Trajectory tracking control method and device based on mobile control point

Abstract

The application relates to the technical field of automatic driving technology, in particular to a trajectory tracking control method and device based on a mobile control point, wherein the method comprises the following steps: calculating an actual pose and a target pose of the mobile control point according to a longitudinal offset of the mobile control point, and calculating a pose error of the mobile control point according to the actual pose and the target pose, so as to calculate a desired virtual steering angle of a virtual steering wheel according to the pose error; generating an actual chassis control amount of a target vehicle according to the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to execute trajectory tracking according to the actual chassis control amount and complete a tracking task. Therefore, the problems that the relative distance between the control point and the task target point is prone to being large due to the fact that a fixed control point is used in related calculation, the error calculation is inaccurate in the trajectory tracking process, and the trajectory tracking precision and the overall control stability are affected are solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a trajectory tracking control method and device based on a moving control point. Background Technology

[0002] In related technologies, a vehicle geometric reference point is usually selected as a fixed control point, such as the center point of the front axle or the center point of the rear axle, and this fixed control point is used as the error calculation reference for trajectory tracking, thereby realizing the tracking control of the vehicle along the target path.

[0003] However, the relevant technology uses fixed control points, which cannot be flexibly adjusted according to the mission target and the real-time status of the vehicle. This may result in a large relative distance between the control point and the mission target point, making it difficult for the error calculation benchmark to accurately reflect the current and short-term future movement trend of the vehicle. This leads to inaccurate error calculation during trajectory tracking, thereby reducing trajectory tracking accuracy and overall control stability. Summary of the Invention

[0004] This application provides a trajectory tracking control method and apparatus based on moving control points to solve the problem in related technologies where the use of fixed control points can easily lead to a large relative distance between the control point and the target point, resulting in inaccurate error calculation during trajectory tracking and thus affecting the trajectory tracking accuracy and overall control stability.

[0005] The first aspect of this application provides a trajectory tracking control method based on a moving control point, comprising the following steps: determining the relative position between the current pose of the target vehicle and the target position corresponding to the tracking task; determining the longitudinal offset of the moving control point on the target vehicle relative to the target vehicle based on the relative position; calculating the actual pose and target pose of the moving control point based on the longitudinal offset, and calculating the pose error of the moving control point based on the actual pose and target pose, so as to calculate the desired virtual steering angle of the virtual steering wheel based on the pose error; generating the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to perform trajectory tracking based on the actual chassis control quantity and complete the tracking task.

[0006] By using the above technical means, the longitudinal offset of the moving control point is obtained, and the pose of the moving control point is determined based on the longitudinal offset. Then, the expected virtual steering angle of the virtual steering wheel is calculated based on the pose error to generate the actual chassis control quantity. This enables the adaptive adjustment of the control reference point, allowing it to dynamically change with the vehicle's motion state and task requirements. This improves the accuracy of error representation and the foresight of control, reduces the accumulation of lateral deviation and amplification of attitude error during trajectory tracking, and thus improves path tracking accuracy and control stability.

[0007] Optionally, in one embodiment of this application, calculating the pose error of the motion control point based on the actual pose and the target pose includes: calculating the longitudinal error, lateral error and heading error of the motion control point in the target heading based on the actual pose and the target pose, respectively; and determining the pose error based on the longitudinal error, lateral error and heading error.

[0008] By employing the above technical means, the pose error is determined based on the longitudinal, lateral, and heading errors of the moving control point in the target heading direction. This allows for the effective decomposition of the deviation between the vehicle and the target trajectory in the trajectory coordinate system, ensuring that the error expression is consistent with the actual direction of vehicle movement, thereby improving the accuracy of the physical meaning of the error representation. Simultaneously, it facilitates the decoupling of different types of errors, enhancing the controller's ability to specifically adjust lateral and attitude deviations, reducing control interference caused by error coupling, and ultimately improving the convergence speed and control stability of path tracking.

[0009] Optionally, in one embodiment of this application, calculating the desired virtual steering angle of the virtual steering wheel based on the pose error includes: calculating the desired heading angle of the virtual steering wheel at the position of the movement control point based on the pose error; and calculating the desired virtual steering angle based on the desired heading angle and the actual heading angle of the vehicle body at the movement control point, under the constraint of a preset maximum steering angle limit of the virtual steering wheel.

