Vehicle operation control method and apparatus, and vehicle and storage medium

Abstract

A vehicle operation control method and apparatus, and a vehicle and a storage medium. The vehicle operation control method comprises: on the basis of the relative velocity between an obstacle and a vehicle, determining a guidance reference vector for guiding the vehicle to bypass the obstacle (101); determining an angular velocity change rate of a heading angle on the basis of the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the velocity and heading angle of the vehicle (102); on the basis of the angular velocity change rate of the heading angle, controlling the vehicle to operate, so that the vehicle bypasses the obstacle (103); and when the vehicle has bypassed the obstacle, determining guidance information of the vehicle on the basis of a vehicle kinematics model, and on the basis of the guidance information, controlling the vehicle to arrive at a target parking position (104).

Description

Vehicle operation control method, device, vehicle and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on and claims priority to an application with CN application number 202311604988.8 and filing date November 28, 2023. The disclosure content of this CN application is hereby introduced into this disclosure as a whole. Technical Field

[0003] The present application relates to the field of vehicle control technology, and in particular to a vehicle operation control method, device, vehicle, storage medium, and computer program. Background Art

[0004] In vehicle (automatic) control technology, for vehicle docking scenarios, heuristic algorithms such as the A-star algorithm or spline curves are usually used to generate vehicle guide lines. The vehicle guide line is the guide line from the current vehicle position to the docking point. The vehicle is guided by the vehicle guide line to avoid obstacles and reach the docking point to complete the docking.

[0005] Summary of the Invention

[0006] According to a first aspect of the present disclosure, a vehicle operation control method is provided, comprising: determining a guidance reference vector for guiding the vehicle to bypass the obstacle based on the relative speed between the obstacle and the vehicle; determining the angular velocity change rate of the heading angle based on the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the speed and heading angle of the vehicle; controlling the vehicle operation based on the angular velocity change rate of the heading angle so that the vehicle bypasses the obstacle; and, in a case where the vehicle bypasses the obstacle, determining guidance information of the vehicle based on a vehicle kinematic model, and controlling the vehicle to reach the target parking position based on the guidance information.

[0007] In some embodiments, determining the guidance reference vector for guiding the vehicle to bypass the obstacle based on the relative speed between the obstacle and the vehicle includes: generating an obstacle circle corresponding to the inaccessible area of ​​the obstacle; determining the first and second tangent points of the vehicle's current position and the obstacle circle; selecting a tangent point between the first and second tangent points based on the relative speed as an obstacle avoidance reference point; and determining the guidance reference vector based on the vehicle's current position and the obstacle avoidance reference point.

[0008] In some embodiments, selecting a tangent point between the first tangent point and the second tangent point based on the relative speed as an obstacle avoidance reference point includes: determining a first change in the relative speed based on the current position of the vehicle and the first tangent point; determining a second change in the relative speed based on the current position of the vehicle and the second tangent point; determining a smaller change between the first change and the second change, and determining a first tangent point or a second tangent point based on the smaller change as the obstacle avoidance reference point.

[0009] In some embodiments, determining the angular velocity change rate of the heading angle includes: determining a first steering reference angle and a second steering reference angle based on the steering reference vector, the position of the vehicle and the obstacle; wherein, the heading angle is the angle between the speed of the vehicle and a baseline; the first steering reference angle is the angle between the line connecting the vehicle and the obstacle and the steering reference vector, and the second steering reference angle is the angle between the baseline and the line connecting the vehicle and the obstacle; determining the angular velocity change rate of the heading angle based on the relative distance, the speed and heading angle of the vehicle, the first steering reference angle and the second steering reference angle; wherein the angular velocity change rate of the heading angle is the sum of the angular velocity change rate of the first steering reference angle and the angular velocity change rate of the second steering reference angle.

[0010] In some embodiments, when an extension line of the speed direction of the vehicle intersects the obstacle circle, it is determined that the vehicle is in danger of colliding with the obstacle.

[0011] In some embodiments, when the operation of the vehicle is controlled based on the angular velocity change rate of the heading angle, if the relative distance gradually increases within a preset time period, it is determined that the vehicle has bypassed the obstacle.

[0012] In some embodiments, a first correlation between the rate of change of the running distance of the vehicle and the heading angle, and a second correlation between the rate of change of the angular velocity of the heading angle and the front wheel turning angle of the vehicle are determined; and the vehicle kinematic model is constructed based on the first correlation and the second correlation.

