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

Abstract

The application relates to a vehicle control method and device, computer equipment, readable storage medium and program product, which are used for a target vehicle, the target vehicle comprising a plurality of action components and driving components corresponding to the action components. The method comprises the following steps: in the process of turning of the target vehicle, by acquiring a current vehicle angle of the target vehicle and current running speeds corresponding to the action components, an expected vehicle angle of the target vehicle can be determined according to the current vehicle angle, and turning running speeds corresponding to the action components can be determined according to the expected vehicle angle; then, the driving components can be controlled to drive the action components to run in the turning mode according to the turning running speeds and the current running speeds. The method can improve the accuracy of vehicle control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, apparatus, computer equipment, readable storage medium, and program product. Background Technology

[0002] With increasingly stringent environmental protection requirements, electric drive technology is being applied to trailer tractors to meet the environmental requirements of trailer tractor operation.

[0003] Traditional control methods for electric-driven trailer tractors typically involve equipping the wheels of the tractor with electric drive units, and controlling the speed of these wheels by driving the electric drive units.

[0004] However, the above control methods suffer from poor control accuracy. Summary of the Invention

[0005] Therefore, 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-mentioned technical problems.

[0006] In a first aspect, this application provides a vehicle control method for a target vehicle, the target vehicle including multiple motion components and drive components corresponding to each motion component, including:

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

[0008] The desired vehicle angle of the target vehicle is determined based on the current vehicle angle, and the steering speed of each action component is determined based on the desired vehicle angle.

[0009] Based on the steering speed and the current driving speed, control each drive component to drive each action component to steer.

[0010] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, each of which includes multiple motion components and multiple drive components. The current vehicle angle includes the current articulation angle between the front and rear vehicles, and the desired vehicle angle includes the desired vehicle angle between the front and rear vehicles during a turn.

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

[0012] The instantaneous steering center position corresponding to the steering process is determined based on the desired vehicle angle;

[0013] The steering speed is determined based on the desired vehicle angle and the instantaneous steering center position.

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

[0015] Determine the first yaw rate of the vehicle in front and the second yaw rate of the vehicle behind based on the desired vehicle angle.

[0016] Obtain the first vehicle attribute parameters of the vehicle in front and the second vehicle attribute parameters of the vehicle behind;

[0017] The steering speed is determined based on the desired vehicle angle, instantaneous steering center position, first vehicle attribute parameters, second vehicle attribute parameters, first yaw rate, and second yaw rate.

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

[0019] The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component;

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

[0021] Based on the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the formulas for calculating each steering speed, determine the driving speed for each steering position.

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

[0023] During the straight-line movement of the target vehicle, obtain the straight-line speed of the vehicle in front of it;

[0024] The straight-line speed of the following vehicle is determined based on the straight-line speed of the preceding vehicle, and the estimated speed of the preceding vehicle and the estimated speed of the following vehicle are determined based on the current driving data.

[0025] Based on the straight-line speed of the vehicle in front, the straight-line speed of the vehicle behind, the estimated speed of the vehicle in front, and the estimated speed of the vehicle behind, control each drive component to drive each action component to travel straight.

[0026] Secondly, this application also provides a vehicle control device for a target vehicle, the target vehicle including multiple motion components and drive components corresponding to each motion component, including:

[0027] The acquisition module is used to acquire the current vehicle angle of the target vehicle and the current driving speed of each action component during the target vehicle's turning process.

[0028] The determination module is used to determine the desired vehicle angle of the target vehicle based on the current vehicle angle, and to determine the steering speed corresponding to each action component based on the desired vehicle angle.

[0029] The drive module is used to control each drive component to drive each action component to steer based on each steering speed and each current driving speed.

[0030] Thirdly, embodiments of this application provide a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0031] Fourthly, embodiments of this application provide 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 described in the first aspect above.

