METHOD, DEVICE, ELECTRONIC EQUIPMENT AND MEDIA FOR TRANSVERSE CONTROL OF A VEHICLE

Abstract

A vehicle lateral control method, an apparatus, an electronic device and a medium. The method comprises: acquiring vehicle-mounted sensor information of a vehicle, vehicle parameters, a curvature radius of a target trajectory and a wheelbase; obtaining a rotation angle on the basis of the curvature radius and the wheelbase; calculating a front wheel slip angle and a rear wheel slip angle of the vehicle on the basis of the vehicle-mounted sensor information and the vehicle parameters; and obtaining a front wheel steering angle on the basis of the rotation angle, the front wheel slip angle and the rear wheel slip angle, and controlling the vehicle on the basis of the front wheel steering angle.

Description

Method, device, electronic equipment and medium for vehicle lateral control

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on January 2, 2024, with application number 202410006533.4 and invention name “A method, device, electronic device and medium for vehicle lateral control”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and medium for vehicle lateral control. Background Art

[0004] In recent years, autonomous driving technology has been a hot topic in the field of automotive research. Autonomous driving technology can be roughly divided into four major modules: perception, fusion, prediction and control. With the continuous development of this control theory, more and more control methods have been applied to the control field of autonomous driving technology.

[0005] The vehicle steering geometry model is the most widely used vehicle model in the autonomous tracking control of intelligent vehicles. However, this type of vehicle model is completely based on the collective relationship of the control system and does not consider the problem of force affecting motion. As a result, the vehicle's cornering steering control is not precise enough when encountering large corners.

[0006] Public content

[0007] In view of the shortcomings of the related technologies mentioned above, the present application provides a vehicle lateral control method, device, electronic device and medium to solve the above-mentioned technical problem of low high-speed curve control accuracy when encountering large corners.

[0008] The present application provides a vehicle lateral control method, which includes: obtaining vehicle-mounted sensor information, vehicle parameters, a curvature radius and a wheelbase of a target trajectory; obtaining a rotation angle based on the curvature radius and the wheelbase; calculating the front wheel sideslip angle and rear wheel sideslip angle of the vehicle based on the vehicle-mounted sensor information and the vehicle parameters; obtaining a front wheel steering angle based on the rotation angle, the front wheel sideslip angle and the rear wheel sideslip angle, and controlling the vehicle based on the front wheel steering angle.

[0009] In one embodiment of the present application, the front wheel steering angle is obtained by subtracting the rear wheel slip angle from the sum of the rotation angle and the front wheel slip angle.

[0010] In one embodiment of the present application, calculating the front wheel slip angle and rear wheel slip angle of the vehicle based on the onboard sensor information and the vehicle parameters includes: obtaining the front wheel tire cornering force and the rear wheel tire cornering force based on the vehicle body mass, the lateral acceleration, the yaw angle velocity, and the curvature radius; obtaining the front wheel slip angle based on the front wheel tire cornering force and the front wheel cornering stiffness, and obtaining the rear wheel slip angle based on the rear wheel tire cornering force and the rear wheel cornering stiffness. In one embodiment of the present application,

[0011] Among them, δ is the front wheel steering angle, α f is the front wheel slip angle, α r is the rear wheel slip angle, C αf is the front wheel cornering stiffness, C αr is the rear wheel cornering stiffness, F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity, m is the vehicle body mass, v x is the current speed of the vehicle, R is the curvature radius, The lateral acceleration is the lateral acceleration, the vehicle parameters include at least the vehicle body weight, front wheel cornering stiffness, rear wheel cornering stiffness, vehicle center of mass position and moment of inertia, and the on-board sensor information includes at least the vehicle's current speed, lateral acceleration and yaw angle velocity.

[0012] In one embodiment of the present application, the activation status of the lateral control function of the vehicle is obtained. If the activation status of the lateral control function is activated, the curvature radius is compared with a preset radius; if the curvature radius is greater than the preset radius, it is determined that the current position of the vehicle is a straight road and no lateral control is required; if the curvature radius is less than the preset radius, the vehicle is controlled based on the front wheel steering angle.

[0013] In one embodiment of the present application, a steering wheel angle is obtained based on the front wheel steering angle and a preset angle conversion mapping table; the steering wheel angle is filtered to obtain a control angle, and the vehicle is controlled based on the control angle.

