A vehicle navigation control method, device and electronic equipment

Abstract

The application provides a vehicle navigation control method, device and electronic equipment, the method comprises the following steps: configuring a preset path of vehicle driving; configuring path attributes of each path point in the preset path, the path attributes comprising a straight path and an arc path; configuring a preview distance according to the path attributes of the preset path on the current position of the vehicle; 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 the preset path based on the quasi preview distance; adjusting the vehicle steering angle according to the path attribute difference of the preview point and the quasi preview point belonging to the same time node, the vehicle steering angle comprising a front wheel steering angle and a rear wheel steering angle. The application introduces path point attributes, gives the vehicle the ability to predict future driving trajectory changes, thereby significantly improving its control performance. Through the strategy of preview points and quasi preview points, the problem of poor navigation control accuracy caused by vehicle steering hysteresis is effectively solved.

Description

TECHNICAL FIELD

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

[0002] When handling vehicles equipped with double drive axles, especially during the process of guiding them to travel, a series of complex challenges are faced. Taking a feed spreader used in the livestock industry as an example, the drive system of such a vehicle is specially designed as a double drive axle structure distributed in front and back, and the steering function is completed through the extension and retraction action of a hydraulic cylinder. In order to effectively reduce the radius required by the vehicle when turning, the feed spreader adopts simultaneous steering of the front and rear axles. When this vehicle type needs to turn from a wide main road into a narrow cowshed, the vehicle must be controlled with a small turning radius, and needs to be directly turned into the cowshed. Since the width of the cowshed entrance is almost equal to the width of the feed spreader, very high accuracy of operation is required. However, the steering axle of the feed spreader uses a hydraulic steering system, which has a relatively slow response speed and an unsatisfactory steering speed, which is particularly disadvantageous when performing high-precision control of arc navigation. Since the feed spreader is large in size, its width almost matches the size of the cowshed entrance, so higher control accuracy of the entrance and exit is required. In actual operation, when using a pure pursuit algorithm, the hysteresis of the feed spreader steering results in a large tracking error, which further increases the difficulty of operation. SUMMARY

[0003] In view of the above problems, the present application provides a vehicle navigation control method, device and electronic equipment, which introduces path point attributes to give the vehicle the ability to predict future changes in the driving trajectory, thereby significantly improving its control performance. Through the strategy of preview points and quasi-preview points, the problem of poor navigation control accuracy caused by the hysteresis of vehicle steering is effectively solved.

[0004] To achieve the above technical effects, the present application provides the following technical solutions:

[0005] In a first aspect, the present application provides a vehicle navigation control method, which comprises:

[0006] configuring a preset path for vehicle travel;

[0007] configuring path attributes of each path point in the preset path, the path attributes including straight paths and arc paths;

[0008] configuring a preview distance according to the path attributes of the vehicle's current position on the preset path;

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

[0010] According to the preview point distance, a quasi-preview distance is configured;

[0011] Based on the quasi-preview distance, a quasi-preview point in the preset path is calculated;

[0012] According to the path attribute difference between the preview point and the quasi-preview point at the same time node, a vehicle steering angle is adjusted, and the vehicle steering angle includes a front wheel steering angle and a rear wheel steering angle.

[0013] In an embodiment, the preview distance is configured according to the path attribute of the vehicle current position on the preset path, including:

[0014] The wheelbase L of the vehicle is obtained, and the maximum speed V of the vehicle is set max ;

[0015] The path attribute of the vehicle current position on the preset path is obtained;

[0016] When the path attribute of the vehicle current position is a straight path, the preview distance L f is configured by the following formula:

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

[0018] In the formula, V h is the straight driving speed of the vehicle, and K is an adjustable factor;

[0019] When the path attribute of the vehicle current position is an arc path, the preview distance L f is configured by the following formula:

[0020] L f = 2R / L V1 / V max K;

[0021] In the formula, R is the radius of the arc path, and V1 is the arc driving speed of the vehicle.

[0022] In an embodiment, the quasi-preview distance is configured according to the preview distance, including:

[0023] The quasi-preview distance L f1 is configured by the following formula:

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

[0025] In the formula, L f is the preview distance, V h is the straight driving speed of the vehicle, V1 is the arc driving speed of the vehicle, and a is the acceleration / deceleration.

