Control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to a control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of control. The control method comprises the steps that whether steering parameters of a vehicle are abnormal or not is judged according to error information of driving of the vehicle within a first time period, and the error information is the difference between an actual path and a target path of the vehicle; in response to the steering parameter abnormity, the steering angle deviation of the vehicle is determined, and the steering angle deviation is the difference between the steering angle fed back by the sensor and the actual steering angle of the vehicle; and controlling the vehicle to run according to the steering angle deviation. According to the technical scheme, the accuracy of vehicle control can be improved.

Description

Technical Field

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

[0002] With the development of unmanned driving technology, the speed of unmanned vehicles has gradually increased. During the operation process, unmanned vehicles traveling at high speeds can save transportation costs and improve work efficiency.

[0003] Due to the large size of the vehicle, poor road conditions, tire wear, large temperature differences, and the structure of the steering system, the vehicle is prone to deviation when driving at high speeds and may deviate from the left or right side of the target path for a long time.

[0004] In related technologies, the vehicle's driving is corrected in real time by detecting the rate of change of the lateral error in real time. Summary of the Invention

[0005] The inventors of the present disclosure discovered that the above-mentioned related technologies have the following problems: the rate of change of the real-time detected lateral error is greatly affected by the robustness of the lateral control, resulting in poor accuracy of vehicle control during real-time correction based on the rate of change of the lateral error.

[0006] In view of this, the present disclosure proposes a control technology solution that can improve the accuracy of vehicle control.

[0007] According to some embodiments of the present disclosure, a control method is provided, including: judging whether a steering parameter of a vehicle is abnormal based on error information of the vehicle traveling during a first time period, the error information being the difference between an actual path of the vehicle and a target path; determining a steering angle deviation of the vehicle in response to an abnormal steering parameter, the steering angle deviation being the difference between a steering angle fed back by a sensor and an actual steering angle of the vehicle; and controlling vehicle travel based on the steering angle deviation.

[0008] In some embodiments, the angle collection range of the vehicle's steering compensation angle is determined based on the steering angle deviation; based on the angle collection range, the vehicle is controlled to travel in a future time period to determine the steering compensation angle within the angle collection range; and based on the steering compensation angle, the vehicle is controlled to travel.

[0009] In some embodiments, based on the angle collection range, a candidate compensation angle corresponding to the vehicle in a future time period is determined, and the candidate compensation angle is not greater than the steering angle deviation; in the future time period, the vehicle is controlled based on the candidate compensation angle; and the steering compensation angle is determined based on the error information of the vehicle in the future time period.

[0010] In some embodiments, the absolute value of the candidate compensation angle is positively correlated with the time interval between the future time period and the first time period.

[0011] In some embodiments, the future time period includes a second time period and a third time period, the third time period is later than the second time period, and in response to the error information of the vehicle traveling in the second time period being not greater than the first error threshold, the candidate compensation angle of the vehicle in the second time period is determined as the steering compensation angle; in response to the error information of the vehicle traveling in the second time period being greater than the first error threshold, the steering compensation angle is determined based on the error information of the vehicle traveling in the third time period.

[0012] In some embodiments, in response to the candidate compensation angle being equal to the steering angle deviation, the steering angle deviation is determined as the steering compensation angle.

[0013] In some embodiments, whether to perform fault processing on the vehicle is determined based on the steering compensation angle and error information of the vehicle traveling in a future time period.

[0014] In some embodiments, in response to error information of the vehicle traveling in a future time period being greater than a second error threshold and an absolute value of the steering compensation angle being greater than a compensation angle threshold, fault processing is performed on the vehicle.

[0015] In some embodiments, a target steering angle of the vehicle is determined based on the steering compensation angle and a desired steering angle of the vehicle; and the vehicle is controlled to travel based on the target steering angle.

[0016] In some embodiments, the steering angle deviation is determined based on driving information of the vehicle in a first time period, where the driving information includes at least one of the vehicle's driving speed, steering angle, heading angle, and wheelbase.

[0017] In some embodiments, driving information is obtained by sampling in multiple sampling periods included in a first time period, the multiple sampling periods include a first sampling period and a second sampling period, the first sampling period is adjacent to the second sampling period, and the steering angles fed back by the sensor in the first sampling period and the second sampling period are the same. The steering angle deviation is determined based on the difference in heading angles of the vehicle in the first sampling period and the second sampling period and the length of the sampling period.

[0018] In some embodiments, in response to error information of the vehicle traveling during a first time period being greater than a first error threshold, it is determined that the steering parameter is abnormal.

[0019] In some embodiments, the error information includes at least one of an average value of multiple lateral errors or a quantitative ratio of each lateral error in the multiple lateral errors, the multiple lateral errors include a first lateral error of the actual path relative to the target path along a first direction and a second lateral error along a second direction, the first direction is opposite to the second direction, the first time period includes multiple sampling periods, the quantitative ratio includes the number of sampling periods in which the first lateral error exists, a first ratio of the total number of sampling periods in which the lateral error exists, and the number of sampling periods in which the second lateral error exists, a second ratio of the total number of sampling periods.

[0020] In some embodiments, in response to the vehicle traveling in a straight line within a first time period and the driving speed being greater than a speed threshold, whether the steering parameter is abnormal is determined based on error information of the vehicle traveling within the first time period.

[0021] In some embodiments, the steering parameter includes the steering neutral position of the vehicle's front wheels.

[0022] According to other embodiments of the present disclosure, a control device is provided, including: a judgment unit for judging whether a steering parameter of a vehicle is abnormal based on error information of the vehicle's travel during a first time period, the error information being the difference between the vehicle's actual path and a target path; a determination unit for determining a steering angle deviation of the vehicle in response to an abnormal steering parameter, the steering angle deviation being the difference between a steering angle fed back by a sensor and the vehicle's actual steering angle; and a control unit for controlling the vehicle's travel based on the steering angle deviation.

[0023] In some embodiments, the control unit determines the angle collection range of the vehicle's steering compensation angle based on the steering angle deviation; controls the vehicle to travel in a future time period based on the angle collection range to determine the steering compensation angle within the angle collection range; and controls the vehicle to travel based on the steering compensation angle.

[0024] In some embodiments, the control unit determines a candidate compensation angle corresponding to the vehicle in a future time period based on the angle acquisition range, and the candidate compensation angle is not greater than the steering angle deviation; in the future time period, the vehicle is controlled according to the candidate compensation angle; and the steering compensation angle is determined based on the error information of the vehicle's driving in the future time period.

[0025] In some embodiments, the absolute value of the candidate compensation angle is positively correlated with the time interval between the future time period and the first time period.

