Transverse control strategy determination method and device, storage medium and electronic device

Abstract

The invention discloses a transverse control strategy determination method and device, a storage medium and an electronic device, and relates to the field of vehicle dynamics control, and the transverse control strategy determination method comprises the steps: obtaining vehicle parameters of a target vehicle; a vehicle transverse control model of the target vehicle is established according to the vehicle parameters, and the vehicle transverse control model is used for determining a transverse control strategy of the target vehicle; the transverse control strategy is determined through the vehicle transverse control model with the target track point coordinates and the target yaw velocity as input, and the transverse control strategy is used for indicating the steering wheel control angles and the steering wheel rotating speeds of the target vehicle at different moments. The steering wheel control angles and the steering wheel rotating speeds at different moments are used for controlling the target vehicle to run to the target track point coordinates at the target yaw velocity.

Description

Technical Field

[0001] The present application relates to the field of vehicle dynamics control, and in particular, to a method and device for determining a lateral control strategy, a storage medium, and an electronic device. Background Art

[0002] In the increasingly complex simulation test process of vehicle intelligent chassis wire control, steering and joint intelligent driving, more and more automated control, complex control simulation scenarios and working conditions have emerged, which puts higher requirements on vehicle model dynamic control. The traditional form of lateral control of vehicle models is to input the motion boundary conditions such as steering wheel angle and speed set at a single time into the vehicle model, so as to achieve open-loop and basic control of the lateral motion of the vehicle, but the model operation accuracy, adaptability and robustness are relatively general, which will affect the efficiency and quality of simulation tests.

[0003] In the existing technology, in the traditional vehicle model lateral control method, the model operation accuracy, adaptability and robustness are relatively general, which affects the efficiency and quality of simulation experiments, and no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a method and device for determining a lateral control strategy, a storage medium and an electronic device, so as to at least solve the problem in the prior art that in the traditional vehicle model lateral control method, the model operation accuracy, adaptability and robustness are relatively general, which affects the efficiency and quality of the simulation test.

[0005] According to an embodiment of the present application, a method for determining a lateral control strategy is provided, which is applied to a target vehicle, including: acquiring vehicle parameters of the target vehicle; establishing a vehicle lateral control model of the target vehicle based on the vehicle parameters, wherein the vehicle lateral control model is used to determine the lateral control strategy of the target vehicle; taking target trajectory point coordinates and target yaw angular velocity as input, determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0006] In an exemplary embodiment, a vehicle lateral control model of the target vehicle is established based on the vehicle parameters, including: establishing a vehicle lateral translational dynamics equation and a vehicle rotational dynamics equation of the target vehicle based on the vehicle parameters; establishing a vehicle lateral dynamics matrix model based on the vehicle lateral translational dynamics equation and the vehicle rotational dynamics equation; and establishing the vehicle lateral control model based on the vehicle lateral dynamics matrix model.

[0007] In an exemplary embodiment, establishing a vehicle lateral translation dynamics equation and a vehicle rotation dynamics equation of the target vehicle according to the vehicle parameters includes: generating a vehicle two-degree-of-freedom model of the target vehicle; performing a lateral translation force analysis on the vehicle two-degree-of-freedom model according to Newton's second law, and establishing the vehicle lateral translation dynamics equation according to the obtained first analysis result: Among them, F y1 is the lateral force of the front axle wheel of the target vehicle, F y2 is the lateral force of the rear axle wheel of the target vehicle, m is the vehicle center of mass mass of the target vehicle, is the lateral displacement of the center of mass of the target vehicle, v x is the speed of the target vehicle along the x-axis, is the vehicle yaw angle of the target vehicle, and the vehicle parameters include: the mass of the vehicle center of mass, the lateral displacement of the center of mass, the speed of the target vehicle along the x-axis, and the vehicle yaw angle; a rigid body dynamics analysis is performed on the two-degree-of-freedom model of the vehicle, and the vehicle rotation dynamics equation is established according to the second analysis result obtained: Among them, I z is the moment of inertia of the target vehicle around the z-axis; is the yaw angular acceleration of the target vehicle; L1 is the distance from the front axle to the center of mass of the target vehicle; L2 is the distance from the rear axle to the center of mass of the target vehicle.

