Vehicle transverse control method, device, equipment and medium

Abstract

The embodiment of the invention provides a vehicle transverse control method and device, equipment and a medium, and relates to the technical field of automatic driving. The vehicle transverse control method comprises the steps that model prediction control is conducted according to the positioning position and the planning track of a vehicle, and an expected steering instruction is obtained; performing an open-loop test according to the driving information of the vehicle and the expected steering instruction, and determining a feedforward parameter configuration table; debugging an off-line simulation model of a steering system of the vehicle according to the feedforward parameter configuration table, and determining feedback parameters; adjusting a feedforward parameter configuration table according to the feedback parameters to obtain a target parameter configuration table, and generating a steering torque instruction according to the target parameter configuration table; and the steering torque instruction is sent to the steering system, so that the steering system performs transverse control according to the steering torque instruction. According to the embodiment of the invention, the technical effect of transverse control of the vehicle only provided with the torque interface can be realized.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle lateral control method, device, equipment and medium. Background Art

[0002] At present, most mass-produced vehicles do not have the ability to adapt to the torque interface. Chassis vehicles with only a torque interface cannot perform lateral control, making the vehicle unable to drive automatically and unable to implement functions such as NOA (Navigate on Autopilot, automatically entering / exiting highway ramps during navigation), LCC (Lane Centering Assist), and LSS (Lexus Safety System, Lane Support System). Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a vehicle lateral control method, device, equipment and medium, so as to achieve the technical effect of enabling a vehicle with only a torque interface to perform lateral control.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle lateral control method, comprising:

[0005] Perform model predictive control based on the vehicle's positioning position and planned trajectory to obtain the desired steering command;

[0006] Performing an open-loop test according to the driving information of the vehicle and the expected steering command to determine a feedforward parameter configuration table;

[0007] Debugging an off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine feedback parameters;

[0008] adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table, and generating a steering torque command according to the target parameter configuration table;

[0009] The steering torque command is sent to the steering system, so that the steering system performs lateral control according to the steering torque command.

[0010] In the above implementation process, model predictive control is performed according to the vehicle's positioning position and planned trajectory to obtain the desired steering command, and an open-loop test and feedback correction are performed by a closed-loop torque controller according to the vehicle's driving information and the desired steering command, so that the desired steering command is converted into a steering torque command, and the steering torque command is sent to the vehicle's steering system for lateral control. This allows vehicles with only a torque interface to be laterally controlled without the need to modify the torque interface wire control, thereby achieving the technical effect of enabling vehicles with only a torque interface to be laterally controlled.

[0011] Furthermore, the model predictive control is performed according to the positioning position and the planned trajectory of the vehicle to obtain the desired steering instruction, which specifically includes:

[0012] Obtaining a desired steering wheel angle and a desired steering wheel speed according to the positioning position and the planned trajectory through a model predictive controller;

[0013] The expected steering instruction is generated by combining the expected steering wheel angle and the expected steering wheel speed.

[0014] In the above implementation process, the model predictive controller generates the expected steering instruction by obtaining the expected steering wheel angle and the expected steering wheel speed according to the positioning position and the planned trajectory of the vehicle, so that the expected steering instruction can be obtained quickly and accurately.

[0015] Further, the open-loop test is performed according to the driving information of the vehicle and the expected steering command to determine the feedforward parameter configuration table, which specifically includes:

[0016] The driving information is obtained through a closed-loop torque controller; wherein the driving information includes a vehicle speed;

[0017] Under the conditions of the vehicle speed and the expected steering wheel angle, performing an open-loop test on the vehicle to obtain road test data;

[0018] A maximum steering torque is extracted from the road test data, and the feedforward parameter configuration table is determined according to the maximum steering torque.

[0019] In the above implementation process, the closed-loop torque controller performs an open-loop test according to the vehicle's driving information and the expected steering command to determine the feedforward parameter configuration table, which can ensure that the expected steering command can be quickly and accurately converted into a steering torque command.

[0020] Further, extracting the maximum steering torque from the road test data specifically includes:

[0021] A first maximum steering torque and a second maximum steering torque are extracted from the road test data; wherein the first maximum steering torque is the maximum steering torque that keeps the steering wheel stationary, and the second maximum steering torque is the maximum steering torque that makes the vehicle reach a preset lateral acceleration.

