Lateral control method and apparatus for vehicle
By adaptively adjusting the controller parameters, the problems of poor control effect and trajectory jitter in the lane keeping assist system in the ramp are solved, and a more stable lateral control effect is achieved.
Patent Information
- Application Number
- CN202311095240.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-28
- Publication Date
- 2025-02-28
AI Technical Summary
The lane keeping assist system has poor control effect on the ramp, and there is obvious jitter in the planned trajectory line, resulting in occasional ‘oscillation’ problems in the vehicle.
By receiving road characteristic information, when the vehicle is in a specific driving situation related to vehicle jitter, the parameters of the controller are adaptively adjusted, for example, when the radius of curvature is less than the threshold, the proportional parameter Kp of the PID controller is reduced, thereby reducing the feedback gain.
Effectively reduce or avoid the occurrence of vehicle control jitter, improve horizontal control effect, and improve customer satisfaction.
Smart Images
Figure CN119527286A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle lateral control, and more specifically, to a vehicle lateral control method and device, a computer-readable storage medium, a computer program product, and an advanced driver assistance system (ADAS). Background Art
[0002] As one of the advanced driver assistance system ADAS functions, the lane keeping assist system (LKA) provides steering control for the driver and assists the driver to keep the vehicle in its lane by controlling the electronic power steering system (EPS). When the vehicle deviates from the lane, the system will provide active correction to prevent the vehicle from deviating from the lane, or remind the driver to control the vehicle in the lane.
[0003] In two typical scenarios, the main road and the ramp, the control effect of the lane keeping assist system (LKA) in the ramp is often much worse than that on the main road, and there is obvious jitter in the planned trajectory line calculated inside the ADAS system, which leads to occasional "oscillation" of the vehicle (for example, oscillation around the center of the road). Summary of the invention
[0004] After analysis, the inventor of the present application believes that the reason why the planned trajectory line has obvious jitter is that the curvature of the ramp causes the lane line radius to change suddenly (curvature mutation) due to irregular construction or the lane radius is too small (limiting the detection distance of the camera in the ADAS system).
[0005] According to one aspect of the present application, a method for lateral control of a vehicle is provided, the method comprising: receiving road characteristic information; adaptively adjusting parameters of a controller when determining that the vehicle is in a specific driving situation related to vehicle vibration based on the road characteristic information; and performing laterally control of the vehicle based on the adjusted parameters.
[0006] As a supplement or alternative to the above solution, in the above method, the road feature information indicates that the vehicle is in a ramp or before a sharp curve.
[0007] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned method, the road characteristic information also includes curvature information of the lane in which the vehicle is located, and when it is determined that the vehicle is in a specific driving situation related to vehicle jitter based on the road characteristic information, the parameters of the adaptive adjustment controller include: when the vehicle is traveling on a ramp and the curvature radius of the ramp is less than a threshold, reducing the proportional parameter Kp in the PID controller so that the feedback gain of the PID controller is reduced.
[0008] As a supplement or alternative to the above solution, in the above method, lateral control of the vehicle based on the adjusted parameters includes: adjusting the steering angle request of the electronic power steering system EPS based on the adjusted parameters, thereby controlling the lateral vehicle body posture.
[0009] As a supplement or alternative to the above solution, in the above method, receiving road feature information includes: receiving the road feature information from a high-precision positioning module or a roadside unit RSU.
[0010] According to another aspect of the present application, a lateral control device for a vehicle is provided, the device comprising: a receiving device for receiving road characteristic information; an adjusting device for adaptively adjusting parameters of a controller when it is determined based on the road characteristic information that the vehicle is in a specific driving situation related to vehicle vibration; and a control device for laterally controlling the vehicle based on the adjusted parameters.
[0011] As a supplement or alternative to the above solution, in the above device, the road feature information indicates that the vehicle is in a ramp or before a sharp curve.
[0012] As a supplement or alternative to the above-mentioned scheme, in the above-mentioned device, the road feature information also includes curvature information of the lane in which the vehicle is located, and the adjustment device is configured to: when the vehicle is traveling on a ramp and the curvature radius of the ramp is less than a threshold value, reduce the proportional parameter Kp in the PID controller so that the feedback gain of the PID controller is reduced.
[0013] As a supplement or alternative to the above solution, in the above device, the control device is configured to: adjust the steering angle request of the electronic power steering system EPS based on the adjusted parameters, so as to control the lateral vehicle body posture.
