Vehicle navigation control method and device and electronic equipment

Abstract

The invention provides a vehicle navigation control method and device and electronic equipment. The method comprises the following steps: configuring a preset driving path of a vehicle; configuring path attributes of each path point in the preset path, wherein the path attributes comprise a linear path and an arc path; configuring a preview distance according to the path attribute of the current position of the vehicle on the preset path; calculating a preview point in the preset path based on the preview distance; configuring a quasi-preview distance according to the preview point distance; calculating a quasi-preview point in a preset path based on the quasi-preview distance; and adjusting the vehicle steering angle according to the attribute difference of the paths to which the preview point and the quasi preview point belong at the same time node, wherein the vehicle steering angle comprises a front wheel steering angle and a rear wheel steering angle. According to the invention, by introducing the path point attributes, the vehicle is endowed with the capability of predicting the future driving track change, so that the control performance is obviously improved. Through the strategy of the preview point and the quasi preview point, the problem of poor navigation control precision caused by vehicle steering hysteresis is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle navigation control, and in particular to a vehicle navigation control method, device and electronic equipment. Background Art

[0002] There are a number of complex challenges when dealing with vehicles equipped with dual drive axles, especially when guiding them. Take the case of the feed spreader used in the livestock industry. The drive system of this vehicle is specially designed as a dual drive axle structure with front and rear distribution, and the steering function is completed by the telescopic action of the hydraulic cylinder. In order to effectively reduce the radius required for the vehicle to turn, the feed spreader uses simultaneous steering of the front and rear axles. When this type of vehicle needs to turn from the wide main road into the narrow cowshed, it must be operated with a small turning radius and needs to turn directly into the cowshed. Since the width of the cowshed entrance and exit is almost equal to the width of the feed spreader, this places extremely high demands on the accuracy of the operation. However, the steering axle of the feed spreader uses a hydraulic steering system, which has a relatively slow response speed and is not ideal for steering speed, which is particularly disadvantageous when performing high-precision control arc navigation. Due to the large size of the feed spreader, its width almost matches the size of the cowshed entrance and exit, which places higher requirements on the control accuracy of the entrance and exit. In actual operation, when using the Pure Pursuit algorithm, the lag in the steering of the spreader leads to a large tracking error, which further increases the difficulty of operation. Summary of the invention

[0003] In view of the above problems, the embodiments of the present invention provide a vehicle navigation control method, device and electronic device, which introduces path point attributes to give the vehicle the ability to predict future driving trajectory changes, thereby significantly improving its control performance. The strategy of preview point and quasi-preview point effectively solves the problem of poor navigation control accuracy caused by vehicle steering lag.

[0004] In order to achieve the above technical effects, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a vehicle navigation control method, the method comprising:

[0006] Configure the preset path for vehicle travel;

[0007] Configure the path attributes of each path point in the preset path, wherein the path attributes include a straight line path and an arc path;

[0008] Configure the preview distance based on the path attributes of the vehicle's current position on the preset path;

[0009] Calculate the preview point in the preset path based on the preview distance;

[0010] Configure the quasi-preview distance according to the preview point distance;

[0011] Calculate the quasi-preview point in the preset path based on the quasi-preview distance;

[0012] The vehicle steering angle is adjusted according to the difference in path attributes of the preview point and the quasi-preview point at the same time node, and the vehicle steering angle includes a front wheel steering angle and a rear wheel steering angle.

[0013] In one embodiment, configuring the preview distance according to the path attribute of the current position of the vehicle on the preset path includes:

[0014] Get the vehicle's wheelbase L and set the vehicle's maximum speed V max ;

[0015] Get the path attributes of the vehicle's current position on the preset path;

[0016] When the path attribute of the vehicle's current position is a straight path, the preview distance L f Configured by:

[0017] L f =2LV h / V max K;

[0018] Where V h is the straight-line speed of the vehicle; K is an adjustable factor;

[0019] When the path attribute of the vehicle's current position is an arc path, the preview distance L f Configured by:

[0020] L f =2R / LV1 / V max K;

[0021] Where R is the radius of the arc path; V1 is the arc speed of the vehicle.