[0022] In the above implementation process, the feedforward parameter configuration table is determined by extracting the maximum steering torque that makes the steering wheel stationary and the maximum steering torque that makes the vehicle reach a preset lateral acceleration from the road test data by the closed-loop torque controller. This can take into account the steering torque limitations at different vehicle speeds and quickly and accurately determine the feedforward parameter configuration table.

[0023] Further, debugging the off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine the feedback parameters specifically includes:

[0024] The driving information is obtained through a closed-loop torque controller; wherein the driving information includes a steering wheel angle and a steering wheel speed;

[0025] Based on the offline simulation model of the steering system, simulating lateral control according to the feedforward parameter configuration table to obtain a simulated steering wheel angle and a simulated steering wheel speed;

[0026] Obtaining the steering wheel angle error according to the steering wheel angle and the simulated steering wheel angle, and obtaining the steering wheel speed error according to the steering wheel speed and the simulated steering speed;

[0027] Feedback control is performed according to the steering wheel angle error and the steering wheel speed error to obtain the feedback parameter.

[0028] In the above implementation process, the closed-loop torque controller simulates lateral control according to the feedforward configuration parameter table based on the offline simulation model of the steering system, and the offline simulation model of the steering system is fed back and debugged according to the steering wheel angle error and the steering wheel speed error in the simulated lateral control process to obtain feedback parameters. The steering error in the lateral control process of the steering system can be considered to quickly and accurately obtain the feedback parameters.

[0029] Furthermore, before debugging the off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table and determining the feedback parameters, the method further includes:

[0030] An off-line simulation model of the steering system is established by adopting a system identification method.

[0031] In the above implementation process, by adopting the system identification method and establishing an offline simulation model of the steering system, the approximate model of the steering system can be quickly and accurately obtained to simulate the lateral control according to the feedforward configuration parameter table, ensuring that the steering error in the lateral control process of the steering system is fully considered and the feedback parameters are quickly and accurately obtained.

[0032] Further, the adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table also includes:

[0033] Performing compensation control according to the first maximum steering torque to determine a compensation parameter;

[0034] The feedforward parameter configuration table is adjusted according to the compensation parameter to obtain the target parameter configuration table.

[0035] In the above implementation process, the closed-loop torque controller performs torque compensation according to the first maximum steering torque obtained in the feedforward control process to determine the compensation parameters, which can take into account influencing factors such as dynamic / static friction and quickly and accurately determine the compensation parameters.

[0036] In a second aspect, an embodiment of the present invention provides a vehicle lateral control device, comprising:

[0037] A model predictive control module is used to perform model predictive control based on the vehicle's positioning position and planned trajectory to obtain the desired steering command;

[0038] A vehicle open-loop test module, used to perform an open-loop test according to the driving information of the vehicle and the expected steering command, and determine a feedforward parameter configuration table;

[0039] A feedback parameter determination module, used to debug an off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine feedback parameters;

[0040] A configuration parameter adjustment module, configured to adjust the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table, and generate a steering torque instruction according to the target parameter configuration table;

[0041] The vehicle lateral control module is used to send the steering torque instruction to the steering system, so that the steering system performs lateral control according to the steering torque instruction.

[0042] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the memory is coupled to the processor, and the processor implements the vehicle lateral control method as described above when executing the computer program.

[0043] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle lateral control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0045] Figure 1A schematic flow chart of a vehicle lateral control method provided in a first embodiment of the present invention;

[0046] Figure 2 A data flow diagram of a vehicle lateral control method according to an optional embodiment of the first embodiment of the present invention;

[0047] Figure 3 A data flow diagram of a model predictive controller according to an optional embodiment of the first embodiment of the present invention calculating a desired steering wheel angle and a desired steering wheel speed;

[0048] Figure 4 A data flow diagram of a closed-loop torque controller for performing feedforward control, feedback control, and compensation control according to an optional embodiment of the first embodiment of the present invention;

[0049] Figure 5 It is a schematic diagram of the relationship between the amplitude of the execution angle, the amplitude of the target torque, the response time, and the execution time of an optional embodiment of the first embodiment of the present invention;

[0050] Figure 6 A schematic diagram of a torque model of a steering system according to an alternative embodiment of the first embodiment of the present invention;

[0051] Figure 7 A schematic structural diagram of a vehicle lateral control device provided in a second embodiment of the present invention;

[0052] Figure 8 A schematic structural diagram of an electronic device provided in the third embodiment of the present invention. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0054] It should be noted that in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance. At the same time, the step numbers in the text are only for the convenience of explaining the embodiments of the present invention and do not serve to limit the order of execution of the steps. The method provided in the embodiment of the present invention can be executed by a related terminal device, and the following description will be taken as an example of a processor as the execution subject.