[0032] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0033] The aforementioned vehicle control method, apparatus, computer equipment, readable storage medium, and program product for a target vehicle, wherein the target vehicle includes multiple moving components and corresponding drive components, allows for the following control process: During the target vehicle's turning process, by acquiring the current vehicle angle and the current speed of each moving component, the desired vehicle angle can be determined based on the current vehicle angle, and the turning speed of each moving component can be determined based on the desired vehicle angle. Then, based on the turning speed and the current speed, each drive component can be controlled to drive each moving component to turn. This approach, by configuring corresponding drive components for the target vehicle's moving components, determining the desired turning angle based on the current vehicle angle during the target vehicle's turning process, and then specifically determining the turning speed of each moving component during the current turning process based on the desired vehicle angle, and using these turning speeds to control the drive components of each moving component, thereby driving each moving component according to its corresponding turning speed, makes the control process more targeted and improves control accuracy. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a diagram illustrating the application environment of a vehicle control method in one embodiment.

[0036] Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment;

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

[0038] Figure 4 This is a structural diagram of the target vehicle when it is turning, as shown in another embodiment.

[0039] Figure 5 This is a flowchart illustrating step 202 in another embodiment;

[0040] Figure 6 This is a schematic diagram of the Ackermann steering principle based on the target vehicle in another embodiment;

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

[0042] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] In the modern transportation and logistics sector, with increasingly stringent requirements for environmental protection and energy efficiency, electric drive technology has received widespread attention. Distributed electric drive tractor-trailers, as an emerging mode of transportation, primarily utilize electric drive systems in tractor-trailers to improve vehicle power and energy efficiency. Traditional electric drive tractor-trailers typically have electric drive units installed on the wheels of the tractor unit. When controlling the movement of this electric drive tractor-trailer, the speed of the tractor unit's wheels is usually controlled by driving the electric drive unit of the tractor unit.

[0045] However, the above control methods suffer from poor control accuracy.

[0046] In view of this, this application provides a vehicle control method, apparatus, computer device, readable storage medium, and program product for a target vehicle. The target vehicle includes multiple motion components and drive components corresponding to each motion component. During the turning process of the target vehicle, by acquiring the current vehicle angle of the target vehicle and the current driving speed corresponding to each motion component, the desired vehicle angle of the target vehicle can be determined based on the current vehicle angle, and the turning speed corresponding to each motion component can be determined based on the desired vehicle angle. Then, based on each turning speed and each current driving speed, each drive component can be controlled to drive each motion component to turn. In this way, by configuring corresponding drive components for the motion components of the target vehicle, and determining the desired turning angle of the target vehicle based on the current vehicle angle during the turning process, the turning speed of each motion component is specifically determined based on the desired vehicle angle during the current turning process. The drive components of each motion component are controlled using each turning speed, thereby driving each motion component according to its corresponding turning speed, making the control process more targeted and improving the accuracy of control.

[0047] The vehicle control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the target vehicle 100 includes multiple motion components 102, each of which has a corresponding drive component 101. The target vehicle 100 can control the movement of each corresponding motion component 102 by controlling the rotational speed of each drive component 101.

[0048] In one exemplary embodiment, such as Figure 2 As shown, a vehicle control method is provided, which is applied to... Figure 1 Taking target vehicle 100 as an example, the explanation includes the following steps 201 to 203. Wherein:

[0049] Step 201: During the turning process of the target vehicle, obtain the current vehicle angle of the target vehicle and the current driving speed of each action component.

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

[0051] The current vehicle angle can reflect the current driving direction of the target vehicle. Optionally, the current vehicle angle can be the angle between the driving direction of the target vehicle and the reference axis. Optionally, the current vehicle angle can be the angle between the line connecting the front and rear of the target vehicle and the reference axis.

[0052] Action components can be components that enable the target vehicle to move, such as wheels. In the embodiments of this application, each action component has its corresponding drive component. Optionally, the server can obtain the current driving speed of each action component through sensors. Optionally, the server can obtain the current driving speed of each drive component, such as the current rotational speed of the drive component, and calculate and determine the current driving speed of each action component based on each rotational speed.

[0053] Step 202: Determine the desired vehicle angle of the target vehicle based on the current vehicle angle, and determine the steering speed corresponding to each action component based on the desired vehicle angle.

[0054] In this embodiment, the target vehicle can be a tractor-trailer. Therefore, the target vehicle can include a front vehicle and a rear vehicle. The front vehicle and the rear vehicle each include multiple moving parts and multiple driving parts. The specific structure can be referred to... Figure 3 The current vehicle angle includes the current articulation angle between the vehicle in front and the vehicle behind, and the desired vehicle angle includes the desired vehicle angle between the vehicle in front and the vehicle behind during the turning process.