[0026] In one embodiment, adjusting the vehicle steering angle according to the difference in path attributes between 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 Configure the front wheel steering angle α by the following formula f :

[0031]

[0032] Where, α f is the front wheel steering angle; L is the vehicle's wheelbase; β is the angle between the vehicle body and the quasi-pre-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 between 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 the preview distance L f The front wheel steering angle a is configured by the following formula f :

[0040]

[0041] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the included angle between the vehicle body and the quasi preview point.

[0042] The rear wheel steering angle a b is configured as

[0043] a b =-a f .

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

[0045] 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 caused to change from a straight driving speed to an arc driving speed at a deceleration, 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] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V is the current actual speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration.

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

[0049]

[0050] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the included angle between the vehicle body and the quasi preview point.

[0051] The rear wheel steering angle a b is configured as

[0052] a b =-a 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 Configure the front wheel steering angle α by the following formula f :

[0055]

[0056] Where, α f is the front wheel steering angle; L is the vehicle's wheelbase; β is the angle between the vehicle body and the quasi-pre-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 between 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 Configure the front wheel steering angle α by the following formula f :

[0064]

[0065] Where, αf is a front wheel steering angle; L is a wheelbase of the vehicle; β is an angle between a vehicle body and a quasi preview point;

[0066] rear wheel steering angle α b is configured to:

[0067] α b = -α f .

[0068] In a second aspect, the present application provides a vehicle navigation control device, which comprises:

[0069] a first configuration module configured to configure a preset path for vehicle driving;

[0070] a second configuration module configured to configure path attributes of each path point in the preset path, the path attributes comprising a straight path and an arc path;

[0071] a third configuration module configured to configure a preview distance according to path attributes of a current position of the vehicle on the preset path;

[0072] a first calculation module configured to calculate a preview point in the preset path based on the preview distance;

[0073] a fourth configuration module configured to configure a quasi preview distance according to a distance of the preview point;

[0074] a second calculation module configured to calculate a quasi preview point in the preset path based on the quasi preview distance;

[0075] a steering angle control module configured to adjust a vehicle steering angle including a front wheel steering angle and a rear wheel steering angle according to a difference between path attributes to which the preview point and the quasi preview point belong at a same time node.

[0076] In an embodiment, the third configuration module is specifically configured to:

[0077] obtain a wheelbase L of the vehicle and set a maximum speed V of the vehicle max ;

[0078] obtain path attributes of the current position of the vehicle on the preset path;

[0079] when the path attributes of the current position of the vehicle are a straight path, the preview distance L f is configured by the following formula:

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

[0081] wherein V h is a straight driving speed of the vehicle; and K is an adjustable factor;

[0082] When the path attribute of the current position of the vehicle is an arc path, the preview distance L f is configured by the following formula:

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

[0084] In the formula, R is the radius of the arc path; V1 is the arc driving speed of the vehicle.

[0085] In an embodiment, the fourth configuration module is specifically configured to:

[0086] The quasi-preview distance L f1 is configured by the following formula:

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

[0088] In the formula, L f is the preview distance; V h is the straight driving speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration.

[0089] In an embodiment, the turning angle control module is specifically configured to:

[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 f is obtained by the following formula:

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

[0092] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight driving speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor.

[0093] The front wheel turning angle a f is configured by the following formula based on the preview distance L f :

[0094]

[0095] In the formula, a f is the front wheel turning angle; L is the wheelbase of the vehicle; and b is the included angle between the vehicle body and the quasi-preview point.

[0096] The rear wheel turning angle a bconfigured to be:

[0097] α b = -α f .

[0098] In an embodiment, the steering angle control module is specifically configured to:

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

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

[0101] In the formula, 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 driving speed of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor;

[0102] Based on the 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 included angle between the vehicle body and the quasi-preview point;

[0105] The rear wheel steering angle α b is configured to be:

[0106] α b = -α f .

[0107] In an embodiment, the steering angle control module is specifically configured to:

[0108] When the path attribute of the preview point at the same time node is straight path and the path attribute of the quasi-preview point is arc path, the vehicle is made to change from straight driving speed to arc driving speed with deceleration, 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] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V maxVmax is the maximum speed of the vehicle; K is an adjustable factor; V is the current actual speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration speed;

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

[0112]

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

[0114] The rear wheel steering angle a b is configured as

[0115] a b =-a f .