[0022] In one embodiment, configuring the quasi-preview distance according to the preview distance includes:

[0023] The quasi-preview distance L f1 Configured by:

[0024] L f1 =L f +(V h -V1) 2 / (2a);

[0025] Where, L f V is the preview distance; h is the straight-line speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration.

[0026] In one embodiment, adjusting the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node includes:

[0027] When the path attributes of the preview point and the quasi-preview point at the same time node are both straight paths, the preview distance L is obtained by the following formula: f :

[0028] L f =2LV h / V max K;

[0029] Where, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight-line speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0030] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0031]

[0032] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0033] Rear wheel steering angle α b The configuration is:

[0034] α b =-α f .

[0035] In one embodiment, adjusting the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node includes:

[0036] When the path attributes of the preview point and the quasi-preview point at the same time node are both arc paths, the preview distance L is obtained by the following formula: f :

[0037] L f =2R / LV1 / V max K, V1≤1 / 2V max ;

[0038] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0039] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0040]

[0041] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0042] Rear wheel steering angle α b The configuration is:

[0043] α b =-α f .

[0044] In one embodiment, adjusting the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node includes:

[0045] At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, the vehicle is decelerated from the straight-line speed to the arc speed, and the preview distance L is obtained by the following formula f :

[0046] L f =2LV h / V max K+(V-V1) 2 / (2a);

[0047] Where, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V is the current actual speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration;

[0048] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0049]

[0050] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0051] Rear wheel steering angle α b The configuration is:

[0052] α b =-α f .

[0053] In one embodiment, when the path attribute of the preview point at the same time node is a straight path and the path attribute of the quasi-preview point is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f Updated to L f =2R / LV1 / V max K, where K is the adjustable factor;

[0054] Based on the updated preview distance L f The front wheel steering angle α is configured by the following formula f :

[0055]

[0056] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0057] Rear wheel steering angle α b The configuration is:

[0058] α b =-α f .

[0059] In one embodiment, adjusting the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node includes:

[0060] At the same time node, when the path attribute of the preview point is an arc path and the path attribute of the quasi-preview point is a straight path, the preview distance L is obtained by the following formula f :

[0061] L f =2R / LV1 / V max K+(V h -V1) 2 / (2a);

[0062] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V h is the straight-line speed of the vehicle; a is the acceleration and deceleration;

[0063] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0064]

[0065] In the formula, αf is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0066] Rear wheel steering angle α b The configuration is:

[0067] α b =-α f .

[0068] In a second aspect, the present invention provides a vehicle navigation control device, the device comprising:

[0069] The first configuration module is used to configure a preset path for the vehicle to travel;

[0070] The second configuration module is used to configure the path attributes of each path point in the preset path, wherein the path attributes include a straight line path and an arc path;

[0071] The third configuration module is used to configure the preview distance according to the path attribute of the current position of the vehicle on the preset path;

[0072] A first calculation module: used for calculating the preview point in the preset path based on the preview distance;

[0073] The fourth configuration module is used to configure the quasi-preview distance according to the preview point distance;

[0074] The second calculation module is used to calculate the quasi-preview point in the preset path based on the quasi-preview distance;

[0075] Angle control module: used to adjust the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node, and the vehicle steering angle includes the front wheel steering angle and the rear wheel steering angle.

[0076] In one embodiment, the third configuration module is specifically used for:

[0077] Get the vehicle's wheelbase L and set the vehicle's maximum speed V max ;

[0078] Get the path attributes of the vehicle's current position on the preset path;

[0079] When the path attribute of the vehicle's current position is a straight path, the preview distance L f Configured by:

[0080] L f =2LV h / V max K;

[0081] Where V h is the straight-line speed of the vehicle; K is an adjustable factor;

[0082] When the path attribute of the vehicle's current position is an arc path, the preview distance L f Configured by:

[0083] L f =2R / LV1 / V max K;

[0084] Where R is the radius of the arc path; V1 is the arc speed of the vehicle.

[0085] In one embodiment, the fourth configuration module is specifically used for:

[0086] The quasi-preview distance L f1 Configured by:

[0087] L f1 =L f +(V h -V1) 2 / (2a);

[0088] Where, L f V is the preview distance; h is the straight-line speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration.