[0026] In some embodiments, the future time period includes a second time period and a third time period, the third time period is later than the second time period, and the control unit determines the candidate compensation angle of the vehicle in the second time period as the steering compensation angle in response to the error information of the vehicle traveling in the second time period being not greater than the first error threshold; and determines the steering compensation angle based on the error information of the vehicle traveling in the third time period in response to the error information of the vehicle traveling in the second time period being greater than the first error threshold.

[0027] In some embodiments, the control unit determines the steering angle deviation as the steering compensation angle in response to the candidate compensation angle being equal to the steering angle deviation.

[0028] In some embodiments, the control unit determines whether to perform fault processing on the vehicle based on the steering compensation angle and error information of the vehicle traveling in a future time period.

[0029] In some embodiments, the control unit performs fault processing on the vehicle in response to error information of the vehicle traveling in a future time period being greater than a second error threshold and an absolute value of the steering compensation angle being greater than a compensation angle threshold.

[0030] In some embodiments, the control unit determines a target steering angle of the vehicle based on the steering compensation angle and a desired steering angle of the vehicle; and controls the vehicle's travel based on the target steering angle.

[0031] In some embodiments, the determination unit determines the steering angle deviation based on driving information of the vehicle in a first time period, where the driving information includes at least one of the vehicle's driving speed, steering angle, heading angle, and wheelbase.

[0032] In some embodiments, driving information is obtained by sampling in multiple sampling periods included in a first time period, the multiple sampling periods include a first sampling period and a second sampling period, the first sampling period is adjacent to the second sampling period, and the steering angles fed back by the sensor in the first sampling period and the second sampling period are the same. The determination unit determines the steering angle deviation based on the difference in heading angles of the vehicle in the first sampling period and the second sampling period and the length of the sampling period.

[0033] In some embodiments, the judgment unit determines that the steering parameter is abnormal in response to error information of the vehicle traveling in a first time period being greater than a first error threshold.

[0034] In some embodiments, the error information includes at least one of an average value of multiple lateral errors or a quantitative ratio of each lateral error in the multiple lateral errors, the multiple lateral errors include a first lateral error of the actual path relative to the target path along a first direction and a second lateral error along a second direction, the first direction is opposite to the second direction, the first time period includes multiple sampling periods, the quantitative ratio includes the number of sampling periods in which the first lateral error exists, a first ratio of the total number of sampling periods in which the lateral error exists, and the number of sampling periods in which the second lateral error exists, a second ratio of the total number of sampling periods.

[0035] In some embodiments, in response to the vehicle traveling in a straight line within a first time period and the driving speed being greater than a speed threshold, the judgment unit judges whether the steering parameter is abnormal based on error information of the vehicle traveling within the first time period.

[0036] In some embodiments, the steering parameter includes the steering neutral position of the vehicle's front wheels.

[0037] According to some further embodiments of the present disclosure, a control device is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the control method in any one of the above embodiments based on instructions stored in the memory device.

[0038] According to some further embodiments of the present disclosure, a vehicle is provided, comprising the control device according to any one of the above embodiments.

[0039] According to some further embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the control method in any of the above embodiments is implemented.

[0040] According to some further embodiments of the present disclosure, a computer program product is provided, comprising instructions, which, when executed by a processor, enable the processor to perform the control method according to any one of the above embodiments.

[0041] In the above embodiment, by statistically analyzing error information within the first time period, abnormalities in the vehicle's steering parameters are determined. In the event of an abnormal steering parameter, vehicle travel is controlled based on the deviation in the steering parameter, as reflected by the difference between the steering angle reported by the sensor and the vehicle's actual steering angle. This reduces the impact of the control system's robustness on the accuracy of the error information, allowing for more accurate determination of the steering parameter deviation based on the error information. This allows the vehicle to maintain normal travel even when the steering parameter is abnormal, thereby improving vehicle control accuracy and, consequently, driving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0044] Figure 1 Flowcharts showing some embodiments of the control method of the present disclosure;

[0045] Figure 2 Schematic diagrams showing some embodiments of the control method of the present disclosure;

[0046] Figure 3 Flowcharts showing other embodiments of the control method disclosed herein;

[0047] Figure 4 Schematic diagrams showing some embodiments of the control device of the present disclosure;

[0048] Figure 5 Schematic diagrams showing other embodiments of the control device disclosed herein;

[0049] Figure 6 A block diagram illustrating some embodiments of the control device of the present disclosure;

[0050] Figure 7 A block diagram showing some other embodiments of the control device disclosed herein;

[0051] Figure 8 A block diagram showing some further embodiments of the control device disclosed herein;

[0052] Figure 9 A block diagram illustrating some embodiments of the vehicle of the present disclosure is shown. DETAILED DESCRIPTION

[0053] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0054] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0055] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0056] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0057] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0058] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0059] As mentioned earlier, unmanned mining trucks (hereinafter referred to as "unmanned mining trucks") have rapidly become popular in open-pit mines. With breakthroughs in unmanned driving technology, the speed of unmanned mining trucks has gradually increased. High-speed unmanned mining trucks can reduce transportation costs and improve operational efficiency. However, due to the large size of mining trucks, poor road conditions, tire wear, large temperature swings, and the structure of the steering system, mining trucks often veer off the road when traveling at high speeds on straight roads. These trucks can travel to the left or right of their planned path for extended periods, causing the vehicle to sway left or right as it steers to correct its planned path. This phenomenon is caused by a change in the symmetry of the vehicle's left and right front wheels. When the steering center is not accurate, the vehicle's lateral control accuracy deteriorates, affecting transportation efficiency and posing a safety hazard.

[0060] In related technologies, the steering center position is automatically calibrated by detecting the rate of change of the lateral error in real time, thereby controlling the vehicle's travel. However, the rate of change of the lateral error is related to the robustness of the lateral control. In the event that the vehicle's steering center position is inaccurate, if the robustness of the lateral control is weak, the rate of change of the lateral error is small, and the vehicle will remain parallel to the target route when traveling in a straight line, but there will always be a certain lateral error; if the robustness of the lateral control is strong, the rate of change of the lateral error is large, and the vehicle will frequently swing and deviate from one side of the planned route. In order to reduce the lateral error and make the vehicle travel along the target path, the control system will continuously adjust the vehicle's steering according to the rate of change of the lateral error, resulting in poor vehicle control accuracy during the real-time correction process.

[0061] To address at least one of the above technical issues, the present disclosure provides a control method that determines abnormalities in a vehicle's steering parameters by collecting statistical error information within a first time period. If the steering parameters are abnormal, the vehicle's travel is controlled based on the deviation of the steering parameters, as reflected by the difference between the steering angle fed back by a sensor and the vehicle's actual steering angle. This reduces the impact of the robustness of the control system on the accuracy of the error information, allowing for more accurate determination of the steering parameter deviation based on the error information. This allows the vehicle to be controlled to travel normally even when the steering parameters are abnormal, thereby improving vehicle control accuracy and, in turn, vehicle travel stability.

