Steering control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle control, and discloses a steering control method and device, a vehicle and a storage medium, and the steering control method comprises the steps that vehicle driving information, vehicle body posture information and environment road information are obtained; according to the driving information, the vehicle body posture information and the environment road information, compensating a target steering wheel rotating angle of the vehicle; and controlling the steering of the vehicle based on the compensated target steering wheel angle. According to the method and the device, fusion of various influence factors is realized, the adaptability and the execution accuracy of the steering angle of the vehicle under different environments and roads are improved, and the problem that the vehicle steering cannot be executed to an expected angle at one time due to direct issuing of an uncompensated steering wheel steering angle, so that multiple steering adjustment is caused is avoided.

Description

Technical Field

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

[0002] Autonomous driving refers to the technology that enables the vehicle to perceive the environment, plan its path and autonomously control the vehicle. However, the vehicle's Electric Power Steering (EPS) system has problems with low execution accuracy and hysteresis at small angles. In addition, due to the gaps in the physical structure of the electric power steering system, under the influence of external factors and the vehicle's own factors, it is easy to cause the vehicle to have insufficient response accuracy when turning and be unable to perform precise steering. Summary of the invention

[0003] The embodiments of the present application provide a steering control method, device, vehicle and computer-readable storage medium, which can solve the technical problem of being unable to accurately control the steering of a vehicle.

[0004] In order to achieve the above object, according to a first aspect of the present application, a steering control method is provided, comprising:

[0005] Obtain vehicle driving information, vehicle body posture information and environmental road information;

[0006] Compensate the target steering wheel angle of the vehicle based on driving information, vehicle posture information and environmental road information;

[0007] The steering of the vehicle is controlled based on the compensated target steering wheel angle.

[0008] Optionally, the target steering wheel angle of the vehicle is compensated according to the driving information, the vehicle body posture information and the environmental road information, including:

[0009] Determining a target steering wheel angle and a first compensation angle of the vehicle according to the driving information;

[0010] Determining a second compensation angle according to vehicle body posture information and environmental road information;

[0011] The target steering wheel angle is compensated according to the first compensation angle and the second compensation angle to obtain a compensated target steering wheel angle.

[0012] Optionally, determining the target steering wheel angle and the first compensation angle of the vehicle according to the driving information includes:

[0013] Determine a target wheel turning angle of the vehicle according to the driving information;

[0014] Convert the target wheel angle to obtain the target steering wheel angle;

[0015] The error between the target steering wheel angle and the actual steering wheel angle is obtained, and a first compensation angle is determined according to the error.

[0016] Optionally, the driving information includes lane line information, vehicle position information and vehicle speed, and determining a target wheel turning angle of the vehicle according to the driving information includes:

[0017] Determine the target driving trajectory of the vehicle based on the lane line information and vehicle position information;

[0018] The target wheel angle of the vehicle is determined based on the target driving trajectory, the vehicle speed and the vehicle's offset parameters.

[0019] Optionally, the step of obtaining the error between the target steering wheel angle and the actual steering wheel angle includes:

[0020] Determine a target yaw rate according to the driving information and the target steering wheel angle;

[0021] According to the target steering wheel angle and the target yaw angular velocity, a preset first mapping relationship is queried to obtain an error between the target steering wheel angle and the actual steering wheel angle.

[0022] Optionally, determining the target yaw angular velocity according to the driving information and the target steering wheel angle includes:

[0023] The yaw rate is calculated based on the vehicle speed, the target steering wheel angle and the wheel track of the vehicle in the driving information;

[0024] The yaw angular velocity is compensated according to a preset first compensation coefficient to obtain a target yaw angular velocity.

[0025] Optionally, before compensating the yaw angular velocity according to the preset first compensation coefficient to obtain the target yaw angular velocity, the method further includes:

[0026] Obtaining at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle cornering stiffness;

[0027] A first compensation coefficient is determined according to at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle cornering stiffness.

[0028] Optionally, the vehicle body posture information includes a vehicle body sideslip angle and a lateral acceleration, and the environmental road information includes a road surface inclination angle.

[0029] Optionally, determining the second compensation angle according to the vehicle body posture information and the environmental road information includes:

[0030] A preset second mapping relationship is queried according to the vehicle body sideslip angle, lateral acceleration and road surface inclination angle to obtain a second compensation angle.

[0031] Optionally, compensating the target steering wheel angle according to the first compensation angle and the second compensation angle to obtain the compensated target steering wheel angle includes:

[0032] The first compensation angle, the second compensation angle and the target steering wheel angle are merged to obtain a merged target steering wheel angle;

[0033] Querying a second compensation coefficient corresponding to environmental road information;

[0034] The fused target steering wheel angle is compensated according to the second compensation coefficient to obtain a compensated target steering wheel angle.