[0013] In some embodiments, determining the guidance information of the vehicle based on the vehicle kinematic model includes: discretizing the vehicle kinematic model to obtain first discrete data corresponding to the running distance of the vehicle and second discrete data corresponding to the angular velocity change rate of the heading angle; and determining the guidance information based on the first discrete data and the second discrete data.

[0014] In some embodiments, the guidance information includes a guidance line for controlling the operation of the vehicle.

[0015] In some embodiments, the front wheel turning angle of the vehicle is determined based on the angular velocity change rate of the heading angle, the distance between the front wheels and the rear wheels of the vehicle, and the speed of the vehicle.

[0016] According to a second aspect of the present disclosure, a vehicle operation control device is provided, comprising: a vector determination module for determining a guidance reference vector for guiding the vehicle to bypass the obstacle based on the relative speed between the obstacle and the vehicle; a heading angle determination module for determining the angular velocity change rate of the heading angle based on the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the speed and heading angle of the vehicle; an obstacle avoidance control module for controlling the vehicle operation based on the angular velocity change rate of the heading angle so that the vehicle bypasses the obstacle; and a docking control module for determining the guidance information of the vehicle based on a vehicle kinematic model when the vehicle bypasses the obstacle, and controlling the vehicle to reach the docking target position according to the guidance information.

[0017] According to a third aspect of the present disclosure, a vehicle operation control device is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the method described above based on instructions stored in the memory.

[0018] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising the vehicle operation control device as described above.

[0019] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor to implement the vehicle operation control method as described above.

[0020] According to a sixth aspect of the present disclosure, there is provided a computer program comprising: instructions, which, when executed by a processor, cause the processor to execute the vehicle operation control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, a brief introduction to the drawings required for use in the embodiments or related technology descriptions will be given below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor. In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, a brief introduction to the drawings required for use in the embodiments or related technology descriptions will be given below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] FIG1 is a flow chart of some embodiments of a vehicle operation control method according to the present disclosure;

[0023] FIG2 is a schematic diagram of a flow chart of determining a guidance reference vector in some embodiments of the vehicle operation control method according to the present disclosure;

[0024] FIG3A is a schematic diagram of determining the angular velocity change rate of the heading angle; FIG3B is a schematic diagram of the vehicle control operation route when the vehicle reaches the target parking position;

[0025] FIG4 is a schematic diagram of a process for determining guidance information in some embodiments of the vehicle operation control method according to the present disclosure;

[0026] FIG5 is a module diagram of some embodiments of the vehicle operation control device according to the present disclosure;

[0027] FIG6 is a module diagram of other embodiments of the vehicle operation control device according to the present disclosure. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of the embodiments are described in the specification. However, it should be understood that many implementation-specific settings must be made in the process of implementing the embodiments in order to achieve the developer's specific goals, such as meeting those restrictions related to equipment and services, and these restrictions may vary depending on the implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the contents of this disclosure.

[0029] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0030] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, and do not represent any specific technical meanings, nor do they indicate a necessary logical order between them.

[0031] It should also be understood that in the embodiments of the present disclosure, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0032] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0033] In addition, the term "and / or" in this disclosure is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this disclosure generally indicates that the related objects are in an "or" relationship.

[0034] It should also be understood that the description of the various embodiments in this disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced with each other. For the sake of brevity, they will not be described one by one.

[0035] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0038] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0039] In addition, in order to avoid obscuring the present disclosure with unnecessary details, only the processing steps and / or device structures that are closely related to at least the solution according to the present disclosure are shown in the drawings, while other details that are not closely related to the present disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it does not need to be discussed again for subsequent drawings.

[0040] In the related technologies known to the inventors, when using a heuristic algorithm to obtain a vehicle guide line, a large amount of calculation is required, which is time-consuming and requires a large number of iterations. Since the stop point contains angle information, that is, the final stop point of the vehicle has an angle restriction and is as parallel to the road boundary as possible, for the heuristic algorithm, the search of two-dimensional position information is changed to a three-dimensional search, which greatly increases the time consumption of the algorithm; moreover, since the search point in the heuristic algorithm is expanded to a fixed unit search or a random search, it is difficult to directly search for the stop point after a large number of iterations. Therefore, the search termination condition is to stop the search after a certain range from the stop point, causing the parking trajectory to deviate from the stop point, making it difficult to accurately stop at the target point and difficult to obtain a vehicle guide line that meets the vehicle kinematics.