[0062] For example, the technical solutions of the present disclosure can be implemented through the following embodiments.

[0063] Figure 1 Flowcharts showing some embodiments of the control method of the present disclosure.

[0064] like Figure 1 As shown, in step 110, whether the steering parameters of the vehicle are abnormal is determined based on the error information of the vehicle during the first time period. For example, the error information is the difference between the actual path of the vehicle and the target path.

[0065] In some embodiments, the steering parameter includes the steering neutral position of the vehicle's front wheels.

[0066] In this way, by real-time statistics of the error information of the vehicle's driving in the first time period, the vehicle's steering parameters can be detected more accurately, so that the vehicle control can be adjusted when the steering parameters are abnormal. In this way, the impact of the control system's robustness on the detection process can be reduced, and the accuracy of vehicle control can be improved.

[0067] In step 120 , in response to the steering parameter abnormality, the steering angle deviation of the vehicle is determined. For example, the steering angle deviation is the difference between the steering angle fed back by the sensor and the actual steering angle of the vehicle.

[0068] In some embodiments, the steering angle fed back by the sensor is obtained by a front wheel steering sensor.

[0069] In this way, when the vehicle's steering parameters are abnormal, the difference between the steering angle fed back by the sensor and the actual steering angle of the vehicle can accurately characterize the offset of the vehicle's steering parameters, so as to control the vehicle according to the offset and thus improve the accuracy of vehicle control.

[0070] In step 130 , the vehicle is controlled to travel according to the steering angle deviation.

[0071] In the above embodiment, by collecting real-time statistics on the vehicle's steering parameter errors during a first time period, the system determines whether the vehicle's steering parameters are abnormal. This reduces the impact of the control system's robustness on the accuracy of the error information. Furthermore, if the steering parameters are abnormal, the vehicle's travel is controlled based on the deviation of the steering parameters. This allows the vehicle to maintain normal travel even if the steering parameters are abnormal, improving vehicle control accuracy.

[0072] The following describes, through some embodiments, a method for determining whether the steering parameters of the vehicle in step 110 are abnormal.

[0073] In some embodiments, in response to the vehicle traveling in a straight line within a first time period and the driving speed being greater than a speed threshold, whether the steering parameter is abnormal is determined based on error information of the vehicle traveling within the first time period.

[0074] For example, the high-speed straight line judgment module can receive the curvature of the target path sent by the decision module and the vehicle speed information sent by the vehicle body to determine whether the vehicle is traveling at high speed on a straight road.

[0075] For example, whether the vehicle is traveling in a straight line can be determined based on the curvature of the closest reference point on the target path that corresponds to the vehicle's actual position. The closest reference point is the point on the target path that is closest to the vehicle's actual position during travel.

[0076] For example, the curvature threshold could be 0.01 In response to the absolute value of the curvature of the nearest reference point of the vehicle in the target path being less than the curvature threshold in continuous time, the target path is judged to be a straight line.

[0077] For example, a speed threshold may be set according to actual conditions, such as 20 km / h. In response to the vehicle's driving speed being greater than the speed threshold within the first time period, the vehicle is determined to be traveling at a high speed.

[0078] In some embodiments, it is possible to determine whether the vehicle's steering parameters are abnormal while the vehicle is traveling in a straight line at high speed. This is because even if the steering center position is inaccurate when the vehicle is traveling at low speed, the driver can still correct the vehicle's steering. Thus, by determining the vehicle's steering parameters while the vehicle is traveling at high speed, frequent corrections that may cause the vehicle to become unstable can be avoided, and the efficiency of vehicle control can also be improved. Furthermore, when the vehicle is traveling on a curve, many factors can cause the vehicle to deviate inward or outward, for example, due to the severe steering delay of large vehicles (such as unmanned mining trucks). Therefore, by determining the vehicle's steering parameters while the vehicle is traveling in a straight line, it is possible to more accurately determine any abnormalities in the vehicle's steering parameters, allowing control to be performed based on the deviation of the steering parameters.

[0079] The following describes how to determine the error information of a vehicle through some embodiments.

[0080] In some embodiments, the error information includes at least one of an average value of a plurality of lateral errors or a quantitative ratio of each of the plurality of lateral errors, wherein the plurality of lateral errors include a first lateral error of the actual path along a first direction and a second lateral error along a second direction, the first direction being opposite to the second direction.

[0081] In this way, based on the error information of the vehicle in the first time period, multiple error statistical results (such as quantity ratio, average value, etc.) are calculated, which can more comprehensively evaluate the deviation of the vehicle's actual path from the target path and thus more accurately control the vehicle.

[0082] For example, the lateral error is the perpendicular distance between a first straight line extending along the vehicle's heading through the vehicle's actual position and a second straight line extending along the vehicle's heading through the closest reference point corresponding to the vehicle's actual position. The first lateral error can be a positive value, indicating a lateral error between the vehicle's actual position and one side of the target path (e.g., a first direction), while the second lateral error can be a negative value, indicating a lateral error between the vehicle's actual position and the other side of the target path (e.g., a second direction).

[0083] For example, a positive lateral error may indicate that the vehicle is traveling on the left side of the target path, and a negative lateral error may indicate that the vehicle is traveling on the right side of the target path.

[0084] In some embodiments, the first time period includes multiple sampling periods, and the number ratio includes the number of sampling periods with first lateral errors, which accounts for a first proportion of the total number of sampling periods with lateral errors, and the number of sampling periods with second lateral errors, which accounts for a second proportion of the total number of sampling periods.

[0085] In this way, by calculating the lateral error of the vehicle in different directions, it is possible to accurately detect situations where the vehicle deviates from the target path for a long time during high-speed driving, and control the vehicle accordingly, thereby ensuring that the vehicle travels along the target path and improving the accuracy of vehicle control.

[0086] For example, the lateral error average module can receive the collection instructions issued by the high-speed straight line judgment module and the lateral error issued by the decision module, collect the lateral errors of multiple sampling cycles in the first time period and calculate the average value of the lateral errors, and then send the average value of the lateral errors to the steering median compensation module and the steering median judgment module.

[0087] For example, the calculation formula for the average value of the lateral error can be:

[0088]

[0089] In formula (1), is the average value of the lateral error, is the sum of the lateral errors in the first time period, is the total number of sampling periods with lateral errors in the first time period.