[0035] Accordingly, an embodiment of the present application provides a steering control device, comprising:

[0036] The perception module is used to obtain the vehicle's driving information, body posture information, and environmental road information;

[0037] A compensation module, used to compensate the target steering wheel angle of the vehicle according to driving information, vehicle body posture information and environmental road information;

[0038] The control module is used to control the steering of the vehicle based on the compensated target steering wheel angle.

[0039] In addition, an embodiment of the present application also provides a vehicle, including a processor and a memory, the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the steering control method provided in the embodiment of the present application.

[0040] In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for loading by a processor to execute any steering control method provided in the embodiment of the present application.

[0041] In addition, an embodiment of the present application also provides a computer program product, including a computer program, which implements any steering control method provided in the embodiment of the present application when the computer program is executed by a processor.

[0042] In the embodiment of the present application, by acquiring the driving information, body posture information and environmental road information of the vehicle, the target steering wheel angle of the vehicle is compensated according to the driving information, body posture information and environmental road information, thereby realizing the integration of multiple influencing factors and improving the adaptability and execution accuracy of the steering angle of the vehicle in different environments and roads. After compensating for the target steering wheel angle, the steering of the vehicle is controlled based on the compensated target steering wheel angle, thereby improving the accuracy of the vehicle steering control and avoiding the direct issuance of the uncompensated steering wheel angle, which results in the vehicle steering being unable to be executed to the desired angle at one time, thereby causing the problem of multiple steering adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0044] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0045] Figure 1 is a flow chart of a steering control method provided in an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of a process for compensating a target steering wheel angle provided in an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of vehicle steering control logic provided by an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of the structure of a steering control device provided in an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of the structure of an electronic device in a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely 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, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0051] The embodiments of the present application provide a steering control method, device, vehicle and computer-readable storage medium. The steering control device can be integrated in a vehicle.

[0052] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0053] At present, the perception module of the vehicle's autonomous driving can sense the vehicle's position and posture, the planning module plans the target trajectory based on its own position and the lane line position, and the control module determines the target steering angle of the steering wheel based on the vehicle's target trajectory. However, due to the low execution accuracy and response hysteresis of the Electric Power Steering (EPS) system at small angles, and the gaps in the physical structure of the Electric Power Steering system, it is easy to cause the steering response accuracy to be insufficient under the influence of external factors and the vehicle's own factors.

[0054] Currently, there are two solutions. One is feedback control, where the target steering angle of the vehicle steering wheel is based on the actual lateral displacement and the theoretical lateral displacement, and the cumulative lateral displacement error at the current moment is determined or the error is directly fed back; based on the lateral displacement error, the theoretical steering wheel angle value of the vehicle at the current moment is corrected; based on the corrected theoretical steering wheel angle value, the vehicle is laterally controlled.

[0055] The other is a control strategy based on a preset proportional differential, which determines the steering wheel angle compensation amount according to the target yaw rate and the actual yaw rate. The vehicle steering is controlled by adding the target angle and the steering wheel angle compensation amount so that the actual steering angle of the vehicle is consistent with the target steering wheel angle.

[0056] However, the cumulative error and direct feedback methods do not take into account the different execution effects of the turning angle at different angles and vehicle speeds, that is, the difference between the target turning angle and the actual turning angle at different angles and vehicle speeds is different. Generally, the small angle following time and error are large. If direct feedback or cumulative error execution is used, the steering wheel angle will become larger, and the steering wheel or vehicle will "draw a dragon". At high speeds, the impact of angle changes on the lateral direction of the vehicle becomes greater, making this phenomenon particularly obvious when the vehicle is driving at high speed.

[0057] The control strategy based on the preset proportional differential improves the accuracy of the steering wheel angle, but the consistency of this method is poor. If the current compensation amount is inaccurate, the vehicle will not be able to correct and will not be able to drive along the target trajectory. The above two lateral control methods do not consider the impact of the environment and body posture on the steering of the vehicle. Rainy and snowy weather will reduce the road adhesion coefficient, but the internal torque of the EPS will not change accordingly, resulting in oversteering of the vehicle.

[0058] Based on this, the embodiment of the present application obtains the vehicle's driving information, body posture information, and environmental road information, and compensates for the vehicle's target steering wheel angle based on the driving information, body posture information, and environmental road information, thereby achieving the integration of multiple influencing factors and improving the adaptability and execution accuracy of the vehicle's steering angle in different environments and roads. After compensating for the target steering wheel angle, the steering of the vehicle is controlled based on the compensated target steering wheel angle, thereby improving the accuracy of the vehicle's steering control and avoiding the problem of directly sending an uncompensated steering wheel angle, which results in the vehicle's steering failing to be executed to the desired angle at one time and requiring the vehicle to make multiple steering adjustments.

