Vehicle control method and device, vehicle, equipment, readable medium and program product
By calculating the compensation coefficient and steering wheel compensation angle, the problem of keeping the vehicle centered on laterally inclined roads was solved, thus improving driving safety.
Patent Information
- Application Number
- CN202411111096.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-13
- Publication Date
- 2026-02-13
AI Technical Summary
When a vehicle travels on a lateral slope, it may have difficulty staying centered, leading to oversteering or understeering and reducing driving safety.
By determining compensation reference information, including the road lateral tilt angle, vehicle speed, and mass, the compensation coefficient is calculated, and the target steering wheel compensation angle is determined based on the vehicle's acceleration component in the road lateral tilt direction, thereby controlling the vehicle's steering wheel to counteract the tilt effect.
It effectively improves vehicle centering on sloping road sections, reduces the possibility of deviating from the lane, and enhances driving safety.
Smart Images
Figure CN121516115A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method and device, vehicle, equipment, readable medium and program product. BACKGROUND
[0002] Generally, the vehicle road can be affected by factors such as curves and natural terrain, and the road surface is transversely inclined. For example, there is usually a different degree of route transverse inclination on the small-curvature curve of the expressway, the ramp of the expressway entrance and exit, and the mountain road. When the vehicle passes through the road with route transverse inclination, it is difficult for the vehicle to keep centered, and the problem of oversteering or understeering may occur, which reduces the driving safety of the vehicle. SUMMARY
[0003] The embodiments of the present application provide a vehicle control method and device, vehicle, equipment, readable medium and program product to solve the problem that it is difficult for the vehicle to keep centered when passing through the road with route transverse inclination.
[0004] The embodiments of the present application disclose a vehicle control method, comprising:
[0005] determining a compensation coefficient according to compensation reference information; wherein the compensation reference information comprises a road transverse inclination angle, and at least one of a vehicle speed, a mass and a driving trajectory curvature of the vehicle;
[0006] determining a target steering wheel compensation angle according to an acceleration component of the vehicle in the road transverse inclination direction and the compensation coefficient;
[0007] controlling the vehicle according to the target steering wheel compensation angle.
[0008] Optionally, the step of determining the compensation coefficient according to the compensation reference information comprises:
[0009] finding at least one compensation coefficient according to the compensation reference information in at least one preset compensation coefficient mapping table; the compensation coefficient mapping table records the corresponding relationship between at least one of the compensation reference information and the compensation coefficient.
[0010] Optionally, the method further comprises:
[0011] taking a roll angle of the vehicle as the road transverse inclination angle.
[0012] Optionally, the step of taking the roll angle of the vehicle as the road transverse inclination angle comprises:
[0013] performing error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle.
[0014] The modified roll angle is taken as the road lateral inclination angle.
[0015] Optionally, the step of correcting and / or smoothing the roll angle of the vehicle to obtain a modified roll angle comprises:
[0016] The roll angle of the vehicle on flat ground is taken as an error correction angle, and the roll angle of the vehicle is corrected by using the error correction angle to obtain a modified roll angle.
[0017] and / or,
[0018] The roll angle of the vehicle is smoothed by using a low-pass filter to obtain a modified roll angle.
[0019] Optionally, the step of taking the roll angle of the vehicle on flat ground as an error correction angle comprises:
[0020] At least one first roll angle is collected when the vehicle is stationary on flat ground, and / or at least one second roll angle is collected when the vehicle travels on flat ground at a preset vehicle speed.
[0021] An error correction angle is determined according to the mean value of the first roll angle and / or the mean value of the second roll angle.
[0022] Optionally, the step of controlling the vehicle according to the target steering wheel compensation angle comprises:
[0023] A target steering wheel angle is determined according to the feedback steering angle, the feedforward steering angle of the vehicle, and the target steering wheel compensation angle.
[0024] The vehicle is controlled by using the target steering wheel angle.
[0025] Optionally, the step of determining a target steering wheel angle according to the feedback steering angle, the feedforward steering angle of the vehicle, and the target steering wheel compensation angle comprises:
[0026] The target steering wheel compensation angle is adjusted according to a preset compensation limit range to obtain an adjusted target steering wheel compensation angle.
[0027] A target steering wheel angle is determined according to the feedback steering angle, the feedforward steering angle of the vehicle, and the adjusted target steering wheel compensation angle.
[0028] Embodiments of the present application disclose a vehicle control device, comprising:
[0029] The compensation coefficient determination module is used to determine the compensation coefficient based on compensation reference information; wherein, the compensation reference information includes the lateral tilt angle of the road, and also includes at least one of the vehicle speed, mass, and curvature of the driving trajectory;
[0030] The compensation angle determination module is used to determine the target steering wheel compensation angle based on the acceleration component of the vehicle in the lateral tilt direction of the road and the compensation coefficient.
[0031] The vehicle control module is used to control the vehicle based on the target steering wheel compensation angle.
[0032] Optionally, the compensation coefficient determination module includes:
[0033] The compensation coefficient determination submodule is used to find at least one compensation coefficient in at least one preset compensation coefficient mapping table based on the compensation reference information; the compensation coefficient mapping table records the correspondence between at least one compensation reference information and the compensation coefficient.
[0034] Optionally, the device further includes:
[0035] The road lateral tilt angle determination module is used to take the roll angle of the vehicle as the road lateral tilt angle.