[0055] Please see Figure 1 , Figure 1 The first embodiment of the present invention provides a vehicle lateral control method, comprising steps S101 to S105:

[0056] S101, performing model predictive control according to the positioning position and planned trajectory of the vehicle to obtain a desired steering instruction;

[0057] S102, performing an open-loop test according to the vehicle's driving information and the expected steering command to determine a feedforward parameter configuration table;

[0058] S103, debugging an off-line simulation model of a steering system of a vehicle according to a feedforward parameter configuration table, and determining feedback parameters;

[0059] S104, adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table, and generating a steering torque command according to the target parameter configuration table;

[0060] S105: Send a steering torque command to the steering system, so that the steering system performs lateral control according to the steering torque command.

[0061] As an example, the data flow diagram of the vehicle lateral control method is as follows: Figure 2 As shown, the positioning position and planned trajectory of the vehicle are obtained, the positioning position and planned trajectory of the vehicle are input into the model predictive controller, and the model predictive control is performed according to the positioning position and planned trajectory of the vehicle through the model predictive controller to obtain the expected steering command, and the driving information of the vehicle is obtained, and the driving information and the expected steering command of the vehicle are input into the closed-loop torque controller, and the closed-loop torque controller is used to perform an open-loop test according to the driving information and the expected steering command of the vehicle, and the feedforward parameter configuration table is determined, and the offline simulation model of the steering system of the vehicle is debugged according to the feedforward parameter configuration table, and the feedback parameters are determined, and the feedforward parameter configuration table is adjusted according to the feedback parameters to obtain the target parameter configuration table, and the steering torque command is generated according to the target parameter configuration table, and the steering torque command is sent to the steering system of the vehicle, so that the steering system performs lateral control according to the steering torque command. At this time, the vehicle can automatically drive according to the actual use needs, and realize NOA (Navigate on Autopilot, automatically entering / exiting the highway ramp during navigation), LCC (lane centering assist), LSS (Lexus Safety System, lane support system) and other functions.

[0062] The embodiment of the present invention performs model predictive control according to the vehicle's positioning position and planned trajectory to obtain a desired steering command, and performs open-loop testing and feedback correction according to the vehicle's driving information and the desired steering command through a closed-loop torque controller to convert the desired steering command into a steering torque command, so that the steering torque command is sent to the vehicle's steering system for lateral control. This allows a vehicle with only a torque interface to be laterally controlled without the need to modify the torque interface wire control, thereby achieving the technical effect of enabling a vehicle with only a torque interface to be laterally controlled.

[0063] In an optional embodiment, the method performs model predictive control based on the vehicle's positioning position and planned trajectory to obtain a desired steering instruction, specifically including: obtaining a desired steering wheel angle and an expected steering wheel speed based on the positioning position and planned trajectory through a model predictive controller; and generating a desired steering instruction by combining the desired steering wheel angle and the expected steering wheel speed.

[0064] As an example, a model predictive controller is used to adopt a model predictive control algorithm to calculate the desired steering wheel angle and the desired steering wheel speed according to the positioning position and the planned trajectory of the vehicle. The desired steering wheel angle and the desired steering wheel speed are combined to generate the desired steering command. Among them, the model predictive control algorithm can refer to the existing model predictive control algorithm, which will not be described in detail here.

[0065] Model predictive control (MPC) is a special type of control. Its current control action is obtained by solving a finite-time open-loop optimal control problem at each sampling instant. The current state of the process is used as the initial state of the optimal control problem, and the optimal control sequence obtained only implements the first control action. This is the biggest difference between it and those algorithms that use pre-calculated control laws. In essence, model predictive control solves an open-loop optimal control problem.

