Vehicle control method and device, product, equipment and medium

Abstract

The invention discloses a vehicle control method and device, a product, equipment and a medium, and the method comprises the steps: generating an expected track of a target vehicle when a preset triggering condition is met; calculating a feedback rotation angle based on the expected track and the driving track of the target vehicle; determining a transverse distance and a transverse speed of the target vehicle relative to a target lane line based on the motion state of the target vehicle; wherein the target lane line is a lane line of a lane where the target vehicle is located; determining rotation angle compensation based on the transverse distance to obtain transverse distance rotation angle compensation; determining rotation angle compensation based on the transverse speed to obtain transverse speed rotation angle compensation; and determining a total rotation angle based on the transverse distance rotation angle compensation, the transverse speed rotation angle compensation and the feedback rotation angle so as to control the target vehicle based on the total rotation angle. In this way, the stability of vehicle control can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly relates to a vehicle control method, device, product, equipment and medium. Background Art

[0002] For ELK / LKA, the current conventional control method is to plan a trajectory as the desired trajectory when ELK / LKA is triggered, and use a feedback control method to make the vehicle drive close to the desired trajectory line. However, in the case of poor lane line quality, problems such as high-frequency oscillation of the steering wheel are likely to occur, which is also a disadvantage of feedback control. Therefore, how to improve the stability of vehicle control is a technical problem that needs to be solved currently. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a vehicle control method, device, product, equipment and medium, which can improve the stability of vehicle control. The specific scheme is as follows:

[0004] In the first aspect, this application provides a vehicle control method, including:

[0005] When a preset trigger condition is met, generate the desired trajectory of the target vehicle;

[0006] Calculate the feedback corner based on the desired trajectory and the driving trajectory of the target vehicle;

[0007] Based on the motion state of the target vehicle, determine the lateral distance and lateral speed of the target vehicle relative to the target lane line; where the target lane line is the lane line of the lane where the target vehicle is located;

[0008] Determine the corner compensation based on the lateral distance to obtain the lateral distance corner compensation;

[0009] Determine the corner compensation based on the lateral speed to obtain the lateral speed corner compensation;

[0010] Determine the total corner based on the lateral distance corner compensation, the lateral speed corner compensation and the feedback corner, so as to control the target vehicle based on the total corner.

[0011] Optionally, determining the corner compensation based on the lateral distance to obtain the lateral distance corner compensation includes:

[0012] Search for the corner compensation corresponding to the lateral distance in a first preset table, where the first preset table includes multiple distances and the corner compensation corresponding to each distance;

[0013] If the corner compensation corresponding to the lateral distance is found, determine this corner compensation as the lateral distance corner compensation;

[0014] If the corner compensation corresponding to the lateral distance is not found, determine a first target distance and a second target distance from the first preset table, where the first target distance is the first distance among the first distances with the smallest difference from the lateral distance, the first distance is the distance among the multiple distances that is less than the lateral distance, and the second target distance is the second distance among the second distances with the smallest difference from the lateral distance, and the second distance is the distance among the multiple distances that is greater than the lateral distance;

[0015] Perform linear interpolation based on the corner compensations corresponding to the first target distance and the second target distance to obtain the lateral distance corner compensation.

[0016] Optionally, determining the corner compensation based on the lateral speed to obtain the lateral speed corner compensation includes:

[0017] Search for the corner compensation corresponding to the lateral speed in the second preset table, where the second preset table includes multiple speeds and the corner compensation corresponding to each speed;

[0018] If the corner compensation corresponding to the lateral speed is found, determine this corner compensation as the lateral speed corner compensation;

[0019] If the corner compensation corresponding to the lateral speed is not found, determine a first target speed and a second target speed from the second preset table, where the first target speed is the first speed among the first speeds with the smallest difference from the lateral speed, the first speed is the speed among the multiple speeds that is less than the lateral speed, and the second target speed is the second speed among the second speeds with the smallest difference from the lateral speed, and the second speed is the speed among the multiple speeds that is greater than the lateral speed;

[0020] Perform linear interpolation based on the corner compensations corresponding to the first target speed and the second target speed to obtain the lateral speed corner compensation.