[0059] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0060] See also Figure 1 , Figure 1 : is a flow chart of a steering control method provided by an embodiment of the present application. The steering control method may include:

[0061] S101, obtaining vehicle driving information, vehicle body posture information and environmental road information.

[0062] S102: Compensate a target steering wheel angle of the vehicle according to driving information, vehicle body posture information, and environmental road information.

[0063] S103: Control the steering of the vehicle based on the compensated target steering wheel angle.

[0064] In this embodiment, the driving information of the vehicle refers to the state information of the vehicle during driving, such as the speed, the current position information of the vehicle, and the lane line information of the vehicle. As the vehicle travels on the road, the driving information of the vehicle obtained may also change. The driving information of the current vehicle can be obtained through the perception sensor of the vehicle. The body posture information refers to the overall tilt state of the vehicle when the vehicle is stationary or driving. For example, the pitch angle, sideslip angle and lateral acceleration of the vehicle are all body posture information of the vehicle. Environmental road information includes environmental information and road information of the vehicle. Among them, the environmental information can specifically include information such as weather and temperature, and the road information can specifically include information such as the wetness of the road surface, the material of the road surface, the inclination angle of the road surface and the cracks in the road surface.

[0065] The target steering wheel angle refers to the target angle of the vehicle's steering wheel, and the steering wheel is the steering wheel. According to the driving information, the vehicle body posture information and the environmental road information, the target steering wheel angle of the vehicle can be compensated to obtain the compensated target steering wheel angle. For example, at least two compensation angles are determined according to at least one of the driving information, the vehicle body posture information and the environmental road information, and the target steering wheel angle is compensated by the at least two compensation angles to obtain the compensated target steering wheel angle. After the target steering wheel angle of the vehicle is compensated, the compensated target steering wheel angle is sent to the corresponding control module, so that the steering of the vehicle can be controlled based on the compensated target steering wheel angle through the control module.

[0066] Therefore, by adopting the method of compensating first and then issuing, the steering wheel can be accurately turned to the target angle, thereby avoiding directly issuing the steering angle without considering whether the vehicle steering angle is correctly executed to produce the desired yaw method, avoiding the problem of steering expectations not being correctly executed due to characteristics such as insufficient steering response accuracy and mechanical clearance hysteresis, and further avoiding the problem of the steering wheel or vehicle "drawing a dragon" caused by repeated steering adjustments.

[0067] The embodiment of the present application obtains the vehicle's driving information, body posture information, and environmental road information, and compensates for the vehicle's target steering wheel angle based on the driving information, body posture information, and environmental road information, thereby achieving the integration of multiple influencing factors and improving the adaptability of the vehicle's steering angle and the accuracy of steering execution under different environments and road conditions. After compensating for the target steering wheel angle, the steering of the vehicle is controlled based on the compensated target steering wheel angle, thereby improving the accuracy of the vehicle's steering control and avoiding the problem of directly sending an uncompensated steering wheel angle, which results in the vehicle's steering being unable to be executed to the desired angle at one time, and the vehicle needs to make multiple steering adjustments.

[0068] like Figure 2 As shown, Figure 2is a flow chart of compensating the target steering wheel angle provided by an embodiment of the present application. In some embodiments of the present application, the target steering wheel angle of the vehicle is compensated according to the driving information, the vehicle body posture information and the environmental road information, including:

[0069] S201, determining a target steering wheel angle and a first compensation angle of the vehicle according to driving information;

[0070] S202, determining a second compensation angle according to vehicle body posture information and environmental road information;

[0071] S203 . Compensate the target steering wheel angle according to the first compensation angle and the second compensation angle to obtain a compensated target steering wheel angle.

[0072] In this embodiment, the vehicle body posture information includes the vehicle body side slip angle and lateral acceleration. The vehicle body side slip angle refers to the vehicle's x 0 The angle between the projection of the axis on the road surface and the projection of the vehicle speed (at the center of mass) on the road surface. The current vehicle posture information can be obtained through the vehicle's gyroscope or inertial navigation system.

[0073] The first compensation angle refers to the compensation angle corresponding to the driving information, and the second compensation angle refers to the compensation angle determined by the vehicle body posture information and the environmental road information. The target steering wheel angle is compensated by the determined first compensation angle and second compensation angle to obtain the compensated target steering wheel angle. For example, the first compensation angle, the second compensation angle and the target steering wheel angle are added to obtain the compensated target steering wheel angle.

[0074] In this embodiment, the target steering wheel angle is compensated by the first compensation angle and the second compensation angle, so that the compensated target steering wheel angle can more accurately control the steering of the vehicle, greatly improving the adaptability of the vehicle steering control to the environment and road conditions, as well as the accuracy of the vehicle steering execution.