[0036] Optionally, the road lateral tilt angle determination module includes:
[0037] The roll angle correction submodule is used to perform error correction and / or smoothing processing on the roll angle of the vehicle to obtain the corrected roll angle.
[0038] The road lateral tilt angle determination submodule is used to take the corrected roll angle as the road lateral tilt angle.
[0039] Optionally, the roll angle correction submodule includes:
[0040] An error correction unit is used to take the roll angle of the vehicle on flat ground as the error correction angle, and use the error correction angle to perform error correction processing on the roll angle of the vehicle to obtain the corrected roll angle.
[0041] And / or,
[0042] A smoothing unit is used to smooth the roll angle of the vehicle using a low-pass filter to obtain a corrected roll angle.
[0043] Optionally, the error correction unit includes:
[0044] The roll angle acquisition subunit is configured to acquire at least one first roll angle during the process that the vehicle is stationary on a flat ground, and / or acquire at least one second roll angle during the process that the vehicle travels on the flat ground at a preset vehicle speed.
[0045] The error correction angle determination subunit is configured to determine an error correction angle according to the mean value of the first roll angle and / or the mean value of the second roll angle.
[0046] Optionally, the vehicle control module comprises:
[0047] The target steering wheel angle determination sub-module is configured to determine a target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the target steering wheel compensation angle of the vehicle.
[0048] The vehicle control sub-module is configured to control the vehicle by using the target steering wheel angle.
[0049] Optionally, the target steering wheel angle determination sub-module comprises:
[0050] The angle adjustment unit is configured to adjust the target steering wheel compensation angle according to a preset compensation limit range to obtain an adjusted target steering wheel compensation angle.
[0051] The target steering wheel angle determination unit is configured to determine a target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the adjusted target steering wheel compensation angle of the vehicle.
[0052] The embodiment of the application further discloses a vehicle, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus.
[0053] The memory is used for storing a computer program.
[0054] The processor is used for executing the program stored on the memory, and realizes the method as described in the embodiment of the application.
[0055] The embodiment of the application further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus.
[0056] The memory is used for storing a computer program.
[0057] The processor is used for executing the program stored on the memory, and realizes the method as described in the embodiment of the application.
[0058] The embodiment of the present application further discloses one or more computer readable media, and the computer readable media store instructions, which, when executed by one or more processors, cause the processors to perform the method according to the embodiment of the present application.
[0059] The embodiment of the present application further discloses a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the steps of the method according to the embodiment of the present application.
[0060] The embodiment of the present application has the following advantages:
[0061] The embodiment of the present application provides a vehicle control method, determines a compensation coefficient according to compensation reference information; wherein the compensation reference information comprises a road lateral inclination angle, and at least one of a vehicle speed, a mass and a driving track curvature of the vehicle; determines a target steering wheel compensation angle according to an acceleration component of the vehicle in the road lateral inclination direction and the compensation coefficient; and controls the vehicle according to the target steering wheel compensation angle. The tendency of the vehicle to deviate from the center of the vehicle can be analyzed through the road lateral inclination angle and the state of the vehicle itself, a compensation coefficient is determined, and the steering of the steering wheel is compensated based on the compensation coefficient, so that the centerness of the vehicle on the inclined road section can be effectively improved, the possibility of line pressing can be reduced, and the driving safety can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS
[0062] Figure 1 is a step flow chart of a vehicle control method provided in the embodiment of the present application;
[0063] Figure 2 is a schematic diagram of a vehicle on a lateral inclination road provided in the embodiment of the present application;
[0064] Figure 3 is a structural block diagram of a vehicle control device provided in the embodiment of the present application;
[0065] Figure 4 is a block diagram of a vehicle provided in the embodiment of the present application;
[0066] Figure 5 is a schematic diagram of a computer readable medium provided in the embodiment of the present application. DETAILED DESCRIPTION
[0067] In order to make the above objectives, characteristics and advantages of the present application more apparent and comprehensible, the present application will be further described in detail below with reference to the drawings and specific embodiments.
[0068] Referring to Figure 1 , a step flow chart of a vehicle control method provided in the embodiment of the present application is shown, which can specifically include the following steps:
[0069] In step 101, a compensation coefficient is determined according to compensation reference information; wherein the compensation reference information comprises a road lateral inclination angle, and at least one of a vehicle speed, a mass, and a driving trajectory curvature of the vehicle.
[0070] Generally, the extent to which a vehicle deviates from the center of a lane on a road with lateral inclination of the road surface can be influenced by various factors. For example, the road lateral inclination angle, the vehicle speed, the mass, the driving trajectory curvature, and the like.
[0071] Specifically, the road lateral inclination angle can refer to an inclination angle of the road in a direction perpendicular to the lane line. The greater the road lateral inclination angle, the more likely the vehicle is to deviate to the side with lower terrain under the influence of gravity. The higher the vehicle speed, the more likely the vehicle is to run off the road and deviate from the center of the lane. The greater the mass of the vehicle, the more the vehicle can be subjected to a force directed to the side with lower terrain of the lane on the laterally inclined road surface, making it more likely for the vehicle to deviate from the center of the lane.