[0089] In one embodiment, the turning angle control module is specifically used for:

[0090] When the path attributes of the preview point and the quasi-preview point at the same time node are both straight paths, the preview distance L is obtained by the following formula: f :

[0091] L f =2LV h / V max K;

[0092] Where, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight-line speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0093] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0094]

[0095] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0096] Rear wheel steering angle α bThe configuration is:

[0097] α b =-α f .

[0098] In one embodiment, the turning angle control module is specifically used for:

[0099] When the path attributes of the preview point and the quasi-preview point at the same time node are both arc paths, the preview distance L is obtained by the following formula: f :

[0100] L f =2R / LV1 / V max K, V1≤1 / 2V max ;

[0101] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0102] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0103]

[0104] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0105] Rear wheel steering angle α b The configuration is:

[0106] α b =-α f .

[0107] In one embodiment, the turning angle control module is specifically used for:

[0108] At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, the vehicle is decelerated from the straight-line speed to the arc speed, and the preview distance L is obtained by the following formula f :

[0109] L f =2LV h / V max K+(V-V1) 2 / (2a);

[0110] Where, L f is the preview distance; L is the wheelbase of the vehicle; V maxis the maximum speed of the vehicle; K is the adjustable factor; V is the current actual speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration;

[0111] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0112]

[0113] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0114] Rear wheel steering angle α b The configuration is:

[0115] α b =-α f .

[0116] In one embodiment, the turning angle control module is specifically used for:

[0117] At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f Updated to L f =2R / LV1 / V max K, where K is the adjustable factor;

[0118] Based on the updated preview distance L f The front wheel steering angle α is configured by the following formula f :

[0119]

[0120] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0121] Rear wheel steering angle α b The configuration is:

[0122] α b =-α f .

[0123] In one embodiment, the turning angle control module is specifically used for:

[0124] At the same time node, when the path attribute of the preview point is an arc path and the path attribute of the quasi-preview point is a straight path, the preview distance L is obtained by the following formula f :

[0125] L f =2R / LV1 / V max K+(V h -V1) 2 / (2a);

[0126] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V h is the straight-line speed of the vehicle; a is the acceleration and deceleration;

[0127] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0128]

[0129] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0130] Rear wheel steering angle α b The configuration is:

[0131] α b =-α f .

[0132] In a third aspect, the present invention provides an electronic device, comprising: a processor and a memory;

[0133] The memory is used to store computer programs;

[0134] The processor is used to execute the vehicle navigation control method provided in any one of the first aspects by calling the computer program.

[0135] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a program, and when the program is executed by a processor, the program is used to implement a vehicle navigation control method provided in any one of the first aspects.

[0136] The beneficial effects of the present invention are as follows: by adding specific path attributes to the preset path, and introducing preview points and quasi-pre-aiming points, the present invention can effectively predict whether the future driving path of the vehicle will change during driving by comparing the differences in path attributes between the preview points and the quasi-pre-aiming points on the preset path. Based on this prediction, the method of adjusting the driving speed, preview distance and steering angle of the vehicle during driving can be adjusted in advance, thereby significantly improving the tracking effect of the vehicle. It is suitable for solving vehicles with obvious steering lag, such as feed spreading vehicles used in animal husbandry, and effectively solves the problem of large tracking errors often encountered by such vehicles during operation, ensuring the completability of similar vehicles during operation, and greatly improving operation efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0137] Figure 1 FIG. 1 is a flow chart of a vehicle navigation control method provided by an embodiment of the present invention;

[0138] Figure 2 FIG. 1 is a schematic diagram of the structure of a vehicle navigation control device provided by an embodiment of the present invention;

[0139] Figure 3 FIG. 1 is a schematic structural diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0140] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0141] Based on the shortcomings of the prior art, the present invention provides a specific implementation of a vehicle navigation control method, which can be applied to similar vehicles such as front and rear dual-drive livestock feed spreaders. Figure 1 As shown, the method comprises the following steps:

[0142] S110: configuring a preset path for the vehicle to travel;

[0143] The preset route can be planned in detail in advance according to the actual needs based on the actual route of the vehicle or the specific conditions of the work site to ensure the rationality and practicality of the route.