[0021] Optionally, it further includes:

[0022] If the road where the target vehicle is located is a curve, determine the feedforward corner based on the curvature of the road where the target vehicle is located;

[0023] Correspondingly, determining the total corner based on the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner includes:

[0024] Determine the total corner based on the feedforward corner, the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner.

[0025] Optionally, determining the total rotation angle based on the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle includes:

[0026] Correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation;

[0027] Determining the total rotation angle based on the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, and the feedback rotation angle.

[0028] Optionally, correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation includes:

[0029] Obtaining the road radius of the lane where the target vehicle is located to obtain the target road radius, and determining a first correction coefficient based on the target road radius;

[0030] Obtaining the vehicle speed of the target vehicle to obtain the target vehicle speed, and determining a second correction coefficient based on the target vehicle speed;

[0031] Correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the first correction coefficient and / or the second correction coefficient.

[0032] In a second aspect, the present application provides a vehicle control device, including:

[0033] An expected trajectory generation module, configured to generate an expected trajectory of a target vehicle when a preset trigger condition is satisfied;

[0034] A feedback rotation angle calculation module, configured to calculate a feedback rotation angle based on the expected trajectory and the driving trajectory of the target vehicle;

[0035] A lateral data determination module, configured to determine a lateral distance and a lateral speed of the target vehicle relative to a target lane line based on a motion state of the target vehicle; wherein, the target lane line is a lane line of the lane where the target vehicle is located;

[0036] A distance compensation determination module, configured to determine a rotation angle compensation based on the lateral distance to obtain a lateral distance rotation angle compensation;

[0037] A speed compensation determination module, configured to determine a rotation angle compensation based on the lateral speed to obtain a lateral speed rotation angle compensation;

[0038] A total rotation angle determination module, configured to determine a total rotation angle based on the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle, so as to control the target vehicle based on the total rotation angle.

[0039] In a third aspect, the present application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the foregoing vehicle control method.

[0040] In a fourth aspect, the present application provides an electronic device, including a memory and a processor, wherein:

[0041] The memory is used to store a computer program;

[0042] The processor is used to execute the computer program to implement the foregoing vehicle control method.

[0043] In a fifth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the foregoing vehicle control method.

[0044] As can be seen from the above solutions, the present application provides a vehicle control method, including: when a preset trigger condition is satisfied, generating an expected trajectory of a target vehicle; calculating a feedback steering angle based on the expected trajectory and the driving trajectory of the target vehicle; determining a lateral distance and a lateral speed of the target vehicle relative to a target lane line based on the motion state of the target vehicle, where the target lane line is the lane line of the lane where the target vehicle is located; determining a steering angle compensation based on the lateral distance to obtain a lateral distance steering angle compensation; determining a steering angle compensation based on the lateral speed to obtain a lateral speed steering angle compensation; determining a total steering angle based on the lateral distance steering angle compensation, the lateral speed steering angle compensation, and the feedback steering angle, so as to control the target vehicle based on the total steering angle.

[0045] It can be seen that the beneficial effects of the present application are as follows: in the process of determining the total steering angle, the present application considers the steering angle compensation of the lateral distance and the lateral speed of the target vehicle, does not need to make the feedback very large, has additional compensation, and reduces the instability of the feedback. Moreover, through the steering angle compensation for the lateral speed, during the process of the vehicle correcting back, a reverse steering angle can be provided, which can avoid overshooting after returning to the center and rushing into another lane line. In this way, the stability of vehicle control can be improved.

[0046] Correspondingly, a vehicle control device, product, equipment, and readable storage medium provided by the present application also have the above technical effects. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0048] Figure 1 It is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0049] Figure 2 It is a schematic diagram of a lateral distance provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic structural diagram of a vehicle control device disclosed by an embodiment of the present application;

[0051] Figure 4 It is a structural diagram of an electronic device disclosed by an embodiment of the present application. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0053] First, the terms involved in the present application are explained:

[0054] ELK: Emergency Lane Keeping, emergency lane avoidance. When there is a risk of collision due to the vehicle deviating from its own lane when a vehicle is approaching from the oncoming direction / overtaking from behind, or when the vehicle is about to hit the roadside curb when deviating, ADAS requests the steering wheel to make an emergency avoidance to prevent collision.