[0055] The current articulation angle can be the angle between the connecting axle between the front and rear vehicles and the longitudinal reference axis. For details, please refer to... Figure 4 Where δ is the current hinge angle, and the desired vehicle angle is the angle at which the target vehicle is expected to rotate. In this embodiment, the target vehicle can determine the desired vehicle angle based on the obtained target direction and the current hinge 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 desired vehicle angle of the target vehicle, the target vehicle can determine the steering speed that each action component should travel when turning based on the desired vehicle angle. In this embodiment of the application, the steering speed can be the speed at which the target vehicle wants each action component to turn during the current turning process.

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

[0058] In another possible implementation, different formulas exist for calculating the steering speed for different motion components. The target vehicle can obtain the formulas for calculating the steering speed for each motion component and substitute the desired vehicle angle to determine the steering speed for each motion component.

[0059] Step 203: Based on each steering speed and each current driving speed, control each drive component to drive each action component to perform steering.

[0060] After obtaining the steering and driving speed corresponding to each action component, the target vehicle can control each action component to steer and drive. In this embodiment, for each action component, the target vehicle can first determine its corresponding drive component. Optionally, different drive components have a unique component identifier, and the target vehicle can determine the drive component corresponding to each action component based on the component identifier.

[0061] After determining the drive component, optionally, the target vehicle can send the steering speed corresponding to the current motion component and the current driving speed to the drive component, so that the drive component operates based on the steering speed and the current driving speed, thereby controlling the motion component to steer; optionally, the target vehicle can calculate the required rotational speed of the drive based on the steering speed and the current driving speed, and then send the rotational speed to the drive component, so that the drive component operates based on the rotational speed, thereby controlling the motion component to steer.

[0062] In the above embodiments, corresponding drive components are configured for the action components of the target vehicle. During the turning process of the target vehicle, the desired vehicle angle for the target vehicle to turn is determined based on the current vehicle angle. Then, the turning speed of each action component is determined specifically based on the desired vehicle angle. The drive components of each action component are controlled by each turning speed, thereby driving each action component according to its corresponding turning speed. This makes the control process more targeted and improves the accuracy of control.

[0063] In one embodiment, when the target vehicle is traveling straight, the process of controlling the various motion components of the target vehicle to travel straight can be described in the following embodiment:

[0064] During the straight-line movement of the target vehicle, the target vehicle can obtain the straight-line speed of the vehicle in front, and then determine the straight-line speed of the vehicle behind based on the straight-line speed of the vehicle in front. Based on the current driving data, the target vehicle can determine the estimated speed of the vehicle in front and the estimated speed of the vehicle behind. In this way, the target vehicle can control each drive component to drive each action component to move straight-line based on the straight-line speed of the vehicle in front, the straight-line speed of the vehicle behind, the estimated speed of the vehicle in front, and the estimated speed of the vehicle behind.

[0065] During the execution of the target vehicle, there may be braking, acceleration and other working conditions. The target vehicle can obtain the straight-line speed that the driver expects the vehicle in front to reach through an external input device, such as the brake pedal, accelerator pedal, etc.

[0066] Optionally, the target vehicle can directly obtain the straight-line speed of the vehicle in front 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 pressing the brake pedal, accelerator pedal, etc., and the target wheels can process the position signal to obtain the straight-line speed of the vehicle in front.

[0067] In this embodiment of the application, after the target vehicle obtains the straight-line speed of the preceding vehicle, it can determine the straight-line speed of the following vehicle based on the following formula.

[0068] (1)

[0069] Among them, v r v is the speed at which the following vehicle travels straight. f δ represents the straight-line speed of the vehicle in front, and δ represents the current articulation angle between the vehicle in front and the vehicle behind.

[0070] Then, the target vehicle can acquire current driving data. In this embodiment, the current driving data may include the current driving speed of each motion component and the longitudinal acceleration of the vehicle in front. Regarding the process of the target vehicle acquiring the current driving data, optionally, the target vehicle can directly acquire 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 obtaining the current driving data, the target vehicle can determine the estimated speed of the vehicle in front and the estimated speed of the vehicle behind based on the current driving data. In this embodiment, the estimated speed of the vehicle in front is the current driving speed of the vehicle in front estimated by the target vehicle, and the estimated speed of the vehicle behind is the current driving speed of the vehicle behind estimated by the target vehicle.