[0144] S120: configuring path attributes of each path point in the preset path, wherein the path attributes include a straight line path and an arc path;

[0145] After path planning, a preset path is obtained, which is composed of many path points. These path points can be connected by straight lines or arcs. When the connection between path points is a straight line, the path attributes of the path points on this straight line will be defined as a straight path. Conversely, if the connection between path points is an arc, the path attributes of the path points on this arc will be defined as an arc path.

[0146] S130: configuring a preview distance according to the path attribute of the current position of the vehicle on the preset path;

[0147] In the process of straight-line driving, if the preview distance is set far, the speed of correction will be relatively slow when the direction adjustment is needed. However, if the preview distance is too short, although the direction can be adjusted quickly, this rapid correction action is likely to cause unnecessary vibrations in the vehicle, causing the vehicle body to shake during driving. On the other hand, when driving in an arc, if the preview distance is too long, the actual driving path may deviate greatly from the preset path, making it difficult to accurately control the vehicle to drive along the predetermined arc. On the contrary, if the preview distance is too short, the vehicle will also vibrate during arc driving, affecting the stability of driving. Therefore, on the two different paths of straight-line driving and arc driving, different preview distances need to be reasonably set according to the actual situation to ensure the stability of vehicle driving.

[0148] S140: Calculating a preview point in a preset path based on the preview distance;

[0149] By obtaining the angle β between the vehicle body and the preview point and the center position coordinates of the vehicle, the coordinates of the preview point on the preset path can be calculated according to the Pythagorean theorem based on the angle β, the center position coordinates and the distance to the preview point.

[0150] S150: configuring the quasi-preview distance according to the preview point distance;

[0151] The quasi-preview distance refers to an advance amount added to the preview point distance, which is based on the analysis and prediction of the preset path. The point where the quasi-preview distance falls on the preset path is the quasi-preview point, which is determined based on the characteristics and dynamic changes of the preset path. By analyzing the properties of the quasi-preview point, the path properties of the preset path can be judged and predicted in advance, thus providing a basis for subsequent decisions and actions.

[0152] S160: Calculating a quasi-preview aiming point in a preset path based on the quasi-preview aiming distance;

[0153] By obtaining the angle β between the vehicle body and the quasi-pre-aiming point and the center position coordinates of the vehicle, the coordinates of the quasi-pre-aiming point on the preset path can be calculated according to the Pythagorean theorem based on the angle β, the center position coordinates and the distance to the quasi-pre-aiming point.

[0154] S170: Adjusting the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node, wherein the vehicle steering angle includes a front wheel steering angle and a rear wheel steering angle.

[0155] Preview points and quasi-preview points can be captured through S140-S160. Since the path attributes of the path points on the preset path are determined, and the preview points and the quasi-preview points are actually two path points that fall on the preset path, the path attributes of the preview points and the quasi-preview points are known. By comparing the difference in path attributes between the quasi-preview points and the preview points, the path attributes of the vehicle's future driving path can be predicted in advance, and then the steering angle, speed, etc. of the vehicle can be adjusted in advance to achieve precise guidance of the vehicle.

[0156] In this embodiment, by adding specific path attributes to the preset path, and introducing preview points and quasi-pre-aiming points, by comparing the differences in path attributes between the preview points and the quasi-pre-aiming points on the preset path, it is possible to effectively predict whether the future driving path of the vehicle will change during driving. Based on this prediction, the driving speed, preview distance and steering angle of the vehicle can be adjusted in advance, thereby significantly improving the tracking effect of the vehicle. It is suitable for solving vehicles with obvious steering lag, such as feed spreading vehicles used in animal husbandry, and effectively solves the problem of large tracking errors that such vehicles often encounter during operation, ensuring the completeness of similar vehicles during operation, and greatly improving operation efficiency and accuracy.