[0008] In an exemplary embodiment, a vehicle lateral dynamics matrix model is established according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation, including: analyzing the front wheel deflection angle of the target vehicle, converting the vehicle lateral translation dynamics equation into a first differential equation according to the obtained third analysis result. and converting the vehicle rotation dynamics equation into a second differential equation according to the third analysis result Among them, C α1 is the front axle cornering stiffness of the target vehicle, C α2 is the rear axle cornering stiffness of the target vehicle, α1 is the front wheel slip angle of the target vehicle, α2 is the rear wheel slip angle of the target vehicle, and δ is the front wheel turning angle of the target vehicle; the first differential equation and the second differential equation are transformed into the same matrix form to obtain the vehicle lateral dynamics matrix model:

[0009] In an exemplary embodiment, the vehicle lateral control model is established according to the vehicle lateral dynamics matrix model, including: determining a third differential equation according to the first differential equation, the second differential equation and the vehicle lateral dynamics matrix model. and the fourth differential equation Wherein, the third differential equation corresponds to the first differential equation, the fourth differential equation corresponds to the second differential equation, e Y is the yaw angle control deviation, e Y =YY T , is the yaw rate control deviation, is the acceleration control deviation of the target vehicle in the y-axis direction, is the lateral acceleration of the center of mass of the target vehicle, is the speed control deviation of the target vehicle in the y-axis direction, is the lateral velocity of the center of mass of the target vehicle, is the target yaw rate, v x is the speed of the target vehicle along the x-axis, R is the turning radius of the vehicle, is the target centripetal acceleration of the target vehicle's center of mass on the y-axis, The third differential equation and the fourth differential equation are transformed into the same matrix form to obtain the vehicle lateral control model

[0010] In an exemplary embodiment, determining the lateral control strategy through the vehicle lateral control model includes: representing the vehicle lateral control model through a system state feedback control equation, wherein the system state feedback control equation is A, B and C are the model coefficient matrices of the vehicle lateral control model; the state feedback control equation is determined according to the eigenvalue (A-BK) of the vehicle lateral control model And according to the state feedback method, δ=-Kx is determined, wherein K is a feedback gain matrix; the feedback gain matrix K is solved according to the place function and the real-time vehicle parameters of the target vehicle, and the front wheel turning angle δ is determined according to the feedback gain matrix K; the steering wheel control angle is determined according to the front wheel turning angle δ and the vehicle transmission ratio coefficient, and the steering wheel speed is determined according to the vehicle speed ratio coefficient, and the lateral control strategy is determined according to the steering wheel control angle and the steering wheel speed, wherein the vehicle transmission ratio coefficient is used to indicate the transmission ratio of the steering wheel control angle to the front wheel turning angle, and the vehicle speed ratio coefficient is used to indicate the speed ratio of the target yaw angular velocity to the steering wheel speed.

[0011] According to another embodiment of the embodiment of the present application, a device for determining a lateral control strategy is also provided, including: an acquisition module for acquiring vehicle parameters of a target vehicle; an establishment module for establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine the lateral control strategy of the target vehicle; a determination module for taking target trajectory point coordinates and target yaw angular velocity as input, and determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0012] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for determining the lateral control strategy when running.

[0013] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for determining the lateral control strategy through the computer program.

[0014] According to another aspect of the embodiments 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 steps of the method described in each embodiment of the present application are implemented.

[0015] In an embodiment of the present application, vehicle parameters of the target vehicle are first obtained, and then a vehicle lateral control model of the target vehicle is established according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy for the target vehicle; finally, the target trajectory point coordinates and the target yaw angular velocity are used as inputs, and the lateral control strategy is determined through the vehicle lateral control model, wherein the determined lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the target vehicle can be controlled to travel to the target trajectory point coordinates at the target yaw angular velocity according to the steering wheel control angle and the steering wheel speed at different times; the above scheme is adopted, and by constructing a vehicle lateral control model, the effect of real-time automatic adjustment of the vehicle's lateral running trajectory is achieved, and the model operation control accuracy and the operation robustness under different working conditions are improved; thereby solving the problem that the model operation accuracy, adaptability and robustness of the traditional vehicle model lateral control method in the related art are relatively general, which affects the efficiency and quality of the simulation experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 is a hardware environment schematic diagram of an optional method for determining a lateral control strategy according to an embodiment of the present application;