[0066] For example, the data flow diagram of the model predictive controller to calculate the expected steering wheel angle and the expected steering wheel speed is as follows Figure 3 As shown by Figure 3 It can be seen that the model predictive controller tracks the planned trajectory of the vehicle and corrects it, calculating the expected steering wheel angle and the expected steering wheel speed. Figure 3 in, u * 0:N represents the input prediction sequence calculated by MPC, usually N = 10 (0:9), N is the MPC prediction step size, usually 10; u * 0 means the first value of the input prediction sequence is used as the true system input.

[0067] The embodiment of the present invention generates a desired steering instruction by obtaining a desired steering wheel angle and a desired steering wheel speed according to the positioning position and the planned trajectory of the vehicle by a model predictive controller, so that the desired steering instruction can be obtained quickly and accurately.

[0068] In an optional embodiment, the open-loop test is performed according to the vehicle's driving information and expected steering instructions to determine the feedforward parameter configuration table, which specifically includes: obtaining driving information through a closed-loop torque controller; wherein the driving information includes the vehicle speed; performing feedforward control under the conditions of the vehicle speed and the expected steering wheel angle, performing an open-loop test on the vehicle, and obtaining road test data; extracting the maximum steering torque from the road test data, and determining the feedforward parameter configuration table based on the maximum steering torque.

[0069] As an example, a closed-loop torque controller is used to obtain driving information such as the vehicle speed, steering wheel angle, and steering wheel speed. The expected steering wheel angle and expected steering wheel speed are extracted from the expected steering command output by the model predictive controller. The operating condition is determined based on the vehicle speed and the expected steering wheel angle. Under the operating condition, an open-loop test is performed on the vehicle to obtain road test data. After data cleaning, data conversion, and other data processing are performed on the road test data, the maximum steering torque is extracted from the road test data. Based on the maximum steering torque, a feedforward parameter configuration table is determined.

[0070] For example, the data flow diagram of the closed-loop torque controller for feedforward control is as follows: Figure 4 shown.

[0071] In the embodiment of the present invention, a closed-loop torque controller performs an open-loop test according to the vehicle's driving information and the expected steering command to determine a feedforward parameter configuration table, thereby ensuring that the expected steering command is subsequently converted into a steering torque command quickly and accurately.

[0072] In an optional embodiment, the extracting the maximum steering torque from the road test data specifically includes: extracting a first maximum steering torque and a second maximum steering torque from the road test data; wherein the first maximum steering torque is the maximum steering torque that makes the steering wheel stationary, and the second maximum steering torque is the maximum steering torque that makes the vehicle reach a preset lateral acceleration.

[0073] As an example, a closed-loop torque controller is used to obtain driving information such as the vehicle speed, steering wheel angle, and steering wheel speed. The expected steering wheel angle and the expected steering wheel speed are extracted from the expected steering command output by the model predictive controller. The operating condition is determined based on the vehicle speed and the expected steering wheel angle. Under the operating condition, an open-loop test is performed on the vehicle to obtain road test data. After data cleaning, data conversion, and other data processing are performed on the road test data, the maximum steering torque that makes the steering wheel stationary, i.e., the first maximum steering torque, and the maximum steering torque that makes the vehicle reach a preset lateral acceleration, i.e., the second maximum steering torque, are determined based on the road test data. The first maximum steering torque and the second maximum steering torque are combined to determine the feedforward parameter configuration table.

[0074] For example, the line control signals and requirements are determined as shown in Table 1.

[0075] Table 1

[0076]

[0077]

[0078] In order to diversify the open-loop test, a variety of working conditions are designed according to the vehicle speed and the expected steering wheel angle. The working conditions are assumed to be as shown in Table 2.

[0079] Table 2

[0080]

[0081] According to the working conditions shown in Table 2, the CANoe bus test tool is used to perform an open-loop test on the vehicle. Specifically, under each working condition, the vehicle speed and execution angle under the working condition are sent to the vehicle through the vehicle's torque interface, so that the vehicle outputs the corresponding target torque, and the response time, execution time, etc. under the working condition are recorded to obtain road test data.

[0082] Assume that the magnitude of the execution angle, the magnitude of the target torque, and the response time ( Figure 5 Td in), execution time ( Figure 5 The relationship between Tp) in Figure 5 shown.

[0083] Based on the processed road test data, under different vehicle speed conditions, the maximum steering torque that makes the steering wheel immobile is extracted as the first maximum steering torque, and the maximum lateral acceleration that makes the vehicle reach a preset value, such as 3m / s 2 The maximum steering torque of is taken as the second maximum steering torque.