[0157] In one embodiment of the present invention, S130 specifically includes the following steps:

[0158] Get the vehicle's wheelbase L and set the vehicle's maximum speed V max ;

[0159] Get the path attributes of the vehicle's current position on the preset path;

[0160] When the path attribute of the vehicle's current position is a straight path, the preview distance L f Configured by:

[0161] L f =2LV h / V max K;

[0162] Where V h is the straight-line speed of the vehicle; K is an adjustable factor;

[0163] When the path attribute of the vehicle's current position is an arc path, the preview distance L f Configured by:

[0164] L f =2R / LV1 / V max K;

[0165] Where R is the radius of the arc path; V1 is the arc speed of the vehicle; K is an adjustable factor.

[0166] In this embodiment, a method for configuring the preview distance on a straight path and an arc path is provided respectively. The method can be adapted to setting different preview distances on different types of paths, ensuring that the preview distance can achieve the optimal configuration under various path attribute conditions, and effectively ensuring that the vehicle can achieve smooth and safe driving without deviating from the preset path.

[0167] In one embodiment of the present invention, S150 specifically includes:

[0168] Quasi-preview distance L f1 Configured by:

[0169] L f1 =L f +(V h -V1) 2 / (2a);

[0170] Where, L f V is the preview distance; h is the straight-line speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration.

[0171] In an embodiment of the present invention, S170 specifically includes the following four processing methods: one,

[0173] When the path attributes of the preview point and the quasi-preview point at the same time node are both straight paths, the preview distance L is obtained by the following formula: f :

[0174] L f =2LV h / V max K;

[0175] Where, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight-line speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0176] Based on preview distance L f The front wheel steering angle α is configured by the following formula f:

[0177]

[0178] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0179] Rear wheel steering angle α b The configuration is:

[0180] α b =-α f .

[0181] In this case, the vehicle can maintain its current speed while correcting the deviation by fine-tuning the steering angle so that the vehicle always travels along the preset path. two,

[0183] When the path attributes of the preview point and the quasi-preview point at the same time node are both arc paths, the preview distance L is obtained by the following formula: f :

[0184] L f =2R / LV1 / V max K, V1≤1 / 2V max ;

[0185] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0186] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0187]

[0188] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0189] Rear wheel steering angle α b The configuration is:

[0190] α b =-α f .

[0191] In this case, the vehicle can maintain its current speed while correcting the deviation by fine-tuning the steering angle so that the vehicle always travels along the preset path. three,

[0193] (1) When the path attribute of the preview point at the same time node is a straight path and the path attribute of the quasi-preview point is an arc path, the vehicle is decelerated from the straight-line speed to the arc speed, and the preview distance L is obtained by the following formula f :

[0194] L f =2LV h / V max K+(V-V1) 2 / (2a);

[0195] Where, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V is the current actual speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration;

[0196] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0197]

[0198] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0199] Rear wheel steering angle α b The configuration is:

[0200] α b =-α f .

[0201] (2) Under the premise that the path attribute of the preview point at the same time node is a straight path and the path attribute of the quasi-preview point is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f Updated to L f =2R / LV1 / V max K, where K is the adjustable factor;

[0202] Based on the updated preview distance L f The front wheel steering angle α is configured by the following formula f :

[0203]

[0204] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0205] Rear wheel steering angle α b The configuration is:

[0206] α b =-α f .

[0207] In this case, it indicates that the vehicle is about to transition from a straight path to a curved path. To ensure a smooth transition, the vehicle speed needs to be adjusted before entering the curve. The vehicle will gradually reduce its straight-line speed to the curved speed through deceleration. During this deceleration process, the control techniques described in (1) should be followed to guide the vehicle. Once the vehicle is fully in the curved path, switch to the control method described in (2) to achieve stable tracking and smooth driving of the vehicle. Four,

[0209] At the same time node, when the path attribute of the preview point is an arc path and the path attribute of the quasi-preview point is a straight path, the preview distance L is obtained by the following formula f :

[0210] L f =2R / LV1 / V max K+(V h -V1) 2 / (2a);

[0211] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V h is the straight-line speed of the vehicle; a is the acceleration and deceleration;

[0212] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0213]

[0214] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0215] Rear wheel steering angle α b The configuration is:

[0216] α b =-α f .