[0019] Figure 2 is a flow chart of an optional method for determining a lateral control strategy according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of an optional two-degree-of-freedom model of a vehicle according to an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of an optional front wheel deflection angle according to an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the principle of an optional vehicle trajectory lateral control strategy according to an embodiment of the present application;

[0023] Figure 6 It is a structural block diagram of an optional device for determining a lateral control strategy according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal for determining a lateral control strategy according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD)) and a memory 104 for storing data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the lateral control strategy in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0028] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0029] In this embodiment, a method for determining a lateral control strategy is provided, which is applied to a target vehicle. Figure 2 : is a flow chart of an optional method for determining a lateral control strategy according to an embodiment of the present application, the process comprising the following steps:

[0030] Step S202, obtaining vehicle parameters of the target vehicle;

[0031] Step S204, establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle;

[0032] Step S206, taking the target trajectory point coordinates and the target yaw angular velocity as input, determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0033] In an embodiment of the present application, vehicle parameters of the target vehicle are first obtained, and then a vehicle lateral control model of the target vehicle is established according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy for the target vehicle; finally, the target trajectory point coordinates and the target yaw angular velocity are used as inputs, and the lateral control strategy is determined through the vehicle lateral control model, wherein the determined lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the target vehicle can be controlled to travel to the target trajectory point coordinates at the target yaw angular velocity according to the steering wheel control angle and the steering wheel speed at different times; the above scheme is adopted, and by constructing a vehicle lateral control model, the effect of real-time automatic adjustment of the vehicle's lateral running trajectory is achieved, and the model operation control accuracy and the operation robustness under different working conditions are improved; thereby solving the problem that the model operation accuracy, adaptability and robustness of the traditional vehicle model lateral control method in the related art are relatively general, which affects the efficiency and quality of the simulation experiment.

[0034] Optionally, the vehicle lateral control model of the target vehicle can be established according to the vehicle parameters through the following implementation method, specifically including: establishing the vehicle lateral translational dynamics equation and the vehicle rotational dynamics equation of the target vehicle according to the vehicle parameters; establishing a vehicle lateral dynamics matrix model according to the vehicle lateral translational dynamics equation and the vehicle rotational dynamics equation; establishing the vehicle lateral control model according to the vehicle lateral dynamics matrix model.

[0035] The process of establishing a vehicle lateral control model includes: firstly establishing the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation of the target vehicle according to the vehicle parameters; then establishing the vehicle lateral dynamics matrix model according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation; finally, establishing the vehicle lateral control model according to the vehicle lateral dynamics matrix model.

[0036] Optionally, establishing a vehicle lateral translation dynamics equation and a vehicle rotation dynamics equation of the target vehicle according to the vehicle parameters includes: generating a vehicle two-degree-of-freedom model of the target vehicle; performing a lateral translation force analysis on the vehicle two-degree-of-freedom model according to Newton's second law, and establishing the vehicle lateral translation dynamics equation according to a first analysis result obtained: Among them, F y1 is the lateral force of the front axle wheel of the target vehicle, F y2 is the lateral force of the rear axle wheel of the target vehicle, m is the vehicle center of mass mass of the target vehicle, is the lateral displacement of the center of mass of the target vehicle, v x is the speed of the target vehicle along the x-axis, is the vehicle yaw angle of the target vehicle, and the vehicle parameters include: the mass of the vehicle center of mass, the lateral displacement of the center of mass, the speed of the target vehicle along the x-axis, and the vehicle yaw angle; a rigid body dynamics analysis is performed on the two-degree-of-freedom model of the vehicle, and the vehicle rotation dynamics equation is established according to the second analysis result obtained: Among them, I z is the moment of inertia of the target vehicle around the z-axis; is the yaw angular acceleration of the target vehicle; L1 is the distance from the front axle to the center of mass of the target vehicle; L2 is the distance from the rear axle to the center of mass of the target vehicle.

