Vehicle control method and device for vehicle test, medium and equipment

Abstract

The invention discloses a vehicle control method and device for a vehicle test, a medium and equipment. The method comprises the following steps: acquiring a current position point of a test vehicle; calculating the nearest distance between the current position point and the target track of the test vehicle; calculating a control angle of the test vehicle based on the nearest distance and the current vehicle speed of the test vehicle; controlling the test vehicle to run based on the control angle; in the vehicle testing process, the current position point of a tested vehicle is obtained, the nearest distance between the current position point and a target track is calculated, the control angle of the tested vehicle is calculated based on the nearest distance and the current vehicle speed of the tested vehicle, and the tested vehicle is controlled to run based on the control angle. Therefore, the automatic driving of the test vehicle is realized, the automatic test is realized, the participation degree of personnel is reduced, the labor cost is saved, the test difference caused by the operation habit of the personnel is reduced as much as possible, and the test accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle automatic testing technology, specifically to a vehicle control method, device, medium, and equipment for vehicle testing. Background Technology

[0002] With the continuous development of artificial intelligence technology, autonomous driving and intelligent driving have emerged. In the automotive testing industry and research, vehicle testing includes handling stability testing, durability testing, steering return testing, and crash testing, all of which are tests for vehicle driving safety. Among these, road durability testing is one of the most important tests in the automotive industry and a crucial standard for measuring vehicle quality.

[0003] However, in road durability testing, vehicles need to undergo driving tests of thousands or even tens of thousands of kilometers, which usually takes weeks or even months and consumes a lot of manpower. Furthermore, drivers' driving habits and environmental factors can influence the test results, leading to some deviations. Therefore, a method is needed that can reduce human involvement in the vehicle testing process while ensuring testing accuracy. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a vehicle control method, apparatus, medium, and device for vehicle testing.

[0005] According to one aspect of this application, a vehicle control method for vehicle testing is provided, comprising: acquiring the current position of a test vehicle; calculating the shortest distance between the current position and a target trajectory of the test vehicle; wherein the target trajectory includes a plurality of discrete trajectory points; calculating a control angle of the test vehicle based on the shortest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and controlling the operation of the test vehicle based on the control angle.

[0006] In one embodiment, calculating the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle includes: if the nearest distance is less than a preset multiple of the current speed, then calculating the distance between the current position point and the trajectory point; and selecting the preset steering angle of the trajectory point that is closest to the current position point as the control angle of the test vehicle.

[0007] In one embodiment, calculating the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle includes: if the nearest distance is greater than or equal to a preset multiple of the current speed, then selecting a trajectory point in the target trajectory as the current target trajectory point; and calculating the control angle of the test vehicle based on the current target trajectory point and the current position point.

[0008] In one embodiment, selecting a trajectory point from the target trajectory as the current target trajectory point includes: starting from the previous target trajectory point of the test vehicle, querying the first trajectory point located in front of the current position point and whose distance from the current position point is greater than a preset distance threshold, and selecting the first trajectory point as the current target trajectory point.

[0009] In one embodiment, calculating the control angle of the test vehicle based on the current target trajectory point and the current position point includes: calculating the control angle of the test vehicle based on the current target trajectory point, the current position point of the test vehicle, and the previous position point.

[0010] In one embodiment, the test vehicle is equipped with an inertial navigation system; wherein, obtaining the current position of the test vehicle includes: periodically obtaining the current position of the test vehicle using the inertial navigation system.

[0011] In one embodiment, calculating the shortest distance between the current location point and the target trajectory of the test vehicle includes: calculating the distance value between the current location point and the trajectory point; and selecting the minimum distance value as the shortest distance between the current location point and the target trajectory.

[0012] According to another aspect of this application, a vehicle control device for vehicle testing is provided, comprising: a current position acquisition module for acquiring the current position of a test vehicle; a nearest distance calculation module for calculating the nearest distance between the current position and a target trajectory of the test vehicle; wherein the target trajectory includes a plurality of discrete trajectory points; a control angle calculation module for calculating the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and a vehicle operation control module for controlling the operation of the test vehicle based on the control angle.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0015] This application provides a vehicle control method, apparatus, medium, and equipment for vehicle testing. The method involves: acquiring the current position of the test vehicle; calculating the shortest distance between the current position and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; calculating the control angle of the test vehicle based on the shortest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and controlling the operation of the test vehicle based on the control angle. Specifically, during vehicle testing, the method acquires the current position of the test vehicle and calculates the shortest distance between the current position and the target trajectory, calculates the control angle of the test vehicle based on the shortest distance and the current speed of the test vehicle, and controls the operation of the test vehicle based on the control angle to control the test vehicle to run along the target trajectory, thereby achieving autonomous driving of the test vehicle. This automates testing, reduces human involvement, saves labor costs, and minimizes test variability caused by human operating habits, thus improving test accuracy. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is the system diagram to which this application applies.