[0116] In one embodiment, the steering angle control module is specifically configured to:

[0117] When the path attribute of the preview point at the same time node is a straight path and the path attribute to which the quasi-preview point belongs is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f is updated to L f =2R / LV1 / V max K, wherein K is an adjustable factor.

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

[0119]

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

[0121] The rear wheel steering angle a b is configured as

[0122] a b =-a f .

[0123] In one embodiment, the steering angle control module is specifically configured to:

[0124] When the path attribute of the preview point at the same time node is an arc path and the path attribute to which the quasi-preview point belongs is a straight path, the preview distance L f is obtained by the following formula:​​

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

[0126] In the formula, 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 driving speed of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V h is the straight driving speed of the vehicle; and a is the acceleration / deceleration;

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

[0128]

[0129] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and b is the included angle between the vehicle body and the quasi preview point.

[0130] The rear wheel steering angle a b is configured as

[0131] a b =-a f .

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

[0133] The memory is configured to store a computer program.

[0134] The processor is configured to execute the vehicle navigation control method provided in any one of the first aspect by invoking the computer program.

[0135] In a fourth aspect, the present application provides a computer readable storage medium, comprising a program, which, when executed by a processor, is configured to implement the vehicle navigation control method provided in any one of the first aspect.

[0136] The beneficial effects of the present application are: the present application adds specific path attributes on the preset path, and introduces pre-aim points and quasi-pre-aim points, and by comparing the path attribute differences of the pre-aim points and the quasi-pre-aim points on the preset path, the change of the future driving path of the vehicle during driving can be effectively predicted. Based on this prediction, the driving speed, the pre-aim distance and the steering angle during driving of the vehicle can be adjusted in advance, thereby significantly improving the tracking effect of the vehicle. It is suitable for solving the vehicles with obvious steering lag, such as the feed spreading vehicles used in animal husbandry, effectively solving the problem that such vehicles often encounter large tracking errors during operation, ensuring the completion of similar vehicles during operation, and greatly improving the operation efficiency and accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0137] Figure 1 Fig. 1 shows a flowchart of a vehicle navigation control method provided by an embodiment of the present application;

[0138] Figure 2 Fig. 2 shows a structural schematic diagram of a vehicle navigation control device provided by an embodiment of the present application;

[0139] Figure 3 Fig. 3 shows a structural schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0140] In order to make the purpose, technical solutions and advantages of the present application clearer and more apparent, the present application will be further described below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0141] Based on the shortcomings of the prior art, the present application provides a specific embodiment of a vehicle navigation control method, which can be applied to similar vehicles such as the front and rear double-drive animal husbandry feed spreading vehicles. As shown in the figure, the method comprises the following steps: Figure 1

[0142] S110: configuring a preset path for vehicle driving;

[0143] The preset path can be planned in detail in advance according to the actual driving route of the vehicle or the specific conditions of the operation site according to the actual needs, so as to ensure the rationality and practicability of the path.

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

[0145] ​After the path planning, a preset path is obtained, which is composed of a plurality of path points. The path points can be connected by straight lines or arcs. When the path points are connected by straight lines, the path attribute of the path points on the straight line is defined as a straight line path. Conversely, if the path points are connected by arcs, the path attribute of the path points on the arc is defined as an arc path.

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

[0147] In the process of straight-line driving, if the preview distance is set too far, the speed of correction will be relatively slow when the direction needs to be adjusted. However, if the preview distance is too short, although the direction can be quickly adjusted, the quick correction action is easy to cause unnecessary shaking of the vehicle, so that the vehicle body shakes during driving. On the other hand, in the process of arc driving, if the preview distance is too long, the actual driving path may deviate from the preset path, making it difficult to accurately control the vehicle to travel along the predetermined arc. Conversely, if the preview distance is too short, the vehicle will also shake during arc driving, affecting the smoothness of driving. Therefore, in 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 smoothness of vehicle driving.

[0148] S140: calculating a preview point in the 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 angle β, the center position coordinates and the preview point distance according to the Pythagorean theorem.

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

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

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

[0153] By acquiring the angle β between the vehicle body and the quasi-look-ahead point and the central position coordinate of the vehicle, the coordinate of the quasi-look-ahead point on the preset path can be calculated according to the angle β, the central position coordinate and the quasi-look-ahead point distance according to the Pythagorean theorem.