[0014] In one embodiment of the present application, the current angle of the vehicle steering wheel is obtained, and a deviation angle is obtained based on the current angle and the control angle; the deviation angle is verified based on a feedback controller, and the vehicle is controlled according to the output angle of the feedback controller; the above steps are repeated until the deviation angle is less than a preset angle threshold to complete the lateral control of the vehicle.

[0015] An embodiment of the present application also provides a vehicle lateral control device, which includes an information acquisition unit, configured to acquire the vehicle's on-board sensor information, vehicle parameters, curvature radius and wheelbase of the target trajectory; a rotation angle calculation unit, configured to obtain the rotation angle based on the curvature radius and the wheelbase; a sideslip angle calculation unit, configured to calculate the front wheel sideslip angle and rear wheel sideslip angle of the vehicle based on the on-board sensor information and the vehicle parameters; and a control unit, configured to obtain the front wheel steering angle based on the rotation angle, the front wheel sideslip angle and the rear wheel sideslip angle, and control the vehicle based on the front wheel steering angle.

[0016] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle lateral control method as described in any of the above embodiments.

[0017] An embodiment of the present application further provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor of a computer, the computer is caused to execute the vehicle lateral control method as described in any one of the above embodiments.

[0018] Beneficial effects of the present application: A method, device, electronic device and medium for vehicle lateral control in the present application, the method obtains the vehicle's on-board sensor information, vehicle parameters, target trajectory, curvature radius and wheelbase, obtains the rotation angle based on the curvature radius and wheelbase, calculates the vehicle's front wheel slip angle and rear wheel slip angle based on the on-board sensor information and vehicle parameters, obtains the front wheel steering angle based on the rotation angle, front wheel slip angle and rear wheel slip angle, and controls the vehicle based on the front wheel steering angle. The present application provides a vehicle lateral control method for solving the problem of low high-speed curve control accuracy when the vehicle encounters a large turning angle based on the geometric relationship of the vehicle angle and vehicle dynamics.

[0019] It will be understood that the foregoing general description and the following detailed description are merely exemplary and explanatory and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are only some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0021] FIG1 is a schematic diagram of a front wheel steering angle estimated by vehicle dynamics according to an exemplary embodiment of the present application;

[0022] FIG2 is a schematic flow chart of a vehicle lateral control method according to an exemplary embodiment of the present application;

[0023] FIG3 is a control flow chart based on a vehicle dynamics prediction model shown in an exemplary embodiment of the present application;

[0024] FIG4 is a flow chart of lateral control based on vehicle dynamics according to an exemplary embodiment of the present application;

[0025] FIG5 is a block diagram of a vehicle lateral control device shown in an exemplary embodiment of the present application;

[0026] FIG6 shows a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0028] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0029] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0030] Please refer to Figure 1, which is a schematic diagram of the vehicle dynamics estimated front wheel steering angle shown in an exemplary embodiment of the present application. In this embodiment, taking a two-wheel model as an example, the instantaneous steering center of the vehicle is at the focus of the vertical line of the two wheel speeds of the vehicle, and the wheels will turn around it. The rotation center is shown in Figure 1, and the rotation center is δ-α f +α r, where R is the radius of curvature, α f is the front wheel slip angle, α r is the rear wheel slip angle, L is the wheelbase, which is the distance between the front and rear wheel centers, and δ is the front wheel steering angle. When the curvature radius R is obtained and the curvature radius R is much larger than the wheelbase L, the arc length of the front and rear wheel centers can be approximately equal to the wheelbase L. Therefore, the front wheel steering angle δ can be calculated according to the arc length formula: L / R+α f -α r .

[0031] Please refer to FIG. 2 , which is a flow chart of a vehicle lateral control method according to an exemplary embodiment of the present application. In an exemplary embodiment, the vehicle lateral control method includes at least steps S210 to S240 , which are described in detail as follows:

[0032] Step S210 , obtaining vehicle-mounted sensor information, vehicle parameters, and the curvature radius and wheelbase of the target trajectory.

[0033] The on-board sensor information includes the current vehicle parameters obtained by the sensors, such as vehicle speed, acceleration, etc. The vehicle parameters are attribute parameters of each vehicle, such as vehicle weight, front and rear wheel lateral stiffness, etc. The target trajectory is the target curve when the vehicle turns. The target trajectory can also be a straight road, but the curvature radius of the straight road defaults to infinity. After subsequent calculations, no lateral control is required. Therefore, in multiple embodiments, the target trajectory is a curve and the wheelbase is the wheelbase of the wheels.