[0072] The formula for calculating the estimated speed of the vehicle in front can be found in the following formula:

[0073] (2)

[0074] in, To estimate the speed of the vehicle ahead, i represents the identifier of each action component, n is the number of action components, and ki is the preset weight coefficient of each action component. Here, n represents the current driving speed signal corresponding to each action component, and n is the sampling time. For the attribute parameters corresponding to the action component, in this embodiment of the application, when the action component is a wheel, For the wheel radius, The preset acceleration weighting coefficients are given, and Ts is the sampling duration. This is the longitudinal acceleration signal of the vehicle in front. These are correction parameters corresponding to the longitudinal acceleration signal of the preceding vehicle.

[0075] Once the estimated speed of the vehicle in front is determined, the target vehicle can determine the estimated speed of the vehicle behind. Optionally, the target vehicle can substitute the estimated speed of the vehicle in front into the parameter corresponding to the straight-line speed of the vehicle in front based on Formula 1, and the result obtained is the estimated speed of the vehicle behind.

[0076] Once the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle are determined, the target vehicle can control the various drive components of the preceding vehicle to drive their respective motion components to move straight, based on the straight-line speed and the estimated speed of the preceding vehicle. Similarly, it can control the various drive components of the following vehicle to drive their respective motion components to move straight, based on the straight-line speed and the estimated speed of the following vehicle.

[0077] In one embodiment, based on the above Figure 2 The illustrated embodiment can be found in [reference]. Figure 5 This embodiment relates to the process of determining the steering speed corresponding to each moving component based on the desired vehicle angle. For example... Figure 5 As shown, step 202 may include steps 501 and 502.

[0078] Step 501: Determine the instantaneous steering center position corresponding to the steering process based on the desired vehicle angle.

[0079] In this embodiment of the application, the instantaneous steering center position can be the center of the circle when the target vehicle turns and the vehicle in front and behind turns. In this embodiment of the application, the target vehicle can determine the instantaneous steering center according to the desired vehicle angle. Regarding the method of determining the instantaneous steering center, the target vehicle can determine the instantaneous steering center based on the Ackermann steering principle.

[0080] For the diagram of the Ackerman steering principle based on the target vehicle, please refer to... Figure 6 Where point O corresponds to the instantaneous turning center, and B... f B is the distance between the moving parts of the vehicle in the same row as the vehicle in front. r L is the distance between the moving parts of the following vehicle in the same row. When the preceding vehicle includes two rows of moving parts, L is the distance between them. f L is the wheelbase between the two rows of moving parts of the front vehicle. r This represents the distance between the centers of mass of the moving parts of the front and rear vehicles, u f u is the target speed of the vehicle in front. r The target speed for the following vehicle. The first yaw rate of the following vehicle. V1 represents the second yaw rate of the vehicle behind, and V6 represents the steering speed of the six moving parts of the target vehicle.

[0081] In the embodiments of this application, u fThe target vehicle can obtain the straight-line speed that the driver expects the vehicle in front to reach through an external input device, such as a brake pedal, accelerator pedal, etc.

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

[0083] Step 502: Determine the driving speed for each turn based on the desired vehicle angle and the instantaneous steering center position.

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

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

[0086] In another possible implementation, the target vehicle can determine the first yaw rate corresponding to the preceding vehicle and the second yaw rate corresponding to the following vehicle based on the desired vehicle angle, and obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle. Then, the turning speed can be determined based on the desired vehicle angle, the instantaneous turning center position, the first vehicle attribute parameters, the second vehicle attribute parameters, the first yaw rate, and the second yaw rate.

[0087] The formula for calculating yaw rate can be found in the following formula:

[0088] (3)

[0089] in, For the integral of the desired vehicle angle, The first yaw rate of the following vehicle. This is the second yaw rate of the following vehicle.

[0090] The first vehicle attribute parameter of the preceding vehicle may include B f Distance B between moving parts in the same row of the preceding vehicle f When the preceding vehicle includes two rows of moving parts, the wheelbase L between the two rows of moving parts of the preceding vehicle is... f The target speed of the vehicle in front, u f The second vehicle attribute parameter of the following vehicle may include the distance B between the movement components of the following vehicle in the same row. r The distance L between the centers of mass of the moving parts of the front and rear vehicles r The target speed of the following vehicle, u r wait.