[0055] LKA: Lane Keeping Assist, lane keeping assist. When the vehicle is about to deviate while driving within the lane, ADAS requests the steering wheel to pull the vehicle back into the lane.

[0056] Currently, there are clear requirements for ELK / LKA in national standard CNCAP and European standard ENCAP: the line crossing cannot exceed a specific value. Currently, the conventional control method is to plan a trajectory when ELK / LKA is triggered, and control the vehicle to make the vehicle drive close to the trajectory line. However, the regulations have relatively strict requirements for the line crossing distance of ELK / LKA. In the case of poor lane line quality, the existing method is prone to problems such as high-frequency oscillation of the steering wheel, which is also the shortcoming of feedback control.

[0057] See Figure 1 As shown, an embodiment of the present application discloses a vehicle control method, including:

[0058] Step S11: When a preset trigger condition is satisfied, generate an expected trajectory of the target vehicle.

[0059] Among them, the preset trigger condition is that the target vehicle has a risk of deviating from the current lane where the target vehicle is located. For example, the preset trigger condition can be when ELK or LKA is triggered. The desired trajectory is the center line of the lane predicted based on the lane lines of the current target vehicle.

[0060] Step S12: Calculate the feedback steering angle based on the desired trajectory and the driving trajectory of the target vehicle.

[0061] In the embodiments of the present application, the deviation can be calculated based on the desired trajectory and the driving trajectory of the target vehicle. The deviation can include the lateral distance deviation and the heading angle deviation, and the feedback steering angle is calculated based on the deviation. The embodiments of the present application can use PID / LQR / MPC to calculate the feedback steering angle based on the deviation.

[0062] Among them, PID (i.e., Proportional-Integral-Derivative) control: Based on the linear combination of proportional (P), integral (I), and derivative (D), directly calculate the control quantity according to the system error (the difference between the target value and the actual value). The embodiments of the present application are corrected based on the current tracking error (position and heading angle deviation) to eliminate the residual error. LQR (i.e., Linear Quadratic Regulator) control: For a linear system, design an optimal state feedback controller by minimizing the quadratic performance index (the weighted sum of squares of the state error and the control quantity). MPC (i.e., Model Predictive Control) control: Based on the system model, predict the behavior of the system in the future for a period of time, calculate the optimal control sequence by solving the optimization problem online, and only implement the control quantity at the current moment.

[0063] Step S13: Determine the lateral distance and lateral speed of the target vehicle relative to the target lane line based on the motion state of the target vehicle; where the target lane line is the lane line of the lane where the target vehicle is located.

[0064] Among them, the lateral direction is the direction perpendicular to the forward direction of the vehicle. In the embodiments of the present application, the lateral distance of the vehicle relative to the left and right lane lines can be calculated in real time according to the actual motion state of the vehicle. 、 and the lateral speed 、 。Among them, 、 respectively represent the lateral distance of the target vehicle relative to the left lane line and the lateral distance relative to the right lane line, 、 respectively represent the lateral speed of the target vehicle relative to the left lane line and the corresponding lateral speed of the right lane line. And obtain the current activation status of ELK / LKA from the front end: whether it is activated for the left lane line or the right lane line 、 。

[0065] In another alternative embodiment, the current activation status of ELK / LKA can be obtained first: whether it is activated for the left lane line or the right lane line 、 , if the left lane line is activated, calculate the lateral distance of the vehicle relative to the left side and the lateral speed . That is, if approaching the left lane line triggers a preset trigger condition, calculate the lateral distance of the vehicle relative to the left lane line and the lateral speed . If the right lane line is activated, calculate the lateral distance of the vehicle relative to the right lane line and the lateral speed . That is, if approaching the left lane line triggers a preset trigger condition, calculate the lateral distance of the vehicle relative to the left side and the lateral speed 。

[0066] Step S14: Determine the corner compensation based on the lateral distance to obtain the lateral distance corner compensation.