[0034] In one embodiment of the present application, the vehicle parameters include at least the vehicle body weight, front wheel cornering stiffness, rear wheel cornering stiffness, vehicle center of mass position and moment of inertia; the on-board sensor information includes at least the vehicle's current speed, lateral acceleration and yaw angle velocity.

[0035] In one embodiment of the present application, after obtaining the on-board sensor information, vehicle parameters, curvature radius and wheelbase of the target trajectory, it also includes: obtaining the activation status of the vehicle's lateral control function, if the activation status of the lateral control function is activated, comparing the curvature radius with a preset radius; if the curvature radius is greater than the preset radius, it is determined that the current position of the vehicle is a straight road and no lateral control is required; if the curvature radius is less than the preset radius, the vehicle is controlled based on the front wheel steering angle.

[0036] In one embodiment of the present application, the turning radius planned by the automatic driving module is obtained in real time as the curvature radius R of the target trajectory; the vehicle sensor information from the EPS system is obtained, including the vehicle speed v x , lateral acceleration and yaw angle velocity ψ; obtain vehicle parameters, including body mass m, front and rear wheel cornering stiffness C α , vehicle center of mass position and moment of inertia I.

[0037] Step S220: Obtain a rotation angle based on the curvature radius and the wheelbase.

[0038] In one embodiment of the present application, L=l f +l r is the wheelbase, where L is the distance between the front and rear wheel centers, l f is the front wheelbase, l r is the rear wheelbase, and the rotation angle is δ-α f +α r When the radius of curvature is much larger than the wheelbase, the curve length is approximately equal to the arc length, so the rotation angle is: δ-α f +α r =L / R, where R is the radius of curvature, α f is the front wheel slip angle, α r is the rear wheel slip angle.

[0039] Step S230 , calculating the front wheel slip angle and rear wheel slip angle of the vehicle based on the vehicle-mounted sensor information and vehicle parameters.

[0040] In one embodiment of the present application, calculating the front wheel slip angle and the rear wheel slip angle of the vehicle based on on-board sensor information and vehicle parameters includes: obtaining the front wheel tire cornering force and the rear wheel tire cornering force based on the vehicle body mass, lateral acceleration, yaw angle velocity and curvature radius; obtaining the front wheel slip angle based on the front wheel tire cornering force and the front wheel cornering stiffness, and obtaining the rear wheel slip angle based on the rear wheel tire cornering force and the rear wheel cornering stiffness.

[0041] In one embodiment of the present application, according to the wheel steady-state and torque balance equations, it can be obtained that:

[0042] In formula (1), F yf is the front wheel cornering force, F yr is the rear wheel cornering force, m is the vehicle body mass, v x is the current speed of the vehicle, R is the radius of curvature, is the lateral acceleration, in formula (2) F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity.

[0043] The vehicle moment of inertia in this embodiment is a constant obtained based on the curvature radius R and the vehicle body mass m.

[0044] In one embodiment of the present application, according to the torque balance equation, it can be obtained:

[0045] In formula (3), F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity.

[0046] In one embodiment of the present application, the relationship between the front and rear tire forces in the above formula is applied to the force balance equation to obtain:

[0047] In formula (4), F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity, m is the vehicle body mass, v x is the current speed of the vehicle, R is the radius of curvature, is the lateral acceleration.

[0048] Finally, we can get F yf for

[0049] In formula (5), F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity, m is the vehicle body mass, v x is the current speed of the vehicle, R is the radius of curvature, is the lateral acceleration.

[0050] Step S240: obtaining a front wheel steering angle according to the rotation angle, the front wheel sideslip angle, and the rear wheel sideslip angle, and controlling the vehicle based on the front wheel steering angle.

[0051] In one embodiment of the present application, the front wheel steering angle is obtained by subtracting the rear wheel slip angle from the sum of the rotation angle and the front wheel slip angle.

[0052] In one embodiment of the present application, based on the arc length formula The front wheel steering angle is: Among them, θ is the rotation center angle δ-α in Figure 1 f +αr In the formula, l is the arc length of the center of the front and rear wheels, but when R is much larger than L, the arc length l is approximately equal to the wheelbase L.