[0154] S170: adjusting the vehicle steering angle according to the difference between the path attributes of the look-ahead point and the quasi-look-ahead point at the same time node, wherein the vehicle steering angle comprises a front wheel steering angle and a rear wheel steering angle.

[0155] The look-ahead point and the quasi-look-ahead point can be captured through S140-S160, the path attributes of the look-ahead point and the quasi-look-ahead point are known because the path attributes of the path points on the preset path are determined, and the look-ahead point and the quasi-look-ahead point are actually two path points on the preset path, so the path attributes of the look-ahead point and the quasi-look-ahead point are known, and the path attributes of the future driving path of the vehicle can be predicted in advance by comparing the difference between the path attributes of the look-ahead point and the quasi-look-ahead point, and then the steering angle, speed and the like of the vehicle can be adjusted in advance to realize accurate guidance of the vehicle.

[0156] In the embodiment, the specific path attribute is added on the preset path, and the look-ahead point and the quasi-look-ahead point are introduced, and the difference between the path attributes of the look-ahead point and the quasi-look-ahead point on the preset path can be compared to effectively predict whether the future driving path of the vehicle will change in the driving process. Based on this prediction, the driving speed, the look-ahead distance and the steering angle of the vehicle in the driving process can be adjusted in advance, thereby significantly improving the tracking effect of the vehicle. It is suitable for solving the vehicles with obvious steering lag, such as the feeders used in the animal husbandry, effectively solving the problem that the tracking error of such vehicles is large in the operation process, ensuring the completion of the similar vehicles in the operation process, and greatly improving the operation efficiency and accuracy.

[0157] In an embodiment of the present application, S130 specifically comprises the following steps:

[0158] Acquiring the wheelbase L of the vehicle and setting the maximum speed V of the vehicle max ;

[0159] Acquiring the path attribute of the current position of the vehicle on the preset path;

[0160] When the path attribute of the current position of the vehicle is a straight path, the look-ahead distance L f is configured by the following formula:

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

[0162] In the formula, V h is the straight driving speed of the vehicle; and K is an adjustable factor;

[0163] When the path attribute of the current position of the vehicle is an arc path, the preview distance L f is configured by the following formula:

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

[0165] In the formula, R is the radius of the arc path; V1 is the arc driving speed of the vehicle; and K is an adjustable factor.

[0166] In the embodiment, the configuration method of the preview distance under the straight path and the arc path is respectively provided, which can adapt to set different preview distances on different types of paths, ensure that the preview distance can be optimally configured under various path attribute conditions, and effectively ensure that the vehicle can stably and safely travel without deviating from the preset path.

[0167] In an embodiment of the present application, S150 specifically includes:

[0168] The quasi-preview distance L f1 is configured by the following formula:

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

[0170] In the formula, L f is the preview distance; V h is the straight driving speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration.

[0171] In an embodiment of the present application, S170 specifically includes the following four kinds of processing modes: 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 f is obtained by the following formula:

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

[0175] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight driving speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor.

[0176] Based on the preview distance L f , the front wheel steering angle a f:

[0177]

[0178] wherein α f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the angle between the vehicle body and the quasi-prospective point;

[0179] The rear wheel steering angle α b is configured as:

[0180] α b = - α f .

[0181] In this case, the vehicle can maintain the current speed and travel while rectifying the steering angle to make the vehicle always travel along the preset path. Two,

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

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

[0185] wherein L f is the prospective distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1is the arc travel speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor;

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

[0187]

[0188] wherein α f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the angle between the vehicle body and the quasi-prospective point;

[0189] The rear wheel steering angle α b is configured as:

[0190] α b = - α f .

[0191] In this case, the vehicle can maintain the current speed and travel while rectifying the steering angle to make the vehicle always travel 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 to which the quasi preview point belongs is an arc path, the vehicle is made to change from the straight driving speed to the arc driving speed at a deceleration, 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] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V is the current actual speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration;

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

[0197]

[0198] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and b is the included angle between the vehicle body and the quasi preview point;

[0199] The rear wheel steering angle a b is configured as

[0200] a b =-a 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 to which the quasi preview point belongs is an arc path, when the preview distance L f <2R / LV1 / V max K, the preview distance L f is updated to L f = 2R / LV1 / V max K, wherein K is an adjustable factor;

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

[0203]

[0204] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and b is the included angle between the vehicle body and the quasi preview point;

[0205] rear wheel steering angle α b is configured as:

[0206] α b = - α f .