[0075] In some embodiments of the present application, determining the target steering wheel angle and the first compensation angle of the vehicle according to the driving information includes:

[0076] Determine a target wheel turning angle of the vehicle according to the driving information;

[0077] Convert the target wheel angle to obtain the target steering wheel angle;

[0078] The error between the target steering wheel angle and the actual steering wheel angle is obtained, and a first compensation angle is determined according to the error.

[0079] In this embodiment, there is a corresponding conversion relationship between the target wheel angle of the vehicle and the target steering wheel angle, and the target wheel angle can be converted into the target steering wheel angle according to the conversion relationship. For example, there is a conversion ratio coefficient between the target wheel angle and the target steering wheel angle, and the target steering wheel angle of the vehicle can be calculated according to the conversion ratio coefficient and the target wheel angle. The error between the target steering wheel angle and the actual steering wheel angle is obtained, and the first compensation angle is determined according to the error.

[0080] In some implementations, the error value between the target steering wheel angle and the actual steering wheel angle is the first compensation angle.

[0081] In other implementations, the first compensation angle may also be obtained by calculating the error between the target steering wheel angle and the actual steering wheel angle and the corresponding compensation coefficient.

[0082] This embodiment determines the first compensation angle through the error between the target steering wheel angle and the actual steering wheel angle, thereby achieving steering correction for the vehicle and improving consistency.

[0083] In some embodiments of the present application, the driving information includes lane information, vehicle position information and vehicle speed. Determining the target wheel angle of the vehicle according to the driving information includes:

[0084] Determine the target driving trajectory of the vehicle based on the lane line information and vehicle position information;

[0085] The target wheel angle of the vehicle is determined based on the target driving trajectory, the vehicle speed and the vehicle's offset parameters.

[0086] In this embodiment, the driving information includes lane line information, vehicle position information and vehicle speed. The current position information of the vehicle output by the vehicle camera and the lane line information of the vehicle's position can be collected through the vehicle's perception module. The target driving trajectory of the vehicle can be determined based on the vehicle position information and lane line information. Specifically, if the lane lines around the vehicle are detected and there are no obstacles within the range corresponding to the vehicle, the lane line information is perceived by the visual camera, and a cubic or quartic spline curve is fitted, with its center line as the target driving trajectory of the vehicle; if there is an obstacle within the range corresponding to the vehicle, the optimal obstacle avoidance trajectory is calculated and fitted as the target driving trajectory. The offset parameters include lateral offset parameters and angular offset parameters. Among them, the lateral offset parameter can be determined by the target driving trajectory and the actual lateral position of the vehicle, and the angular offset parameter can be determined according to the difference between the actual steering wheel angle and the command angle calculated and sent by the upper layer.

[0087] In some embodiments, based on the target driving trajectory, the target wheel angle can be calculated through proportional-integral-derivative control (PID) according to the actual lateral and angular deviations and driving information fed back by the vehicle chassis.

[0088] In other implementations, the target wheel angle of the vehicle may also be determined by a controller such as a LQR (linear quadratic regulator) or an MPC (Model Predictive Control).

[0089] For example, the lateral deviation of the vehicle can be determined according to the deviation between the target driving trajectory and the actual lateral position. The control coefficient is adjusted according to the vehicle speed to obtain the adjusted control coefficient. The deviation is linearly combined according to the proportion, integration and differentiation to form a control quantity, and the control quantity is adjusted according to the adjusted control coefficient to obtain the target wheel angle of the vehicle.

[0090] The target wheel angle can be calculated by the following formula:

[0091]

[0092] Where, e(t) is the lateral deviation, K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, T d is the differential time constant, T i is the integration time constant. p , K i , K d , T i , T d These are parameters adjusted according to vehicle speed.

[0093] This embodiment determines the target wheel angle of the vehicle through the vehicle's target driving trajectory, vehicle speed and vehicle offset parameters, thereby improving the accuracy of path tracking, allowing the vehicle's steering to follow the vehicle's target driving trajectory, improving consistency, and further making the first compensation angle determined based on the error between the target steering wheel angle and the actual steering wheel angle more accurate, further improving the accuracy of vehicle steering control.

[0094] In some embodiments of the present application, the above-mentioned obtaining the error between the target steering wheel angle and the actual steering wheel angle includes:

[0095] Determine the target yaw rate according to the driving information and the target steering wheel angle;

[0096] According to the target steering wheel angle and the target yaw angular velocity, a preset first mapping relationship is queried to obtain an error between the target steering wheel angle and the actual steering wheel angle.

[0097] In this embodiment, the driving information includes the speed of the vehicle, and the target yaw rate can be calculated according to the speed of the vehicle, the wheel track and the target steering wheel angle. In actual application, the error between the target steering wheel angle and the actual steering wheel angle can be quickly obtained by determining the target yaw rate and the target steering wheel angle. Therefore, in some embodiments, a table or functional relationship between the target steering wheel angle, the target yaw rate and the error value can be established in advance, and the error value between the target steering wheel angle and the actual steering wheel angle can be determined by a table lookup method or a calculation function result. The first mapping relationship is the mapping relationship between the target steering wheel angle, the target yaw rate and the error value.