[0053] In one embodiment of the present application, obtaining the front wheel steering angle by subtracting the rear wheel slip angle from the sum of the rotation angle and the front wheel slip angle includes:

[0054] In formula (6), δ is the front wheel steering angle, α f is the front wheel slip angle, α r is the rear wheel slip angle, C αf is the front wheel cornering stiffness, C αr is the rear wheel cornering stiffness, F yf is the front wheel cornering force, F yr is the rear wheel cornering force, l f is the front wheelbase, l r is the rear wheelbase, I z is the vehicle's moment of inertia, is the yaw angle velocity, m is the vehicle body mass, v x is the current speed of the vehicle, R is the radius of curvature, is the lateral acceleration.

[0055] In one embodiment of the present application, controlling a vehicle based on a front wheel steering angle includes: obtaining a steering wheel angle based on the front wheel steering angle and a preset angle conversion mapping table; filtering the steering wheel angle to obtain a control angle, and controlling the vehicle based on the control angle.

[0056] In one embodiment of the present application, controlling a vehicle based on a control angle includes: obtaining a current angle of a vehicle steering wheel, and obtaining a deviation angle based on the current angle and the control angle; verifying the deviation angle based on a feedback controller, and controlling the vehicle according to an output angle of the feedback controller; repeating the above steps until the deviation angle is less than a preset angle threshold to complete lateral control of the vehicle.

[0057] In one embodiment of the present application, the feedback controller may be a PID controller. It should be understood that a PID controller (Proportion Integration Differentiation) is a common feedback loop component in industrial control applications. This controller compares the collected data with a reference value, and then uses the difference to calculate a new input value. The purpose of this new input value is to allow the system data to reach or remain at the reference value. Unlike other simple control operations, the PID controller can adjust the input value based on historical data and the occurrence rate of the difference, which can make the system more accurate and more stable. It can be proved by mathematical methods that a PID feedback loop can maintain the stability of the system when other control methods cause the system to have stability errors or process repetitions.

[0058] Please refer to Figure 3, which is a control flow chart based on a vehicle dynamics prediction model shown in an exemplary embodiment of the present application. The estimated radius, i.e., the curvature radius R, is input into the estimated turning angle model based on preset vehicle dynamics to obtain the controlled turning angle. However, since the center of mass point will shift due to steering and movement during actual operation, understeering and oversteering may occur. In order to avoid these two situations, it is necessary to introduce a PID feedback system as shown in Figure 3.

[0059] In this embodiment, after the control angle is obtained, the final steering wheel angle is obtained through multiple filtering and limiting processes based on the PID controller, thereby completing the lateral control of the vehicle.

[0060] It should be understood that the PID controller is a commonly used controller that calculates a correction value based on the current deviation angle to gradually reduce the deviation angle. Specifically, P is the deviation proportion, I is the deviation integral, D is the deviation differential, and the PID error term is the difference between the control angle and the current angle. However, the K of a single PID is p , K i , K d The gain coefficient cannot cover all working conditions. In order to meet different working conditions, K p , K i , K d The gain coefficient can be a map table calibrated with the steering angle error and the vehicle speed.

[0061] In one embodiment of the present application, the current angle of the vehicle steering wheel is obtained, and the deviation angle is obtained based on the current angle and the control angle; the deviation angle is verified based on a PID controller, and the vehicle is controlled according to the output angle of the PID controller; the above steps are repeated until the deviation angle is less than a preset angle threshold to complete the lateral control of the vehicle.

[0062] Please refer to FIG4 , which is a flow chart of vehicle dynamics-based lateral control according to an exemplary embodiment of the present application. In the actual control process, basic information is first acquired, including vehicle parameters, onboard sensor information, curvature radius (i.e., estimated radius), and wheelbase. Vehicle parameters include at least vehicle weight, front wheel cornering stiffness, rear wheel cornering stiffness, vehicle center of mass position, and moment of inertia. Onboard sensor information includes at least vehicle current speed, lateral acceleration, and yaw rate. Next, a determination is made as to whether the acquired estimated radius (i.e., curvature radius) R is greater than a preset radius. If curvature radius R is greater than the preset radius, the vehicle is deemed to be in a straight lane and steering control is not performed to prevent frequent left and right steering while driving straight. When curvature radius r is less than or equal to the preset radius, the front wheel angle is calculated based on the vehicle lateral control method described in the above embodiment. The steering wheel angle is then calculated using a mapping relationship. The calculated steering wheel angle is then filtered and limited to obtain a control angle. The steering wheel of the vehicle is then controlled based on the control angle to achieve lateral control of the vehicle.

[0063] FIG5 is a block diagram of a vehicle lateral control device according to an exemplary embodiment of the present invention. As shown in FIG5 , the exemplary vehicle lateral control device includes: an information acquisition unit 501 , a rotation angle calculation unit 502 , a sideslip angle calculation unit 503 , and a control unit 504 .