[0090] For example, the lateral error positive and negative percentage module can receive the collection instructions issued by the high-speed straight line judgment module and the lateral error issued by the decision module, collect the lateral errors of multiple sampling periods in the first time period, and calculate the first ratio of the number of sampling periods with the first lateral error to the total number of sampling periods with the lateral error and the second ratio of the number of sampling periods with the second lateral error to the total number of sampling periods with the lateral error, and send the first ratio and the second ratio to the steering median compensation module and the steering median judgment module.

[0091] For example, the first ratio and the second ratio can be calculated by formula (2) and formula (3) respectively:

[0092]

[0093]

[0094] In formula (2) and formula (3), is the first ratio, For the second ratio, is the number of sampling periods in which the first lateral error exists in the first time period, is the number of sampling periods during which the second lateral error exists in the first time period.

[0095] The following uses some embodiments to illustrate how to determine whether the steering parameters of the vehicle are abnormal based on the above error information.

[0096] In some embodiments, in response to the error information of the vehicle traveling in the first time period being greater than a first error threshold, it is determined that the vehicle is steering abnormally. For example, the first error threshold can be a threshold set including a first quantity ratio threshold of the lateral error and a first average value threshold of the lateral error. The first error threshold is determined by testing the operation scene, and the first quantity ratio threshold can be set to 60 , set the first average threshold to 0.3 meters.

[0097] For example, the thresholds for judging the first ratio and the second ratio are the same, which are both the first quantity ratio threshold included in the first error threshold.

[0098] For example, in response to the first ratio being greater than the first quantity ratio threshold and the average value of the lateral error being greater than the first average value threshold, the steering parameter is determined to be abnormal; in response to the second ratio being greater than the first quantity ratio threshold and the average value of the lateral error being greater than the first average value threshold, the steering parameter is determined to be abnormal.

[0099] In some embodiments, in response to the error information of the vehicle traveling during a first time period being no greater than a first error threshold, it is determined that the vehicle steering is normal and there is no need to redetermine the vehicle's steering compensation angle. The vehicle's target steering angle is determined based on the vehicle's steering compensation angle at this time and the vehicle's desired steering angle, and the vehicle is controlled based on the target steering angle.

[0100] In this way, by performing threshold judgment on the statistical results of multiple lateral parameters, abnormal conditions of the vehicle's steering parameters can be judged more comprehensively, thereby improving the accuracy of vehicle control.

[0101] The following examples illustrate the Figure 1 The calculation method of the steering angle deviation in step 120 is as follows.

[0102] In some embodiments, the steering angle deviation is determined based on driving information of the vehicle during a first time period, where the driving information includes at least one of the vehicle's speed, steering angle, heading angle, and wheelbase. For example, the vehicle's speed includes the vehicle's overall speed (e.g., rear wheel speed and positioning-fused speed) and the front wheel speed.

[0103] For example, the steering angle deviation calculation submodule may receive the front wheel speed, heading angle, and steering angle fed back by the sensor of the vehicle sent by the vehicle body.

[0104] In some embodiments, driving information is obtained by sampling in multiple sampling periods included in a first time period, the multiple sampling periods include a first sampling period and a second sampling period, the first sampling period is adjacent to the second sampling period, and the steering angles fed back by the sensor in the first sampling period and the second sampling period are the same. The steering angle deviation is determined based on the difference in heading angles of the vehicle in the first sampling period and the second sampling period and the length of the sampling period.

[0105] Below through Figure 2 The embodiment in exemplarily illustrates a method for calculating a steering angle deviation based on driving information.

[0106] Figure 2 Schematic diagrams showing some embodiments of the control method of the present disclosure;

[0107] like Figure 2 As shown, is the angular velocity of the vehicle, is the turning radius of the vehicle, is the vehicle's wheelbase, is the steering angle deviation of the vehicle, and The vehicle heading angles of adjacent sampling periods when the steering angle fed back by the sensor is 0 are respectively the vehicle heading angles of adjacent sampling periods when the steering angle fed back by the sensor is 0. For example, the vehicle heading angle difference of adjacent sampling periods when the steering angle fed back by the sensor is 0 can be calculated. , according to the heading angle difference and the sampling period length Calculate the angular velocity of the vehicle and then use the vehicle's speed to calculate the angular velocity of the vehicle. and the vehicle's wheelbase, and based on the calculated vehicle's angular velocity, calculate the vehicle's steering angle deviation:

[0108]

[0109]

[0110]

[0111]

[0112] In some embodiments, the steering angle deviation calculated according to the above formula can be received by the compensation angle sub-module, and the received steering angle deviation can be filtered. The average value of the steering angle deviation in the first time period is calculated as the maximum value of the steering compensation angle and sent to the steering center position judgment module to determine the steering compensation angle of the vehicle, so as to control the vehicle according to the steering compensation angle.

[0113] In this way, calculating the vehicle's steering angle deviation through driving information can more accurately reflect the vehicle's actual driving state, thereby improving the accuracy and stability of the vehicle's steering control and further improving operating efficiency.

[0114] The following describes, through some embodiments, a technical solution for controlling a vehicle based on the calculated steering angle deviation.

[0115] In some embodiments, the angle collection range of the vehicle's steering compensation angle is determined based on the steering angle deviation; based on the angle collection range, the vehicle is controlled to travel in a future time period to determine the steering compensation angle within the angle collection range; and based on the steering compensation angle, the vehicle is controlled to travel.

[0116] For example, the steering angle deviation may be taken as the maximum value of the steering compensation angle, that is, the angle acquisition range may be determined to be from zero to the steering angle deviation.

[0117] In this way, by determining the steering compensation angle within the angle acquisition range, the determined steering compensation angle can more accurately compensate for the offset of the vehicle's steering parameters, thereby achieving more precise path correction and improving vehicle driving stability and vehicle control accuracy.

[0118] In some embodiments, a candidate compensation angle corresponding to the vehicle in a future time period is determined based on the angle collection range. The candidate compensation angle is no greater than the steering angle deviation, and the absolute value of the candidate compensation angle is positively correlated with the time interval between the future time period and the first time period. For example, the steering compensation angle can be increased or decreased at a certain slope starting from zero degrees.

[0119] For example, when the steering angle deviation is 3.5 degrees, the candidate compensation angle in each of the future time periods may be set to increase by 0.1 degrees per time period (eg, 50 ms) starting from 0.

[0120] In some embodiments, the vehicle is controlled to travel according to the candidate compensation angles in a future time period; and the steering compensation angle is determined according to error information of the vehicle traveling in the future time period.

[0121] For example, the future time period includes a second time period and a third time period, the third time period is later than the second time period, and in response to the error information of the vehicle traveling in the second time period being not greater than the first error threshold, the candidate compensation angle of the vehicle in the second time period is determined as the steering compensation angle; in response to the error information of the vehicle traveling in the second time period being greater than the first error threshold, the steering compensation angle is determined based on the error information of the vehicle traveling in the third time period.