[0037] Specifically, the process of establishing the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation includes: firstly generating a vehicle two-degree-of-freedom model of the target vehicle, such as Figure 3 As shown, according to Newton's second law, the lateral translation force analysis of the vehicle's center of mass can be performed to establish the vehicle's lateral translation dynamics equation: Among them, F y1 is the lateral force of the front axle wheel of the vehicle, F y2 is the lateral force of the rear axle wheel, m is the mass of the vehicle center of mass, is the lateral displacement of the vehicle center of mass, v x is the speed of the vehicle along the x-axis, is the vehicle yaw angle.

[0038] On the other hand, assuming that the vehicle is a rigid body rotating around its center of mass, according to rigid body dynamics, combined with Figure 3 The two-degree-of-freedom model of the vehicle shown in the figure can be used to perform rigid body dynamics analysis on the center of mass of the vehicle to establish the vehicle rotation dynamics equation Among them, I z is the moment of inertia of the vehicle around the z-axis, is the yaw angular acceleration, L1 is the distance from the front axle to the center of mass of the vehicle; L2 is the distance from the rear axle to the center of mass of the vehicle. Thus, the vehicle lateral dynamics model equation is established.

[0039] Based on the above steps, a vehicle lateral dynamics matrix model is established according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation, including: analyzing the front wheel deflection angle of the target vehicle, converting the vehicle lateral translation dynamics equation into a first differential equation according to the third analysis result obtained and converting the vehicle rotation dynamics equation into a second differential equation according to the third analysis result Among them, C α1 is the front axle cornering stiffness of the target vehicle, C α2is the rear axle cornering stiffness of the target vehicle, α1 is the front wheel slip angle of the target vehicle, α2 is the rear wheel slip angle of the target vehicle, and δ is the front wheel turning angle of the target vehicle; the first differential equation and the second differential equation are transformed into the same matrix form to obtain the vehicle lateral dynamics matrix model:

[0040] The process of establishing the vehicle lateral dynamics matrix model includes: if C α1 Represents the vehicle's front axle lateral stiffness, C α2 represents the lateral stiffness of the rear axle of the vehicle, α1 represents the side slip angle of the front wheel of the vehicle, α2 represents the side slip angle of the rear wheel of the vehicle, and δ represents the front wheel turning angle of the vehicle; combined Figure 4 The front wheel deflection angle analysis shown in the figure can be approximated by a small angle as follows: The rear axle velocity vector can be approximated by a small angle: Then the vehicle lateral translation dynamics equation and vehicle rotation dynamics equation can be transformed into differential equations as follows: (i.e. the first differential equation); (i.e. the second differential equation). Then, these differential equations are transformed into the same matrix form, and the vehicle lateral dynamics matrix model is obtained as follows: This completes the establishment of the vehicle lateral dynamics state space matrix model equation.

[0041] Optionally, establishing the vehicle lateral control model according to the vehicle lateral dynamics matrix model includes: determining a third differential equation according to the first differential equation, the second differential equation and the vehicle lateral dynamics matrix model. and the fourth differential equation Wherein, the third differential equation corresponds to the first differential equation, the fourth differential equation corresponds to the second differential equation, e Y is the yaw angle control deviation, e Y =YY T , is the yaw rate control deviation, is the acceleration control deviation of the target vehicle in the y-axis direction, is the lateral acceleration of the center of mass of the target vehicle, is the speed control deviation of the target vehicle in the y-axis direction, is the lateral velocity of the center of mass of the target vehicle, is the target yaw rate, v x is the speed of the target vehicle along the x-axis, R is the turning radius of the vehicle, is the target centripetal acceleration of the target vehicle's center of mass on the y-axis, The third differential equation and the fourth differential equation are transformed into the same matrix form to obtain the vehicle lateral control model

[0042] Optionally, the process of establishing a vehicle lateral control model based on the vehicle lateral dynamics matrix model includes: after completing the establishment of the vehicle lateral dynamics state space matrix model, it is necessary to use the vehicle target trajectory point and vehicle target heading (i.e., target yaw angular velocity) as control inputs and the vehicle steering wheel angle as control output to build a vehicle trajectory deviation state space model based on adjustable steering wheel angle and speed.