[0010] By employing the above technical means, the desired virtual steering angle is calculated under the preset maximum steering angle limit constraint of the virtual steering wheel, ensuring that the desired virtual steering angle is always within the physically achievable range of the vehicle steering system. This avoids control distortion or saturation caused by the control output exceeding the capability range of the actuator, thereby improving the executability and consistency of control commands. At the same time, it helps to suppress oversteering behavior under extreme working conditions, reduce the risk of trajectory oscillation, and thus improve the stability and safety of the path tracking process.

[0011] Optionally, in one embodiment of this application, the formula for calculating the desired heading angle of the virtual steering wheel is: ; in, This represents the desired heading angle of the virtual steering wheel. Indicates the vehicle's target heading at the moving control point. This represents the lateral error gain. This represents the actual lateral distance of the moving control point error. This indicates the speed at which the control point moves.

[0012] By using the above technical means, the desired heading angle is calculated based on the lateral error of the moving control point, enabling the vehicle's steering control to directly respond to the trajectory normal deviation, thereby enhancing the correlation between the control input and the degree of path deviation and improving the vehicle's ability to correct lateral deviation.

[0013] Optionally, in one embodiment of this application, calculating the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel includes: calculating the angular velocity of the virtual steering wheel based on the desired virtual steering angle and speed; and generating the actual chassis control quantity based on the angular velocity and the chassis type of the target vehicle.

[0014] By employing the above technical means, actual chassis control quantities are generated based on angular velocity and the chassis type of the target vehicle. This enables the control output to simultaneously reflect the instantaneous motion state of the vehicle and the kinematic characteristics of different chassis structures, thereby achieving adaptive matching between the control strategy and the actuator. At the same time, it helps to improve the pertinence and consistency of control quantity mapping, reduce control mismatch problems caused by chassis differences, and thus improve the system's versatility, control accuracy, and operational stability.

[0015] Optionally, in one embodiment of this application, the formula for calculating the actual pose of the motion control point is: , , , in, This represents the actual pose of the moving control point. This indicates the actual position and orientation of the rear axle of the target vehicle. Indicates the vertical offset; The formula for calculating the target pose of the moving control point is: , , , in, This indicates the target pose of the moving control point. This indicates the target pose of the rear axle of the target vehicle.

[0016] By using the above technical means, the pose of the moving control point is calculated based on the pose of the rear axle of the target vehicle and the longitudinal offset, so that the control reference point can be adaptively adjusted in the vehicle body coordinate system with the longitudinal offset. This dynamically reflects the equivalent control position under different motion states of the vehicle, which is conducive to enhancing the geometric matching relationship between the control point and the target trajectory, improving the accuracy of pose error representation and the foresight of the control.

[0017] A second aspect of this application provides a trajectory tracking control device based on a moving control point, comprising: a determining module, configured to determine the relative position between the current pose of a target vehicle and the target position corresponding to the tracking task, and to determine the longitudinal offset of a moving control point on the target vehicle relative to the target vehicle based on the relative position; a calculating module, configured to calculate the actual pose and target pose of the moving control point based on the longitudinal offset, and to calculate the pose error of the moving control point based on the actual pose and target pose, so as to calculate the desired virtual steering angle of the virtual steering wheel based on the pose error; and a tracking module, configured to generate an actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to perform trajectory tracking based on the actual chassis control quantity and complete the tracking task.

[0018] Optionally, in one embodiment of this application, the calculation module includes: a first calculation unit, configured to calculate the longitudinal error, lateral error, and heading error of the motion control point in the target heading based on the actual pose and the target pose, respectively; and a determination unit, configured to determine the pose error based on the longitudinal error, lateral error, and heading error.

[0019] Optionally, in one embodiment of this application, the calculation module includes: a second calculation unit, used to calculate the desired heading angle of the virtual steering wheel at the position of the motion control point based on the pose error; and a third calculation unit, used to calculate the desired virtual steering angle based on the desired heading angle and the actual heading angle of the vehicle body at the motion control point, under the constraint of a preset maximum steering angle limit of the virtual steering wheel.

[0020] Optionally, in one embodiment of this application, the formula for calculating the desired heading angle of the virtual steering wheel is: ; in, This represents the desired heading angle of the virtual steering wheel. Indicates the vehicle's target heading at the moving control point. This represents the lateral error gain. This represents the actual lateral error distance of the moving control point. This indicates the speed at which the control point moves.