[0014] As a supplement or alternative to the above solution, in the above device, the receiving device is configured to: receive the road feature information from a high-precision positioning module or a roadside unit RSU.
[0015] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the medium includes instructions, and the instructions execute the above-mentioned method when executed.
[0016] According to another aspect of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method as described above is implemented.
[0017] According to yet another aspect of the present application, an advanced driving assistance system (ADAS) is provided. The advanced driving assistance system (ADAS) includes the device as described above.
[0018] The vehicle lateral control scheme of the embodiment of the present application determines that the vehicle is in a specific driving situation related to vehicle jitter (for example, a ramp or a sharp bend) based on the received road feature information, and adaptively adjusts the parameters of the controller (updates the control parameters, such as multiplying the control Kp parameter of the PID controller by a factor so that the feedback gain of the controller is reduced) and performs lateral control of the vehicle based on the adjusted parameters. In this way, in scenes such as sharp bends and ramps, although the vehicle has not yet experienced obvious jitter, the vehicle lateral control scheme has begun to reduce the closed-loop gain, thereby reducing or avoiding the occurrence of vehicle control jitter, improving lateral control and increasing customer satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, wherein the same or similar elements are represented by the same reference numerals.
[0020] Figure 1 A schematic flow chart of a lateral control method for a vehicle according to an embodiment of the present application is shown;
[0021] Figure 2 A schematic structural diagram of a lateral control device for a vehicle according to an embodiment of the present application is shown; and
[0022] Figure 3 A schematic structural diagram of an advanced driver assistance system ADAS according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0023] Hereinafter, a lateral control scheme of a vehicle according to various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0024] Figure 1 FIG. 1 is a flow chart of a vehicle lateral control method 1000 according to an embodiment of the present application. Figure 1 As shown, the lateral control method 1000 of the vehicle includes:
[0025] In step S110, receiving road feature information;
[0026] In step S120, when it is determined based on the road feature information that the vehicle is in a specific driving situation associated with vehicle jitter, adaptively adjusting parameters of a controller; and
[0027] In step S130 , the vehicle is laterally controlled based on the adjusted parameters.
[0028] In the context of this application, the term "lateral control" refers to the lateral control of the vehicle, which refers to the control perpendicular to the direction of movement, which is the steering control for the vehicle. The goal of lateral control is to control the vehicle to automatically maintain the desired driving route and have good ride comfort and stability under different vehicle speeds, loads, wind resistance, and road conditions. "Lateral control" is distinguished from control in the direction of driving speed (i.e., longitudinal control of the vehicle).
[0029] In step S110, road characteristic information is received. Here, "road characteristic information" is used to indicate characteristic information of the lane where the vehicle is located. In one or more embodiments, the road characteristic information is used to indicate that the vehicle is in a ramp or before a sharp curve.
[0030] In one embodiment, step S110 includes: receiving the road feature information from a high-precision positioning module or a roadside unit RSU. For example, the high-precision positioning module may include a high-precision map module and a positioning unit, wherein the high-precision map module may provide high-precision map information (including ramp / sharp bend annotation information and curvature information, etc.), and the positioning unit identifies whether the vehicle is traveling on the ramp based on the high-precision map information provided by the high-precision map module and the current positioning of the vehicle. For another example, the roadside unit RSU, as the information sender, broadcasts the road feature information. Since the roadside unit RSU can control the transmission range of the communication message by controlling the transmission power, if the vehicle approaches the RSU, the on-board unit OBU receives the information of the roadside unit RSU and then starts to receive the information broadcast by the roadside unit RSU, including the current road feature information.
[0031] In step S120, when it is determined based on the road feature information that the vehicle is in a specific driving situation related to vehicle jitter, the parameters of the controller are adaptively adjusted. Here, the term "specific driving situation related to vehicle jitter" means any driving situation in which obvious jitter may occur during the control of the vehicle, including ramps, sharp bends, etc. That is, when it is determined that the vehicle is in a specific driving situation related to jitter (e.g., ramp), the parameters of the controller are adaptively adjusted (e.g., replacing / using special parameters). In addition, the parameters here specifically refer to the parameters of the "controller", that is, the parameters of the controller that controls the vehicle to travel according to the planned trajectory (for the lane keeping assist function, the planned trajectory is mostly the center line of the current lane). The controller can be implemented by a PID model or other controller models (such as LQR or MPC, etc.), in which the parameters of the controller should be adaptively changed, for example, when it is determined that the vehicle is not in a "specific driving situation related to vehicle jitter", the first parameter (normal parameter) of the controller is used, and when it is determined that the vehicle is in a "specific driving situation related to vehicle jitter", the second parameter (special parameter) of the controller is used.