[0043] Set the lateral target coordinate value of the vehicle target trajectory point to y T , the vehicle target yaw rate is The target centripetal acceleration of the vehicle's center of mass in the y-axis direction is v x is the speed of the vehicle along the x-axis, and the turning radius of the vehicle is R; then the target yaw rate Target centripetal acceleration of the vehicle's center of mass on the y-axis Yaw angle control deviation e Y =YY T , the yaw rate control deviation is The vehicle y-axis acceleration control deviation is The lateral acceleration of the vehicle's center of mass Vehicle y-axis speed control deviation The lateral velocity of the vehicle's center of mass Combining the first differential equation and the second differential equation in the above process, the state space differential equation of the vehicle lateral control target trajectory deviation can be obtained as: (i.e. the third differential equation), (i.e. the fourth differential equation). Then the third differential equation and the fourth differential equation are transformed into the same matrix form, and the vehicle lateral control target trajectory deviation state space matrix model is obtained as follows: (That is, the vehicle lateral control model mentioned above). Thus, the vehicle lateral control model is established.

[0044] It should be noted that since the turning radius of the vehicle's lateral control is usually large, and in order to ensure the stability of the system during the control strategy design process, the longitudinal speed v can be approximately considered x is a constant speed, then

[0045] Optionally, determining the lateral control strategy through the vehicle lateral control model includes: expressing the vehicle lateral control model through a system state feedback control equation, wherein the system state feedback control equation is: A, B and C are the model coefficient matrices of the vehicle lateral control model; the state feedback control equation is determined according to the eigenvalue (A-BK) of the vehicle lateral control model And according to the state feedback method, δ=-Kx is determined, wherein K is a feedback gain matrix; the feedback gain matrix K is solved according to the place function and the real-time vehicle parameters of the target vehicle, and the front wheel turning angle δ is determined according to the feedback gain matrix K; the steering wheel control angle is determined according to the front wheel turning angle δ and the vehicle transmission ratio coefficient, and the steering wheel speed is determined according to the vehicle speed ratio coefficient, and the lateral control strategy is determined according to the steering wheel control angle and the steering wheel speed, wherein the vehicle transmission ratio coefficient is used to indicate the transmission ratio of the steering wheel control angle to the front wheel turning angle, and the vehicle speed ratio coefficient is used to indicate the speed ratio of the target yaw angular velocity to the steering wheel speed.

[0046] After the vehicle lateral control model is established, the vehicle's center of mass, road curve radius, vehicle speed, yaw angle, moment of inertia, cornering stiffness, target trajectory point coordinates, target yaw angular velocity and other data are needed as model input to process and calculate the steering wheel angle for the vehicle's lateral control.

[0047] set up The coefficient matrix of the vehicle lateral control model is represented by A, B, and C matrices, and the vehicle lateral control model can be expressed as: And the characteristic value of the control system is: (A-BK), then the system state feedback control equation is: (That is, the state feedback control equation mentioned above). From the state feedback method, we can get: δ = -Kx. According to the place function, we can find the feedback gain matrix K, and then we can get the front wheel steering angle δ of the lateral control system.

[0048] The transmission ratio from the vehicle steering wheel angle to the front wheel rotation angle is coefficient n S (i.e. the vehicle transmission ratio coefficient mentioned above), the speed ratio from the target yaw rate to the steering wheel speed is n Y (i.e. the above-mentioned vehicle speed ratio coefficient), then the vehicle parameters, road information parameters, target trajectory point information, and adjustable steering wheel speed (m, v x , Y, I z , L1, L1, C α1 , C α2 , R, y T , ), steering wheel control angle n for vehicle lateral trajectory controls The output of δ is solved to obtain the steering wheel control angle and steering wheel speed at different times, thereby realizing the design of a vehicle trajectory lateral control strategy with adjustable speed based on the steering wheel angle.

[0049] Through the above embodiments, the design of the vehicle trajectory lateral control strategy based on the steering wheel and adjustable speed is completed as a whole, and its overall principle diagram is as follows: Figure 5 As shown, firstly, the vehicle center of mass mass, road curve radius, vehicle speed, yaw angle, moment of inertia, cornering stiffness and other information are input to build a vehicle lateral control equation-target trajectory deviation state space matrix model (i.e., the above-mentioned vehicle lateral control model), and then the target trajectory point coordinates, target yaw angular velocity, adjustable steering wheel speed and other information are combined with the above-mentioned information and input into the model for processing, and the vehicle front wheel angle is output, which is converted into the steering wheel angle according to the transmission ratio (i.e., the above-mentioned vehicle transmission ratio coefficient), and the control of the vehicle model (i.e., the above-mentioned target vehicle) is completed. At the same time, the real-time vehicle information and related environmental information are fed back to the model, thereby completing the real-time determination of the steering wheel angle.