[0122] For example, in response to the vehicle being controlled at a candidate compensation angle (e.g., 1.8 degrees) in the second time period, the vehicle's error information is not greater than a first error threshold, the candidate compensation angle (e.g., 1.8 degrees) is determined as the vehicle's steering compensation angle; in response to the vehicle being controlled at a candidate compensation angle (e.g., 1.8 degrees) in the second time period, the vehicle's error information is still greater than the first error threshold, the vehicle is controlled according to the candidate compensation angle in the third time period (e.g., 1.9 degrees), and the error information of the vehicle in the third time period is determined, until a candidate compensation angle is determined in the angle acquisition range that makes the vehicle's error information no greater than the first error threshold.

[0123] In the above embodiment, the candidate compensation angles are gradually adjusted and their suitability is dynamically determined based on the vehicle's current driving error information. This ensures that the vehicle's driving path does not change drastically, avoids overcompensation, and allows for more refined corrections to vehicle control, thereby improving vehicle driving stability and safety.

[0124] The following describes, through some embodiments, a technical solution for determining vehicle faults when the steering compensation angle is too large.

[0125] In some embodiments, in response to the candidate compensation angle being equal to the steering angle deviation, the steering angle deviation is determined as the steering compensation angle of the vehicle. For example, whether to perform fault processing on the vehicle can be determined based on the steering compensation angle and error information about the vehicle's travel in a future time period.

[0126] For example, in response to the error information of the vehicle traveling in the future time period being greater than the second error threshold and the absolute value of the steering compensation angle being greater than the compensation angle threshold, fault processing is performed on the vehicle.

[0127] In this way, the situation where the steering parameter deviation of the vehicle is too large can be accurately detected so that the fault can be handled and unstable vehicle control caused by excessive compensation angle caused by vehicle fault can be avoided.

[0128] For example, the second error threshold for a vehicle is a threshold set, including a second number ratio threshold for lateral error, a second average value threshold for lateral error, and a compensation angle threshold. The second error threshold is determined based on testing of the operating scenario. The second number ratio threshold and the second average value threshold are respectively greater than the first number ratio threshold and the first average value threshold in the first error threshold. The second number ratio threshold can be set to 80%, the second average value threshold to 0.5 meters, and the compensation angle threshold to 3 degrees.

[0129] For example, it is possible to determine whether a first ratio of the first lateral error, an average value of the lateral error, and an absolute value of the steering compensation angle are greater than a second error threshold. In response to the first ratio, the average value of the lateral error, and the absolute value of the steering compensation angle all being greater than corresponding thresholds included in the second error threshold, a vehicle fault is processed. It is also possible to determine whether a second ratio of the second lateral error, the average value of the lateral error, and the absolute value of the steering compensation angle are greater than the second error threshold. In response to the second ratio, the average value of the lateral error, and the absolute value of the steering compensation angle all being greater than corresponding thresholds included in the second error threshold, a vehicle fault is processed, a fault indicating that the vehicle's front wheels are not in the correct center of the steering is transmitted to the cloud system, and the vehicle is decelerated.

[0130] Through the above embodiment, if the vehicle's steering compensation angle is calculated and no vehicle fault treatment is required, the vehicle's driving can be controlled based on the steering compensation angle. For example, a target steering angle can be determined based on the steering compensation angle and the vehicle's desired steering angle, and the vehicle's driving can be controlled based on the target steering angle.

[0131] For example, the lateral control module can receive the path information sent by the decision module to calculate the desired steering angle of the vehicle. Lateral control algorithms include pure tracking control and model predictive control.

[0132] For example, the sum of the calculated steering compensation angle and the desired steering angle can be used as a steering instruction and sent to the vehicle body to control the vehicle's driving.

[0133] In the above embodiment, by statistically analyzing error information within a first time period, abnormalities in the vehicle's steering parameters are determined. If the steering parameters are abnormal, the vehicle's steering compensation angle is determined based on the deviation of the steering parameters, thereby more accurately controlling the vehicle's travel. This reduces the impact of the control system's robustness on the accuracy of the error information, allowing for more accurate determination of the steering parameter deviation based on the error information. This allows the vehicle to maintain normal travel even when the steering parameters are abnormal, thereby improving vehicle control accuracy and, in turn, driving stability.

[0134] Below through Figure 3 The embodiments in the present invention take unmanned mining trucks as an example to illustrate the above technical solution.

[0135] Figure 3 Flowcharts showing other embodiments of the control method of the present disclosure.

[0136] like Figure 3 As shown, in step 310, it is determined whether the unmanned mining truck is traveling at high speed on a straight road based on the vehicle speed and the curvature of the target path. For example, taking the unmanned mining truck operating in an open-pit mine as an example, for safety reasons, the maximum speed of the unmanned mining truck is usually no more than 30 km / h.

[0137] In step 315 , statistics are collected on the lateral errors of the vehicle, and a first ratio of the first lateral error, a second ratio of the second lateral error, and an average value of the lateral errors within a first time period are calculated.

[0138] In step 320 , it is determined whether the average value of the first ratio and the lateral error or the average value of the second ratio and the lateral error is greater than a first error threshold.

[0139] In response to the first ratio and the second ratio being not greater than the first error threshold or the average value of the lateral error being not greater than the first error threshold, step 325 is executed; in response to the first ratio and the average value of the lateral error being greater than the first error threshold or the second ratio and the average value of the lateral error being greater than the first error threshold, step 330 is executed.

[0140] In step 325, there is no need to recalculate the steering compensation angle. The sum of the current steering compensation angle and the desired steering angle is used as the steering instruction.

[0141] In step 330, the steering compensation angle is recalculated. The vehicle's steering angle deviation is calculated based on the unmanned mining truck's heading angle, front wheel speed, and the steering angle fed back by the front wheel steering sensor. For example, the heading angle is fed back in real time by the vehicle's inertial navigation system, which receives positioning signals.

[0142] In step 335 , the calculated steering angle deviation is filtered, and an average value of the steering angle deviation in the first time period is calculated as the maximum value of the steering compensation angle to determine the angle acquisition range.

[0143] In step 340 , within a future time period, the candidate compensation angle is increased or decreased at a certain slope starting from zero degrees, and the vehicle is controlled to travel according to the candidate compensation angle to determine the steering compensation angle.

[0144] In step 345 , the sum of the steering compensation angle determined according to the vehicle and the desired steering angle is used as the steering instruction.

[0145] In step 350 and step 355 , it is determined whether to perform fault processing on the vehicle.