[0021] Optionally, in one embodiment of this application, the tracking module includes: a fourth calculation unit, configured to calculate the angular velocity of the virtual steering wheel based on the desired virtual steering angle and speed; and a generation unit, configured to generate the actual chassis control quantity based on the angular velocity and the chassis type of the target vehicle.

[0022] Optionally, in one embodiment of this application, the formula for calculating the actual pose of the motion control point is: , , , in, This represents the actual pose of the moving control point. This indicates the actual position and orientation of the rear axle of the target vehicle. Indicates the vertical offset; The formula for calculating the target pose of the moving control point is: , , , in, This indicates the target pose of the moving control point. This indicates the target pose of the rear axle of the target vehicle.

[0023] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the trajectory tracking control method based on moving control points as described in the above embodiments.

[0024] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the trajectory tracking control method based on moving control points as described above.

[0025] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, is used to implement the trajectory tracking control method based on moving control points as described above.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a trajectory tracking control method based on a moving control point according to an embodiment of this application; Figure 2 This is a schematic diagram of the target vehicle and the variables of the movement control point in one embodiment of this application; Figure 3 This is a block diagram of a trajectory tracking control device based on a moving control point according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0028] Figure label: 10-Trajectory tracking control device based on moving control points; 100-Determination module, 200-Calculation module, 300-Tracking module; 401-Memory, 402-Processor, 403-Communication interface. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0030] The trajectory tracking control method and apparatus based on moving control points according to embodiments of this application are described below with reference to the accompanying drawings. Addressing the technical problem mentioned in the background art, where the use of fixed control points in related technologies easily leads to a large relative distance between the control point and the target point, making it difficult for the error calculation benchmark to accurately reflect the current and short-term future motion trend of the vehicle, thus affecting trajectory tracking accuracy and overall control stability, this application provides a trajectory tracking control method based on moving control points. This method aims to use moving control points to achieve adaptive adjustment of the control points according to the vehicle's motion state and task requirements, thereby improving the accuracy of pose error representation and the forward-looking nature of control, and enhancing path tracking accuracy and control stability.

[0031] Specifically, Figure 1 This is a flowchart illustrating a trajectory tracking control method based on a moving control point, as provided in an embodiment of this application.

[0032] like Figure 1 As shown, the trajectory tracking control method based on moving control points includes the following steps: In step S101, the relative position between the current pose of the target vehicle and the target position corresponding to the tracking task is determined, and the longitudinal offset of the motion control point on the target vehicle relative to the target vehicle is determined based on the relative position.

[0033] The current pose of the target vehicle includes its position and attitude. Based on the pose, the spatial state of the target vehicle in the reference coordinate system can be determined, thereby providing a time-varying reference for path tracking or docking control.

[0034] The tracking task can be the docking and tracking control process between a vehicle and a charging pile, battery swapping station, or automated loading and unloading equipment in an autonomous driving scenario, or it can be the retrieval and tracking process between a mobile vehicle and a charging station. The target location can be determined according to the specific tracking task. If it is a docking and tracking control process between a vehicle and a charging pile, the target location is the charging pile; if it is a retrieval and tracking process between a mobile vehicle and a charging station, the target location is the charging station of the mobile vehicle.

[0035] The moving control point can be a geometric reference position such as the center of the front axle, the center of the rear axle, or the projection point of the centroid of the vehicle, as an initial candidate reference point. Subsequently, it is dynamically adjusted and repositioned within the vehicle's body range based on the vehicle's current pose and the target position corresponding to the tracking task, forming a dynamic control reference point during vehicle trajectory tracking. For example, during the process of the vehicle approaching a charging station, the moving control point can be gradually adjusted from the center of the rear axle to the position of the front of the vehicle approaching the docking interface, allowing the control system to directly use the "contact area" as a reference point, achieving higher precision end-point alignment and docking control. By introducing the moving control point, the embodiments of this application can enhance the matching relationship between the control reference and the actual vehicle pose, making trajectory error calculation more forward-looking, thereby improving the stability and accuracy of trajectory tracking.

[0036] Vertical offset L This refers to the displacement of the moving control point relative to an initial candidate reference point, such as the center of the front axle or rear axle, along the longitudinal direction of the vehicle. It is a directional physical quantity; typically, the forward direction is considered positive and the backward direction negative. It characterizes the degree of forward or backward movement of the moving control point relative to the reference point along the vehicle's longitudinal axis, thereby enabling dynamic adjustment of the control point within the vehicle's body. For example, in an automatic charging scenario where the vehicle docks with a charging station, if the charging station is located at the front of the vehicle, the control point moves forward. L >0; If the docking point is located at the rear of the vehicle, the control point moves backward. L <0.