[0098] This embodiment queries a preset first mapping relationship through the target steering wheel angle and the target yaw angular velocity, and determines the error between the target steering wheel angle and the actual steering wheel angle. This can reduce the amount of calculation, reduce the computing power occupied, and improve real-time performance. Compared with the proportional-integral control method, it can greatly reduce the matching time, and the feedback-based error can further improve the control accuracy of the vehicle steering.

[0099] In some embodiments of the present application, determining the target yaw rate according to the driving information and the target steering wheel angle includes:

[0100] The yaw rate is calculated based on the vehicle speed, the target steering wheel angle and the wheel track of the vehicle in the driving information;

[0101] The yaw angular velocity is compensated according to a preset first compensation coefficient to obtain a target yaw angular velocity.

[0102] In this embodiment, the yaw rate of the vehicle can be determined by the vehicle speed, the target steering wheel angle and the wheel track in the driving information. The vehicle speed specifically includes the left driving wheel speed and the right driving wheel speed of the vehicle. For example, the yaw rate is calculated by the following formula.

[0103]

[0104] Among them, yaw_rate_tar represents the yaw angular velocity, v_left represents the speed of the left driving wheel, v_right represents the speed of the right driving wheel, and its unit is m / s (meters per second), wheel_width represents the wheel track, and its unit is m (meters), and cos(yaw_tar) represents the target steering wheel angle.

[0105] The yaw rate is compensated according to a preset first compensation coefficient to obtain a target yaw rate. For example, the first compensation coefficient is multiplied by the yaw rate to obtain the target yaw rate. For example, the target yaw rate is calculated by the following formula.

[0106]

[0107] Wherein, y represents the target yaw angular velocity, and cha_factor represents the first compensation coefficient.

[0108] In this embodiment, the yaw angular velocity is compensated by the first compensation coefficient, so that the target yaw angular velocity obtained after compensation can be more accurate.

[0109] In some embodiments of the present application, before compensating the yaw angular velocity according to the preset first compensation coefficient to obtain the target yaw angular velocity, the method further includes:

[0110] Obtaining at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle cornering stiffness;

[0111] A first compensation coefficient is determined according to at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle cornering stiffness.

[0112] In this embodiment, the yaw rate of the vehicle is also affected by at least one of the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness. Therefore, at least one of the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness is obtained, and the first compensation coefficient is determined according to at least one of the parameters. The tire performance parameter may be a tire load. The axle lateral stiffness includes the front axle lateral stiffness and the rear axle lateral stiffness. The greater the lateral stiffness, the better the operational stability of the vehicle.

[0113] In some embodiments, a compensation coefficient determined by any one of the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness may be used as the first compensation coefficient; multiple compensation coefficients may be selected from the compensation coefficients corresponding to the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness, respectively, as the first compensation coefficient; and a compensation coefficient jointly determined by multiple parameters of the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness may be used as the first compensation coefficient.

[0114] For example, taking the case where the first compensation coefficient is determined based on the mass of the vehicle and the axle lateral stiffness, the first compensation coefficient can be calculated using the following formula:

[0115]

[0116] Among them, cha_factor represents the first compensation coefficient, m represents the mass of the vehicle, and its unit is kg (kilogram), c_f represents the front axle lateral stiffness of the vehicle, and its unit is N / rad (Newton / radian), c_r represents the rear axle lateral stiffness of the vehicle, and its unit is N / rad (Newton / radian), l_r represents the distance from the center of mass of the vehicle to the rear axle, and its unit is m (meter), l_f represents the distance from the center of mass of the vehicle to the front axle, and its unit is m (meter), wheel_width represents the wheel track, and its unit is m (meter), k is the preset coefficient, and v_speed is the vehicle speed.

[0117] In this embodiment, the first compensation coefficient is determined by the compensation coefficient corresponding to at least one parameter among the vehicle mass, suspension system parameters, tire performance parameters and axle lateral stiffness, so that the yaw angular velocity can be accurately compensated based on the first compensation coefficient, thereby improving the steering accuracy of the vehicle.

[0118] In some embodiments of the present application, the vehicle body posture information includes the vehicle body sideslip angle and lateral acceleration, and the environmental road information includes the road surface inclination angle.

[0119] In some embodiments of the present application, the second compensation angle is determined according to the vehicle body posture information and the environmental road information, including:

[0120] A preset second mapping relationship is queried according to the vehicle body sideslip angle, lateral acceleration and road surface inclination angle to obtain a second compensation angle.