[0018] Figure 2 This is a schematic flowchart of a vehicle control method for vehicle testing provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a geometric diagram of the closest distance between the current position of the test vehicle and the target trajectory, provided in an exemplary embodiment of this application.

[0020] Figure 4 This is a geometric diagram of the current target trajectory points of the test vehicle provided in an exemplary embodiment of this application.

[0021] Figure 5 This is a geometric diagram of the control angle of a test vehicle provided in an exemplary embodiment of this application.

[0022] Figure 6This is a schematic diagram of the structural parameters of a test vehicle provided in an exemplary embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the structure of a vehicle control device for vehicle testing provided in an exemplary embodiment of this application.

[0024] Figure 8 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0025] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0026] Figure 1 This is the system diagram to which this application applies. For example... Figure 1 As shown, the vehicle testing system applicable to this application includes: an intelligent testing terminal and an inertial navigation system; wherein, both the intelligent testing terminal and the inertial navigation system are installed on the test vehicle. The inertial navigation system is used to establish a local high-precision coordinate system with reference to the position of a fixed base station to provide high-precision positioning information and periodically output the position information of the test vehicle; the intelligent testing terminal is used to obtain information such as the target trajectory and vehicle operation boundary of the test vehicle from the cloud, and during the test, it controls the test vehicle to accelerate, decelerate, brake, shift gears, and turn the steering wheel based on the position information, target trajectory, and vehicle operation boundary of the test vehicle to realize automated testing of the test vehicle; and the intelligent testing terminal uploads the test data to the cloud in real time so that the cloud can perform big data analysis to complete fault analysis and early warning.

[0027] Figure 2 This is a schematic flowchart of a vehicle control method for vehicle testing provided in an exemplary embodiment of this application. This vehicle control method for vehicle testing is applied to the aforementioned intelligent testing terminal, such as... Figure 2 As shown, the vehicle control method for vehicle testing includes the following steps: Step 210: Obtain the current location of the test vehicle.

[0028] During actual testing, the test vehicle may deviate from the target trajectory due to external interference and system errors. Therefore, it is necessary to control the steering wheel angle of the test vehicle during testing to ensure that the test vehicle stays close to the target trajectory and avoids deviating from the vehicle's operating boundary. This application obtains the current position of the test vehicle to determine the deviation between the test vehicle and the target trajectory, and controls the steering wheel angle of the test vehicle based on the relative geometric relationship between the test vehicle's pose and the target trajectory to control the test vehicle to run along the target trajectory. In one embodiment, the current position of the test vehicle can be set as the center point of the front axle, or it can be set as the vehicle's center of gravity, the center point of the left front wheel, etc.

[0029] Step 220: Calculate the shortest distance between the current location and the target trajectory of the test vehicle.

[0030] The target trajectory comprises multiple discrete trajectory points. Specifically, such as... Figure 3 As shown, this application calculates the closest distance between the current position of the test vehicle and the target trajectory. e This is to determine the degree of deviation between the test vehicle and the target trajectory.

[0031] Step 230: Calculate the control angle of the test vehicle based on the closest distance and the current speed of the test vehicle.

[0032] The control angle represents the current steering angle of the test vehicle. Since the faster the test vehicle travels, the more easily it deviates from the target trajectory, this application uses the test vehicle's current speed, the closest distance between the test vehicle's current position and the target trajectory as criteria for determining the degree of deviation. Based on these criteria, the control angle of the test vehicle is calculated to adjust its direction of travel, thereby reducing the deviation between the test vehicle and the target trajectory.

[0033] Step 240: Control the operation of the test vehicle based on the control angle.