[0091] In this way, the target vehicle can determine its turning speed based on the desired vehicle angle, instantaneous turning center position, first vehicle attribute parameters, second vehicle attribute parameters, first yaw rate, and second yaw rate.

[0092] In one possible implementation, different speed determination models are pre-trained for different action components. The target vehicle can input the desired vehicle angle, instantaneous steering center position, first vehicle attribute parameters, second vehicle attribute parameters, first yaw rate, and second yaw rate to 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 speed can be determined based on 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.

[0094] In this application embodiment, different speed calculation formulas exist for different position types of motion components. The position type is related to the relative position of each motion component with respect to the instantaneous turning center, including a first type for the preceding vehicle, a second type for the preceding vehicle, a first type for the following vehicle, and a second type for the following vehicle. When a motion component is in the preceding vehicle and is closer to the instantaneous turning center compared to other motion components in the same row, the position type of the motion component can be determined as the first type for the preceding vehicle. Correspondingly, when a motion component is in the preceding vehicle and is farther from the instantaneous turning center compared to other motion components in the same row, the position type of the motion component is the second type for the preceding vehicle. When a motion component is in the following vehicle and is closer to the instantaneous turning center compared to other motion components in the same row, the position type of the motion component can be determined as the first type for the following vehicle. When a motion component is in the following vehicle and is farther from the instantaneous turning center compared to other motion components in the same row, the position type of the motion component is the second type for the following vehicle.

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

[0096] Reference Figure 6It can be seen that action components 1 and 3 are of the first type for the leading vehicle, action components 2 and 4 are of the second type for the leading vehicle, action component 5 is of the first type for the trailing vehicle, and action component 6 is of the second type for the trailing vehicle. The instantaneous angular velocities of each action component around the instantaneous turning center are equal, as can be seen from 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) / 2. 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 gravity of the vehicle in front is R. f The instantaneous turning radius corresponding to the center of gravity of the rear vehicle is R. r .

[0099] Regarding R4, R f R r The geometric conditions can be referred to by the following formula:

[0100] (5)

[0101] Combining formulas (3)-(5), the formulas for calculating the steering speed of each movement 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, which is also the steering speed calculation formula corresponding to the first type of rear vehicle. The calculation formula corresponding to V6 is the steering speed calculation formula corresponding to action component 6, which is also the steering speed calculation formula corresponding to the second type of rear vehicle. The target speed of the rear vehicle can be calculated through the calculation formula corresponding to uf-ur.

[0104] Combining formulas (3)-(5), we can also determine the formulas for calculating the steering speed of each movement component of the vehicle in front:

[0105] (7)

[0106] Among them, the calculation formulas corresponding to V1 and V3 are the same as the steering speed calculation formulas corresponding to action components 1 and 3, which are also the steering speed calculation formulas corresponding to the first type of the preceding vehicle. The calculation formulas corresponding to V2 and V4 are the same as the steering speed calculation formulas corresponding to action components 2 and 4, which are also the steering speed calculation formulas corresponding to the second type of the preceding vehicle.

[0107] After determining the steering speed calculation formula for each action component, the target vehicle uses 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 formula to determine the steering speed of each action component.

[0108] In one embodiment, an exemplary vehicle control method is provided, which can be applied to Figure 1 The implementation environment shown.

[0109] The target vehicle includes a front vehicle and a rear vehicle. The front vehicle and the rear vehicle each include multiple motion components and multiple drive components. The current vehicle angle includes the current articulation angle between the front vehicle and the rear vehicle, and the desired vehicle angle includes the desired vehicle angle between the front vehicle and the rear vehicle during the turning process.

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

[0111] Step b: Determine the desired vehicle angle of the target vehicle based on the current vehicle angle.

[0112] Step c: Determine the instantaneous steering center position corresponding to the steering process based on the desired vehicle angle.

[0113] Step d: Determine the first yaw rate of the preceding vehicle and the second yaw rate of the following vehicle based on the desired vehicle angle.

[0114] Step e: Obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle.

[0115] Step f: Determine the position type of each action component based on the positional relationship between the instantaneous turning center position and each action component.