[0084] The maximum steering torque that keeps the steering wheel stationary under different vehicle speed conditions is shown in Table 3.

[0085] Table 3

[0086] Vehicle speed (m / s) 0 5 10 15 25 First maximum steering torque (Nm) 0.8 0.8 0.5 0.5 0.5

[0087] It is assumed that the lateral acceleration reached by the vehicle under different vehicle speed conditions and the maximum steering torque that causes the vehicle to reach the lateral acceleration are shown in Table 4.

[0088] Table 4

[0089]

[0090] The extracted first maximum steering torque and second maximum steering torque are sorted out to obtain a feedforward parameter configuration table.

[0091] Assuming that Tables 2-4 are combined, the feedforward steering torque under different vehicle speeds and different execution angle conditions is determined as shown in Table 5.

[0092] Table 5

[0093]

[0094] In the embodiment of the present invention, a closed-loop torque controller extracts the maximum steering torque that makes the steering wheel stationary and the maximum steering torque that makes the vehicle reach a preset lateral acceleration from road test data to determine a feedforward parameter configuration table. This can take into account the steering torque limitations at different vehicle speeds and quickly and accurately determine the feedforward parameter configuration table.

[0095] In an optional embodiment, the offline simulation model of the steering system of the vehicle is debugged according to the feedforward parameter configuration table to determine the feedback parameters, specifically including: obtaining driving information through a closed-loop torque controller; wherein the driving information includes a steering wheel angle and a steering wheel speed; based on the offline simulation model of the steering system, simulating lateral control according to the feedforward parameter configuration table to obtain a simulated steering wheel angle and a simulated steering wheel speed; obtaining a steering wheel angle error according to the steering wheel angle and the simulated steering wheel angle, and obtaining a steering wheel speed error according to the steering wheel speed and the simulated steering speed; performing feedback control according to the steering wheel angle error and the steering wheel speed error to obtain feedback parameters.

[0096] As an example, a closed-loop torque controller is used to obtain vehicle speed, steering wheel angle, steering wheel speed and other driving information, and a pre-established offline simulation model of the vehicle's steering system is obtained. Based on the offline simulation model of the steering system, lateral control is simulated according to a feedforward parameter configuration table to obtain a simulated steering wheel angle and a simulated steering wheel speed. A steering wheel angle error is calculated based on the steering wheel angle and the simulated steering wheel angle, and a steering wheel angle error is calculated based on the steering wheel speed and the simulated steering wheel speed. Feedback control is performed based on the steering wheel angle error and the steering wheel speed error to debug the offline simulation model of the steering system and obtain feedback parameters.

[0097] In the embodiment of the present invention, a closed-loop torque controller is used to simulate lateral control according to a feedforward configuration parameter table based on an offline simulation model of a steering system, and feedback is provided to debug the offline simulation model of the steering system according to a steering wheel angle error and a steering wheel speed error during the simulated lateral control process to obtain feedback parameters. The feedback parameters can be obtained quickly and accurately by taking into account the steering error during the lateral control process of the steering system.

[0098] In an optional embodiment, before debugging the offline simulation model of the vehicle's steering system according to the feedforward parameter configuration table and determining the feedback parameters, it also includes: using a system identification method to establish an offline simulation model of the steering system.

[0099] As an example, a custom data processing tool is used to further process the road test data. The test step data is extracted and the system is identified to establish an offline simulation model of the steering system for initial determination of the feedback configuration. The torque model of the steering system is as follows: Figure 6 As shown in Figure 1, since accurate values ​​cannot be obtained, the system identification method is used to obtain an approximate model of the steering system. Figure 6 In, δ sw is the steering wheel angle, in rad; τ fmis the input torque of EPS (Electric Power Steering, electric power steering system), in Nm; δ fw is the tire angle, in rad; τ a is the tire torque in Nm.

[0100] The identification model can be approximated as a second-order system model:

[0101]

[0102] In formula (1), J is the equivalent moment of inertia of the steering system, in kg.m 2 , θ is the steering wheel angle, in rad, is the steering wheel speed, in rad / s, and is the first-order derivative of the steering wheel angle. is the second-order derivative of the steering wheel angle (jerk), in rad / s 2 , b is the equivalent damping coefficient of the steering system, F c is the static damping dead zone torque of the steering system, in Nm, k a is the vehicle self-aligning torque correction coefficient, τ a is the vehicle's self-centering torque, in Nm; τ is the total steering torque, in Nm.