[0072] The driving trajectory curvature can be associated with the extent of lateral inclination of the road. Generally, the greater the degree of curvature of the road, the greater the extent of lateral inclination of the road, and the more likely the vehicle is to deviate from the center of the lane. The lower the degree of curvature, for example, the road approaches a straight line, and the smaller the extent of lateral inclination of the road, and the more difficult it is for the vehicle to deviate from the center of the lane due to lateral inclination of the road. Thus, the driving trajectory curvature can be associated with the extent to which the vehicle deviates from the center of the lane.
[0073] Alternatively, the extent to which the vehicle deviates from the center of the lane on the road with lateral inclination of the road surface can also be associated with a yaw rate and a mass center side slip angle. The yaw rate can refer to an angular velocity of the vehicle rotating about its longitudinal axis, and is used to measure the rotation rate of the vehicle when turning or subjected to a lateral force. The higher the yaw rate, the more likely the vehicle is to deviate from the center of the lane. The mass center side slip angle refers to an angle between a velocity vector of the mass center of the vehicle during driving and a longitudinal axis of the vehicle, and is used to measure the extent of lateral slip of the vehicle when turning or subjected to a lateral force. The greater the mass center side slip angle, the more likely the vehicle is to deviate from the center of the lane.
[0074] In a specific implementation, the vehicle speed can be obtained by real-time speed measurement of the vehicle. The mass of the vehicle can be obtained by mass estimation or by manual pre-input. The driving trajectory curvature can be obtained based on map data or by the vehicle identifying the lane lines of the surrounding road, which is not limited by the present application.
[0075] In the embodiment of the present application, a factor that has an influence on the extent to which the vehicle deviates from the center of the lane on the laterally inclined road can be taken as the compensation reference information, and a compensation coefficient can be determined based on the compensation reference information. The compensation coefficient can be associated with the compensation of the steering wheel turning angle. If the severity of the deviation of the vehicle from the center of the lane is higher, greater compensation needs to be made to the steering wheel turning angle at this time, and a larger compensation coefficient needs to be set so that the vehicle can travel relatively stably around the center of the lane. If the severity of the deviation of the vehicle from the center of the lane is lower, a smaller compensation coefficient can be set to avoid affecting the normal driving of the vehicle.
[0076] In step 102, a target steering wheel compensation angle is determined according to the acceleration component of the vehicle in the lateral inclination direction of the road and the compensation coefficient.
[0077] Generally, when the vehicle is driving on a laterally inclined road, the vehicle can be subjected to an action force in the lateral inclination direction of the road under the action of factors such as gravity and the power of the vehicle itself. The action force can drive the vehicle to deviate to the side of the road where the terrain is lower, so that the vehicle deviates from the center of the lane.
[0078] Therefore, compensation needs to be made to the turning angle of the steering wheel so that the vehicle generates a force opposite to the lateral inclination direction of the road, thereby to some extent offsetting the action force in the lateral inclination direction of the road, avoiding the situation that the vehicle deviates from the center of the lane, and improving the safety of the vehicle.
[0079] In a specific implementation, the acceleration component of the vehicle in the lateral inclination direction of the road can be determined. The acceleration component in the lateral inclination direction can represent the degree of the action force that the vehicle is subjected to in the lateral inclination direction of the road. In the case of a larger acceleration component, it can be considered that the action force that the vehicle is subjected to in the lateral inclination direction of the road is larger. In the case of a smaller acceleration component, it can be considered that the action force that the vehicle is subjected to in the lateral inclination direction of the road is smaller.
[0080] Specifically, the acceleration component of the vehicle in the lateral inclination direction of the road can be affected by factors such as the gravity and the power of the vehicle itself. The acceleration that the vehicle is subjected to can be determined first, and then the acceleration component in the lateral inclination direction of the road can be determined according to the lateral inclination angle of the road.
[0081] As a specific example of the present application, Figure 2 is a schematic diagram of a vehicle on a laterally inclined road provided by an embodiment of the present application. In the diagram, the y direction represents the lateral axis direction of the vehicle, the x direction represents the longitudinal axis direction of the vehicle, and the z direction represents the vertical direction of the vehicle. θ represents the lateral inclination angle of the road.
[0082] The vehicle can have a vertical downward force, i.e. gravity mG, which can be the product of the mass m of the vehicle and the gravity acceleration G. The gravity in the y direction component F y may be represented as mGsin(θ). It can be seen that, in the case of the same mass, the gravity in the y direction component F y may be greater, so that the vehicle is subjected to greater force in the road lateral tilt direction. Assuming that the vehicle is subjected to force mainly in the road lateral tilt direction, the acceleration component of the vehicle in the road lateral tilt direction can be the gravity acceleration component, i.e. Gsin(θ).
[0083] Thereafter, the target steering wheel compensation angle can be determined according to the acceleration component of the vehicle in the road lateral tilt direction and the compensation coefficient. Thus, a suitable target steering wheel compensation angle can be determined by taking into account various related factors such as the degree of road lateral tilt, gravity, speed, and travel trajectory curvature, so as to offset the influence of the road lateral tilt on the vehicle.
[0084] As a specific example of the present application, assuming that the vehicle is subjected to force mainly in the road lateral tilt direction, the target steering wheel compensation angle δ c may be represented as:
[0085] δ c =Gsin(θ)ζ
[0086] where G represents the gravity acceleration, θ represents the road lateral tilt angle, and ζ represents the compensation coefficient.
[0087] Step 103, controlling the vehicle according to the target steering wheel compensation angle.