[0207] In this case, it indicates that the vehicle is about to transit from the straight path driving state to the arc path driving state. In order to ensure smooth transition, the vehicle speed needs to be adjusted in advance before entering the arc. The vehicle will gradually reduce from the straight driving speed to the arc driving speed through deceleration operation. During this deceleration process, the vehicle should be guided according to the steering skill (1). Once the vehicle completely enters the arc path, switch to the steering method (2) to realize stable tracking and smooth driving of the vehicle. four、

[0209] When the path attribute of the preview point at the same time node is an arc path and the path attribute to which the quasi-preview point belongs 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] In the formula, 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 driving speed of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V h is the straight driving speed of the vehicle; and a is the acceleration / deceleration;

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

[0213]

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

[0215] rear wheel steering angle α b is configured as:

[0216] α b = - α f .

[0217] In this case, the vehicle is predicted to enter the straight path from the arc path, and the vehicle is guided to travel in the above-described control mode during the conversion of the arc path to the straight path, and then the vehicle is accelerated to the straight traveling speed after the vehicle travels from the end of the arc path, thereby ensuring stable tracking and smooth travel of the vehicle.

[0218] In the embodiment, the specific path attributes of the preview point and the quasi preview point are analyzed to accurately adjust the front wheel steering angle and the rear wheel steering angle of the vehicle, thereby ensuring that the vehicle can stably travel along the predetermined path direction. During travel, if the actual coordinates of the vehicle deviate from a certain point on the path, the steering angle is automatically adjusted to ensure that the vehicle can accurately track the predetermined path. The problem of large tracking error caused by steering hysteresis of the vehicle is effectively solved, thereby improving the accuracy and reliability of vehicle path tracking.

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

[0220] The application provides a vehicle navigation control device, as shown in Figure 2 The device comprises: Figure 2

[0221] The first configuration module 210 is configured to configure a preset path for vehicle travel.

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

[0223] The third configuration module 230 is configured to configure a preview distance according to the path attributes of the preset path at the current position of the vehicle.

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

[0225] The fourth configuration module 250 is configured to configure a quasi preview distance according to the preview point distance.

[0226] The second calculation module 260 is configured to calculate a quasi preview point in the preset path based on the quasi preview distance.​

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

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

[0229] acquire the wheelbase L of the vehicle and set the maximum speed V of the vehicle max ;

[0230] acquire the path attribute of the current position of the vehicle on the preset path;

[0231] when the path attribute of the current position of the vehicle is a straight path, the preview distance L f is configured by the following formula:

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

[0233] wherein V h is the straight driving speed of the vehicle; and K is an adjustable factor;

[0234] when the path attribute of the current position of the vehicle is an arc path, the preview distance L f is configured by the following formula:

[0235] L f = 2R / L V1 / V max K;

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

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

[0238] the quasi-preview distance L f1 is configured by the following formula:

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

[0240] wherein L f is the preview distance; V h is the straight driving speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration.

[0241] In an embodiment of the present application, the corner control module 270 is specifically configured to:

[0242] When the path attributes to which the preview point and the quasi preview point belong at the same time node are straight lines, a preview distance L is obtained by the following formula f :

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

[0244] In the formula, L f is the preview distance; L is the wheelbase of the vehicle; V h is the straight driving speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor.

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

[0246]

[0247] In the formula, a f is the front wheel steering angle; L is the wheelbase of the vehicle; and b is the included angle between the vehicle body and the quasi preview point.

[0248] A rear wheel steering angle a b is configured as

[0249] a b =-a f .

[0250] In an embodiment of the present application, the steering control module 270 is specifically used for:

[0251] When the path attributes to which the preview point and the quasi preview point belong at the same time node are arc lines, a preview distance L is obtained by the following formula f :

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

[0253] In the formula, L f is the preview distance; R is the radius of the arc line; L is the wheelbase of the vehicle; V1 is the arc driving speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor.

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

[0255]

[0256] wherein α f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the angle between the vehicle body and the quasi preview point;

[0257] the rear wheel steering angle α b is configured as:

[0258] α b = -α f .