[0103] The discrete transfer function is:

[0104]

[0105] In formula (2), y is the system output, which here refers to the feedback steering wheel angle, u is the system input, which here refers to the input steering torque command, z is the variable in the time domain of the discrete system, and b1, b2, a1, and a2 are all coefficients that need to be identified.

[0106] At this time, the identification model is determined to be a second-order system.

[0107] The discrete transfer function is converted into a difference equation:

[0108] y(k)+a1y(k-1)+a2y(k-2)=b1u(k-1)+b2u(k-2) (3);

[0109] In formula (3), k is the time.

[0110] The estimated output calculated under the estimated parameters at time k is obtained as:

[0111]

[0112] Formula (4) is expressed in matrix form as follows:

[0113]

[0114] Construct the error mean square error equation and obtain the parameter estimation matrix,

[0115] Error model: the actual collected output signal y(k) and the estimated output signal The difference is the error e(k):

[0116]

[0117] In formula (5),

[0118] Minimum mean square error:

[0119]

[0120] In formula (6), L is the preset number of steps in the time window,

[0121] When J is minimum, when the first-order derivative of J is 0,

[0122]

[0123] Parameter estimation matrix when getting batch data

[0124] After system identification, the offline simulation model of the steering system is obtained and the initial feedback configuration parameters are determined.

[0125] The embodiment of the present invention adopts a system identification method to establish an offline simulation model of the steering system, which can quickly and accurately obtain an approximate model of the steering system to simulate lateral control according to a feedforward configuration parameter table, thereby ensuring that the steering error in the lateral control process of the steering system is fully considered and the feedback parameters are quickly and accurately obtained.

[0126] In an optional embodiment, adjusting the feedforward parameter configuration table according to the feedback parameters to obtain the target parameter configuration table also includes: performing compensation control according to the first maximum steering torque to determine the compensation parameters; adjusting the feedforward parameter configuration table according to the compensation parameters to obtain the target parameter configuration table.

[0127] As an example, through a closed-loop torque controller, under the conditions of vehicle speed and desired steering wheel angle, taking into account influencing factors such as dynamic / static friction, torque compensation is performed according to the first maximum steering torque, compensation parameters are determined, and the feedforward parameter configuration table is adjusted according to the compensation parameters to obtain the target parameter configuration table.

[0128] For example, under this working condition, the influence of factors such as dynamic / static friction on the first maximum steering torque can be considered, a preset compensation steering torque can be fixedly set, and the preset compensation steering torque corresponding to the working condition can be directly called as the compensation steering torque.

[0129] In the embodiment of the present invention, a closed-loop torque controller performs torque compensation according to the first maximum steering torque obtained in the feedforward control process to determine compensation parameters, and can take into account influencing factors such as dynamic / static friction to quickly and accurately determine the compensation parameters.

[0130] Please see Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle lateral control device provided by the second embodiment of the present invention. The second embodiment of the present invention provides a vehicle lateral control device, including: a model prediction control module 201, which is used to perform model prediction control according to the positioning position and planned trajectory of the vehicle to obtain the expected steering instruction; a vehicle open-loop test module 202, which is used to perform an open-loop test according to the driving information of the vehicle and the expected steering instruction to determine the feedforward parameter configuration table; a feedback parameter determination module 203, which is used to debug the offline simulation model of the vehicle's steering system according to the feedforward parameter configuration table to determine the feedback parameters; a configuration parameter adjustment module 204, which is used to adjust the feedforward parameter configuration table according to the feedback parameters to obtain the target parameter configuration table, and generate a steering torque instruction according to the target parameter configuration table; a vehicle lateral control module 205, which is used to send a steering torque instruction to the steering system so that the steering system performs lateral control according to the steering torque instruction.

[0131] In an optional embodiment, the model predictive control is performed according to the vehicle's positioning position and planned trajectory to obtain a desired steering instruction, specifically including: obtaining a desired steering wheel angle and an expected steering wheel speed according to the positioning position and the planned trajectory through a model predictive controller; and generating the desired steering instruction by combining the desired steering wheel angle and the expected steering wheel speed.