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

[0117] Step h: Determine each steering speed based on the desired vehicle angle, the first vehicle attribute parameter, the second vehicle attribute parameter, the first yaw rate, the second yaw rate, and the formulas for calculating each steering speed.

[0118] Step i: Based on each steering speed and each current driving speed, control each drive component to drive each action component to perform steering.

[0119] Step j: During the straight-line movement of the target vehicle, obtain the straight-line speed of the vehicle in front.

[0120] Step k: Determine the straight-ahead speed of the following vehicle based on the straight-ahead speed of the preceding vehicle, and determine the estimated speed of the preceding vehicle and the estimated speed of the following vehicle based on the current driving data.

[0121] Step 1: Based on the straight-line speed of the vehicle in front, the straight-line speed of the vehicle behind, the estimated speed of the vehicle in front, and the estimated speed of the vehicle behind, control each drive component to drive each action component to travel straight.

[0122] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0123] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0124] In one exemplary embodiment, such as Figure 7 As shown, a vehicle control device is provided for a target vehicle, the target vehicle including multiple motion components and drive components corresponding to each motion component. The device includes: an acquisition module 701, a determination module 702, and a drive module 703, wherein:

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

[0126] The determining module 702 is used to determine the desired vehicle angle of the target vehicle based on the current vehicle angle, and to determine the steering speed corresponding to each of the action components based on the desired vehicle angle.

[0127] The drive module 703 is used to control the drive components to drive the motion components to perform steering based on the steering speed and the current driving speed.

[0128] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle each including a plurality of said motion components and a plurality of said drive components, the current vehicle angle including the current articulation angle between the front vehicle and the rear vehicle, and the desired vehicle angle including the desired vehicle angle between the front vehicle and the rear vehicle during the turning process.

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

[0130] A center determination unit is used to determine the instantaneous steering center position corresponding to the steering process based on the desired vehicle angle;

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

[0132] In one embodiment, the velocity determination unit is specifically used to perform:

[0133] The first yaw rate of the preceding vehicle and the second yaw rate of the following vehicle are determined based on the desired vehicle angle.

[0134] Obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle;

[0135] The steering speed is determined based on 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 velocity determination unit is specifically used to perform:

[0137] The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component;

[0138] Obtain the steering speed calculation formula corresponding to each of the aforementioned position types;

[0139] Each steering speed is determined based on 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.

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

[0141] The straight-ahead acquisition module is used to acquire the straight-ahead speed of the vehicle in front of the target vehicle during the straight-ahead process;

[0142] The straight-ahead determination module is used to determine the straight-ahead speed of the following vehicle based on the straight-ahead speed of the preceding vehicle, and to determine the estimated speed of the preceding vehicle and the estimated speed of the following vehicle based on the current driving data.

[0143] The straight-line drive module is used to control each of the drive components to drive each of the motion components to travel straight based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle.

[0144] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0145] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle control data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

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

[0147] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

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

[0149] The desired vehicle angle of the target vehicle is determined based on the current vehicle angle, and the steering speed corresponding to each of the action components is determined based on the desired vehicle angle.

[0150] Based on the respective steering speeds and current driving speeds, control each drive component to drive each motion component to perform steering.

[0151] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle each including a plurality of said motion components and a plurality of said drive components, the current vehicle angle including the current articulation angle between the front vehicle and the rear vehicle, and the desired vehicle angle including the desired vehicle angle between the front vehicle and the rear vehicle during the turning process.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153] The instantaneous steering center position corresponding to the steering process is determined based on the desired vehicle angle;

[0154] The steering speed is determined based on the desired vehicle angle and the instantaneous steering center position.

[0155] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0156] The first yaw rate of the preceding vehicle and the second yaw rate of the following vehicle are determined based on the desired vehicle angle.

[0157] Obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle;

[0158] The steering speed is determined based on 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, the processor, when executing a computer program, also performs the following steps:

[0160] The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component;

[0161] Obtain the steering speed calculation formula corresponding to each of the aforementioned position types;

[0162] Each steering speed is determined based on 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.

[0163] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0164] During the straight-line movement of the target vehicle, the straight-line speed of the vehicle in front of it is obtained;

[0165] The straight-line speed of the following vehicle is determined based on the straight-line speed of the preceding vehicle, and the estimated speed of the preceding vehicle and the estimated speed of the following vehicle are determined based on the current driving data.