[0064] The information acquisition unit 501 is configured to acquire vehicle-mounted sensor information, vehicle parameters, and the curvature radius and wheelbase of the target trajectory;

[0065] A rotation angle calculation unit 502 is configured to obtain a rotation angle based on a curvature radius and a wheelbase;

[0066] The sideslip angle calculation unit 503 is configured to calculate the front wheel sideslip angle and the rear wheel sideslip angle of the vehicle based on the vehicle sensor information and vehicle parameters;

[0067] The control unit 504 is configured to obtain a front wheel steering angle according to the rotation angle, the front wheel slip angle, and the rear wheel slip angle, and control the vehicle based on the front wheel steering angle.

[0068] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle lateral control method provided in the above-mentioned embodiments.

[0069] Figure 6 shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing an embodiment of the present application. It should be noted that the computer system 600 of the electronic device shown in Figure 6 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present application.

[0070] As shown in Figure 6, computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 602 or the program loaded from storage portion 608 into random access memory (RAM) 603, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in RAM 603. CPU 601, ROM 602 and RAM 603 are connected to each other via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0071] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including a hard disk; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read therefrom can be installed into the storage section 608 as needed.

[0072] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 609, and / or installed from a removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the various functions defined in the system of the present application are executed.

[0073] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0074] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a part, a program segment, or a part of the code, and the above-mentioned part, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0075] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0076] Another aspect of the present application provides a computer-readable storage medium storing computer instructions. When executed by a computer processor, the computer executes the vehicle lateral control method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0077] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle lateral control method provided in each of the above embodiments.

[0078] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, any equivalent modifications or alterations accomplished by a person of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. One method of lateral control of a vehicle, including obtaining data from on-board vehicle sensors, vehicle parameters, radius of curvature of the target trajectory and wheelbase; Calculate the turning angle based on the radius of curvature and wheelbase; calculation of lateral slip angles of the front and rear wheels based on data from on-board sensors and vehicle parameters; Calculation of the front wheel steering angle based on the steering angle, the front wheel slip angle and the rear wheel slip angle, and control of the vehicle based on the obtained front wheel steering angle.

2. The method of lateral control of a vehicle according to paragraph 1, wherein obtaining the steering angle of the front wheels based on the said steering angle, the lateral slip angle of the front wheels and the lateral slip angle of the rear wheels involves calculating the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels.

3. The method of lateral control of a vehicle according to paragraph 2, wherein the calculation of the lateral slip angles of the front and rear wheels based on the data from on-board sensors and vehicle parameters provides for determination of lateral forces on the front and rear tires based on the body mass, lateral acceleration, yaw rate and radius of curvature; Calculation of the front wheel slip angle based on the lateral force on the front tire and the front wheel slip stiffness, and calculation of the rear wheel slip angle based on the lateral force on the rear tire and the rear wheel slip stiffness.

4. The method of lateral control of a vehicle according to paragraph 2, wherein the calculation of the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels provides for where δ is the turning angle of the front wheels; α f - lateral slip angle of the front wheels; α r - rear wheel slip angle; C αf - the rigidity of the lateral slip of the front wheels; C αr - rigidity of lateral slip of the rear wheels; F yf - lateral force on the front wheels; F yr - lateral force on the rear wheels; l f - front track; l r - rear track; I z - moment of inertia of the vehicle; - yaw rate; m - body weight; v x - current speed of the vehicle; R - radius of curvature; - lateral acceleration, Vehicle parameters include, at a minimum, body mass, front and rear wheel slip stiffness, center of mass position, and vehicle moment of inertia; onboard sensor data include, at a minimum, current vehicle speed, lateral acceleration, and yaw rate.

5. The method of lateral control of a vehicle according to paragraph 1, wherein after receiving data from on-board sensors, vehicle parameters, the radius of curvature of the target trajectory and the wheelbase, additionally provides for: obtaining the activation status of the vehicle's lateral control function; if the lateral control function is activated, compare the curvature radius with the specified threshold radius; if the specified radius of curvature is greater than the specified threshold radius, it is considered that the vehicle is on a straight section of the road and lateral control is not required; If the specified radius of curvature is less than the specified threshold radius, the vehicle is controlled based on the steering angle of the front wheels.