[0050] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0051] In the present embodiment, a device for determining a lateral control strategy is also provided, and the device for determining a lateral control strategy is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0052] Figure 6 is a structural block diagram of an optional device for determining a lateral control strategy according to an embodiment of the present application; Figure 6 As shown, including:

[0053] An acquisition module 62, used to acquire vehicle parameters of a target vehicle;

[0054] An establishing module 64, used to establish a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle;

[0055] The determination module 66 is used to determine the lateral control strategy through the vehicle lateral control model with the target trajectory point coordinates and the target yaw angular velocity as inputs, wherein the lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the steering wheel control angle and the steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0056] Through the above-mentioned device, the vehicle parameters of the target vehicle are first obtained, and then a vehicle lateral control model of the target vehicle is established according to the vehicle parameters, wherein the vehicle lateral control model is used to determine the lateral control strategy for the target vehicle; finally, the target trajectory point coordinates and the target yaw angular velocity are used as inputs, and the lateral control strategy is determined through the vehicle lateral control model, wherein the determined lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the target vehicle can be controlled to travel to the target trajectory point coordinates at the target yaw angular velocity according to the steering wheel control angle and the steering wheel speed at different times; adopting the above-mentioned scheme, by constructing a vehicle lateral control model, the effect of real-time automatic adjustment of the vehicle's lateral running trajectory is achieved, and the model operation control accuracy and the operation robustness under different working conditions are improved; thereby solving the problem that the model operation accuracy, adaptability and robustness of the traditional vehicle model lateral control method in the related technology are relatively general, which affects the efficiency and quality of the simulation experiment.

[0057] Optionally, the above-mentioned establishment module 64 is also used to establish the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation of the target vehicle according to the vehicle parameters; establish a vehicle lateral dynamics matrix model according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation; and establish the vehicle lateral control model according to the vehicle lateral dynamics matrix model.

[0058] Optionally, the establishment module 64 is further used to generate a two-degree-of-freedom model of the target vehicle; perform a lateral translation force analysis on the two-degree-of-freedom model of the vehicle according to Newton's second law, and establish the lateral translation dynamics equation of the vehicle according to the first analysis result obtained: Among them, F y1 is the lateral force of the front axle wheel of the target vehicle, F y2 is the lateral force of the rear axle wheel of the target vehicle, m is the vehicle center of mass mass of the target vehicle, is the lateral displacement of the center of mass of the target vehicle, vx is the speed of the target vehicle along the x-axis, is the vehicle yaw angle of the target vehicle, and the vehicle parameters include: the mass of the vehicle center of mass, the lateral displacement of the center of mass, the speed of the target vehicle along the x-axis, and the vehicle yaw angle; a rigid body dynamics analysis is performed on the two-degree-of-freedom model of the vehicle, and the vehicle rotation dynamics equation is established according to the second analysis result obtained: Among them, I z is the moment of inertia of the target vehicle around the z-axis; is the yaw angular acceleration of the target vehicle; L1 is the distance from the front axle to the center of mass of the target vehicle; L2 is the distance from the rear axle to the center of mass of the target vehicle.

[0059] Optionally, the building module 64 is further used to analyze the front wheel deflection angle of the target vehicle, and transform the vehicle lateral translation dynamics equation into the first differential equation according to the third analysis result obtained. and converting the vehicle rotation dynamics equation into a second differential equation according to the third analysis result Among them, C α1 is the front axle cornering stiffness of the target vehicle, C α2 is the rear axle cornering stiffness of the target vehicle, α1 is the front wheel slip angle of the target vehicle, α2 is the rear wheel slip angle of the target vehicle, and δ is the front wheel turning angle of the target vehicle; the first differential equation and the second differential equation are transformed into the same matrix form to obtain the vehicle lateral dynamics matrix model:

[0060] Optionally, the establishment module 64 is further configured to determine a third differential equation according to the first differential equation, the second differential equation and the vehicle lateral dynamics matrix model. and the fourth differential equation Wherein, the third differential equation corresponds to the first differential equation, the fourth differential equation corresponds to the second differential equation, e Y is the yaw angle control deviation, e Y =YY T , is the yaw rate control deviation, is the acceleration control deviation of the target vehicle in the y-axis direction, is the lateral acceleration of the center of mass of the target vehicle, is the speed control deviation of the target vehicle in the y-axis direction, is the lateral velocity of the center of mass of the target vehicle, is the target yaw rate, vx is the speed of the target vehicle along the x-axis, R is the turning radius of the vehicle, is the target centripetal acceleration of the target vehicle's center of mass on the y-axis, The third differential equation and the fourth differential equation are transformed into the same matrix form to obtain the vehicle lateral control model

[0061] Optionally, the determination module 66 is further configured to represent the vehicle lateral control model by a system state feedback control equation, wherein the system state feedback control equation is: A, B and C are the model coefficient matrices of the vehicle lateral control model; the state feedback control equation is determined according to the eigenvalue (A-BK) of the vehicle lateral control model And according to the state feedback method, δ=-Kx is determined, wherein K is a feedback gain matrix; the feedback gain matrix K is solved according to the place function and the real-time vehicle parameters of the target vehicle, and the front wheel turning angle δ is determined according to the feedback gain matrix K; the steering wheel control angle is determined according to the front wheel turning angle δ and the vehicle transmission ratio coefficient, and the steering wheel speed is determined according to the vehicle speed ratio coefficient, and the lateral control strategy is determined according to the steering wheel control angle and the steering wheel speed, wherein the vehicle transmission ratio coefficient is used to indicate the transmission ratio of the steering wheel control angle to the front wheel turning angle, and the vehicle speed ratio coefficient is used to indicate the speed ratio of the target yaw angular velocity to the steering wheel speed.

[0062] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0063] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0064] S1, obtaining vehicle parameters of the target vehicle;

[0065] S2, establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle;

[0066] S3, taking the target trajectory point coordinates and the target yaw angular velocity as input, determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0067] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0068] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0069] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0070] S1, obtaining vehicle parameters of the target vehicle;

[0071] S2, establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle;

[0072] S3, taking the target trajectory point coordinates and the target yaw angular velocity as input, determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0073] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0074] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0075] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0076] S1, obtaining vehicle parameters of the target vehicle;

[0077] S2, establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle;

[0078] S3, taking the target trajectory point coordinates and the target yaw angular velocity as input, determining the lateral control strategy through the vehicle lateral control model, wherein the lateral control strategy is used to indicate the steering wheel control angle and steering wheel speed of the target vehicle at different times, and the steering wheel control angle and steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

[0079] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0080] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0081] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a lateral control strategy, characterized in that: Applied to target vehicles, including: Obtain vehicle parameters of the target vehicle; Establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used to determine a lateral control strategy of the target vehicle; The lateral control strategy is determined by the vehicle lateral control model with the target trajectory point coordinates and the target yaw angular velocity as input, wherein the lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the steering wheel control angle and the steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

2. The method for determining the lateral control strategy according to claim 1, characterized in that: Establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters includes: Establishing a vehicle lateral translation dynamics equation and a vehicle rotation dynamics equation of the target vehicle according to the vehicle parameters; Establishing a vehicle lateral dynamics matrix model according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation; The vehicle lateral control model is established according to the vehicle lateral dynamics matrix model.

3. The method for determining the lateral control strategy according to claim 2, characterized in that: The vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation of the target vehicle are established according to the vehicle parameters, including: Generating a vehicle two-degree-of-freedom model of the target vehicle; According to Newton's second law, the lateral translation force analysis of the two-degree-of-freedom model of the vehicle is performed, and the lateral translation dynamic equation of the vehicle is established according to the first analysis result obtained: Among them, F y1 is the lateral force of the front axle wheel of the target vehicle, F y2 is the lateral force of the rear axle wheel of the target vehicle, m is the vehicle center of mass mass of the target vehicle, is the lateral displacement of the center of mass of the target vehicle, v x is the speed of the target vehicle along the x-axis, is the vehicle yaw angle of the target vehicle, the vehicle parameters including: the mass of the vehicle center of mass, the lateral displacement of the center of mass, the speed of the target vehicle along the x-axis, and the vehicle yaw angle; The rigid body dynamics analysis is performed on the two-degree-of-freedom model of the vehicle, and the vehicle rotational dynamics equation is established according to the obtained second analysis result: Among them, I z is the moment of inertia of the target vehicle around the z-axis; is the yaw angular acceleration of the target vehicle; L1 is the distance from the front axle to the center of mass of the target vehicle; L2 is the distance from the rear axle to the center of mass of the target vehicle.