[0037] This application embodiment combines the vehicle's current pose with the target position corresponding to the tracking task to adaptively offset the control point forward or backward, and determine the longitudinal offset amount, so that it better matches the actual movement trend and predicted trajectory of the vehicle under different working conditions, thereby improving the accuracy of trajectory error representation and the foresight of control response.

[0038] In step S102, the actual pose and target pose of the moving control point are calculated based on the longitudinal offset, and the pose error of the moving control point is calculated based on the actual pose and target pose, so as to calculate the expected virtual steering angle of the virtual steering wheel based on the pose error.

[0039] Pose error can include lateral error. Longitudinal error and heading error , including lateral error It can be used to characterize the projected distance between the moving control point and the target point on the target heading, and the longitudinal error. It can be used to characterize the vertical distance of a control point from the target heading, and the heading error. It can be used to characterize the difference between the actual heading and the target heading, normalized to Based on the pose error, the embodiments of this application can transform the vehicle motion control problem into an error-driven steering control problem, and calculate the desired virtual steering angle by performing comprehensive mapping processing on the pose error.

[0040] A virtual steering wheel refers to a simplified equivalent of the left and right steering wheels of a vehicle, abstracted as a single steering wheel located at the center of the front axle or an equivalent steering position (such as a movement control point), used to uniformly describe the overall steering characteristics of the vehicle.

[0041] The expected virtual steering angle refers to the target steering angle that the virtual steering wheel should achieve, calculated by path tracking control based on the error between the actual pose and the target pose of the moving control point. It is used to characterize the equivalent steering input required for the vehicle to achieve target trajectory tracking and serves as a reference for actual steering control.

[0042] In this embodiment, geometric reference positions such as the center of the front axle, the center of the rear axle, or the projection point of the centroid of the vehicle can be selected as initial candidate reference points to obtain the corresponding actual pose and target pose. The pose of the initial candidate reference points can be translated along the current heading direction of the vehicle by combining the longitudinal offset, and then the actual pose and target pose of the motion control point can be calculated.

[0043] As a specific example, this application embodiment selects the rear axle center of the vehicle as the initial candidate reference point and calculates the actual pose and target pose of the motion control point.

[0044] In one embodiment of this application, the formula for calculating the actual pose of the motion control point is: , , , in, This represents the actual pose of the moving control point. This indicates the actual position and orientation of the rear axle of the target vehicle. Indicates the vertical offset; The formula for calculating the target pose is: , , , in, This indicates the target pose of the moving control point. This indicates the target pose of the rear axle of the target vehicle.

[0045] Furthermore, embodiments of this application can calculate the corresponding pose error, including lateral error, based on the actual pose of the motion control point and the target pose. Longitudinal error and heading error .

[0046] As one possible implementation method, in one embodiment of this application, calculating the pose error of the motion control point based on the actual pose and the target pose includes: calculating the longitudinal error, lateral error and heading error of the motion control point in the target heading based on the actual pose and the target pose, respectively; and determining the pose error based on the longitudinal error, lateral error and heading error.

[0047] Specifically, the calculation formula in this application embodiment can be as follows: , , in, , Indicates the relative position of the moving control point.

[0048] , , ， According to the above formula, the pose error can be obtained in the embodiments of this application. Based on the pose error, the degree of deviation between the current motion state of the vehicle and the target trajectory can be comprehensively characterized, and it can be used as a control input for mapping calculation to obtain the desired virtual steering angle.

[0049] Optionally, in one embodiment of this application, calculating the desired virtual steering angle of the virtual steering wheel based on the pose error includes: calculating the desired heading angle of the virtual steering wheel at the position of the movement control point based on the pose error; and calculating the desired virtual steering angle based on the desired heading angle and the actual heading angle of the vehicle body at the movement control point, under the constraint of a preset maximum steering angle limit of the virtual steering wheel.

[0050] It can be explained that the desired heading angle It can consist of target heading and lateral error feedback. The lateral error can be calculated using the front axle center as a fixed control point or using a moving control point, so that the lateral error can adaptively reflect the motion characteristics of the vehicle under different operating conditions.