[0088] After obtaining the target steering wheel compensation angle, the target steering wheel compensation angle can be used to compensate the steering angle of the steering wheel, so as to realize the control of the vehicle to keep stable driving on the lateral tilt road, and to keep the vehicle in the center of the lane as much as possible, thereby improving the safety of the vehicle.
[0089] In an embodiment of the present application, the step of determining the compensation coefficient according to the compensation reference information comprises:
[0090] S11, in at least one preset compensation coefficient mapping table, at least one compensation coefficient is found according to the compensation reference information; the compensation coefficient mapping table records the corresponding relationship between at least one compensation reference information and the compensation coefficient.
[0091] In a specific implementation, in order to improve the efficiency of determining the compensation coefficient, at least one compensation coefficient mapping table can be set in advance. The compensation coefficient mapping table can record the correspondence between the compensation reference information and the compensation coefficient. In the case of knowing the specific value of the compensation reference information, the corresponding compensation coefficient can be quickly obtained according to the correspondence between the compensation reference information and the compensation coefficient.
[0092] The correspondence between the compensation reference information and the compensation coefficient can be determined by pre-experimental testing or the like, and the present application does not make any limitation.
[0093] Specifically, the compensation coefficient mapping table can be of different dimensions. For example, in the case of a one-dimensional compensation coefficient mapping table, the compensation coefficient mapping table can record the correspondence between one compensation reference information and the compensation coefficient. For example, the correspondence between the vehicle speed and the compensation coefficient is recorded.
[0094] In the case of a two-dimensional compensation coefficient mapping table, the compensation coefficient mapping table can record the correspondence between two compensation reference information and the compensation coefficient. For example, the compensation coefficient corresponding to the vehicle speed and the driving trajectory curvature is recorded. At this time, according to the vehicle speed and the driving trajectory curvature, the corresponding compensation coefficient can be found in the two-dimensional compensation coefficient mapping table.
[0095] As a specific example of the present application, as shown in Table 1, the two-dimensional compensation coefficient mapping table can record the compensation coefficient corresponding to the vehicle speed and the driving trajectory curvature.
[0096] Table 1 Vehicle speed-driving trajectory curvature compensation coefficient mapping table
[0097]
[0098] As can be seen, in the case of knowing the vehicle speed and the driving trajectory curvature, a compensation coefficient can be determined by the vehicle speed and the driving trajectory curvature. For example, when the vehicle speed is 22.22 m / s and the driving trajectory curvature is 0.0005, the compensation coefficient can be 0.02.
[0099] As a specific example of the present application, as shown in Table 2, the two-dimensional compensation coefficient mapping table can record the compensation coefficient corresponding to the mass and the road lateral inclination angle.
[0100] Table 2 Mass-road lateral inclination angle compensation coefficient mapping table
[0101]
[0102] It can be seen that, in the case of known mass and road lateral inclination angle, a compensation coefficient can be determined by the mass and the road lateral inclination angle together. For example, in the case of mass of 1500 kg and road lateral inclination angle of 0.1047, the compensation coefficient can be 1.55.
[0103] In the case of three-dimensional compensation coefficient mapping table, the compensation coefficient mapping table can record the correspondence between three kinds of compensation reference information and compensation coefficients. For example, the compensation coefficients corresponding to the mass, the vehicle speed and the driving track curvature are recorded. At this time, according to the mass, the vehicle speed and the driving track curvature, the corresponding compensation coefficient can be found in the three-dimensional compensation coefficient mapping table.
[0104] Therefore, there can be at least one compensation coefficient. In the case of one-dimensional compensation coefficient mapping table, the compensation coefficient can be determined based on the compensation coefficient mapping table corresponding to multiple kinds of compensation reference information, so that the number of compensation coefficients of the same kind can be obtained. When the dimension of the compensation coefficient mapping table is consistent with the number of kinds of compensation reference information, a compensation coefficient can be determined according to the compensation coefficient mapping table.
[0105] Generally, there can be a certain correlation between the compensation reference information. For example, the vehicle and the driving track curvature can jointly affect the possibility of the vehicle deviating from the lane. The mass and the road lateral inclination angle can jointly affect the degree of lateral deviation of the vehicle. Therefore, in order to jointly consider the influence of multiple compensation reference information on the compensation coefficient, the compensation coefficient mapping table can consider using a dimension of two or more. At the same time, since the higher the dimension, the more difficult it can be to determine the compensation coefficient, a compensation coefficient mapping table with a two-dimensional dimension can be considered, which can consider the correlation between the compensation reference information to a certain extent, and will not significantly affect the difficulty of determining the compensation coefficient.
[0106] Alternatively, the compensation reference information involved in the compensation coefficient mapping table can be combined arbitrarily, for example, a vehicle speed-driving track curvature compensation coefficient mapping table can be established, a mass-road lateral inclination angle compensation coefficient mapping table can be established, a vehicle speed-road lateral inclination angle compensation coefficient mapping table can be established, and a vehicle speed-mass compensation coefficient mapping table can be established, which is not limited by the present application.
[0107] Alternatively, the compensation coefficient mapping table can be established based on the compensation reference information with higher correlation.
[0108] As a specific example of the present application, in the case of obtaining multiple compensation coefficients, since the compensation coefficients are coupled with each other, the comprehensive compensation coefficient can be represented as the product of multiple compensation coefficients.