[0132] In an optional embodiment, the open-loop test is performed based on the driving information of the vehicle and the expected steering command to determine the feedforward parameter configuration table, which specifically includes: obtaining the driving information through a closed-loop torque controller; wherein the driving information includes the vehicle speed; under the conditions of the vehicle speed and the expected steering wheel angle, performing an open-loop test on the vehicle to obtain road test data; extracting the maximum steering torque from the road test data, and determining the feedforward parameter configuration table based on the maximum steering torque.

[0133] In an optional embodiment, extracting the maximum steering torque from the road test data specifically includes: extracting a first maximum steering torque and a second maximum steering torque from the road test data; wherein the first maximum steering torque is the maximum steering torque that makes the steering wheel stationary, and the second maximum steering torque is the maximum steering torque that makes the vehicle reach a preset lateral acceleration.

[0134] In an optional embodiment, the offline simulation model of the steering system of the vehicle is debugged according to the feedforward parameter configuration table to determine the feedback parameters, specifically including: obtaining driving information through a closed-loop torque controller; wherein the driving information includes a steering wheel angle and a steering wheel speed; based on the offline simulation model of the steering system, simulating lateral control according to the feedforward parameter configuration table to obtain a simulated steering wheel angle and a simulated steering wheel speed; obtaining a steering wheel angle error according to the steering wheel angle and the simulated steering wheel angle, and obtaining a steering wheel speed error according to the steering wheel speed and the simulated steering speed; performing feedback control according to the steering wheel angle error and the steering wheel speed error to obtain feedback parameters.

[0135] In an optional embodiment, the feedback parameter determination module 203 is also used to establish an offline simulation model of the steering system using a system identification method before debugging the offline simulation model of the steering system of the vehicle according to the feedforward parameter configuration table and determining the feedback parameters.

[0136] In an optional embodiment, adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table also includes: performing compensation control according to the first maximum steering torque to determine the compensation parameter; adjusting the feedforward parameter configuration table according to the compensation parameter to obtain the target parameter configuration table.

[0137] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0138] Please see Figure 8 , Figure 8 The third embodiment of the present invention provides an electronic device 30, comprising a processor 301, a memory 302, and a computer program stored in the memory 302 and configured to be executed by the processor 301; the memory 302 is coupled to the processor 301, and when the processor 301 executes the computer program, the vehicle lateral control method as described in the first embodiment of the present invention is implemented, and the same beneficial effects can be achieved.

[0139] The processor 301 reads the computer program from the memory 302 through the bus 303 and executes the computer program to implement any of the embodiments of the vehicle lateral control method described in the first embodiment of the present invention.

[0140] Processor 301 can process digital signals and can include various computing structures, such as complex instruction set computer structure, reduced instruction set computer structure, or a structure that implements a combination of multiple instruction sets. In some examples, processor 301 can be a microprocessor.

[0141] The memory 302 may be used to store instructions executed by the processor 301 or data related to the execution of instructions. These instructions and / or data may include codes for implementing some or all functions of one or more modules described in the embodiments of the present invention. The processor 301 of the disclosed embodiment may be used to execute instructions in the memory 302 to implement the vehicle lateral control method as described in the first embodiment of the present invention. The memory 302 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memory known to those skilled in the art.

[0142] The fourth embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle lateral control method as described in the first embodiment of the present invention, and can achieve the same beneficial effects as the first embodiment.

[0143] In summary, the embodiment of the present invention provides a vehicle lateral control method, device, equipment and medium, the vehicle lateral control method comprising: performing model predictive control according to the positioning position and planned trajectory of the vehicle to obtain the expected steering instruction; performing open-loop testing according to the vehicle's driving information and the expected steering instruction to determine the feedforward parameter configuration table; debugging the offline simulation model of the vehicle's steering system according to the feedforward parameter configuration table to determine the feedback parameters; adjusting the feedforward parameter configuration table according to the feedback parameters to obtain the target parameter configuration table, and generating the steering torque instruction according to the target parameter configuration table; sending the steering torque instruction to the steering system so that the steering system performs lateral control according to the steering torque instruction. The embodiment of the present invention performs model predictive control according to the positioning position and planned trajectory of the vehicle to obtain the expected steering instruction, performs open-loop testing and feedback correction according to the vehicle's driving information and the expected steering instruction through a closed-loop torque controller, converts the expected steering instruction into a steering torque instruction, and sends the steering torque instruction to the vehicle's steering system for lateral control, so that the vehicle with only a torque interface can be controlled laterally without the need to modify the torque interface wire control, thereby achieving the technical effect of enabling the vehicle with only a torque interface to perform lateral control.