[0259] In an embodiment of the present application, the steering angle control module 270 is specifically configured to:

[0260] when the path attribute of the preview point at the same time node is a straight path and the path attribute to which the quasi preview point belongs is an arc path, the vehicle is caused to change from the straight driving speed to the arc driving speed at a deceleration, and the preview distance L f is obtained by the following formula:

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

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

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

[0264]

[0265] wherein α f is the front wheel steering angle; L is the wheelbase of the vehicle; and β is the angle between the vehicle body and the quasi preview point;

[0266] the rear wheel steering angle α b is configured as:

[0267] α b = -α f .

[0268] In an embodiment of the present application, the steering angle control module 270 is specifically configured to:

[0269] when the path attribute of the preview point at the same time node is a straight path and the path attribute to which the quasi preview point belongs is an arc path, 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 Configure the front wheel steering angle α by the following formula f :

[0271]

[0272] Where, α f is the front wheel steering angle; L is the vehicle's wheelbase; β is the angle between the vehicle body and the quasi-pre-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 configured to:

[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 Configure the front wheel steering angle α by the following formula f :

[0280]

[0281] Where, α f is the front wheel steering angle; L is the vehicle's wheelbase; β is the angle between the vehicle body and the quasi-pre-aiming point;

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

[0283] α b = -α f .

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

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

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

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

[0288] Those skilled in the art should understand that the memory can 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) and the like. The memory is configured to store programs. After receiving an execution instruction, the processor executes the programs. Further, the software programs and modules in the memory can also include an operating system, which can include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0289] ​The processor can be an integrated circuit chip with a processing capability of signals. The processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc. The processor can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0290] The present application also provides a computer readable storage medium, comprising a program, which when executed by a processor, is used to perform the vehicle navigation control method provided by any of the preceding method embodiments.

[0291] Those skilled in the art should understand that all or part of the steps of the above-mentioned method embodiments can be completed by relevant hardware instructed by programs. The aforementioned programs can be stored in a computer readable storage medium. When the programs are 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 type of the medium is not limited in the present application.