[0109] For example, a first compensation coefficient 1 can be obtained according to a vehicle speed-traveling track curvature compensation coefficient mapping table, a second compensation coefficient 2 can be obtained according to a mass-road lateral inclination angle compensation coefficient mapping table, and a comprehensive compensation parameter can be represented as:
[0110] ζ = ξ 1 × ξ 2
[0111] In an embodiment of the present application, the method further comprises:
[0112] S21, taking a roll angle of the vehicle as the road lateral inclination angle.
[0113] In a specific implementation, since the lateral axis of the vehicle is parallel to the road surface, in order to facilitate quick determination of the road lateral inclination angle, the roll angle of the vehicle can be directly taken as the road lateral inclination angle. The roll angle of the vehicle can refer to an angle at which the vehicle is inclined along the lateral axis.
[0114] In an embodiment of the present application, the step of taking the roll angle of the vehicle as the road lateral inclination angle comprises:
[0115] S31, performing error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle;
[0116] S32, taking the corrected roll angle as the road lateral inclination angle.
[0117] In a specific implementation, the roll angle of the vehicle can generally be obtained through a combined navigation device inside the vehicle. However, due to factors such as installation error of the combined navigation device and sampling frequency of the combined navigation device, the roll angle collected by the vehicle can have certain errors. The roll angle of the vehicle can be subjected to error correction processing and / or smoothing processing to obtain a corrected roll angle, and then the corrected roll angle is taken as the road lateral inclination angle, so that the accuracy of vehicle control can be further improved.
[0118] In an embodiment of the present application, the step of performing error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle comprises:
[0119] S41, taking a roll angle of the vehicle on a flat ground as an error correction angle, and performing error correction processing on the roll angle of the vehicle by using the error correction angle to obtain a corrected roll angle;
[0120] and / or,
[0121] S42, performing smoothing processing on the roll angle of the vehicle by using a low-pass filter to obtain a corrected roll angle.
[0122] The vehicle may not have a roll angle of 0 when it is on a flat ground due to installation errors of the combined navigation device. Thus, the roll angle of the vehicle on the flat ground can be collected in advance as an error correction angle, and the roll angle of the vehicle on the laterally inclined road can be corrected to obtain a corrected roll angle.
[0123] In an embodiment of the present application, the step of collecting the roll angle of the vehicle on the flat ground as the error correction angle comprises:
[0124] S51, collecting at least one first roll angle when the vehicle is stationary on the flat ground; and / or collecting at least one second roll angle when the vehicle is driven on the flat ground at a preset vehicle speed;
[0125] S52, determining the error correction angle according to the mean value of the first roll angle and / or the mean value of the second roll angle.
[0126] In a specific implementation, in order to more accurately calibrate the roll angle of the vehicle on the flat ground, the roll angle of the vehicle can be collected on a flat road surface, which is usually not laterally inclined, and the roll angle collected by the vehicle at this time can be the error of the vehicle itself.
[0127] Specifically, the vehicle can be first parked stationary on the flat road surface for a preset first duration. At least one first roll angle can be collected periodically within the preset first duration, and the mean value θ1 of the first roll angles collected within the preset first duration can be calculated. Then, a section of flat road surface can be found to drive at a preset vehicle speed for a preset second duration, and at least one second roll angle can be collected periodically within the preset second duration, and the mean value θ2 of the second roll angles within the preset second duration can be calculated. The preset vehicle speed can be determined according to actual needs, such as 40-60 km / h, 60-80 km / h, 80-100 km / h, etc., which is not limited by the present application.
[0128] Then, the mean value of the first roll angles can be used as the error correction angle according to actual needs, or the mean value of the second roll angles can be used as the error correction angle. The error correction angle can also be obtained by further combining the mean value of the first roll angles and the mean value of the second roll angles.
[0129] For example, the average of the mean value θ1 of the first roll angles and the mean value θ2 of the second roll angles can be used as the error correction angle θ offset , which is represented as follows:
[0130]
[0131] The corrected roll angle θ can be the difference between the collected roll angle and the error correction angle.
[0132] In the case that the sampling frequency of the combination navigation device is too high, the collected roll angle is prone to have high-frequency noise, that is, the roll angle fluctuates rapidly and irregularly in a period of time. In order to eliminate the influence of the high-frequency noise, a low-pass filter can be used to smooth the collected roll angle, so as to obtain a corrected roll angle.
[0133] The low-pass filter can be a first-order low-pass filter, a second-order low-pass filter, etc., and the application does not limit this.
[0134] As a specific example of the application, in the case of using a first-order low-pass filter, the transfer function G(s) of the first-order low-pass filter can be expressed as:
[0135]
[0136] Wherein, s represents the Laplace operator, τ represents the filter coefficient (0<τ<1), the larger τ is, the smoother it is, and the larger the delay is.
[0137] In an embodiment of the application, the step of controlling the vehicle according to the target steering wheel compensation angle comprises:
[0138] S51, determining a target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the target steering wheel compensation angle of the vehicle;
[0139] S52, controlling the vehicle by using the target steering wheel angle.
[0140] Generally, the steering wheel angle can be determined based on the feedback steering angle and the feedforward steering angle of the vehicle. The feedback steering angle can be a steering angle value determined by the vehicle control system according to the difference between the actual state and the expected state of the current vehicle, which is used to reduce the error and make the actual state of the vehicle tend to the expected state.
[0141] The feedforward steering angle can refer to the steering angle adjusted in advance by the vehicle control system according to the preset external input or known vehicle characteristics.