[0032] In one embodiment, the "road feature information" also includes curvature information of the lane where the vehicle is located. In this embodiment, step S120 may include: when the vehicle is traveling in a ramp and the curvature radius of the ramp is less than a threshold, reducing a proportional parameter Kp in a PID controller (for example, multiplying the Kp parameter of the PID controller by a factor less than 1), so that the feedback gain of the PID controller is reduced to reduce the possibility of system oscillation.
[0033] In step S130, the vehicle is laterally controlled based on the adjusted (controller) parameters. In one embodiment, step S130 includes: adjusting the steering angle request of the electronic power steering system EPS based on the adjusted parameters, thereby controlling the lateral body posture (e.g., the heading angle, yaw angle, etc. of the vehicle).
[0034] The lateral control method 1000 of the vehicle can achieve better control effects in ramps, sharp bends, etc. by adaptively adjusting control parameters, and is particularly suitable for situations where the radius changes suddenly or the camera is limited. By using the lateral control method 1000, the vehicle will no longer be sensitive to lane line jitter, which is conducive to eliminating the "oscillation" problem.
[0035] In addition, it is easy for a person skilled in the art to understand that the lateral control method 1000 of a vehicle provided in the above one or more embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, the lateral control method 1000 of a vehicle in one or more embodiments of the present application is implemented. For another example, when a computer-readable storage medium (such as a USB flash drive) storing the computer program is connected to a computer, the lateral control method 1000 of a vehicle in one or more embodiments of the present application can be executed by running the computer program.
[0036] refer to Figure 2 , Figure 2 FIG. 2 shows a schematic diagram of the structure of a lateral control device 2000 according to an embodiment of the present application. Figure 2 As shown, the device 2000 includes: a receiving device 210, an adjusting device 220 and a controlling device 230. The receiving device 210 is used to receive road feature information; the adjusting device 220 is used to adaptively adjust the parameters of the controller when it is determined that the vehicle is in a specific driving situation related to vehicle shaking based on the road feature information; and the controlling device 230 is used to perform lateral control on the vehicle based on the adjusted parameters.
[0037] In the context of this application, the term "lateral control" refers to the lateral control of the vehicle, which refers to the control perpendicular to the direction of movement, which is the steering control for the vehicle. The goal of lateral control is to control the vehicle to automatically maintain the desired driving route and have good ride comfort and stability under different vehicle speeds, loads, wind resistance, and road conditions. "Lateral control" is distinguished from control in the direction of driving speed (i.e., longitudinal control of the vehicle).
[0038] The receiving device 210 is used to receive road characteristic information. Here, "road characteristic information" is used to indicate characteristic information of the lane where the vehicle is located. In one or more embodiments, the road characteristic information is used to indicate that the vehicle is in a ramp or before a sharp curve.
[0039] In one embodiment, the receiving device 210 is configured to receive the road feature information from a high-precision positioning module or a roadside unit RSU. For example, the high-precision positioning module may include a high-precision map module and a positioning unit, wherein the high-precision map module can provide high-precision map information (including ramp / sharp bend annotation information and curvature information, etc.), and the positioning unit identifies whether the vehicle is traveling on the ramp based on the high-precision map information provided by the high-precision map module and the current positioning of the vehicle. For another example, the roadside unit RSU broadcasts the road feature information as the information sender. Since the roadside unit RSU can control the transmission range of the communication message by controlling the transmission power, if the vehicle approaches the RSU, the receiving device 210 (including the on-board unit OBU) receives the information of the roadside unit RSU and then starts to receive the information broadcast by the roadside unit RSU, including the current road feature information.
[0040] The adjustment device 220 is used to adaptively adjust the parameters of the controller when it is determined that the vehicle is in a specific driving situation related to vehicle jitter based on the road feature information. Here, the term "specific driving situation related to vehicle jitter" means any driving situation in which obvious jitter may occur during the control of the vehicle, including ramps, sharp bends, etc. That is, when it is determined that the vehicle is in a specific driving situation related to jitter (for example, ramp), the adjustment device 220 adaptively adjusts the parameters of the controller (for example, replaces / uses special parameters). In addition, the parameters here specifically refer to the parameters of the "controller", that is, the parameters of the controller that controls the vehicle to travel according to the planned trajectory (for the lane keeping assist function, the planned trajectory is mostly the center line of the current lane). The controller can be implemented by a PID model or other controller models (such as LQR or MPC, etc.), in which the parameters of the controller should be adaptively changed, for example, when it is determined that the vehicle is not in a "specific driving situation related to vehicle jitter", the first parameter (normal parameter) of the controller is used, and when it is determined that the vehicle is in a "specific driving situation related to vehicle jitter", the second parameter (special parameter) of the controller is used.