[0121] In this embodiment, changes in the vehicle body posture and changes in road conditions will cause changes in the front wheel load of the vehicle, resulting in inaccurate steering of the vehicle. For example, changes in the vehicle body posture when the vehicle makes a sharp turn will cause deviations in the vehicle's steering. Therefore, in order to make the vehicle's steering more consistent with changes in the environment and road during the vehicle's driving, the corresponding second compensation angle is determined based on the vehicle body posture information and the environmental road information, so that the target steering wheel angle can be compensated and corrected through the second compensation angle, thereby improving the accuracy of the vehicle's steering.

[0122] In some embodiments, the second compensation angle can be fitted by the historical vehicle body slip angle, historical lateral acceleration and historical road surface inclination angle in the historical vehicle body posture information, and the second mapping relationship between the vehicle body slip angle, lateral acceleration and road surface inclination angle and the second compensation angle can be obtained. The second mapping relationship can be represented by a mapping curve, a mapping function or a mapping table. The second mapping relationship is queried according to the vehicle body slip angle, lateral acceleration and road surface inclination angle of the current vehicle, that is, the second compensation angle corresponding to the current vehicle is obtained.

[0123] This embodiment queries the second mapping relationship through the vehicle body sideslip angle, lateral acceleration in the vehicle body posture information and the road surface inclination angle in the environmental road information, and determines the second compensation angle corresponding to the current vehicle. While improving the response speed, it makes the vehicle's steering more adapted to the environment and road in which the vehicle is located, thereby improving the accuracy of the vehicle's steering.

[0124] In some embodiments of the present application, the target steering wheel angle is compensated according to the first compensation angle and the second compensation angle to obtain the compensated target steering wheel angle, including:

[0125] The first compensation angle, the second compensation angle and the target steering wheel angle are merged to obtain a merged target steering wheel angle;

[0126] Querying a second compensation coefficient corresponding to environmental road information;

[0127] The fused target steering wheel angle is compensated according to the second compensation coefficient to obtain a compensated target steering wheel angle.

[0128] In this embodiment, the second compensation coefficient is a compensation coefficient corresponding to the environmental road information. By querying the mapping relationship between the environmental road information and the second compensation coefficient, the second compensation coefficient corresponding to the current environmental road information can be obtained.

[0129] In some embodiments, the weather conditions and road conditions at the current location of the vehicle can be determined by the onboard camera. The road adhesion coefficient of the current vehicle is determined based on the environmental road information, and the second compensation coefficient corresponding to the road adhesion coefficient is queried to obtain the second compensation coefficient corresponding to the current environmental road information. In some embodiments, the second compensation coefficient is in direct proportion to the road adhesion coefficient, and the second compensation coefficient increases with the increase of the road adhesion coefficient.

[0130] The first compensation angle, the second compensation angle and the target steering wheel angle are fused to obtain a fused target steering wheel angle. The fused target steering wheel angle is compensated according to the second compensation coefficient to obtain a compensated target steering wheel angle. For example, the second compensation coefficient is multiplied by the fused target steering wheel angle to obtain a compensated target steering wheel angle.

[0131] This embodiment compensates the fused target steering wheel angle through the second compensation coefficient corresponding to the environmental road information to obtain the compensated target steering wheel angle, so that the vehicle's steering is more in line with the vehicle's current environment, improves the adaptability of the vehicle's steering to the environment, and the accuracy of the vehicle's steering execution, and ensures the consistency of the vehicle's actual steering angle with the compensated target steering wheel angle.

[0132] The steering control method in this application is described below in conjunction with a specific implementation scenario.

[0133] like Figure 3 As shown, Figure 3 A logical schematic diagram of the steering control method provided in an embodiment of the present application. Among them, the perception module in the vehicle perceives the current position information, lane line information and driving information of the vehicle, and sends it to the planning module. The planning module calculates the target driving trajectory based on the lane line information, current position information and driving information. The lateral control module calculates the target front wheel angle through proportional integral differential control based on the actual lateral and steering angle deviations and driving information fed back by the vehicle chassis. The target steering wheel angle is determined according to the target front wheel angle. The second compensation angle is determined according to the vehicle's body posture information and environmental road information. The determined first compensation angle, second compensation angle and target steering wheel angle are added to obtain the fused target steering wheel angle.

[0134] In order to better implement the steering control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above steering control method. The meanings of the terms are the same as those in the above steering control method, and the specific implementation details can refer to the description in the method embodiment.

[0135] For example, Figure 4 As shown, the steering control device may include: a perception module 401, a compensation module 402 and a control module 403.

[0136] The perception module 401 is used to obtain the vehicle's driving information, body posture information and environmental road information;

[0137] A compensation module 402, used to compensate the target steering wheel angle of the vehicle according to the driving information, the vehicle body posture information and the environmental road information;

[0138] The control module 403 is used to control the steering of the vehicle based on the compensated target steering wheel angle.