[0142] In the embodiment of the application, the target steering wheel angle can be determined based on the feedback steering angle and the feedforward steering angle of the vehicle, and the vehicle can be controlled by using the target steering wheel angle. Thus, when determining the target steering wheel angle, the influence of the vehicle on the road can be considered, and the compensation angle of the steering wheel can be further adjusted so that the vehicle can be more stably kept in the center of the lane.
[0143] As an example of the application, the target steering wheel angle δ e can be expressed as:
[0144] δ e = δ c + δ fb + δ ff
[0145] wherein δ fb represents a feedback steering angle, δ ff represents a feedforward steering angle, and δ c represents a target steering wheel compensation angle.
[0146] In an embodiment of the present application, the step of determining the target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the target steering wheel compensation angle comprises:
[0147] S61, adjusting the target steering wheel compensation angle according to a preset compensation limit range to obtain an adjusted target steering wheel compensation angle;
[0148] S62, determining the target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the adjusted target steering wheel compensation angle.
[0149] Specifically, in order to avoid the problem of insufficient vehicle steering or excessive vehicle steering caused by the target steering wheel compensation angle being too large, the target steering wheel angle can be limited. Thus, the target steering wheel compensation angle can be adjusted according to a preset compensation limit range. The compensation limit range can include a lower limit of the target steering wheel compensation angle and an upper limit of the target steering wheel compensation angle. In the case where the calculated target steering wheel compensation angle is less than the lower limit of the target steering wheel compensation angle, the target steering wheel compensation angle can be adjusted to the lower limit of the target steering wheel compensation angle. In the case where the calculated target steering wheel compensation angle is greater than the upper limit of the target steering wheel compensation angle, the target steering wheel compensation angle can be adjusted to the upper limit of the target steering wheel compensation angle.
[0150] As a specific example of the present application, the compensation limit range of the target steering wheel compensation angle δ c may be represented as:
[0151] - δ m ≤ δ c ≤ δ m
[0152] wherein - δ m is the lower limit of the compensation limit range, and δ m is the upper limit of the target steering wheel compensation angle.
[0153] Afterwards, the target steering wheel angle can be determined according to the feedback steering angle of the vehicle, the feedforward steering angle, and the adjusted target steering wheel compensation angle, so that the vehicle can travel more stably, and the influence of the laterally inclined road on the vehicle is eliminated to a certain extent.
[0154] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.
[0155] Referring to Figure 3 , a structural block diagram of a vehicle control device provided in the embodiments of the present application is shown, which can specifically include the following modules:
[0156] The compensation coefficient determination module 301 is configured to determine a compensation coefficient according to compensation reference information; wherein the compensation reference information includes a road lateral inclination angle, and at least one of a vehicle speed, a mass, and a driving trajectory curvature of the vehicle;
[0157] The compensation angle determination module 302 is configured to determine a target steering wheel compensation angle according to an acceleration component of the vehicle in the lateral inclination direction of the road and the compensation coefficient.
[0158] The vehicle control module 303 is configured to control the vehicle according to the target steering wheel compensation angle.
[0159] Optionally, the compensation coefficient determination module includes:
[0160] The compensation coefficient determination sub-module is configured to find at least one compensation coefficient in at least one preset compensation coefficient mapping table according to the compensation reference information; the compensation coefficient mapping table records the corresponding relationship between at least one compensation reference information and the compensation coefficient.
[0161] Optionally, the device further includes:
[0162] The road lateral inclination angle determination module is configured to take the roll angle of the vehicle as the road lateral inclination angle.
[0163] Optionally, the road lateral inclination angle determination module includes:
[0164] The roll angle correction sub-module is configured to perform error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle.
[0165] The road transverse inclination angle determination sub-module is configured to determine the corrected roll angle as the road transverse inclination angle.
[0166] Optionally, the roll angle correction sub-module comprises:
[0167] The error correction unit is configured to determine the roll angle of the vehicle on the flat ground as an error correction angle, correct the roll angle of the vehicle by using the error correction angle, and obtain a corrected roll angle.
[0168] And / or,
[0169] The smoothing processing unit is configured to smooth the roll angle of the vehicle by using a low-pass filter, and obtain the corrected roll angle.
[0170] Optionally, the error correction unit comprises:
[0171] The roll angle collection sub-unit is configured to collect at least one first roll angle when the vehicle is stationary on the flat ground, and / or collect at least one second roll angle when the vehicle travels on the flat ground at a preset vehicle speed.
[0172] The error correction angle determination sub-unit is configured to determine the error correction angle according to the mean value of the first roll angle and / or the mean value of the second roll angle.
[0173] Optionally, the vehicle control module comprises:
[0174] The target steering wheel angle determination sub-module is configured to determine the target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the target steering wheel compensation angle of the vehicle.
[0175] The vehicle control sub-module is configured to control the vehicle by using the target steering wheel angle.
[0176] Optionally, the target steering wheel angle determination sub-module comprises:
[0177] The angle adjustment unit is configured to adjust the target steering wheel compensation angle according to a preset compensation limit range, and obtain an adjusted target steering wheel compensation angle.
[0178] The target steering wheel angle determination unit is configured to determine the target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the adjusted target steering wheel compensation angle of the vehicle.
[0179] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts are described in the part of the method embodiment.