[0217] In this case, it indicates that the vehicle is about to enter a straight path from an arc path. During the conversion process from the arc path to the radial straight path, the above-mentioned control method is used to guide the vehicle. When the vehicle leaves the end of the arc path, it accelerates to the straight-line driving speed, thereby ensuring stable tracking and smooth driving of the vehicle.

[0218] In this embodiment, by analyzing the specific path attributes of the preview point and the quasi-preview point, the steering angle of the front wheels and the steering angle of the rear wheels of the vehicle can be accurately adjusted to ensure that the vehicle can stably move along the predetermined path direction. During driving, if it is detected that the actual coordinates of the vehicle are deviated from a certain point on the path, the steering angle will be automatically adjusted to ensure that the vehicle can accurately track the predetermined path. The problem of large tracking errors caused by the hysteresis of vehicle steering is effectively solved, thereby improving the accuracy and reliability of vehicle path tracking.

[0219] Based on the same inventive concept, the embodiment of the present application also provides a vehicle navigation control device, which can be used to implement a vehicle navigation control method described in the above embodiment, as described in the following embodiment. Since the principle of solving the problem by a vehicle navigation control device is similar to that of a vehicle navigation control method, the implementation of a vehicle navigation control device can refer to the implementation of a vehicle navigation control method, and the repeated parts are not repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0220] The present invention provides a vehicle navigation control device, such as Figure 2 As shown, in Figure 2 The device comprises:

[0221] The first configuration module 210 is used to configure a preset path for the vehicle to travel;

[0222] The second configuration module 220 is used to configure the path attributes of each path point in the preset path, and the path attributes include a straight line path and an arc path;

[0223] The third configuration module 230 is used to configure the preview distance according to the path attribute of the current position of the vehicle on the preset path;

[0224] The first calculation module 240 is used to calculate the preview point in the preset path based on the preview distance;

[0225] The fourth configuration module 250 is used to configure the quasi-preview distance according to the preview point distance;

[0226] The second calculation module 260 is used to calculate the quasi-preview point in the preset path based on the quasi-preview distance;

[0227] The steering angle control module 270 is used to adjust the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node. The vehicle steering angle includes the front wheel steering angle and the rear wheel steering angle.

[0228] In an embodiment of the present invention, the third configuration module 230 is specifically used to:

[0229] Get the vehicle's wheelbase L and set the vehicle's maximum speed V max ;

[0230] Get the path attributes of the vehicle's current position on the preset path;

[0231] When the path attribute of the vehicle's current position is a straight path, the preview distance L f Configured by:

[0232] L f =2LV h / V max K;

[0233] Where V h is the straight-line speed of the vehicle; K is an adjustable factor;

[0234] When the path attribute of the vehicle's current position is an arc path, the preview distance L f Configured by:

[0235] L f =2R / LV1 / V max K;

[0236] Where R is the radius of the arc path; V1 is the arc speed of the vehicle; K is an adjustable factor.

[0237] In an embodiment of the present invention, the fourth configuration module 250 is specifically used to:

[0238] Quasi-preview distance L f1 Configured by:

[0239] L f1 =L f +(V h -V1) 2 / (2a);

[0240] Where, L f V is the preview distance; h is the straight-line speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration.

[0241] In one embodiment of the present invention, the turning angle control module 270 is specifically used for:

[0242] When the path attributes of the preview point and the quasi-preview point at the same time node are both straight paths, the preview distance L is obtained by the following formula: f :

[0243] L f =2LV h / V max K;

[0244] Where, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight-line speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0245] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0246]

[0247] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0248] Rear wheel steering angle α b The configuration is:

[0249] α b =-α f .

[0250] In one embodiment of the present invention, the turning angle control module 270 is specifically used for:

[0251] When the path attributes of the preview point and the quasi-preview point at the same time node are both arc paths, the preview distance L is obtained by the following formula: f :

[0252] L f =2R / LV1 / V max K, V1≤1 / 2V max ;

[0253] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor;

[0254] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0255]

[0256] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0257] Rear wheel steering angle α b The configuration is:

[0258] α b =-α f .