[0034] After calculating the control angle of the test vehicle, the test vehicle is controlled based on this control angle to reduce the deviation between the test vehicle and the target trajectory. In other words, the trajectory of the test vehicle is corrected so that the test vehicle runs as close to the target trajectory as possible, thereby improving its operational accuracy and thus improving the accuracy of the test results.

[0035] This application provides a vehicle control method for vehicle testing, which involves: acquiring the current position of the test vehicle; calculating the shortest distance between the current position and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; calculating the control angle of the test vehicle based on the shortest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and controlling the operation of the test vehicle based on the control angle. In other words, during vehicle testing, the method acquires the current position of the test vehicle and calculates the shortest distance between the current position and the target trajectory, calculates the control angle of the test vehicle based on the shortest distance and the current speed of the test vehicle, and controls the operation of the test vehicle based on the control angle to control the test vehicle to run along the target trajectory, thereby achieving autonomous driving of the test vehicle, realizing automated testing, reducing human involvement, saving labor costs, and minimizing test differences caused by human operating habits, thus improving test accuracy.

[0036] In one embodiment, step 230 can be implemented as follows: if the nearest distance is less than a preset multiple of the current vehicle speed, calculate the distance between the current position point and the trajectory point; select the preset steering angle of the trajectory point that is closest to the current position point as the control angle of the test vehicle.

[0037] This application determines the calculation method for the control angle of the test vehicle by judging the relationship between the nearest distance between the current position of the test vehicle and the target trajectory and a preset multiple of the current vehicle speed. Specifically, if the nearest distance is less than a preset multiple of the current vehicle speed, for example, e < 1.5K... Where K is a fixed coefficient. If the current vehicle speed indicates a low deviation between the test vehicle and the target trajectory, then the distance between the current position and a trajectory point on the target trajectory can be calculated. The preset steering angle of the nearest trajectory point is then selected as the control angle of the test vehicle. Specifically, the preset steering angle used to drive the vehicle from the nearest trajectory point on the target trajectory to the next preset trajectory point on the target trajectory is taken as the control angle of the test vehicle. It should be noted that the preset steering angle of the trajectory point is determined based on the vehicle's actual steering angle when the target trajectory was acquired.

[0038] In one embodiment, step 230 can be implemented as follows: if the nearest distance is greater than or equal to a preset multiple of the current vehicle speed, then select a trajectory point in the target trajectory as the current target trajectory point; and calculate the control angle of the test vehicle based on the current target trajectory point and the current position point.

[0039] If the nearest distance is greater than or equal to a preset multiple of the current vehicle speed, for example, e≥1.5K If the deviation between the test vehicle and the target trajectory is high, it indicates that a large adjustment of the steering angle of the test vehicle is required. This application selects a trajectory point in the target trajectory as the current target trajectory point of the test vehicle, and calculates the control angle of the test vehicle based on the current target trajectory point and the current position point of the test vehicle, so as to control the test vehicle to move closer to the current target trajectory point, thereby realizing the adjustment of the steering angle of the test vehicle.

[0040] In one embodiment, step 230 can be implemented as follows: starting from the previous target trajectory point of the test vehicle, query the first trajectory point located in front of the current position point and whose distance from the current position point is greater than a preset distance threshold, and use it as the current target trajectory point.

[0041] like Figure 4 As shown, this application starts from the previous target trajectory point of the test vehicle ( Figure 4 Starting from point P1 shown, which is the target trajectory point of the test vehicle at the previous position point A, we begin querying the target trajectory at the current position point ( Figure 4 The trajectory points in front of point B shown in the diagram are selected. The first trajectory point whose distance from the current position point is greater than a preset distance threshold is chosen as the current target trajectory point. Figure 4 As shown, the distance between trajectory point P2 and the current position point B is too small (less than the distance threshold), while trajectory point P3 is the first trajectory point whose distance to the current position point B meets the condition of being greater than the distance threshold. Therefore, trajectory point P3 is selected as the current target trajectory point.

[0042] In one embodiment, step 230 can be implemented by calculating the control angle of the test vehicle based on the current target trajectory point, the current position point of the test vehicle, and the previous position point.