[0067] In an alternative embodiment, look up the corner compensation corresponding to the lateral distance in a first preset table, where the first preset table includes multiple distances and the corner compensation corresponding to each distance; if the corner compensation corresponding to the lateral distance is found, determine this corner compensation as the lateral distance corner compensation; if the corner compensation corresponding to the lateral distance is not found, determine a first target distance and a second target distance from the first preset table, where the first target distance is the first distance among the first distances with the smallest difference from the lateral distance, the first distance is the distance among the multiple distances that is less than the lateral distance, the second target distance is the second distance among the second distances with the smallest difference from the lateral distance, and the second distance is the distance among the multiple distances that is greater than the lateral distance; perform linear interpolation based on the corner compensations corresponding to the first target distance and the second target distance to obtain the lateral distance corner compensation.

[0068] That is to say, the embodiments of the present application can pre - construct a first preset table including the mapping relationship between multiple distances and corner compensations. The distances and corner compensations in the first preset table can be obtained based on experiments. And the corner compensations of the lateral distances within the corresponding distance range can be obtained by linear interpolation based on the distances and corner compensations in the first preset table.

[0069] Step S15: Determine the corner compensation based on the lateral speed to obtain the lateral speed corner compensation.

[0070] In an alternative embodiment, look up the corner compensation corresponding to the lateral speed in a second preset table based on the lateral speed, where the second preset table includes multiple speeds and the corner compensation corresponding to each speed; if the corner compensation corresponding to the lateral speed is found, determine this corner compensation as the lateral speed corner compensation; if the corner compensation corresponding to the lateral speed is not found, determine a first target speed and a second target speed from the second preset table, where the first target speed is the first speed among the first speeds with the smallest difference from the lateral speed, the first speed is the speed among the multiple speeds that is less than the lateral speed, the second target speed is the second speed among the second speeds with the smallest difference from the lateral speed, and the second speed is the speed among the multiple speeds that is greater than the lateral speed; perform linear interpolation based on the corner compensations corresponding to the first target speed and the second target speed to obtain the lateral speed corner compensation.

[0071] That is, in the embodiments of the present application, a second preset table can be pre-constructed, including the mapping relationship between multiple speeds and corner compensations, and the speeds and corner compensations in the second preset table can be obtained based on experiments. Moreover, the corner compensations of the lateral speed within the corresponding speed range can all be obtained by linear interpolation based on the speeds and corner compensations in the second preset table.

[0072] Step S16: Determine the total corner based on the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner, so as to control the target vehicle based on the total corner.

[0073] In the embodiments of the present application, the total corner can be the sum of the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner. That is, in the embodiments of the present application, on the basis of the PID / LQR / MPC + curvature feedforward control method, a lateral distance and lateral speed control method is introduced to help the vehicle correct deviation and return the body to the correct position after deviation correction.

[0074] Further, in an alternative embodiment, if the road where the target vehicle is located is a curve, determine the feedforward corner based on the curvature of the road where the target vehicle is located; correspondingly, determining the total corner based on the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner includes: determining the total corner based on the feedforward corner, the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner.

[0075] In the embodiment of the present application, the total rotation angle may be the sum of the feedforward rotation angle, the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle.

[0076] In an alternative embodiment, determining the total rotation angle based on the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle includes: correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation; determining the total rotation angle based on the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, and the feedback rotation angle.

[0077] In an alternative embodiment, correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation includes: obtaining the road radius of the lane where the target vehicle is located to obtain the target road radius, and determining a first correction coefficient based on the target road radius; obtaining the vehicle speed of the target vehicle to obtain the target vehicle speed, and determining a second correction coefficient based on the target vehicle speed; correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the first correction coefficient and / or the second correction coefficient.