[0146] In step 350, determine whether the first ratio of the first lateral error, the average value of the lateral error, and the absolute value of the steering compensation angle are greater than the second error threshold; in step 355, determine whether the second ratio of the second lateral error, the average value of the lateral error, and the absolute value of the steering compensation angle are greater than the second error threshold.

[0147] In response to the first ratio, the average value of the lateral error, and the absolute value of the steering compensation angle being greater than the second error threshold, or the second ratio, the average value of the lateral error, and the absolute value of the steering compensation angle being greater than the second error threshold, step 360 is executed, and the fault of the inaccurate steering center position of the vehicle's front wheels is sent to the cloud system and the vehicle speed is reduced.

[0148] In response to the first ratio and the second ratio being not greater than the second error threshold or the average value of the lateral error being not greater than the second error threshold or the absolute value of the steering compensation angle being not greater than the second error threshold, step 365 is executed without performing fault processing on the vehicle and the steering instruction is sent to the vehicle body.

[0149] In the above embodiment, the error information from the unmanned mining truck during the first time period is used to determine whether the truck's steering parameters are abnormal. This reduces the impact of the control system's robustness on the accuracy of the error information, allowing for more accurate determination of whether the steering parameters are abnormal based on the error information. Furthermore, in the event of an abnormal steering parameter, the truck's travel is controlled based on the deviation in the steering parameter, as reflected by the difference between the steering angle fed back by the sensor and the truck's actual steering angle. This allows the truck to maintain normal travel even if its steering parameters are abnormal, improving the accuracy of its control.

[0150] Below through Figure 4 The embodiments in the present invention exemplarily illustrate a control device for executing the above control method.

[0151] Figure 4 Schematic diagrams showing some embodiments of the control device of the present disclosure.

[0152] The control device 4 can be deployed in an unmanned system, such as Figure 4 As shown, the control device 4 includes a decision module 41, a high-speed straight line judgment module 42, a lateral error positive and negative number percentage module 43, a lateral error average module 44, a lateral control module 45, a steering center compensation module 46 and a steering center judgment module 47.

[0153] The decision module 41 is configured to transmit target path information, which includes the curvature of the path points on the target path and the calculated lateral error. If the vehicle is traveling on the left side of the target path, the lateral error is positive; if the vehicle is traveling on the right side of the target path, the lateral error is negative.

[0154] High-speed straight line determination module 42 receives the target path curvature from decision module 41 and vehicle speed information from vehicle body 48 to determine whether the unmanned mining truck is traveling at high speed on a straight road. If the unmanned mining truck is traveling at high speed on a straight road, it sends a collection instruction to lateral error positive and negative percentage module 43 and lateral error average module 44.

[0155] The lateral error positive and negative number percentage module 43 is used to receive the collection instructions issued by the high-speed straight line judgment module 42 and the lateral error issued by the decision module 41, collect the lateral error within the first time period, and calculate the percentage of the number of sampling periods with the first lateral error and the number of sampling periods with the second lateral error in the first time period to the total number of sampling periods with lateral errors, obtain the first ratio and the second ratio, and send them to the steering median compensation module 46 and the steering median judgment module 47.

[0156] The lateral error average module 44 is used to receive the collection instructions issued by the high-speed straight line judgment module 42 and the lateral error issued by the decision module 41, collect the lateral error within the first time period to calculate the average value of the lateral error within the first time period, and send the average value of the lateral error to the steering median compensation module 46 and the steering median judgment module 47.

[0157] The steering median compensation module 46 is used to receive the first ratio and second ratio issued by the lateral error positive and negative number percentage module 43, the average value of the lateral error issued by the lateral error average value module 44, the front wheel speed, heading angle and steering angle fed back by the sensor sent by the vehicle body 48, calculate the steering angle deviation and send it to the steering median judgment module 47.

[0158] Below through Figure 5 The embodiment in FIG. 1 exemplarily illustrates the structure of the steering neutral compensation module 46 .

[0159] Figure 5Schematic diagrams showing other embodiments of the control device disclosed herein.

[0160] like Figure 5 As shown, the steering neutral position compensation module 46 includes a steering neutral position compensation triggering submodule 461 , a steering angle deviation calculating submodule 462 and a compensation angle submodule 463 .

[0161] The steering neutral position compensation triggering submodule 461 is configured to receive the first and second ratios issued by the lateral error positive and negative percentage module 43 and the average value of the lateral error issued by the lateral error average module 44. It then determines whether the first ratio and the average value of the lateral error are greater than a first error threshold. If both are greater than the first error threshold, a command to recalculate the steering compensation angle is issued to the steering angle deviation calculation submodule 462. If both are greater than the first error threshold, a command to recalculate the steering compensation angle is issued to the steering neutral position determination module 47. It also determines whether the absolute value of the second ratio and the average value of the lateral error are greater than the first error threshold. If both are greater than the first error threshold, a command to recalculate the steering compensation angle is issued to the steering angle deviation calculation submodule 462. If both are less than the first error threshold, a command to recalculate the steering compensation angle is issued to the steering neutral position determination module 47.

[0162] The steering angle deviation calculation submodule 462 is used to receive the front wheel speed, heading angle and steering angle fed back by the sensor from the vehicle body 48, calculate the steering angle deviation when the steering angle fed back by the sensor is zero, and send the steering angle deviation to the compensation angle submodule 463. The calculation process of the steering angle deviation is shown in formulas (4)-(7).

[0163] The compensation angle submodule 463 is used to receive the steering angle deviation sent by the steering angle deviation calculation submodule 462, filter the steering angle deviation, calculate the average value of the steering angle deviation in the first time period as the maximum value of the angle collection range of the steering compensation angle, and send the angle collection range to the steering median judgment module 47.

[0164] refer to Figure 4 The lateral control module 45 is used to receive the path information sent by the decision module 41, calculate the expected steering angle and send it to the steering center position judgment module 47.

[0165] The steering neutral position determination module 47 receives the desired steering angle from the lateral control module 45, the angle acquisition range from the steering neutral position compensation module 46, the first and second ratios of the lateral error positive and negative percentages from the lateral error average module 43, and the average lateral error from the lateral error average module 44. Over a future time period, the module determines the steering compensation angle by increasing or decreasing candidate compensation angles starting from zero degrees at a certain slope and controlling vehicle travel based on the candidate compensation angles. The steering command is then determined by adding the vehicle's determined steering compensation angle to the desired steering angle.