[0292] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle navigation control method characterized by comprising: The method comprises: configuring a preset path for vehicle driving; configuring path attributes of each path point in the preset path, the path attributes comprising a straight path and an arc path; configuring a preview distance according to path attributes of the vehicle current position 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 the preset path based on the quasi-preview distance; adjusting a vehicle steering angle according to path attribute differences of the preview point and the quasi-preview point at the same time node, the vehicle steering angle comprising a front wheel steering angle and a rear wheel steering angle; the configuring of the preview distance according to the path attributes of the vehicle current position on the preset path comprises: Obtaining wheelbase L of the vehicle and setting maximum speed V of the vehicle max ; obtaining path attributes of the vehicle current position on the preset path; When the path attribute of the current position of the vehicle is a straight path, the preview distance L f is configured by the following equation: L f = 2LV h / V max K; In the formula, V h is the straight-line travel speed of the vehicle; K is an adjustable factor; When the path attribute of the current position of the vehicle is an arc path, the preview distance L f is configured by the following formula: L f = 2R / LV1 / V max K; wherein R is the radius of the arc path, and V1 is the arc driving speed of the vehicle; the configuring of the quasi-preview distance according to the preview distance comprises: The quasi-pre-look distance L f1 By the following formula: L f1 = L f + (V h - V1) 2 / (2a); In the formula, L f is the pre-look distance; V h is the straight-line driving speed of the vehicle; V1 is the arc-line driving speed of the vehicle; and a is the acceleration or deceleration. the adjusting of the vehicle steering angle according to the path attribute differences of the preview point and the quasi-preview point at the same time node comprises: When the path attribute to which the preview point and the quasi-preview point belong at the same time node is a straight line path, the preview distance L is obtained by the following formula f : L f = 2LV h / V max K; In the formula, L f is the pre-view distance; L is the wheel base of the vehicle; V h is the straight-line driving speed of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; Based on the preview distance L f The front wheel steering angle a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 2. The vehicle navigation control method of claim 1, wherein the adjusting of the vehicle steering angle according to the path attribute differences of the preview point and the quasi-preview point at the same time node comprises: When the path attribute to which the preview point and the quasi-preview point belong at the same time node is an arc path, the preview distance L is obtained by the following formula f : L f = 2R / LV1 / V max K, V1≤ 1 / 2V max ; wherein L f is the look-ahead distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1is the arc travel speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor. Based on the preview distance L f The front wheel steering angle a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 3. The vehicle navigation control method of claim 1, wherein the adjusting of the vehicle steering angle according to the path attribute differences of the preview point and the quasi-preview point at the same time node comprises: When the path attribute of the preview point at the same time node is a straight path and the path attribute to which the quasi-preview point belongs is an arc path, the vehicle is caused to arrive at the arc driving speed from the straight driving speed with deceleration, and the preview distance L is obtained by the following formula f : L f = 2L V h / max K + (V - V1) 2 / (2a); In the formula, L f is the pre-look distance; L is the wheelbase of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V is the current actual speed of the vehicle; V1 is the arc driving speed of the vehicle; and a is the acceleration / deceleration. Based on the preview distance L f The front wheel steering angle a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 4. The vehicle navigation control method of claim 3, wherein 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 a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 5. The vehicle navigation control method of claim 1, wherein the adjusting of the vehicle steering angle according to the path attribute differences of the preview point and the quasi-preview point at the same time node comprises: When the path attribute of the preview point at the same time node is an arc path and the path attribute to which the quasi-preview point belongs 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); wherein L f is the look-ahead distance; R is the radius of the arc path; L is the wheelbase of the vehicle; V1is the arc travel speed of the vehicle; V max is the maximum speed of the vehicle; K is an adjustable factor; V h is the straight travel speed of the vehicle; and a is the acceleration / deceleration. Based on the preview distance L f The front wheel steering angle a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 6. A vehicle navigation control device characterized by comprising: the adjusting of the vehicle steering angle according to the path attribute differences of the preview point and the quasi-preview point at the same time node comprises: The device comprises: a first configuration module for configuring a preset path for vehicle driving; a second configuration module for configuring path attributes of each path point in the preset path, the path attributes comprising a straight path and an arc path; a third configuration module for configuring a preview distance according to path attributes of the vehicle current position on the preset path; a first calculation module for calculating a preview point in the preset path based on the preview distance; a fourth configuration module for configuring a quasi-preview distance according to the preview point distance; a second calculation module for calculating a quasi-preview point in the preset path based on the quasi-preview distance; a steering angle control module for adjusting a vehicle steering angle according to path attribute differences of the preview point and the quasi-preview point at the same time node, the vehicle steering angle comprising a front wheel steering angle and a rear wheel steering angle; Obtaining wheelbase L of the vehicle and setting maximum speed V of the vehicle max ; the third configuration module is specifically used for: When the path attribute of the current position of the vehicle is a straight path, the preview distance L f is configured by the following equation: L f = 2LV h / V max K; In the formula, V h is the straight-line travel speed of the vehicle; K is an adjustable factor; When the path attribute of the current position of the vehicle is an arc path, the preview distance L f is configured by the following formula: L f = 2R / LV1 / V max K; obtaining path attributes of the vehicle current position on the preset path; wherein R is the radius of the arc path, and V1 is the arc driving speed of the vehicle; The quasi-pre-look distance L f1 is configured by the following equation: L f1 = L f + (V h - V1) 2 / (2a); In the formula, L f is the pre-look distance; V h is the straight-line driving speed of the vehicle; V1 is the arc-line driving speed of the vehicle; and a is the acceleration or deceleration. the fourth configuration module is specifically used for: When the path attribute to which the preview point and the quasi-preview point belong at the same time node is a straight line path, the preview distance L is obtained by the following formula f : L f = 2LV h / V max K; In the formula, L f is the pre-look distance; L is the wheelbase of the vehicle; V h is the straight-line driving speed of the vehicle; V max is the maximum speed of the vehicle; and K is an adjustable factor. Based on the preview distance L f The front wheel steering angle a is configured by the following equation f : wherein α f is the front wheel steering angle; L is the wheel base of the vehicle; and β is the angle between the vehicle body and the quasi-pre-look point. Rear wheel steering angle α b Configured to: α b ＝-α f 。 7. An electronic device, comprising: the steering angle control module is specifically used for: comprise: a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the vehicle navigation control method according to any one of claims 1 to 5 by calling the computer program.

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