[0180] In addition, the embodiment of the present application also provides a vehicle, such as Figure 4As shown, the device includes a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 403 communicate with each other through the communication bus 404,
[0181] The memory 403 is used to store computer programs.
[0182] The processor 401 is used to execute the programs stored in the memory 403 to realize the following steps:
[0183] According to the compensation reference information, a compensation coefficient is determined; wherein the compensation reference information includes a road lateral inclination angle, and at least one of a vehicle speed, a mass and a driving track curvature of the vehicle;
[0184] According to the acceleration component of the vehicle in the road lateral inclination direction and the compensation coefficient, a target steering wheel compensation angle is determined.
[0185] According to the target steering wheel compensation angle, the vehicle is controlled.
[0186] Optionally, the step of determining the compensation coefficient according to the compensation reference information includes:
[0187] In at least one preset compensation coefficient mapping table, at least one compensation coefficient is found according to the compensation reference information; the compensation coefficient mapping table records the corresponding relationship between at least one compensation reference information and the compensation coefficient.
[0188] Optionally, the method further includes:
[0189] The roll angle of the vehicle is taken as the road lateral inclination angle.
[0190] Optionally, the step of taking the roll angle of the vehicle as the road lateral inclination angle includes:
[0191] The roll angle of the vehicle is subjected to error correction processing and / or smoothing processing to obtain a corrected roll angle;
[0192] The corrected roll angle is taken as the road lateral inclination angle.
[0193] Optionally, the step of subjecting the roll angle of the vehicle to error correction processing and / or smoothing processing to obtain a corrected roll angle includes:
[0194] The roll angle of the vehicle on a flat ground is taken as an error correction angle, and the roll angle of the vehicle is subjected to error correction processing by using the error correction angle to obtain a corrected roll angle;
[0195] and / or,
[0196] The low-pass filter is used to smooth the roll angle of the vehicle, and a corrected roll angle is obtained.
[0197] Optionally, the step of taking the roll angle of the vehicle on the flat ground as the error correction angle comprises:
[0198] During the process of the vehicle being stationary on the flat ground, at least one first roll angle is collected; and / or during the process of the vehicle driving on the flat ground at a preset vehicle speed, at least one second roll angle is collected.
[0199] The error correction angle is determined according to the mean value of the first roll angle and / or the mean value of the second roll angle.
[0200] Optionally, the step of controlling the vehicle according to the target steering wheel compensation angle comprises:
[0201] The target steering wheel angle is determined according to the feedback steering angle, the feedforward steering angle and the target steering wheel compensation angle of the vehicle.
[0202] The vehicle is controlled by using the target steering wheel angle.
[0203] Optionally, the step of determining the target steering wheel angle according to the feedback steering angle, the feedforward steering angle and the target steering wheel compensation angle of the vehicle comprises:
[0204] The target steering wheel compensation angle is adjusted according to the preset compensation limit range, and an adjusted target steering wheel compensation angle is obtained.
[0205] The target steering wheel angle is determined according to the feedback steering angle, the feedforward steering angle and the adjusted target steering wheel compensation angle of the vehicle.
[0206] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.
[0207] The communication interface is used for communication between the terminal and other devices.
[0208] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.
[0209] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.
[0210] like Figure 5 As shown, in another embodiment of the present invention, a computer-readable storage medium 501 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the vehicle control method described in the above embodiments.
[0211] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute the vehicle control method described in the above embodiments.
[0212] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented in software, all or some of the steps can be implemented in the form of one or more computer programs which are stored in a computer readable medium. The computer readable medium can include one or more of a computer readable storage medium and a computer readable signal medium. The computer readable storage medium can include one or more of a magnetic storage medium (e.g., one or more magnetic tapes), an electronic storage medium (e.g., one or more semiconductor memories or tapes), a mechanical storage medium (e.g., one or more recording chips), or the like. The computer readable signal medium can include a computer readable storage medium which is configured to transmit program code embedded in a modulated data signal. The modulated data signal is one example means for transmitting the program code (e.g., either in the baseband or as part of carrier) from one place to another. Further, the computer readable signal medium can include a computer readable storage medium which is configured to transmit computer readable program code, or a computer readable storage medium which is configured to read out computer readable program code. The computer readable program code can be transmitted via a computer network or computer line, a computer readable medium on a computer readable medium, or the like.
[0213] It should be noted that, in the present document, the terms such as first and second are used only to differentiate one entity or operation from another entity or operation, and do not necessarily require or imply there is any such actual relationship or order between these entities or operations. Also, the terms "include", "contain" or any other variants thereof are intended to cover the non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.
[0214] Each of the embodiments in the present document is described in a related manner, and the same or similar parts between each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiments.
[0215] The above merely provides the preferred embodiments of the application, and not intended to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall within the protection scope of the application.
Claims
1. A vehicle control method characterized by, The method comprises the steps of: determining a compensation coefficient according to compensation reference information; wherein the compensation reference information comprises a road lateral inclination angle, and at least one of a vehicle speed, a mass, and a driving track curvature of the vehicle; determining a target steering wheel compensation angle according to an acceleration component of the vehicle in the road lateral inclination direction and the compensation coefficient; controlling the vehicle according to the target steering wheel compensation angle.
2. The method of claim 1, wherein, The step of determining the compensation coefficient according to the compensation reference information comprises: in at least one preset compensation coefficient mapping table, at least one compensation coefficient is found according to the compensation reference information; the compensation coefficient mapping table records a corresponding relationship between at least one of the compensation reference information and the compensation coefficient.