[0166] Based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle, the driving components are controlled to drive the motion components to travel straight.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

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

[0169] The desired vehicle angle of the target vehicle is determined based on the current vehicle angle, and the steering speed corresponding to each of the action components is determined based on the desired vehicle angle.

[0170] Based on the respective steering speeds and current driving speeds, control each drive component to drive each motion component to perform steering.

[0171] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle each including a plurality of said motion components and a plurality of said drive components, the current vehicle angle including the current articulation angle between the front vehicle and the rear vehicle, and the desired vehicle angle including the desired vehicle angle between the front vehicle and the rear vehicle during the turning process.

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

[0173] The instantaneous steering center position corresponding to the steering process is determined based on the desired vehicle angle;

[0174] The steering speed is determined based on the desired vehicle angle and the instantaneous steering center position.

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

[0176] The first yaw rate of the preceding vehicle and the second yaw rate of the following vehicle are determined based on the desired vehicle angle.

[0177] Obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle;

[0178] The steering speed is determined based on 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, it also performs the following steps:

[0180] The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component;

[0181] Obtain the steering speed calculation formula corresponding to each of the aforementioned position types;

[0182] Each steering speed is determined based on 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.

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

[0184] During the straight-line movement of the target vehicle, the straight-line speed of the vehicle in front of it is obtained;

[0185] The straight-line speed of the following vehicle is determined based on the straight-line speed of the preceding vehicle, and the estimated speed of the preceding vehicle and the estimated speed of the following vehicle are determined based on the current driving data.

[0186] Based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle, the driving components are controlled to drive the motion components to travel straight.

[0187] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

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

[0189] The desired vehicle angle of the target vehicle is determined based on the current vehicle angle, and the steering speed corresponding to each of the action components is determined based on the desired vehicle angle.

[0190] Based on the respective steering speeds and current driving speeds, control each drive component to drive each motion component to perform steering.

[0191] In one embodiment, the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle each including a plurality of said motion components and a plurality of said drive components, the current vehicle angle including the current articulation angle between the front vehicle and the rear vehicle, and the desired vehicle angle including the desired vehicle angle between the front vehicle and the rear vehicle during the turning process.

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

[0193] The instantaneous steering center position corresponding to the steering process is determined based on the desired vehicle angle;

[0194] The steering speed is determined based on the desired vehicle angle and the instantaneous steering center position.

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

[0196] The first yaw rate of the preceding vehicle and the second yaw rate of the following vehicle are determined based on the desired vehicle angle.

[0197] Obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle;

[0198] The steering speed is determined based on 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, it also performs the following steps:

[0200] The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component;

[0201] Obtain the steering speed calculation formula corresponding to each of the aforementioned position types;

[0202] Each steering speed is determined based on 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.

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

[0204] During the straight-line movement of the target vehicle, the straight-line speed of the vehicle in front of it is obtained;

[0205] The straight-line speed of the following vehicle is determined based on the straight-line speed of the preceding vehicle, and the estimated speed of the preceding vehicle and the estimated speed of the following vehicle are determined based on the current driving data.

[0206] Based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle, the driving components are controlled to drive the motion components to travel straight.

[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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0208] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0209] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0210] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, For a target vehicle, the target vehicle including a plurality of motion components and a drive component corresponding to each of the motion components, the method includes: During the turning process of the target vehicle, the current vehicle angle of the target vehicle and the current driving speed corresponding to each of the motion components are obtained; the target vehicle includes a front vehicle and a rear vehicle, the front vehicle and the rear vehicle respectively include multiple motion components and multiple drive components, and the current vehicle angle includes the current articulation angle between the front vehicle and the rear vehicle. The desired vehicle angle of the target vehicle is determined based on the current vehicle angle. The instantaneous steering center position corresponding to the steering process is determined based on the desired vehicle angle. The first yaw rate corresponding to the preceding vehicle and the second yaw rate corresponding to the following vehicle are determined based on the desired vehicle angle. The first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle are obtained. The steering speed corresponding to each of the action components is determined based on the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameters, the second vehicle attribute parameters, the first yaw rate, and the second yaw rate. The desired vehicle angle includes the desired vehicle angle between the preceding vehicle and the following vehicle during the steering process. Based on the respective steering speeds and current speeds, control each drive component to drive each motion component to perform steering; During the straight-line movement of the target vehicle, the straight-line speed of the vehicle in front of it is obtained; The straight-line speed of the following vehicle is determined based on the straight-line speed of the preceding vehicle, and the estimated speed of the preceding vehicle and the estimated speed of the following vehicle are determined based on the current driving data. Based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle, each drive component is controlled to drive each motion component to travel straight. The estimated speed of the preceding vehicle is: ； in, To estimate the speed of the vehicle ahead, i represents the identifier of each action component, n is the number of action components, and ki is the preset weight coefficient of each action component. Here, n represents the current driving speed signal corresponding to each action component, and n is the sampling time. These are the attribute parameters corresponding to the action component. When the action component is a wheel, For the wheel radius, The preset acceleration weighting coefficients are given, and Ts is the sampling duration. This is the longitudinal acceleration signal of the vehicle in front. These are correction parameters corresponding to the longitudinal acceleration signal of the preceding vehicle.