[0078] Wherein, the road radius refers to the radius of the circle corresponding to the curved section of the lane center line on the plane. Correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the first correction coefficient and / or the second correction coefficient means calculating the product of the first correction coefficient and / or the second correction coefficient and the lateral distance rotation angle compensation to obtain the corrected lateral distance rotation angle compensation. Calculating the product of the first correction coefficient and / or the second correction coefficient and the lateral speed rotation angle compensation to obtain the corrected lateral speed rotation angle compensation.

[0079] In an alternative embodiment, the total rotation angle may be the sum of the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, and the feedback rotation angle. If it is a curve, the total rotation angle may be the sum of the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, the feedback rotation angle, and the feedforward rotation angle. The higher the speed, the greater the angle attenuation, because the greater the lateral acceleration, the easier it is to skid sideways. The smaller the road radius, the greater the angle attenuation, because the greater the lateral acceleration, the easier it is to skid sideways. In this way, correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the road radius and the vehicle speed can further ensure the stability of vehicle control.

[0080] It can be seen that in the process of determining the total rotation angle in the embodiment of the present application, the rotation angle compensation of the lateral distance and the lateral speed of the target vehicle is considered. There is no need to adjust the feedback very large, and there is additional compensation, reducing the instability of the feedback. Moreover, through the rotation angle compensation for the lateral speed, during the process of the vehicle correcting back to the center, a reverse rotation angle can be provided, which can avoid overshooting after returning to the center and rushing into another lane line. In this way, the stability of vehicle control can be improved.

[0081] Further, in an alternative embodiment, the vehicle control solution includes the following steps:

[0082] 1. When ELK / LKA is triggered, a trajectory line is generated to describe the desired driving trajectory of the vehicle, that is, the vehicle predicts the trajectory of the center line of the lane as the desired trajectory.

[0083] 2. Calculate the deviation based on the vehicle's own trajectory and the desired trajectory, mainly the lateral distance deviation and the heading angle deviation. The lateral distance deviation is the difference in the lateral positions of the two trajectories. Lateral refers to perpendicular to the vehicle's traveling direction. The heading angle deviation refers to the angle between the center line of the vehicle and the center line of the lane. According to the deviation, calculate the feedback steering angle request through PID / LQR / MPC . If in a curve, also calculate the feedforward steering angle request according to the actual curvature . That is, the feedback steering angle, That is, the feedforward steering angle.

[0084] 3. According to the actual motion state of the vehicle, calculate the lateral distance of the vehicle relative to the left and right lane lines in real time , and the lateral speed , . See Figure 2 shown in Figure 2 which is a schematic diagram of the lateral distance provided by the embodiment of the present application. And obtain the activation state of the current ELK / LKA from the front end: whether it is the activation of the left lane line or the right lane line , . See the figure and perform linear interpolation and look-up table according to the lateral distance or . Table 1 is the first preset table.

[0085] Table 1

[0086]

[0087] In the above Table 1, D is the distance, is the steering angle compensation. D (the distance between the outer edge of the tire and the inner edge of the lane line) being negative indicates that the vehicle is pressing on the line. The closer the vehicle is to the left lane line and the more it presses on the line, the more rightward steering angle request value is provided. The closer the vehicle is to the right lane line and the more it presses on the line, the more leftward steering angle request value is provided. The above parameters are examples and can be adjusted. For example, when the lateral distance is 0.15, find the steering angle compensations corresponding to distances D of 0.1 and 0.2, perform interpolation, and obtain the steering angle compensation corresponding to 0.15.

[0088] Perform linear interpolation and look-up table according to the lateral speed V. Table 2 is the second preset table.

[0089] Table 2

[0090]

[0091] In the above Table 2, V is the distance, is the corner compensation. A negative V indicates that the lateral velocity direction is towards the lane line, and a positive V indicates that the lateral velocity direction is towards the center of the return lane. The above parameters are examples and can be adjusted.

[0092] When the left lane line is activated, i.e., : , ， = - , .

[0093] When the right lane line is activated, i.e., : , ， = , .

[0094] Since turning the steering wheel to the left is positive and to the right is negative, the positive and negative values need to be adjusted according to the situation. Alternatively, a first preset table and a second preset table can be set specifically for the activation of the left lane line and the right lane line respectively, without the need to adjust the positive and negative values.