6. The method of lateral control of a vehicle according to paragraph 1, wherein control of the vehicle based on the specified angle of rotation of the front wheels provides for determining the steering angle based on the front wheel turning angle and a given angle conversion table; determining the control angle after filtering the steering angle, controlling the vehicle based on the specified control angle.

7. The method of lateral control of a vehicle according to paragraph 6, wherein control of the vehicle based on the specified control angle provides for Calculating the current steering angle of the vehicle; determining the deflection angle based on the specified current steering angle of the vehicle and the specified control angle; The feedback controller checks the deviation angle, and the vehicle is controlled according to the output angle of the feedback controller; Repeat the above steps until the yaw angle becomes less than the set threshold angle, thereby completing the lateral control of the vehicle.

8. One device for lateral control of a vehicle, including information receiving unit: designed to collect data from on-board vehicle sensors, vehicle parameters, the radius of curvature of the target trajectory and wheelbase; Steering Angle Calculator: Calculates the steering angle based on the radius of curvature and wheelbase; Lateral slip angle calculation unit: determines the lateral slip angles of the front and rear wheels based on data from on-board sensors and vehicle parameters; Control unit: designed to determine the turning angle of the front wheels based on the turning angle, the lateral slip angles of the front and rear wheels, and to control the vehicle based on the obtained turning angle of the front wheels.

9. A device for lateral control of a vehicle according to paragraph 8, wherein obtaining the steering angle of the front wheels based on the said steering angle, the lateral slip angle of the front wheels and the lateral slip angle of the rear wheels involves calculating the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels.

10. A device for lateral control of a vehicle according to paragraph 9, wherein the calculation of the lateral slip angles of the front and rear wheels based on the data from on-board sensors and vehicle parameters provides for determination of lateral forces on the front and rear tires based on the body mass, lateral acceleration, yaw rate and radius of curvature; Calculation of the front wheel slip angle based on the lateral force on the front tire and the front wheel slip stiffness, and calculation of the rear wheel slip angle based on the lateral force on the rear tire and the rear wheel slip stiffness.

11. A device for lateral control of a vehicle according to paragraph 9, wherein the calculation of the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels provides for where δ is the turning angle of the front wheels; α f - lateral slip angle of the front wheels; α r - rear wheel slip angle; C αf - the rigidity of the lateral slip of the front wheels; C αr - rigidity of lateral slip of the rear wheels; F yf - lateral force on the front wheels; F yr- lateral force on the rear wheels; l f - front track; l r - rear track; l z - moment of inertia of the vehicle; - yaw rate; m - body weight; v х - current speed of the vehicle; R - radius of curvature; - lateral acceleration; The vehicle parameters include, at a minimum, the body mass, the front and rear wheel slip stiffness, the position of the center of mass and the moment of inertia of the vehicle, the on-board sensor data includes, at a minimum, the current speed, lateral acceleration and yaw rate of the vehicle.

12. The device for lateral control of a vehicle according to paragraph 8, wherein after receiving data from on-board sensors, vehicle parameters, the radius of curvature of the target trajectory and the wheelbase, it additionally provides: obtaining the activation status of the vehicle's lateral control function; if the lateral control function is activated, compare the curvature radius with the specified threshold radius; If the specified radius of curvature is greater than the specified threshold radius, the vehicle is considered to be on a straight section of the road and lateral control is not required; If the specified radius of curvature is less than the specified threshold radius, the vehicle is controlled based on the steering angle of the front wheels.

13. A device for lateral control of a vehicle according to paragraph 8, wherein control of the vehicle based on the specified angle of rotation of the front wheels provides for determining the steering angle based on the front wheel turning angle and a given angle conversion table; determining the control angle after filtering the steering angle, controlling the vehicle based on the specified control angle.

14. A device for lateral control of a vehicle according to paragraph 13, wherein control of the vehicle based on the specified control angle provides for Calculating the current steering angle of the vehicle; determining the deflection angle based on the specified current steering angle of the vehicle and the specified control angle; The feedback controller checks the deviation angle, and the vehicle is controlled according to the output angle of the feedback controller; Repeat the above steps until the yaw angle becomes less than the set threshold angle, thereby completing the lateral control of the vehicle.

15. One electronic device including one or more processors; storage device: designed to store one or more programs; when one or more programs are executed by one or more processors, the said electronic device implements the method of lateral control of the vehicle according to any of paragraphs 1-7.

16. One machine-readable data carrier on which computer instructions are recorded: when executed by a computer processor, the method of lateral control of a vehicle according to any of paragraphs 1-7 is implemented.

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