[0051] The preset maximum steering angle limit constraint refers to limiting the amplitude of the desired virtual steering angle so that it does not exceed the maximum steering angle range allowed by the vehicle steering system, thereby ensuring that the control command is executed within the physically feasible and safe boundaries; for example, it can be ±30°, or it can be set according to the actual situation.

[0052] For example, such as Figure 2 As shown in the embodiment of this application, the desired heading angle is calculated using the lateral error at the control point.

[0053] In one embodiment of this application, the formula for calculating the desired heading angle of the virtual steering wheel is: ; in, This represents the desired heading angle of the virtual steering wheel. Indicates the target heading of the moving control point. This represents the lateral error gain. This represents the actual lateral error distance of the moving control point. This indicates the speed at which the control point moves.

[0054] when When approaching zero, to avoid singularities, one can... Items are subject to limits or restrictions The minimum absolute value is used to prevent singular values ​​from appearing.

[0055] Virtual steering angle Defined as the difference between the desired heading angle of the virtual steering wheel and the actual heading angle of the vehicle body at the position of the moving control point: , Right now: , Right now: , Add maximum steering angle limit : , This application embodiment introduces a virtual steering wheel, which is located at the movement control point and has a desired virtual steering angle of . Furthermore, through kinematic relationships, the speed of the virtual steering wheel and the desired virtual steering angle can be mapped to the control quantities of the actual chassis, such as the equivalent front wheel angle or steering actuator control commands, thereby achieving precise control of the vehicle path tracking process. This will be explained in detail below.

[0056] In step S103, the actual chassis control quantity of the target vehicle is generated based on the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to perform trajectory tracking based on the actual chassis control quantity and complete the tracking task.

[0057] The embodiments of this application can directly convert the front wheel steering angle into an equivalent value based on the actual chassis control quantity, or further convert it into a differential wheel speed control quantity, or a steering actuator control command, such as a steering wheel angle command, a steering motor target angle, etc. It can be selected and mapped according to different vehicle chassis structures and control requirements to achieve an equivalent conversion of virtual control quantity to the actual execution layer, thereby driving the vehicle to complete path tracking or docking control tasks.

[0058] Optionally, in one embodiment of this application, calculating the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel includes: calculating the angular velocity of the virtual steering wheel based on the desired virtual steering angle and speed; and generating the actual chassis control quantity based on the angular velocity and the chassis type of the target vehicle.

[0059] The chassis type may include, but is not limited to, Ackermann front wheel steering structure, differential drive structure, and four-wheel independent steering structure. In this application embodiment, the chassis control amount that matches the kinematic characteristics can be determined according to different chassis types. For example, the Ackermann structure corresponds to the front wheel steering angle control amount, the differential drive structure corresponds to the left and right wheel speed control amount, and the four-wheel independent steering structure corresponds to the steering angle control amount of each steering wheel.

[0060] Exemplarily, the embodiments of this application firstly based on and Calculate the corresponding angular velocity : , Obtain a unified interface for chassis control and .

[0061] For Ackermann steering vehicles: Actual front wheel steering angle can be and Find: , Right now , in This refers to the front and rear wheelbase.

[0062] For differential drive vehicles: the linear velocity of the virtual wheels needs to be... and angular velocity Convert to left and right wheel speeds: , , in B This refers to the wheel track.

[0063] For tracked vehicles: the handling method is similar to that for differential drive.

[0064] This application embodiment can generate a dedicated control mapping relationship for different vehicle platforms by selecting the corresponding control quantity form according to the chassis type, so that the control strategy has good adaptability; at the same time, by unifying the design of virtual steering wheels or desired virtual steering angles, the universality of the control framework can be maintained between different chassis, thereby realizing the unified expression and reuse of cross-platform path tracking control methods.

[0065] In the embodiments of this application, the control point offset is dynamically adjusted. L The symbol allows for unified forward and backward control. When moving forward, the movement control point is placed in front of the vehicle (…). L >0), when reversing, the movement control point is placed behind the vehicle ( L <0, only the sign of the offset needs to be adjusted according to the direction of movement. For example, when the vehicle needs to reverse to track the target, it can be set to... L A negative value places the control point at the rear of the vehicle. In this case, the lateral error is still calculated based on the moving control point and can automatically adapt to the backward movement.