[0144] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0145] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0146] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0147] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle lateral control method, characterized in that: include: Perform model predictive control based on the vehicle's positioning position and planned trajectory to obtain the desired steering command; Performing an open-loop test according to the driving information of the vehicle and the expected steering command to determine a feedforward parameter configuration table; Debugging an off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine feedback parameters; adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table, and generating a steering torque command according to the target parameter configuration table; The steering torque command is sent to the steering system, so that the steering system performs lateral control according to the steering torque command.

2. The vehicle lateral control method according to claim 1, characterized in that: The method of performing model predictive control according to the positioning position and planned trajectory of the vehicle to obtain the desired steering instruction specifically includes: Obtaining a desired steering wheel angle and a desired steering wheel speed according to the positioning position and the planned trajectory through a model predictive controller; The expected steering instruction is generated by combining the expected steering wheel angle and the expected steering wheel speed.

3. The vehicle lateral control method according to claim 2, characterized in that: The open-loop test is performed according to the driving information of the vehicle and the expected steering command to determine the feedforward parameter configuration table, specifically including: The driving information is obtained through a closed-loop torque controller; wherein the driving information includes a vehicle speed; Under the conditions of the vehicle speed and the expected steering wheel angle, performing an open-loop test on the vehicle to obtain road test data; A maximum steering torque is extracted from the road test data, and the feedforward parameter configuration table is determined according to the maximum steering torque.

4. The vehicle lateral control method according to claim 3, characterized in that: The extracting the maximum steering torque from the road test data specifically includes: A first maximum steering torque and a second maximum steering torque are extracted from the road test data; wherein the first maximum steering torque is the maximum steering torque that keeps the steering wheel stationary, and the second maximum steering torque is the maximum steering torque that makes the vehicle reach a preset lateral acceleration.

5. The vehicle lateral control method according to claim 1, characterized in that: The step of debugging the off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine the feedback parameters specifically includes: The driving information is obtained through a closed-loop torque controller; wherein the driving information includes a steering wheel angle and a steering wheel speed; Based on the offline simulation model of the steering system, simulating lateral control according to the feedforward parameter configuration table to obtain a simulated steering wheel angle and a simulated steering wheel speed; Obtaining the steering wheel angle error according to the steering wheel angle and the simulated steering wheel angle, and obtaining the steering wheel speed error according to the steering wheel speed and the simulated steering speed; Feedback control is performed according to the steering wheel angle error and the steering wheel speed error to obtain the feedback parameter.

6. The vehicle lateral control method according to claim 1 or 5, characterized in that: Before debugging the off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table and determining the feedback parameters, the method further includes: An off-line simulation model of the steering system is established by adopting a system identification method.

7. The vehicle lateral control method according to claim 4, characterized in that: The step of adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table further includes: Performing compensation control according to the first maximum steering torque to determine a compensation parameter; The feedforward parameter configuration table is adjusted according to the compensation parameter to obtain the target parameter configuration table.

8. A vehicle lateral control device, characterized in that: include: A model predictive control module is used to perform model predictive control based on the vehicle's positioning position and planned trajectory to obtain the desired steering command; A vehicle open-loop test module, used to perform an open-loop test according to the driving information of the vehicle and the expected steering command, and determine a feedforward parameter configuration table; A feedback parameter determination module, used to debug an off-line simulation model of the steering system of the vehicle according to the feedforward parameter configuration table to determine feedback parameters; A configuration parameter adjustment module, used for adjusting the feedforward parameter configuration table according to the feedback parameter to obtain a target parameter configuration table, and generating a steering torque instruction according to the target parameter configuration table; The vehicle lateral control module is used to send the steering torque instruction to the steering system, so that the steering system performs lateral control according to the steering torque instruction.

9. An electronic device, characterized in that: It comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; the memory is coupled to the processor, and when the processor executes the computer program, the vehicle lateral control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle lateral control method according to any one of claims 1 to 7.

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