[0166] The steering neutral position determination module 47 is also used to determine whether to perform a vehicle fault procedure. First, it determines whether the first ratio of the first lateral error, the average value of the lateral error, and the absolute value of the steering compensation angle are greater than a second error threshold. If so, a fault indicating that the vehicle's front wheels are not steering neutral is reported to the cloud system 49, and the vehicle is decelerated. If not, no fault procedure is performed, and a steering command is issued to the vehicle body 48. It also determines whether the second ratio of the second lateral error, the average value of the lateral error, and the absolute value of the steering compensation angle are greater than the second error threshold. If so, a fault indicating that the vehicle's front wheels are not steering neutral is reported to the cloud system 49, and the vehicle is decelerated. If not, no fault procedure is performed, and a steering command is issued to the vehicle body 48.

[0167] In response to receiving the instruction sent by the steering center compensation trigger submodule 461 that there is no need to recalculate the steering compensation angle, the steering center judgment module 47 records the vehicle's current steering compensation angle as the final steering compensation angle, and sends it to the vehicle body 48 as a steering instruction based on the sum of the steering compensation angle and the expected steering angle.

[0168] The cloud system 49 is used to collect status information of unmanned mining trucks, respond to and receive reported fault information, and notify on-site operation and maintenance personnel to handle it in a timely manner.

[0169] In the above embodiment, by real-time statistics of the lateral errors of the unmanned mining truck when traveling at high speed on a straight road, it is detected whether there is an inaccurate steering center position, and the steering angle deviation of the vehicle when the steering angle fed back by the sensor is zero is calculated based on the driving information sent by the vehicle. Then, the steering compensation angle is calculated based on the steering angle deviation to eliminate the adverse effects caused by the deviation online, thereby improving the accuracy of the lateral control of the unmanned mining truck when traveling at high speed on a straight road and ensuring driving safety.

[0170] Figure 6 A block diagram illustrating some embodiments of the control device of the present disclosure.

[0171] According to other embodiments of the present disclosure, a control device is provided, including: a judgment unit 61, for judging whether a steering parameter of a vehicle is abnormal based on error information of the vehicle traveling during a first time period, the error information being the difference between the actual path of the vehicle and the target path; a determination unit 62, for determining a steering angle deviation of the vehicle in response to an abnormal steering parameter, the steering angle deviation being the difference between a steering angle fed back by a sensor and the actual steering angle of the vehicle; and a control unit 63, for controlling the vehicle traveling according to the steering angle deviation.

[0172] In some embodiments, the control unit 63 determines the angle collection range of the vehicle's steering compensation angle based on the steering angle deviation; controls the vehicle to travel in a future time period based on the angle collection range to determine the steering compensation angle within the angle collection range; and controls the vehicle to travel based on the steering compensation angle.

[0173] In some embodiments, the control unit 63 determines the candidate compensation angle corresponding to the vehicle in the future time period based on the angle collection range, and the candidate compensation angle is not greater than the steering angle deviation; in the future time period, the vehicle is controlled according to the candidate compensation angle; and the steering compensation angle is determined based on the error information of the vehicle in the future time period.

[0174] In some embodiments, the absolute value of the candidate compensation angle is positively correlated with the time interval between the future time period and the first time period.

[0175] In some embodiments, the future time period includes a second time period and a third time period, the third time period is later than the second time period, and the control unit 63 determines the candidate compensation angle of the vehicle in the second time period as the steering compensation angle in response to the error information of the vehicle traveling in the second time period being not greater than the first error threshold; and determines the steering compensation angle based on the error information of the vehicle traveling in the third time period in response to the error information of the vehicle traveling in the second time period being greater than the first error threshold.

[0176] In some embodiments, the control unit 63 determines the steering angle deviation as the steering compensation angle in response to the candidate compensation angle being equal to the steering angle deviation.

[0177] In some embodiments, the control unit 63 determines whether to perform fault processing on the vehicle based on the steering compensation angle and the error information of the vehicle traveling in a future time period.

[0178] In some embodiments, the control unit 63 performs fault processing on the vehicle in response to the error information of the vehicle traveling in the future time period being greater than the second error threshold and the absolute value of the steering compensation angle being greater than the compensation angle threshold.

[0179] In some embodiments, the control unit 63 determines a target steering angle of the vehicle based on the steering compensation angle and a desired steering angle of the vehicle; and controls the vehicle's travel based on the target steering angle.

[0180] In some embodiments, the determination unit 62 determines the steering angle deviation based on driving information of the vehicle in the first time period, where the driving information includes at least one of the vehicle's driving speed, steering angle, heading angle, and wheelbase.

[0181] In some embodiments, driving information is obtained by sampling in multiple sampling periods included in a first time period, the multiple sampling periods include a first sampling period and a second sampling period, the first sampling period is adjacent to the second sampling period, and the steering angles fed back by the sensor in the first sampling period and the second sampling period are the same. The determination unit 62 determines the steering angle deviation based on the difference in heading angles of the vehicle in the first sampling period and the second sampling period and the length of the sampling period.

[0182] In some embodiments, the judgment unit 61 determines that the steering parameter is abnormal in response to error information of the vehicle traveling in the first time period being greater than a first error threshold.

[0183] In some embodiments, the error information includes at least one of an average value of multiple lateral errors or a quantitative ratio of each lateral error in the multiple lateral errors, the multiple lateral errors include a first lateral error of the actual path relative to the target path along a first direction and a second lateral error along a second direction, the first direction is opposite to the second direction, the first time period includes multiple sampling periods, the quantitative ratio includes the number of sampling periods in which the first lateral error exists, a first ratio of the total number of sampling periods in which the lateral error exists, and the number of sampling periods in which the second lateral error exists, a second ratio of the total number of sampling periods.

[0184] In some embodiments, in response to the vehicle traveling in a straight line within the first time period and the driving speed being greater than a speed threshold, the judgment unit 61 judges whether the steering parameter is abnormal based on error information of the vehicle traveling within the first time period.

[0185] In some embodiments, the steering parameter includes the steering neutral position of the vehicle's front wheels.

[0186] Figure 7 A block diagram showing some other embodiments of the control device disclosed herein.

[0187] like Figure 7 As shown, the control device 7 of this embodiment includes: a memory 71 and a processor 72 coupled to the memory 71 , and the processor 72 is configured to execute the control method in any one embodiment of the present disclosure based on instructions stored in the memory 71 .

[0188] The memory 71 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, a database, and other programs.

[0189] Figure 8 A block diagram showing some further embodiments of the control device disclosed herein.

[0190] like Figure 8 As shown, the control device 8 of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810 , and the processor 820 is configured to execute the control method in any of the aforementioned embodiments based on instructions stored in the memory 810 .