[0066] According to the trajectory tracking control method based on moving control points proposed in this application, the actual pose and target pose of the moving control point are calculated by longitudinal offset to obtain the position error. Then, the expected virtual steering angle of the virtual steering wheel is calculated. Combined with the chassis type, the corresponding actual chassis control quantity is generated. This allows the control reference position to dynamically change with the vehicle's motion state and task requirements, improving the accuracy of error representation and the foresight of control. This enables adaptive adjustment of the path tracking process, reduces the accumulation of lateral deviation and amplification of attitude error, and improves trajectory tracking accuracy and control stability. In addition, by introducing longitudinal offset, a unified representation of the vehicle's forward and backward conditions is achieved under a unified control framework, allowing the control point to adaptively adjust according to the vehicle's motion direction. At the same time, only the expected virtual steering angle of the virtual steering wheel needs to be kinematically mapped according to the chassis type to generate the corresponding actual chassis control quantity. There is no need to modify the path tracking control algorithm itself, thereby reducing the system design complexity and improving the universality and scalability of the control method on different vehicle platforms.

[0067] Next, with reference to the accompanying drawings, a trajectory tracking control device based on a moving control point proposed according to an embodiment of this application is described.

[0068] Figure 3 This is a block diagram of a trajectory tracking control device based on a moving control point according to an embodiment of this application.

[0069] like Figure 3 As shown, the trajectory tracking control device 10 based on moving control points includes: a determination module 100, a calculation module 200, and a tracking module 300.

[0070] The determining module 100 is used to determine the relative position between the current pose of the target vehicle and the target position corresponding to the tracking task, and to determine the longitudinal offset of the motion control point on the target vehicle relative to the target vehicle based on the relative position.

[0071] The calculation module 200 is used to calculate the actual pose and target pose of the moving control point based on the longitudinal offset, and to calculate the pose error of the moving control point based on the actual pose and target pose, so as to calculate the expected virtual steering angle of the virtual steering wheel based on the pose error.

[0072] The tracking module 300 is used to generate the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to perform trajectory tracking based on the actual chassis control quantity and complete the tracking task.

[0073] Optionally, in one embodiment of this application, the calculation module 200 includes: a first calculation unit and a determination unit.

[0074] The first calculation unit is used to calculate the longitudinal error, lateral error, and heading error of the moving control point in the target heading, respectively, based on the actual pose and the target pose.

[0075] The determination unit is used to determine the pose error based on the longitudinal error, lateral error, and heading error.

[0076] Optionally, in one embodiment of this application, the root calculation module 200 includes a second calculation unit and a third calculation unit.

[0077] The second calculation unit is used to calculate the desired heading angle of the moving control point based on the pose error.

[0078] The third calculation unit is used to calculate the desired virtual steering angle based on the desired heading angle and the actual heading angle of the moving control point, under the constraint of the preset maximum steering angle limit of the virtual steering wheel.

[0079] Optionally, in one embodiment of this application, the formula for calculating the desired heading angle of the virtual wheel is: ; in, This represents the expected heading angle of the virtual wheel. Indicates the target heading of the vehicle at the moving control point. This represents the lateral error gain. This represents the actual lateral error distance of the moving control point. This indicates the speed at which the control point moves.

[0080] Optionally, in one embodiment of this application, the tracking module 300 includes a fourth calculation unit and a generation unit.

[0081] The fourth calculation unit is used to calculate the angular velocity of the virtual steering wheel based on the desired virtual steering angle and speed.

[0082] The generation unit is used to generate actual chassis control quantities based on angular velocity and the chassis type of the target vehicle.

[0083] Optionally, in one embodiment of this application, the formula for calculating the actual pose is: , , , in, This represents the actual pose of the moving control point. This indicates the actual position and orientation of the rear axle of the target vehicle. This indicates the vertical offset.

[0084] The formula for calculating the target pose is: , , , in, This indicates the target pose of the moving control point. This indicates the target pose of the rear axle of the target vehicle.

[0085] It should be noted that the foregoing explanation of the trajectory tracking control method embodiment based on moving control points also applies to the trajectory tracking control device based on moving control points in this embodiment, and will not be repeated here.