[0095] Furthermore, in order to adapt to different road radii and vehicle speeds, the embodiments of the present application and are corrected for different road radii and vehicle speeds.

[0096] The correction coefficient for the road radius is shown in Table 3, where Radius is the road radius and RadiusFactor is the correction coefficient for the road radius. The parameters in Table 3 are examples and can be adjusted.

[0097] Table 3

[0098]

[0099] The correction coefficient for the vehicle speed is shown in Table 4, where VehicleSpeed is the vehicle speed and SpeedFactor is the correction coefficient for the vehicle speed. The parameters in Table 4 are examples and can be adjusted.

[0100] Table 4

[0101]

[0102] .

[0103] 。

[0104] 4. Total steering angle request:

[0105] 。

[0106] In this way, the steering angle compensation for the lateral distance and lateral speed is increased, which can effectively meet the requirements of regulations without introducing additional control instability. For the steering angle compensation of the lateral V, during the process of the vehicle correcting and returning to the center, a reverse steering angle is provided to avoid overshooting after returning to the center and rushing into another lane line.

[0107] Furthermore, as shown in Figure 3 An embodiment of the present application discloses a vehicle control device, including:

[0108] A desired trajectory generation module 11, configured to generate a desired trajectory of the target vehicle when a preset trigger condition is satisfied;

[0109] A feedback steering angle calculation module 12, configured to calculate a feedback steering angle based on the desired trajectory and the driving trajectory of the target vehicle;

[0110] A lateral data determination module 13, configured to determine a lateral distance and a lateral speed of the target vehicle relative to a target lane line based on a motion state of the target vehicle; wherein, the target lane line is a lane line of the lane where the target vehicle is located;

[0111] A distance compensation determination module 14, configured to determine a steering angle compensation based on the lateral distance to obtain a lateral distance steering angle compensation;

[0112] A speed compensation determination module 15, configured to determine a steering angle compensation based on the lateral speed to obtain a lateral speed steering angle compensation;

[0113] A total steering angle determination module 16, configured to determine a total steering angle based on the lateral distance steering angle compensation, the lateral speed steering angle compensation, and the feedback steering angle, so as to control the target vehicle based on the total steering angle.

[0114] In an alternative embodiment, the distance compensation determination module 14 is specifically configured to: look up the corner compensation corresponding to the lateral distance in a first preset table based on the lateral distance, where the first preset table includes a plurality of distances and the corner compensation corresponding to each distance; if the corner compensation corresponding to the lateral distance is found, determine the corner compensation as the lateral distance corner compensation; if the corner compensation corresponding to the lateral distance is not found, determine a first target distance and a second target distance from the first preset table, where the first target distance is the first distance among the first distances with the smallest difference from the lateral distance, the first distance is the distance among the plurality of distances that is less than the lateral distance, the second target distance is the second distance among the second distances with the smallest difference from the lateral distance, and the second distance is the distance among the plurality of distances that is greater than the lateral distance; perform linear interpolation based on the corner compensations corresponding to the first target distance and the second target distance to obtain the lateral distance corner compensation.

[0115] In an alternative embodiment, the speed compensation determination module 15 is specifically configured to: look up the corner compensation corresponding to the lateral speed in a second preset table based on the lateral speed, where the second preset table includes a plurality of speeds and the corner compensation corresponding to each speed; if the corner compensation corresponding to the lateral speed is found, determine the corner compensation as the lateral speed corner compensation; if the corner compensation corresponding to the lateral speed is not found, determine a first target speed and a second target speed from the second preset table, where the first target speed is the first speed among the first speeds with the smallest difference from the lateral speed, the first speed is the speed among the plurality of speeds that is less than the lateral speed, the second target speed is the second speed among the second speeds with the smallest difference from the lateral speed, and the second speed is the speed among the plurality of speeds that is greater than the lateral speed; perform linear interpolation based on the corner compensations corresponding to the first target speed and the second target speed to obtain the lateral speed corner compensation.