[0139] In one embodiment of the present application, the compensation module 402 includes:

[0140] A first confirmation unit, used to determine a target steering wheel angle and a first compensation angle of the vehicle according to driving information;

[0141] A second confirmation unit, used for determining a second compensation angle according to the vehicle body posture information and the environmental road information;

[0142] The first compensation unit is used to compensate the target steering wheel angle according to the first compensation angle and the second compensation angle to obtain the compensated target steering wheel angle.

[0143] In one embodiment of the present application, the first confirmation unit includes:

[0144] a third confirmation unit, configured to determine a target wheel angle of the vehicle according to the driving information;

[0145] A conversion unit, used for converting the target wheel angle to obtain a target steering wheel angle;

[0146] The fourth confirmation unit is used to obtain an error between the target steering wheel angle and the actual steering wheel angle, and determine a first compensation angle according to the error.

[0147] In one embodiment of the present application, the driving information includes lane information, vehicle position information and vehicle speed, and the third confirmation unit includes:

[0148] Determine the target driving trajectory of the vehicle based on the lane line information and vehicle position information;

[0149] The target wheel angle of the vehicle is determined based on the target driving trajectory, the vehicle speed and the vehicle's offset parameters.

[0150] In one embodiment of the present application, the fourth confirmation unit includes:

[0151] a fifth confirmation unit, configured to determine a target yaw rate according to the driving information and the target steering wheel angle;

[0152] The query unit is used to query a preset first mapping relationship according to a target steering wheel angle and a target yaw angular velocity, and obtain an error between the target steering wheel angle and an actual steering wheel angle.

[0153] In one embodiment of the present application, the fifth confirmation unit includes:

[0154] A processing unit, configured to calculate a yaw rate based on a vehicle speed, a target steering wheel angle, and a wheel track of the vehicle in the driving information;

[0155] The second compensation unit is used to compensate the yaw angular velocity according to a preset first compensation coefficient to obtain a target yaw angular velocity.

[0156] In one embodiment of the present application, the fifth confirmation unit further includes:

[0157] An acquisition unit, used to acquire at least one parameter of the vehicle mass, suspension system parameters, tire performance parameters, and axle cornering stiffness;

[0158] The sixth confirmation unit is used to determine a first compensation coefficient according to at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle lateral stiffness.

[0159] In one embodiment of the present application, the vehicle body posture information includes the vehicle body sideslip angle and lateral acceleration, and the environmental road information includes the road surface inclination angle.

[0160] In one embodiment of the present application, the second confirmation unit is specifically used for:

[0161] A preset second mapping relationship is queried according to the vehicle body sideslip angle, lateral acceleration and road surface inclination angle to obtain a second compensation angle.

[0162] In one embodiment of the present application, the first compensation unit is specifically used for:

[0163] The first compensation angle, the second compensation angle and the target steering wheel angle are merged to obtain a merged target steering wheel angle;

[0164] Querying a second compensation coefficient corresponding to environmental road information;

[0165] The fused target steering wheel angle is compensated according to the second compensation coefficient to obtain a compensated target steering wheel angle.

[0166] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0167] The embodiment of the present application also provides a vehicle, the vehicle includes an electronic device, and the electronic device in the vehicle can be a terminal, etc. Figure 5 As shown, it shows a schematic diagram of the structure of the electronic device in the vehicle involved in the embodiment of the present application, specifically:

[0168] The electronic device in the vehicle may include one or more processing core processors 601, one or more computer-readable storage media memories 602, a power supply 603, an input unit 604 and other components. Those skilled in the art will appreciate that Figure 5 The electronic device structure in the vehicle shown in the figure does not constitute a limitation on the electronic device in the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0169] The processor 601 is the control center of the electronic equipment in the vehicle. It uses various interfaces and lines to connect various parts of the electronic equipment in the entire vehicle. It executes various functions of the electronic equipment in the vehicle and processes data by running or executing computer programs and / or modules stored in the memory 602, and calling data stored in the memory 602. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0170] The memory 602 can be used to store computer programs and modules. The processor 601 executes various functional applications and data processing by running the computer programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of electronic devices in the vehicle, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0171] The electronic device in the vehicle also includes a power supply 603 for supplying power to various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 603 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0172] The electronic device of the vehicle may further include an input unit 604, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0173] The vehicle's electronic equipment may also include one or more of the following components: a computing unit, ROM, RAM, a power supply component, an I / O interface, a communication component, a memory, and a sensor.

[0174] Although not shown, the electronic device of the vehicle may also include a display unit, etc., which will not be described in detail here. Specifically in this embodiment, the processor 601 in the electronic device of the vehicle will load the executable files corresponding to the processes of one or more computer programs into the memory 602 according to the following instructions, and the processor 601 will run the computer programs stored in the memory 602 to achieve various functions, such as:

[0175] Obtain vehicle driving information, vehicle body posture information and environmental road information;

[0176] Compensate the target steering wheel angle of the vehicle based on driving information, vehicle posture information and environmental road information;

[0177] The steering of the vehicle is controlled based on the compensated target steering wheel angle.