[0043] like Figure 5 As shown, this application is based on the current target trajectory point ( Figure 5 Point P3 shown), the current position of the test vehicle ( Figure 5 Point B shown) and the previous position point ( Figure 5 Point A shown in the diagram), calculate the control angle of the test vehicle. Specifically, based on the current target trajectory point and the previous position point of the test vehicle, obtain an arc connecting the current target trajectory point and the previous position point, where this arc is tangent to the running direction of the test vehicle at the previous position point, and determine its center based on this arc (…). Figure 5 Point O shown is obtained by calculating the angle between line segments OA and OB. The control angle of the test vehicle is obtained. The specific calculation method is as follows: ; ; ; in, R Let be the radius of arc AP3. L d Let OB be the length of line segment OB, 2 α Let OA be the angle between line segments OA and OP3. v To test the vehicle's current speed, B To test the distance between the center points of the front and rear axles of the vehicle (e.g.) Figure 6 (as shown) S To test the distance between the front axle center point of the vehicle and the inertial navigation system (e.g. Figure 6 (as shown) W To test the width of the vehicle (e.g.) Figure 6 (as shown) L For the test vehicle length (e.g.) Figure 6 (As shown).

[0044] In one embodiment, step 210 can be implemented by periodically acquiring the current position of the test vehicle using an inertial navigation system.

[0045] This application can periodically collect the current position of the test vehicle using an inertial navigation system installed on the test vehicle, and establish a local high-precision map and corresponding coordinate system by combining it with a fixed base station. Then, the control angle of the test vehicle can be easily calculated based on the coordinate values ​​of the trajectory points and the position of the test vehicle in the coordinate system, so as to quickly respond to the steering angle control of the test vehicle and thus realize the tracking of the target trajectory.

[0046] In one embodiment, step 220 can be implemented by: calculating the distance between the current location point and the trajectory point; and selecting the minimum distance as the closest distance between the current location point and the target trajectory.

[0047] This application calculates the distance between the current position point and trajectory points on the target trajectory, and selects the minimum distance as the closest distance between the current position point and the target trajectory. Preferably, to reduce the amount of calculation and improve computational efficiency, this application can calculate only the distance between the current position point and multiple trajectory points within a preset range, thereby quickly calculating the closest distance between the current position point and the target trajectory. Optionally, this application can also fit a continuous trajectory curve based on the trajectory points on the target trajectory, and calculate the perpendicular distance between the current position point and the trajectory curve to obtain the closest distance between the current position point and the target trajectory.

[0048] This application can also utilize the cloud to develop remote control functions, digital twin functions for test sites, etc., and can use spatial data acquisition, image processing, computer simulation, data mining, etc. to achieve integrated connectivity between the vehicle and the cloud, providing comprehensive data support and services for the test management of closed test sites.

[0049] This application can also use sensors (LiDAR, millimeter-wave radar, cameras, etc.) on the test vehicle to perceive the external environment and obstacles in order to achieve automated testing. Optionally, this application can also attach an automatic digital signal sensor and its control system to the test vehicle to achieve automated testing.

[0050] Figure 7 This is a schematic diagram of a vehicle control device for vehicle testing provided in an exemplary embodiment of this application. The vehicle control device for vehicle testing can be the aforementioned intelligent testing terminal, or it can be part of an intelligent testing terminal; such as... Figure 7 As shown, the vehicle control device 70 for vehicle testing includes: a current position acquisition module 71 for acquiring the current position of the test vehicle; a nearest distance calculation module 72 for calculating the nearest distance between the current position and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; a control angle calculation module 73 for calculating the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and a vehicle operation control module 74 for controlling the operation of the test vehicle based on the control angle.

[0051] This application provides a vehicle control device for vehicle testing. A current position acquisition module 71 acquires the current position of the test vehicle; a nearest distance calculation module 72 calculates the nearest distance between the current position and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; a control angle calculation module 73 calculates the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; and a vehicle operation control module 74 controls the operation of the test vehicle based on the control angle. In other words, during vehicle testing, the current position of the test vehicle is acquired and the nearest distance between the current position and the target trajectory is calculated. Based on this nearest distance and the current speed of the test vehicle, the control angle of the test vehicle is calculated, and the operation of the test vehicle is controlled based on this control angle to control the test vehicle to run along the target trajectory, thereby achieving autonomous driving of the test vehicle, realizing automated testing, reducing human involvement, saving labor costs, and minimizing test differences caused by human operating habits, thereby improving test accuracy.

[0052] In one embodiment, the control angle calculation module 73 can be further configured to: if the nearest distance is less than a preset multiple of the current vehicle speed, calculate the distance between the current position point and the trajectory point; and select the preset steering angle of the trajectory point that is closest to the current position point as the control angle of the test vehicle.