[0116] In an alternative embodiment, the device further includes a feedforward corner determination module, configured to: if the road where the target vehicle is located is a curve, determine a feedforward corner based on the curvature of the road where the target vehicle is located. Correspondingly, the total corner determination module 16 is specifically configured to: determine the total corner based on the feedforward corner, the lateral distance corner compensation, the lateral speed corner compensation, and the feedback corner.

[0117] In an alternative embodiment, the total corner determination module 16 may include:

[0118] a correction sub-module, configured to correct the lateral distance corner compensation and the lateral speed corner compensation;

[0119] The total rotation angle determination sub-module is used to determine the total rotation angle based on the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, and the feedback rotation angle.

[0120] In an alternative embodiment, the correction sub-module is specifically configured to: obtain the road radius of the lane where the target vehicle is located to obtain the target road radius, and determine a first correction coefficient based on the target road radius; obtain the vehicle speed of the target vehicle to obtain the target vehicle speed, and determine a second correction coefficient based on the target vehicle speed; correct the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the first correction coefficient and / or the second correction coefficient.

[0121] It can be seen that in the process of determining the total rotation angle in the embodiments of the present application, the rotation angle compensation of the lateral distance and lateral speed of the target vehicle is considered, and it is not necessary to make the feedback very large. There is additional compensation, which reduces the instability of the feedback. Moreover, through the rotation angle compensation for the lateral speed, during the process of the vehicle correcting back, a reverse rotation angle can be provided, which can avoid overshooting after returning to the center and rushing towards another lane line. In this way, the stability of vehicle control can be improved.

[0122] See Figure 4 As shown, an electronic device 20 is disclosed in the embodiments of the present application, including a processor 21 and a memory 22; wherein, the memory 22 is used to store a computer program; the processor 21 is used to execute the computer program, that is, the vehicle control method disclosed in the foregoing embodiments.

[0123] For the specific process of the above vehicle control method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be elaborated here.

[0124] Moreover, as a carrier for resource storage, the memory 22 can be a read-only memory, a random access memory, a disk, or an optical disc, etc., and the storage method can be short-term storage or permanent storage.

[0125] In addition, the electronic device 20 further includes a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26; wherein, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and specific limitations are not imposed here; the input / output interface 25 is used to obtain external input data or output data to the outside, and the specific interface type can be selected according to specific application needs, and specific limitations are not imposed here.

[0126] Further, the embodiments of the present application also disclose a computer-readable storage medium for storing a computer program, wherein when the computer program is executed by a processor, the vehicle control method disclosed in the foregoing embodiments is implemented.