[0259] In one embodiment of the present invention, the turning angle control module 270 is specifically used for:

[0260] At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, the vehicle is decelerated from the straight-line speed to the arc speed, and the preview distance L is obtained by the following formula f :

[0261] L f =2LV h / V max K+(V-V1) 2 / (2a);

[0262] Where, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V is the current actual speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration;

[0263] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0264]

[0265] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0266] Rear wheel steering angle α b The configuration is:

[0267] α b =-α f .

[0268] In one embodiment of the present invention, the turning angle control module 270 is specifically used for:

[0269] At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, when the preview distance L f <2R / LV1 / V maxK, the preview distance L f Updated to L f =2R / LV1 / V max K, where K is the adjustable factor;

[0270] Based on the updated preview distance L f The front wheel steering angle α is configured by the following formula f :

[0271]

[0272] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0273] Rear wheel steering angle α b The configuration is:

[0274] α b =-α f .

[0275] In one embodiment of the present invention, the turning angle control module 270 is specifically used for:

[0276] At the same time node, when the path attribute of the preview point is an arc path and the path attribute of the quasi-preview point is a straight path, the preview distance L is obtained by the following formula f :

[0277] L f =2R / LV1 / V max K+(V h -V1) 2 / (2a);

[0278] Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V h is the straight-line speed of the vehicle; a is the acceleration and deceleration;

[0279] Based on preview distance L f The front wheel steering angle α is configured by the following formula f :

[0280]

[0281] In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point;

[0282] Rear wheel steering angle α b The configuration is:

[0283] α b =-α f .

[0284] The embodiments of the present application also provide a specific implementation of an electronic device capable of implementing all steps in a vehicle navigation control method in the above embodiments, see Figure 3 , the electronic device 300 specifically includes the following contents:

[0285] Processor 310, memory 320, communication unit 330 and bus 340;

[0286] The processor 310 , the memory 320 , and the communication unit 330 communicate with each other via the bus 340 ; the communication unit 330 is used to implement information transmission between server-side devices and terminal devices and other related devices.

[0287] The processor 310 is used to call the computer program in the memory 320. When the processor executes the computer program, all the steps in the vehicle navigation control method in the above embodiment are implemented.

[0288] Those skilled in the art should understand that the memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store programs, and the processor executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0289] The processor may be an integrated circuit chip having the ability to process signals. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0290] The present application also provides a computer-readable storage medium, which includes a program. When the program is executed by a processor, it is used to execute a vehicle navigation control method provided by any of the aforementioned method embodiments.

[0291] Those skilled in the art should understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes, and the specific media type is not limited in this application.

[0292] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention 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 navigation control method, characterized in that: The method comprises: Configure the preset path for vehicle travel; Configure the path attributes of each path point in the preset path, wherein the path attributes include a straight line path and an arc path; Configure the preview distance based on the path attributes of the vehicle's current position on the preset path; Calculate the preview point in the preset path based on the preview distance; Configure the quasi-preview distance according to the preview point distance; Calculate the quasi-preview point in the preset path based on the quasi-preview distance; The vehicle steering angle is adjusted according to the difference in path attributes of the preview point and the quasi-preview point at the same time node, and the vehicle steering angle includes a front wheel steering angle and a rear wheel steering angle.

2. A vehicle navigation control method as claimed in claim 1, characterized in that: The configuration of the preview distance according to the path attribute of the current position of the vehicle on the preset path includes: Get the vehicle's wheelbase L and set the vehicle's maximum speed V max ; Get the path attributes of the vehicle's current position on the preset path; When the path attribute of the vehicle's current position is a straight path, the preview distance L f Configured by: L f =2LV h / V max K; Where V h is the straight-line speed of the vehicle; K is an adjustable factor; When the path attribute of the vehicle's current position is an arc path, the preview distance L f Configured by: L f =2R / LV1 / V max K; Where R is the radius of the arc path; V1 is the arc speed of the vehicle.

3. A vehicle navigation control method as claimed in claim 1, characterized in that: Configuring the quasi-preview distance according to the preview distance includes: The quasi-preview distance L f1 Configured by: L f1 =L f +(V h -V1) 2 / (2a); Where, L f V is the preview distance; h is the straight-line speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration.