[0178] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the steering control method above, which will not be elaborated here.

[0179] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0180] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program can be loaded by a processor to execute the steps in any one of the steering control methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0181] Obtain vehicle driving information, vehicle body posture information and environmental road information;

[0182] Compensate the target steering wheel angle of the vehicle based on driving information, vehicle posture information and environmental road information;

[0183] The steering of the vehicle is controlled based on the compensated target steering wheel angle.

[0184] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0185] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0186] Since the computer program stored in the computer-readable storage medium can execute the steps in any steering control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any steering control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0187] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned steering control method.

[0188] The above is a detailed introduction to a steering control method, device, vehicle and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A steering control method, characterized in that: include: Obtain vehicle driving information, vehicle body posture information and environmental road information; Compensating a target steering wheel angle of the vehicle according to the driving information, the vehicle body posture information and the environmental road information; The steering of the vehicle is controlled based on the compensated target steering wheel angle.

2. The steering control method according to claim 1, characterized in that: The compensating the target steering wheel angle of the vehicle according to the driving information, the vehicle body posture information and the environmental road information comprises: Determining a target steering wheel angle and a first compensation angle of the vehicle according to the driving information; determining a second compensation angle according to the vehicle body posture information and the environmental road information; The target steering wheel angle is compensated according to the first compensation angle and the second compensation angle to obtain a compensated target steering wheel angle.

3. The steering control method according to claim 2, characterized in that: Determining a target steering wheel angle and a first compensation angle of the vehicle according to the driving information includes: determining a target wheel angle of the vehicle according to the driving information; Converting the target wheel angle to obtain the target steering wheel angle; An error between the target steering wheel angle and the actual steering wheel angle is obtained, and the first compensation angle is determined according to the error.

4. The steering control method according to claim 3, characterized in that: The driving information includes lane line information, vehicle position information and vehicle speed, and determining a target wheel turning angle of the vehicle according to the driving information includes: Determining a target driving trajectory of the vehicle according to the lane line information and the vehicle position information; A target wheel angle of the vehicle is determined based on the target driving trajectory, the vehicle speed and an offset parameter of the vehicle.

5. The steering control method according to claim 3, characterized in that: The obtaining the error between the target steering wheel angle and the actual steering wheel angle comprises: determining a target yaw rate according to the driving information and the target steering wheel angle; A preset first mapping relationship is queried according to the target steering wheel angle and the target yaw angular velocity to obtain an error between the target steering wheel angle and the actual steering wheel angle.

6. The steering control method according to claim 5, characterized in that: The step of determining a target yaw rate according to the driving information and the target steering wheel angle comprises: Calculating a yaw rate based on the vehicle speed, the target steering wheel angle and the wheel track of the vehicle in the driving information; The yaw angular velocity is compensated according to a preset first compensation coefficient to obtain the target yaw angular velocity.

7. The steering control method according to claim 6, characterized in that: Before compensating the yaw angular velocity according to the preset first compensation coefficient to obtain the target yaw angular velocity, the method further includes: Obtaining at least one parameter of the vehicle's mass, suspension system parameters, tire performance parameters, and axle cornering stiffness; The first compensation coefficient is determined according to at least one parameter among the mass of the vehicle, the suspension system parameter, the tire performance parameter and the axle cornering stiffness.

8. The steering control method according to claim 2, characterized in that: The vehicle body posture information includes a vehicle body sideslip angle and a lateral acceleration, and the environmental road information includes a road surface inclination angle.

9. The steering control method according to claim 8, characterized in that: The determining of the second compensation angle according to the vehicle body posture information and the environmental road information includes: A preset second mapping relationship is queried according to the vehicle body sideslip angle, the lateral acceleration and the road surface inclination angle to obtain the second compensation angle.

10. The steering control method according to claim 2, characterized in that: The method of compensating the target steering wheel angle according to the first compensation angle and the second compensation angle to obtain the compensated target steering wheel angle includes: fusing the first compensation angle, the second compensation angle and the target steering wheel angle to obtain a fused target steering wheel angle; Querying a second compensation coefficient corresponding to the environmental road information; The fused target steering wheel angle is compensated according to the second compensation coefficient to obtain the compensated target steering wheel angle.

11. A steering control device, characterized in that: include: The perception module is used to obtain the vehicle's driving information, body posture information, and environmental road information; A compensation module, used for compensating a target steering wheel angle of the vehicle according to the driving information, the vehicle body posture information and the environmental road information; A control module is used to control the steering of the vehicle based on the compensated target steering wheel angle.

12. A vehicle, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the steering control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steering control method according to any one of claims 1 to 10.

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