[0127] For the specific process of the above vehicle control method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0128] The various embodiments in this specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0129] The steps of the method or algorithm described in combination with the embodiments disclosed in this document can be directly implemented by hardware, a software module executed by a processor, or a combination of both. The software module can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0130] The above has introduced in detail a vehicle control method, device, product, equipment and medium provided by the present application. Specific examples are used in this document to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A vehicle control method, characterized in that, including: When a preset trigger condition is satisfied, generating an expected trajectory of the target vehicle; Calculating a feedback steering angle based on the expected trajectory and the driving trajectory of the target vehicle; Based on the motion state of the target vehicle, determining a lateral distance and a lateral speed of the target vehicle relative to a target lane line; wherein, the target lane line is the lane line of the lane where the target vehicle is located; Determining a steering angle compensation based on the lateral distance to obtain a lateral distance steering angle compensation; Determining a steering angle compensation based on the lateral speed to obtain a lateral speed steering angle compensation; Determining a total steering angle based on the lateral distance steering angle compensation, the lateral speed steering angle compensation, and the feedback steering angle, so as to control the target vehicle based on the total steering angle; 2. The vehicle control method according to claim 1, wherein Determining a steering angle compensation based on the lateral distance to obtain a lateral distance steering angle compensation, including: Looking up the steering angle compensation corresponding to the lateral distance in a first preset table, wherein the first preset table includes a plurality of distances and the steering angle compensation corresponding to each distance; If the steering angle compensation corresponding to the lateral distance is found, determining this steering angle compensation as the lateral distance steering angle compensation; If the steering angle compensation corresponding to the lateral distance is not found, determining a first target distance and a second target distance from the first preset table, wherein the first target distance is the first distance with the smallest difference from the lateral distance among the first distances, the first distance is the distance less than the lateral distance among the plurality of distances, the second target distance is the second distance with the smallest difference from the lateral distance among the second distances, and the second distance is the distance greater than the lateral distance among the plurality of distances; Performing linear interpolation based on the steering angle compensations corresponding to the first target distance and the second target distance to obtain the lateral distance steering angle compensation; 3. The vehicle control method according to claim 1, characterized in that, Determining a steering angle compensation based on the lateral speed to obtain a lateral speed steering angle compensation, including: Looking up the steering angle compensation corresponding to the lateral speed in a second preset table, wherein the second preset table includes a plurality of speeds and the steering angle compensation corresponding to each speed; If the steering angle compensation corresponding to the lateral speed is found, determining this steering angle compensation as the lateral speed steering angle compensation; If the steering angle compensation corresponding to the lateral speed is not found, determining a first target speed and a second target speed from the second preset table, wherein the first target speed is the first speed with the smallest difference from the lateral speed among the first speeds, the first speed is the speed less than the lateral speed among the plurality of speeds, the second target speed is the second speed with the smallest difference from the lateral speed among the second speeds, and the second speed is the speed greater than the lateral speed among the plurality of speeds; Performing linear interpolation based on the steering angle compensations corresponding to the first target speed and the second target speed to obtain the lateral speed steering angle compensation; 4. The vehicle control method according to claim 1, characterized in that, further including: If the road where the target vehicle is located is a curve, determining a feedforward steering angle based on the curvature of the road where the target vehicle is located; Correspondingly, determining a total steering angle based on the lateral distance steering angle compensation, the lateral speed steering angle compensation, and the feedback steering angle, including: Determine the total rotation angle based on the feedforward rotation angle, the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that, Determining the total rotation angle based on the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle includes: Correct the lateral distance rotation angle compensation and the lateral speed rotation angle compensation; Determine the total rotation angle based on the corrected lateral distance rotation angle compensation, the corrected lateral speed rotation angle compensation, and the feedback rotation angle.

6. The vehicle control method according to claim 5, wherein Correcting the lateral distance rotation angle compensation and the lateral speed rotation angle compensation includes: Obtain the road radius of the lane where the target vehicle is located to obtain the target road radius, and determine a first correction coefficient based on the target road radius; Obtain the vehicle speed of the target vehicle to obtain the target vehicle speed, and determine a second correction coefficient based on the target vehicle speed; Correct the lateral distance rotation angle compensation and the lateral speed rotation angle compensation based on the first correction coefficient and / or the second correction coefficient.

7. A vehicle control device, characterized in that, Includes: An expected trajectory generation module, configured to generate an expected trajectory of the target vehicle when a preset trigger condition is satisfied; A feedback rotation angle calculation module, configured to calculate a feedback rotation angle based on the expected trajectory and the driving trajectory of the target vehicle; A lateral data determination module, configured to determine the lateral distance and lateral speed of the target vehicle relative to the target lane line based on the motion state of the target vehicle; wherein, the target lane line is the lane line of the lane where the target vehicle is located; A distance compensation determination module, configured to determine a rotation angle compensation based on the lateral distance to obtain a lateral distance rotation angle compensation; A speed compensation determination module, configured to determine a rotation angle compensation based on the lateral speed to obtain a lateral speed rotation angle compensation; A total rotation angle determination module, configured to determine the total rotation angle based on the lateral distance rotation angle compensation, the lateral speed rotation angle compensation, and the feedback rotation angle, so as to control the target vehicle based on the total rotation angle.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 6 are implemented.

9. An electronic device, characterized in that, Includes a memory and a processor, wherein: The memory is used to store a computer program; The processor is configured to execute the computer program to implement the vehicle control method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, For storing a computer program, wherein when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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