[0041] In one embodiment, the "road feature information" also includes the curvature information of the lane where the vehicle is located. In this embodiment, the adjustment device 220 is configured to reduce the proportional parameter Kp in the PID controller (for example, multiplying the Kp parameter of the PID controller by a factor less than 1) when the vehicle is traveling in a ramp and the curvature radius of the ramp is less than a threshold value, so that the feedback gain of the PID controller is reduced to reduce the possibility of system oscillation.
[0042] The control device 230 is used to perform lateral control on the vehicle based on the adjusted (controller) parameters. In one embodiment, the control device 230 is configured to adjust the steering angle request of the electronic power steering system EPS based on the adjusted parameters, thereby controlling the lateral body posture (e.g., the heading angle, yaw angle, etc. of the vehicle).
[0043] In one embodiment, the lateral control device 2000 can be integrated into various advanced driving assistance systems (ADAS). "Advanced driving assistance system" is also called ADAS or advanced driving assistance system. It uses various sensors installed on the car (for example, millimeter wave radar, laser radar, single / binocular camera and satellite navigation) to sense the surrounding environment at any time during the driving process of the car, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. In one embodiment, in addition to adaptive cruise control ACC, the advanced driving assistance system may also include a navigation and real-time traffic system TMC, an electronic police system ISA (Intelligent speed adaptation or intelligent speed advice), a vehicle network (Vehicularcommunication systems), a lane departure warning system LDWS (Lane departure warning system), a collision avoidance or pre-collision system (Collision avoidance system or Precrash system), a night vision system (Night Vision system), an adaptive light control (Adaptive light control), a pedestrian protection system (Pedestrian protection system), an automatic parking system (Automatic parking), traffic sign recognition (Traffic sign recognition), a blind spot detection (Blind spot detection), a driver fatigue detection (Driver drowsiness detection), a downhill control system (Hill descent control) and an electric vehicle warning sounds (Electric vehicle warning sounds) system, etc.
[0044] refer to Figure 3 , which shows a schematic diagram of the structure of an advanced driving assistance system ADAS 3000 according to an embodiment of the present application. Figure 3As shown, the advanced driver assistance system ADAS 3000 includes: an environmental perception module 310, a planning module 320, a positioning module 330 and a control module 340. The environmental perception module 310 is used to sense environmental information, such as detecting lane line related information (such as curvature, etc.) through a camera. Based on the environmental information sensed by the environmental perception module 310, the planning module 320 is used to plan the trajectory of the vehicle. Taking the lane keeping assist function as an example, the planned trajectory can be the center line of the lane. As described in the background technology section, due to reasons such as sudden changes in radius, the trajectory planned by the planning module 320 will have obvious jitter.
[0045] To solve this problem, according to one embodiment of the present application, the positioning module 330 is used to provide the control module 340 with information (such as road feature information) on whether the vehicle is in a specific driving situation (such as a ramp or a sharp curve). The control module 340 (such as including Figure 2 The lateral control device 2000 in the planning module 320 is configured to adaptively adjust the control parameters after receiving the information. In this way, even if the trajectory planned by the planning module 320 has jitter, the control module 340 can eliminate the "oscillation" problem by adjusting the control parameters.
[0046] In one or more embodiments, the control module 340 is a controller that controls the vehicle to travel along the planned trajectory. The control module 340 can be implemented by a PID model or other controller models (such as LQR or MPC). The parameters of the controller should change adaptively, depending on the road feature information from the positioning module 330. For example, when the control module 340 receives information from the positioning module 330 and indicates that the current scene is a ramp, the control module 340 will use special (controller) parameters.