4. The method for determining the lateral control strategy according to claim 3, characterized in that: A vehicle lateral dynamics matrix model is established according to the vehicle lateral translation dynamics equation and the vehicle rotation dynamics equation, including: Performing front wheel deflection angle analysis on the target vehicle, and converting the vehicle lateral translation dynamics equation into the first differential equation according to the third analysis result obtained and converting the vehicle rotation dynamics equation into a second differential equation according to the third analysis result Among them, C α1 is the front axle cornering stiffness of the target vehicle, C α2 is the rear axle cornering stiffness of the target vehicle, α1 is the front wheel sideslip angle of the target vehicle, α2 is the rear wheel sideslip angle of the target vehicle, and δ is the front wheel turning angle of the target vehicle; The first differential equation and the second differential equation are transformed into the same matrix form to obtain the vehicle lateral dynamics matrix model:

5. The method for determining the lateral control strategy according to claim 4, characterized in that: The vehicle lateral control model is established according to the vehicle lateral dynamics matrix model, including: The third differential equation is determined according to the first differential equation, the second differential equation and the vehicle lateral dynamics matrix model: and the fourth differential equation ， Wherein, the third differential equation corresponds to the first differential equation, the fourth differential equation corresponds to the second differential equation, e Y is the yaw angle control deviation, e Y =YY T , is the yaw rate control deviation, is the acceleration control deviation of the target vehicle in the y-axis direction, is the lateral acceleration of the center of mass of the target vehicle, is the speed control deviation of the target vehicle in the y-axis direction, is the lateral velocity of the center of mass of the target vehicle, is the target yaw rate, v x is the speed of the target vehicle along the x-axis, R is the turning radius of the vehicle, is the target centripetal acceleration of the target vehicle's center of mass on the y-axis, The third differential equation and the fourth differential equation are transformed into the same matrix form to obtain the vehicle lateral control model 6. The method for determining the lateral control strategy according to claim 5, characterized in that: Determining the lateral control strategy by using the vehicle lateral control model includes: The vehicle lateral control model is represented by a system state feedback control equation, wherein the system state feedback control equation is: A, B and C are the model coefficient matrices of the vehicle lateral control model; Determine the state feedback control equation according to the characteristic value (A-BK) of the vehicle lateral control model And according to the state feedback method, δ=-Kx is determined, where K is the feedback gain matrix; Solving the feedback gain matrix K according to the place function and the real-time vehicle parameters of the target vehicle, and determining the front wheel turning angle δ according to the feedback gain matrix K; The steering wheel control angle is determined according to the front wheel steering angle δ and the vehicle transmission ratio coefficient, the steering wheel speed is determined according to the vehicle speed ratio coefficient, and the lateral control strategy is determined according to the steering wheel control angle and the steering wheel speed, wherein the vehicle transmission ratio coefficient is used to indicate the transmission ratio of the steering wheel control angle to the front wheel steering angle, and the vehicle speed ratio coefficient is used to indicate the speed ratio of the target yaw angular velocity to the steering wheel speed.

7. A device for determining a lateral control strategy, characterized in that: include: An acquisition module, used to acquire vehicle parameters of a target vehicle; An establishing module, used for establishing a vehicle lateral control model of the target vehicle according to the vehicle parameters, wherein the vehicle lateral control model is used for determining a lateral control strategy of the target vehicle; A determination module is used to determine the lateral control strategy through the vehicle lateral control model using the target trajectory point coordinates and the target yaw angular velocity as inputs, wherein the lateral control strategy is used to indicate the steering wheel control angle and the steering wheel speed of the target vehicle at different times, and the steering wheel control angle and the steering wheel speed at different times are used to control the target vehicle to travel to the target trajectory point coordinates at the target yaw angular velocity.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. 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 6 is implemented.

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