicle, and the expected vehicle angle includes an expected vehicle angle between the front vehicle and the rear vehicle during the steering process.

3. The method according to claim 2, characterized in that The step of determining the steering speed corresponding to each of the action components according to the expected vehicle angle includes: Determining an instantaneous steering center position corresponding to the steering process according to the expected vehicle angle; Each of the steering travel speeds is determined according to the desired vehicle angle and the instantaneous steering center position.

4. The method according to claim 3, characterized in that The determining each of the turning travel speeds according to the expected vehicle angle and the instantaneous turning center position comprises: Determining a first yaw angular velocity corresponding to the leading vehicle and a second yaw angular velocity corresponding to the trailing vehicle according to the desired vehicle angle; Acquire a first vehicle attribute parameter of the front vehicle and a second vehicle attribute parameter of the rear vehicle; Each of the steering travel speeds is determined according to the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, and the second yaw rate.

5. The method according to claim 4, characterized in that The determining each of the steering travel speeds according to the expected vehicle angle, the instantaneous steering center position, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw angular velocity, and the second yaw angular velocity comprises: Determining the position type of each of the action components according to the positional relationship between the instantaneous steering center position and each of the action components; Obtaining a steering speed calculation formula corresponding to each of the position types; The steering travel speeds are determined according to the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the steering speed calculation formulas.

6. The method according to claim 2, characterized in that The method further comprises: When the target vehicle is moving straight, obtaining the front vehicle moving straight speed of the front vehicle; Determining a rear vehicle straight-ahead speed of the rear vehicle according to the front vehicle straight-ahead speed, and determining a front vehicle estimated speed of the front vehicle and a rear vehicle estimated speed of the rear vehicle according to current driving data; According to the straight-moving speed of the leading vehicle, the straight-moving speed of the trailing vehicle, the estimated speed of the leading vehicle, and the estimated speed of the trailing vehicle, each of the driving components is controlled to drive each of the action components to travel in a straight line.

7. A vehicle control device, characterized in that: Used for a target vehicle, the target vehicle includes a plurality of action components and a driving component corresponding to each of the action components, the device includes: An acquisition module, used for acquiring the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the action components during the turning process of the target vehicle; A determination module, configured to determine an expected vehicle angle of the target vehicle according to the current vehicle angle, and to determine a steering speed corresponding to each of the action components according to the expected vehicle angle; The driving module is used to control each of the driving components to drive each of the action components to turn and travel according to each of the turning travel speeds and each of the current travel speeds.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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