3. The method of claim 1, wherein, The method further comprises: taking a roll angle of the vehicle as the road lateral inclination angle.
4. The method of claim 3, wherein, The step of taking the roll angle of the vehicle as the road lateral inclination angle comprises: performing error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle; taking the corrected roll angle as the road lateral inclination angle.
5. The method of claim 4, wherein, The step of performing error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle comprises: taking a roll angle of the vehicle on a flat ground as an error correction angle, and performing error correction processing on the roll angle of the vehicle by using the error correction angle to obtain a corrected roll angle; and / or, performing smoothing processing on the roll angle of the vehicle by using a low-pass filter to obtain a corrected roll angle.
6. The method of claim 5, wherein, The step of taking the roll angle of the vehicle on a flat ground as an error correction angle comprises: collecting at least one first roll angle during the process that the vehicle is stationary on a flat ground; and / or, collecting at least one second roll angle during the process that the vehicle travels on a flat ground at a preset speed; determining an error correction angle according to a mean value of the first roll angles and / or a mean value of the second roll angles.
7. The method of claim 1, wherein, The step of controlling the vehicle according to the target steering wheel compensation angle comprises: determining a target steering wheel angle according to a feedback rotation angle, a feedforward rotation angle of the vehicle, and the target steering wheel compensation angle; controlling the vehicle by using the target steering wheel angle.
8. The method of claim 7, wherein, The step of determining a target steering wheel angle according to a feedback rotation angle, a feedforward rotation angle of the vehicle, and the target steering wheel compensation angle comprises: adjusting the target steering wheel compensation angle according to a preset compensation limit range to obtain an adjusted target steering wheel compensation angle; determining a target steering wheel angle according to a feedback rotation angle, a feedforward rotation angle of the vehicle, and the adjusted target steering wheel compensation angle.
9. A vehicle control device characterized by comprising: The system comprises: a compensation coefficient determination module configured to determine a compensation coefficient according to compensation reference information; wherein the compensation reference information comprises a road lateral inclination angle, and at least one of a vehicle speed, a mass, and a driving track curvature of the vehicle; a compensation angle determination module configured to determine a target steering wheel compensation angle according to an acceleration component of the vehicle in the road lateral inclination direction and the compensation coefficient; and A vehicle control module is configured to control the vehicle according to the target steering wheel compensation angle.
10. The apparatus of claim 9, wherein, The compensation coefficient determination module comprises: A compensation coefficient determination sub-module is configured to search for at least one compensation coefficient from at least one preset compensation coefficient mapping table according to the compensation reference information, wherein the compensation coefficient mapping table records the corresponding relationship between at least one compensation reference information and the compensation coefficient.
11. The apparatus of claim 10, wherein, The device further comprises: A road lateral inclination angle determination module is configured to take the roll angle of the vehicle as the road lateral inclination angle.
12. The apparatus of claim 11, wherein, The road lateral inclination angle determination module comprises: A roll angle correction sub-module is configured to perform error correction processing and / or smoothing processing on the roll angle of the vehicle to obtain a corrected roll angle. A road lateral inclination angle determination sub-module is configured to take the corrected roll angle as the road lateral inclination angle.
13. The apparatus of claim 12, wherein, The roll angle correction sub-module comprises: An error correction unit is configured to take the roll angle of the vehicle on a flat ground as an error correction angle, and perform error correction processing on the roll angle of the vehicle by using the error correction angle to obtain a corrected roll angle. And / or, A smoothing processing unit is configured to perform smoothing processing on the roll angle of the vehicle by using a low-pass filter to obtain a corrected roll angle.
14. The apparatus of claim 13, wherein, The error correction unit comprises: A roll angle acquisition sub-unit is configured to acquire at least one first roll angle during the process that the vehicle is stationary on a flat ground, and / or acquire at least one second roll angle during the process that the vehicle travels on a flat ground at a preset vehicle speed. An error correction angle determination sub-unit is configured to determine an error correction angle according to the average of the first roll angles and / or the average of the second roll angles.
15. The apparatus of claim 14, wherein, The vehicle control module comprises: A target steering wheel angle determination sub-module is configured to determine a target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the target steering wheel compensation angle of the vehicle. A vehicle control sub-module is configured to control the vehicle by using the target steering wheel angle.
16. The apparatus of claim 9, wherein, The target steering wheel angle determination sub-module comprises: An angle adjustment unit is configured to adjust the target steering wheel compensation angle according to a preset compensation limit range to obtain an adjusted target steering wheel compensation angle. A target steering wheel angle determination unit is configured to determine a target steering wheel angle according to the feedback steering angle, the feedforward steering angle, and the adjusted target steering wheel compensation angle of the vehicle.
17. A vehicle characterized by comprising: A device comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is configured to store a computer program; The processor is configured to execute the program stored on the memory to implement the method of any one of claims 1-8.
18. An electronic device, comprising: A device comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is configured to store a computer program; The processor is configured to implement the method of any one of claims 1-8 when executing the program stored in the memory.
19. A computer readable medium characterized by The computer readable medium has instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of any one of claims 1-8.
20. A computer program product, characterised in that, Computer program / instructions, characterized in that the computer program / instructions, when executed by a processor, implement the steps of the method of any one of claims 1-8.