[0047] The advanced driver assistance system ADAS 3000 can be installed in a vehicle in one embodiment. In one embodiment, a vehicle equipped with ADAS function is equipped with a high-precision positioning module (including a high-precision map module and a positioning unit) and uses high-precision positioning technology to determine the current driving scene of the vehicle. The high-precision positioning module can identify whether the current vehicle is traveling in the ramp, and can also provide the curvature information of the ramp where the vehicle is located. If the vehicle is traveling in the ramp and the radius of curvature is less than the threshold, the control parameter update is started, for example, the Kp parameter of the PID controller is multiplied by a factor so that the feedback gain of the controller is reduced to reduce the occurrence of vehicle control jitter. In another embodiment, a vehicle equipped with ADAS function is equipped with an on-board unit OBU for communicating with a roadside unit RSU. The roadside unit RSU is responsible for sending the current ramp curvature information. After receiving the information, the on-board unit OBU determines whether it is currently traveling in the ramp. If the vehicle is traveling on a ramp and the radius of curvature is less than a threshold, the control parameters are updated, for example, the Kp parameter of the PID controller is multiplied by a factor so that the feedback gain of the controller is reduced to reduce the occurrence of vehicle control jitter.
[0048] In summary, when the vehicle lateral control scheme of the embodiment of the present application determines that the vehicle is in a specific driving situation related to vehicle jitter (for example, a ramp or a sharp bend) based on the received road feature information, it adaptively adjusts the parameters of the controller (updates the control parameters, such as multiplying the control Kp parameter of the PID controller by a factor so that the feedback gain of the controller is reduced) and performs lateral control of the vehicle based on the adjusted parameters. In this way, in scenes such as sharp bends and ramps, although the vehicle has not yet experienced obvious jitter, the vehicle lateral control scheme has begun to reduce the closed-loop gain, thereby reducing or avoiding the occurrence of vehicle control jitter, improving lateral control and increasing customer satisfaction.
[0049] The above examples mainly illustrate the vehicle lateral control scheme of the embodiments of the present application. Although only some of the embodiments of the present application are described, it should be understood by those skilled in the art that the present application can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined in the claims.
Claims
1. A lateral control method for a vehicle, characterized in that: The method comprises: receiving road characteristic information; Adaptively adjusting parameters of a controller when it is determined based on the road feature information that the vehicle is in a specific driving situation associated with vehicle jitter; and The vehicle is laterally controlled based on the adjusted parameters.
2. The method of claim 1, wherein: The road feature information indicates that the vehicle is in a ramp or before a sharp curve.
3. The method of claim 1, wherein: The road feature information also includes curvature information of the lane where the vehicle is located, and when it is determined based on the road feature information that the vehicle is in a specific driving situation related to vehicle jitter, the parameters of the adaptive adjustment controller include: When the vehicle is traveling in a ramp and the curvature radius of the ramp is less than a threshold value, a proportional parameter Kp in a PID controller is reduced, so that a feedback gain of the PID controller is reduced.
4. The method of claim 1, wherein: The lateral control of the vehicle based on the adjusted parameters includes: The steering angle request of the electronic power steering system EPS is adjusted based on the adjusted parameters, thereby controlling the lateral vehicle body posture.
5. The method of claim 1, wherein: The received road feature information includes: The road feature information is received from a high-precision positioning module or a roadside unit RSU.
6. A lateral control device for a vehicle, characterized in that: The device comprises: A receiving device, used for receiving road feature information; an adjusting device for adaptively adjusting parameters of a controller when it is determined based on the road feature information that the vehicle is in a specific driving situation associated with vehicle jitter; and A control device is used to perform lateral control on the vehicle based on the adjusted parameters.
7. The device of claim 6, wherein: The road feature information indicates that the vehicle is in a ramp or before a sharp curve.
8. The device of claim 6, wherein: The road feature information also includes curvature information of the lane where the vehicle is located, and the adjustment device is configured to: When the vehicle is traveling in a ramp and the curvature radius of the ramp is less than a threshold value, a proportional parameter Kp in a PID controller is reduced, so that a feedback gain of the PID controller is reduced.
9. The device of claim 6, wherein: The control device is configured as follows: The steering angle request of the electronic power steering system EPS is adjusted based on the adjusted parameters, thereby controlling the lateral vehicle body posture.
10. The device of claim 6, wherein: The receiving device is configured as follows: The road feature information is received from a high-precision positioning module or a roadside unit RSU.
11. A computer-readable storage medium, characterized in that: The medium includes instructions which, when executed, perform the method of any one of claims 1 to 5.
12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.
13. An advanced driver assistance system ADAS, characterized in that: The advanced driver assistance system ADAS comprises the apparatus according to any one of claims 6 to 10.