[0191] The memory 810 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0192] The control device 8 may also include an input / output interface 830, a network interface 840, a storage interface 850, and the like. These interfaces 830, 840, 850, as well as the memory 810 and the processor 820, may be connected, for example, via a bus 860. The input / output interface 830 provides a connection interface for input / output devices such as a display, mouse, keyboard, touch screen, microphone, and speakers. The network interface 840 provides a connection interface for various networked devices. The storage interface 850 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0193] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable, non-transitory storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0194] Figure 9 A block diagram illustrating some embodiments of the vehicle of the present disclosure is shown.

[0195] like Figure 9 As shown, the vehicle 9 of this embodiment includes a control device 91 of any one of the above embodiments.

[0196] The control method, control device, vehicle, and computer-readable storage medium according to the present disclosure have been described in detail. To avoid obscuring the concepts of the present disclosure, some details known in the art have been omitted. Based on the above description, those skilled in the art will fully understand how to implement the technical solutions disclosed herein.

[0197] The methods and systems of the present disclosure may be implemented in many ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0198] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure.

Claims

1. A control method, comprising: determining whether a steering parameter of the vehicle is abnormal based on error information of the vehicle traveling during a first time period, the error information being a difference between an actual path of the vehicle and a target path; In response to the steering parameter being abnormal, determining a steering angle deviation of the vehicle, the steering angle deviation being a difference between a steering angle fed back by a sensor and an actual steering angle of the vehicle; The vehicle is controlled to travel according to the steering angle deviation.

2. The control method according to claim 1, wherein: The controlling the vehicle to travel according to the steering angle deviation includes: determining an angle acquisition range of a steering compensation angle of the vehicle according to the steering angle deviation; controlling the vehicle to travel in a future time period according to the angle acquisition range to determine the steering compensation angle within the angle acquisition range; The vehicle is controlled to travel according to the steering compensation angle.

3. The control method according to claim 2, wherein: The controlling the vehicle to travel in a future time period according to the angle acquisition range to determine the steering compensation angle within the angle acquisition range includes: determining, based on the angle acquisition range, a candidate compensation angle corresponding to the vehicle in the future time period, wherein the candidate compensation angle is not greater than the steering angle deviation; controlling the vehicle to travel according to the candidate compensation angle within the future time period; The steering compensation angle is determined according to error information of the vehicle traveling in the future time period.

4. The control method according to claim 3, wherein: The absolute value of the candidate compensation angle is positively correlated with the time interval between the future time period and the first time period.

5. The control method according to claim 3, wherein: The future time period includes a second time period and a third time period, the third time period is later than the second time period, The determining of the steering compensation angle according to the error information of the vehicle traveling in the future time period includes: In response to error information of the vehicle traveling in the second time period being not greater than a first error threshold, determining a candidate compensation angle of the vehicle in the second time period as the steering compensation angle; In response to the error information of the vehicle traveling in the second time period being greater than the first error threshold, the steering compensation angle is determined according to the error information of the vehicle traveling in the third time period.

6. The control method according to claim 3, wherein: The determining the steering compensation angle according to the error information of the vehicle traveling in the future time period includes: In response to the candidate compensation angle being equal to the steering angle deviation, the steering angle deviation is determined as the steering compensation angle.

7. The control method according to claim 6, wherein: The controlling the vehicle to travel according to the steering compensation angle includes: Whether to perform fault processing on the vehicle is determined based on the steering compensation angle and error information of the vehicle traveling in the future time period.

8. The control method according to claim 7, wherein: The determining whether to perform fault processing on the vehicle includes: In response to error information of the vehicle traveling in the future time period being greater than a second error threshold and an absolute value of the steering compensation angle being greater than a compensation angle threshold, fault processing is performed on the vehicle.

9. The control method according to claim 2, wherein: The controlling the vehicle to travel according to the steering compensation angle includes: determining a target steering angle of the vehicle based on the steering compensation angle and a desired steering angle of the vehicle; The vehicle is controlled to travel according to the target steering angle.

10. The control method according to any one of claims 1 to 9, wherein: Determining the steering angle deviation of the vehicle includes: The steering angle deviation is determined based on driving information of the vehicle in the first time period, where the driving information includes at least one of a driving speed, a steering angle, a heading angle, and a wheelbase of the vehicle.

11. The control method according to claim 10, wherein: The driving information is obtained by sampling in a plurality of sampling periods included in the first time period, the plurality of sampling periods including a first sampling period and a second sampling period, the first sampling period is adjacent to the second sampling period, and the steering angle fed back by the sensor in the first sampling period and the second sampling period is the same, Determining the steering angle deviation according to the driving information of the vehicle in the first time period includes: The steering angle deviation is determined according to a difference in heading angles of the vehicle in the first sampling period and the second sampling period and a length of the sampling period.

12. The control method according to any one of claims 1 to 9, wherein: The determining whether the steering parameter of the vehicle is abnormal based on the error information of the vehicle traveling in the first time period includes: In response to error information of the vehicle traveling during the first time period being greater than a first error threshold, it is determined that the steering parameter is abnormal.

13. The control method according to any one of claims 1 to 9, wherein: The error information includes at least one of an average value of multiple lateral errors or a quantitative ratio of each lateral error in the multiple lateral errors, the multiple lateral errors include a first lateral error of the actual path relative to the target path along a first direction and a second lateral error along a second direction, the first direction is opposite to the second direction, the first time period includes multiple sampling cycles, the quantitative ratio includes the number of sampling cycles in which the first lateral error exists, a first ratio of the total number of sampling cycles in which the lateral error exists, and the number of sampling cycles in which the second lateral error exists, a second ratio of the total number of sampling cycles.

14. The control method according to any one of claims 1 to 9, wherein: The determining whether the steering parameter of the vehicle is abnormal based on the error information of the vehicle traveling in the first time period includes: In response to the vehicle traveling in a straight line during the first time period and at a speed greater than a speed threshold, it is determined whether the steering parameter is abnormal based on error information of the vehicle traveling during the first time period.

15. The control method according to any one of claims 1 to 9, wherein: The steering parameters include the steering center position of the vehicle's front wheels.

16. A control device comprising: a judgment unit, configured to judge whether a steering parameter of the vehicle is abnormal based on error information of the vehicle traveling in a first time period, the error information being a difference between an actual path of the vehicle and a target path; a determining unit, configured to determine a steering angle deviation of the vehicle in response to the steering parameter being abnormal, the steering angle deviation being a difference between a steering angle fed back by a sensor and an actual steering angle of the vehicle; A control unit is used to control the vehicle driving according to the steering angle deviation.

17. A control device comprising: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the control method according to any one of claims 1 to 15 based on instructions stored in the memory.

18. A vehicle comprising: The control device according to claim 16 or 17.

19. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the control method according to any one of claims 1 to 15 is implemented.

20. A computer program product comprising instructions, which, when executed by a processor, cause the processor to perform the control method according to any one of claims 1 to 15.

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