4. A vehicle navigation control method as claimed in claim 1, characterized in that: The adjusting of the vehicle steering angle according to the difference in the path attributes of the preview point and the quasi-preview point at the same time node comprises: When the path attributes of the preview point and the quasi-preview point at the same time node are both straight paths, the preview distance L is obtained by the following formula: f : L f =2LV h / V max K; Where, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight-line speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; Based on preview distance L f The front wheel steering angle α is configured by the following formula f : In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point; Rear wheel steering angle α b The configuration is: α b ＝-α f 。 5. A vehicle navigation control method as claimed in claim 1, characterized in that: The adjusting of the vehicle steering angle according to the difference in the path attributes of the preview point and the quasi-preview point at the same time node comprises: When the path attributes of the preview point and the quasi-preview point at the same time node are both arc paths, the preview distance L is obtained by the following formula: f : L f =2R / LV1 / V max K,V1≤1 / 2V max ; Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; Based on preview distance L f The front wheel steering angle α is configured by the following formula f : In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point; Rear wheel steering angle α b The configuration is: α b ＝-α f 。 6. A vehicle navigation control method as claimed in claim 1, characterized in that: The adjusting of the vehicle steering angle according to the difference in the path attributes of the preview point and the quasi-preview point at the same time node comprises: At the same time node, when the path attribute of the preview point is a straight path and the path attribute of the quasi-preview point is an arc path, the vehicle is decelerated from the straight-line speed to the arc speed, and the preview distance L is obtained by the following formula f : L f =2LV h / V max K+(V-V1) 2 / (2a); Where, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V is the current actual speed of the vehicle; V1 is the arc speed of the vehicle; a is the acceleration and deceleration; Based on preview distance L f The front wheel steering angle α is configured by the following formula f : In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point; Rear wheel steering angle α b The configuration is: α b ＝-α f 。 7. A vehicle navigation control method as claimed in claim 6, characterized in that: When the path attribute of the preview point at the same time node is a straight path and the path attribute of the quasi-preview point is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f Updated to L f =2R / LV1 / V max K, where K is the adjustable factor; Based on the updated preview distance L f The front wheel steering angle α is configured by the following formula f : In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point; Rear wheel steering angle α b The configuration is: α b ＝-α f 。 8. A vehicle navigation control method as claimed in claim 1, characterized in that: The adjusting of the vehicle steering angle according to the difference in the path attributes of the preview point and the quasi-preview point at the same time node comprises: At the same time node, when the path attribute of the preview point is an arc path and the path attribute of the quasi-preview point is a straight path, the preview distance L is obtained by the following formula f : L f =2R / LV1 / V max K+(V h -V1) 2 / (2a); Where, L f is the preview distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1 is the arc speed of the vehicle; V max is the maximum speed of the vehicle; K is the adjustable factor; V h is the straight-line speed of the vehicle; a is the acceleration and deceleration; Based on preview distance L f The front wheel steering angle α is configured by the following formula f : In the formula, α f is the front wheel steering angle; L is the wheelbase of the vehicle; β is the angle between the vehicle body and the quasi-aiming point; Rear wheel steering angle α b The configuration is: α b ＝-α f 。 9. A vehicle navigation control device, characterized in that: The device comprises: The first configuration module is used to configure a preset path for the vehicle to travel; The second configuration module is used to configure the path attributes of each path point in the preset path, wherein the path attributes include a straight line path and an arc path; The third configuration module is used to configure the preview distance according to the path attribute of the current position of the vehicle on the preset path; A first calculation module: used for calculating the preview point in the preset path based on the preview distance; The fourth configuration module is used to configure the quasi-preview distance according to the preview point distance; The second calculation module is used to calculate the quasi-preview point in the preset path based on the quasi-preview distance; Angle control module: used to adjust the vehicle steering angle according to the difference in path attributes of the preview point and the quasi-preview point at the same time node, and the vehicle steering angle includes the front wheel steering angle and the rear wheel steering angle.

10. An electronic device, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the vehicle navigation control method according to any one of claims 1 to 8 by calling the computer program.

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