2. The method according to claim 1, characterized in that, The step of determining the steering speed corresponding to each of the motion components based on 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: The position type of each action component is determined based on the positional relationship between the instantaneous turning center position and each action component; Obtain the steering speed calculation formula corresponding to each of the aforementioned position types; Each steering speed is determined based on 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.

3. The method according to claim 1, characterized in that, The current vehicle angle is the angle between the target vehicle's driving direction and the reference axis, or the current vehicle angle is the angle between the line connecting the head and tail of the target vehicle and the reference axis.

4. The method according to claim 1, characterized in that, The current hinge angle is the angle between the connecting axle between the front vehicle and the rear vehicle and the longitudinal reference axis.

5. The method according to claim 1, characterized in that, The instantaneous turning center position is the center of the circle when the front vehicle and the rear vehicle are turning during the turning process of the target vehicle.

6. The method according to claim 1, characterized in that, The straight-line speed of the vehicle in front is obtained by the target vehicle through an external input device.

7. A vehicle control device, characterized in that, For a target vehicle, the target vehicle including a plurality of motion components and a drive component corresponding to each of the motion components, the device includes: The acquisition module 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; 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, and the current vehicle angle includes the current articulation angle between the front vehicle and the rear vehicle. The determination module is used to determine the desired vehicle angle of the target vehicle based on the current vehicle angle, determine the instantaneous steering center position corresponding to the steering process based on the desired vehicle angle, determine the first yaw rate corresponding to the preceding vehicle and the second yaw rate corresponding to the following vehicle based on the desired vehicle angle, obtain the first vehicle attribute parameters of the preceding vehicle and the second vehicle attribute parameters of the following vehicle, and determine the steering speed corresponding to each of the action components based on the desired vehicle angle, the instantaneous steering center position, the first vehicle attribute parameters, the second vehicle attribute parameters, the first yaw rate, and the second yaw rate. The desired vehicle angle includes the desired vehicle angle between the preceding vehicle and the following vehicle during the steering process. A drive module is used to control each drive component to drive each action component to perform steering based on each steering speed and each current driving speed; The straight-ahead acquisition module is used to acquire the straight-ahead speed of the vehicle in front of the target vehicle during the straight-ahead process; The straight-ahead determination module is used to determine the straight-ahead speed of the following vehicle based on the straight-ahead speed of the preceding vehicle, and to determine the estimated speed of the preceding vehicle and the estimated speed of the following vehicle based on the current driving data. The straight-line drive module is used to control each drive component to drive each movement component to travel straight based on the straight-line speed of the preceding vehicle, the straight-line speed of the following vehicle, the estimated speed of the preceding vehicle, and the estimated speed of the following vehicle. The estimated speed of the preceding vehicle is: ； in, To estimate the speed of the vehicle ahead, i represents the identifier of each action component, n is the number of action components, and ki is the preset weight coefficient of each action component. Here, n represents the current driving speed signal corresponding to each action component, and n is the sampling time. These are the attribute parameters corresponding to the action component. When the action component is a wheel, For the wheel radius, The preset acceleration weighting coefficients are given, and Ts is the sampling duration. This is the longitudinal acceleration signal of the vehicle in front. These are correction parameters corresponding to the longitudinal acceleration signal of the preceding vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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