[0053] In one embodiment, the control angle calculation module 73 can be further configured to: if the nearest distance is greater than or equal to a preset multiple of the current vehicle speed, select a trajectory point in the target trajectory as the current target trajectory point; and calculate the control angle of the test vehicle based on the current target trajectory point and the current position point.

[0054] In one embodiment, the control angle calculation module 73 can be further configured to: query the first trajectory point located in front of the current position point and whose distance from the current position point is greater than a preset distance threshold, starting from the previous target trajectory point of the test vehicle, and use it as the current target trajectory point.

[0055] In one embodiment, the control angle calculation module 73 can be further configured to calculate the control angle of the test vehicle based on the current target trajectory point, the current position point of the test vehicle, and the previous position point.

[0056] In one embodiment, an inertial navigation system is installed on the test vehicle; wherein, the aforementioned current position acquisition module 71 can be further configured to periodically acquire the current position of the test vehicle using the inertial navigation system.

[0057] In one embodiment, the aforementioned closest distance calculation module 72 may be further configured to: calculate the distance value between the current position point and the trajectory point; and select the minimum distance value as the closest distance between the current position point and the target trajectory.

[0058] Below, for reference Figure 8 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0059] Figure 8 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0060] like Figure 8 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0061] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0062] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0063] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0064] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0065] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0066] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0067] Of course, for the sake of simplicity, Figure 8 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0068] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0069] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0070] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0071] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0072] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0073] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0074] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0075] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be applied within the widest scope consistent with the principles and novel features disclosed herein.

[0076] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A vehicle control method for vehicle testing, characterized in that, include: Obtain the current location of the test vehicle; Calculate the shortest distance between the current location and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; Based on the nearest distance and the current speed of the test vehicle, the control angle of the test vehicle is calculated; wherein, the control angle represents the current steering angle of the test vehicle; The test vehicle is controlled based on the control angle.

2. The vehicle control method for vehicle testing according to claim 1, characterized in that, The calculation of the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle includes: If the nearest distance is less than a preset multiple of the current vehicle speed, then the distance between the current position point and the trajectory point is calculated; The preset steering angle of the trajectory point that is closest to the current position is selected as the control angle of the test vehicle.

3. The vehicle control method for vehicle testing according to claim 1, characterized in that, The calculation of the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle includes: If the nearest distance is greater than or equal to a preset multiple of the current vehicle speed, then a trajectory point in the target trajectory is selected as the current target trajectory point; Based on the current target trajectory point and the current position point, the control angle of the test vehicle is calculated.

4. The vehicle control method for vehicle testing according to claim 3, characterized in that, Selecting a trajectory point from the target trajectory as the current target trajectory point includes: Starting from the previous target trajectory point of the test vehicle, query the first trajectory point located in front of the current position point and whose distance from the current position point is greater than a preset distance threshold, and use it as the current target trajectory point.

5. The vehicle control method for vehicle testing according to claim 3, characterized in that, The calculation of the control angle of the test vehicle based on the current target trajectory point and the current position point includes: Based on the current target trajectory point, the current position point of the test vehicle, and the previous position point, the control angle of the test vehicle is calculated.

6. The vehicle control method for vehicle testing according to claim 1, characterized in that, The test vehicle is equipped with an inertial navigation system; wherein, obtaining the current position of the test vehicle includes: The inertial navigation system is used to periodically acquire the current location of the test vehicle.

7. The vehicle control method for vehicle testing according to claim 1, characterized in that, The calculation of the shortest distance between the current location and the target trajectory of the test vehicle includes: Calculate the distance between the current location point and the trajectory point; The minimum distance value is selected as the closest distance between the current location and the target trajectory.

8. A vehicle control device for vehicle testing, characterized in that, include: The current location acquisition module is used to obtain the current location of the test vehicle; The nearest distance calculation module is used to calculate the nearest distance between the current location point and the target trajectory of the test vehicle; wherein the target trajectory includes multiple discrete trajectory points; A control angle calculation module is used to calculate the control angle of the test vehicle based on the nearest distance and the current speed of the test vehicle; wherein the control angle represents the current steering angle of the test vehicle; The vehicle operation control module is used to control the operation of the test vehicle based on the control angle.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-7.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-7.

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