[0086] According to the trajectory tracking control device based on the moving control point proposed in the embodiments of this application, the actual pose and target pose of the moving control point are calculated through longitudinal offset to obtain the position error. Then, the expected virtual steering angle of the virtual steering wheel is calculated, and the corresponding actual chassis control quantity is generated in combination with the chassis type. This allows the control reference position to change dynamically with the vehicle's motion state and task requirements, improving the accuracy of error representation and the foresight of control. This enables adaptive adjustment of the path tracking process, reduces the accumulation of lateral deviation and the amplification of attitude error, and improves the trajectory tracking accuracy and control stability.

[0087] Figure 4A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0088] When the processor 402 executes the program, it implements the trajectory tracking control method based on the moving control point provided in the above embodiments.

[0089] Furthermore, electronic devices also include: Communication interface 403 is used for communication between memory 401 and processor 402.

[0090] The memory 401 is used to store computer programs that can run on the processor 402.

[0091] Memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0092] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0094] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0095] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the trajectory tracking control method based on moving control points as described above.

[0096] This application also provides a computer program product, including a computer program that can run computer instructions. When the computer instructions are executed by a processor, they implement the trajectory tracking control method based on moving control points provided in this application.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0099] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0100] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0101] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0102] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0103] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0104] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A trajectory tracking control method based on moving control points, characterized in that, Includes the following steps: Determine the relative position between the current pose of the target vehicle and the target position corresponding to the tracking task, and determine the longitudinal offset of the motion control point on the target vehicle relative to the target vehicle based on the relative position; The actual pose and target pose of the motion control point are calculated based on the longitudinal offset, and the pose error of the motion control point is calculated based on the actual pose and the target pose, so as to calculate the expected virtual steering angle of the virtual steering wheel based on the pose error. The actual chassis control quantity of the target vehicle is generated based on the desired virtual steering angle and the speed of the virtual steering wheel, and the target vehicle is controlled to perform trajectory tracking based on the actual chassis control quantity to complete the tracking task.

2. The method according to claim 1, characterized in that, The step of calculating the pose error of the motion control point based on the actual pose and the target pose includes: Calculate the longitudinal error, lateral error, and heading error of the motion control point in the target heading based on the actual pose and the target pose, respectively. The pose error is determined based on the longitudinal error, the lateral error, and the heading error.

3. The method according to claim 1, characterized in that, The step of calculating the desired virtual steering angle of the virtual steering wheel based on the pose error includes: The desired heading angle of the virtual steering wheel at the position of the movement control point is calculated based on the pose error. Based on the desired heading angle and the actual heading angle of the vehicle body at the moving control point, the desired virtual steering angle is calculated under the preset maximum steering angle limit constraint of the virtual steering wheel.

4. The method according to claim 3, characterized in that, The formula for calculating the desired heading angle of the virtual steering wheel is: ； in, This represents the desired heading angle. The vehicle's target heading angle, representing the moving control point. This represents the lateral error gain. This represents the actual lateral error distance of the moving control point. This indicates the speed at which the control point moves.

5. The method according to claim 1, characterized in that, The step of calculating the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel includes: Calculate the angular velocity of the virtual steering wheel based on the desired virtual steering angle and the speed; The actual chassis control quantity is generated based on the angular velocity and the chassis type of the target vehicle.

6. The method according to claim 1, characterized in that, The formula for calculating the actual pose of the motion control point is: ， ， ， in, This represents the actual pose of the moving control point. This indicates the actual position and orientation of the rear axle of the target vehicle. This indicates the longitudinal offset; The formula for calculating the target pose of the motion control point is: ， ， ， in, This indicates the target pose of the moving control point. This indicates the target pose of the rear axle of the target vehicle.

7. A trajectory tracking control device based on moving control points, characterized in that, include: The determination module is used to determine the relative position between the current pose of the target vehicle and the target position corresponding to the tracking task, and to determine the longitudinal offset of the motion control point on the target vehicle relative to the target vehicle based on the relative position. The calculation module is used to calculate the actual pose and target pose of the motion control point based on the longitudinal offset, and to calculate the pose error of the motion control point based on the actual pose and the target pose, so as to calculate the expected virtual steering angle of the virtual steering wheel based on the pose error. The tracking module is used to generate the actual chassis control quantity of the target vehicle based on the desired virtual steering angle and the speed of the virtual steering wheel, so as to control the target vehicle to perform trajectory tracking according to the actual chassis control quantity and complete the tracking task.

8. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the trajectory tracking control method based on a moving control point as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the trajectory tracking control method based on moving control points as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, The computer program is executed to implement the trajectory tracking control method based on moving control points as described in any one of claims 1-6.

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