[0041] When using spline curves to obtain vehicle guide lines, they are usually modeled directly based on the starting and end points and converted into an optimization problem. This requires a large number of iterations and is time-consuming. In addition, the vehicle's kinematics are rarely considered, making it difficult to obtain a vehicle guide line that satisfies the vehicle's kinematics, which affects the vehicle's control effect.

[0042] In view of this, a technical problem to be solved by the present application is to provide a vehicle operation control method, which determines the guidance reference vector for guiding the vehicle to bypass an obstacle to determine the angular velocity change rate of the heading angle, and controls the vehicle to bypass the obstacle based on the angular velocity change rate of the heading angle; when the vehicle bypasses the obstacle, the vehicle's guidance information is determined based on the vehicle kinematic model to control the vehicle to reach the target parking position; it can reduce the computational complexity and improve the vehicle control efficiency; it can meet the vehicle kinematic requirements and improve the computational efficiency and vehicle operation control accuracy.

[0043] FIG1 is a flow chart of some embodiments of the vehicle operation control method according to the present disclosure, as shown in FIG1 :

[0044] Step 101: Determine a guidance reference vector for guiding the vehicle to bypass the obstacle based on the relative speed between the obstacle and the vehicle.

[0045] In some embodiments, the vehicle may be a variety of vehicles, such as cars and trucks. A variety of detection devices, such as lidar and visual detection systems, may be installed on the vehicle. Obstacles may be detected and their locations determined using various methods using the detection devices. Obstacles may be various, such as other vehicles and objects on the road.

[0046] Set a target parking location. This can be a location on the road or in a parking lot. Various methods can be used to determine the obstacle to be bypassed. For example, if the vehicle, obstacle, and target parking location are aligned, or if the obstacle's impassable area is located in the vehicle's direction of travel toward the target parking location, then the obstacle needs to be bypassed. Various methods can be used to determine the guidance reference vector.

[0047] Step 102 : determining the angular velocity change rate of the heading angle according to the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the speed and heading angle of the vehicle.

[0048] In some embodiments, a global coordinate system can be established, with the guidance reference vector, the positions of the vehicle and obstacles, the vehicle's speed, and the heading angle being represented as vectors, positions, speeds, and angles in the global coordinate system. The vehicle's speed is a vector, including both magnitude and direction. The baseline can be a straight line parallel to the X-axis in the global coordinate system. The heading angle is the angle between the vehicle's speed and the baseline, representing the vehicle's heading in the global coordinate system. Various methods can be used to determine the rate of change of the angular velocity of the heading angle.

[0049] Step 103 : Control the vehicle operation based on the angular velocity change rate of the heading angle so that the vehicle goes around the obstacle.

[0050] Step 104 : When the vehicle bypasses the obstacle, the guidance information of the vehicle is determined based on the vehicle kinematic model, and the vehicle is controlled to reach the target parking position according to the guidance information.

[0051] When the vehicle goes around an obstacle, a vehicle kinematic model is constructed. The vehicle kinematic model may be a variety of vehicle kinematic models in a global coordinate system, and the vehicle kinematic model may be a bicycle model or other model.

[0052] The vehicle operation control method disclosed in the present invention determines a guidance reference vector for guiding the vehicle to bypass an obstacle, which is used to determine the angular velocity change rate of the heading angle, and controls the vehicle to bypass the obstacle based on the angular velocity change rate of the heading angle; when the vehicle bypasses the obstacle, the vehicle's guidance information is determined based on the vehicle kinematic model to control the vehicle to reach the target parking position; the angular velocity change rate and guidance information can be determined in a relatively short time, and the generated angular velocity change rate and guidance information can meet the vehicle kinematic requirements, which can reduce the computational complexity, improve the computational efficiency and vehicle operation control accuracy, and improve the accuracy of vehicle control.

[0053] FIG2 is a schematic diagram of a flow chart of determining a guidance reference vector in some embodiments of the vehicle operation control method according to the present disclosure, as shown in FIG2 :

[0054] Step 201: Generate an obstacle circle corresponding to an inaccessible area of ​​an obstacle.

[0055] In some embodiments, as shown in Figure 3A , a vehicle detects obstacle A using a detection device and determines the position of obstacle A in the global coordinate system XOY, i.e., the coordinates of obstacle A in the global coordinate system XOY. The radius of the impassable area is determined based on characteristics such as the type and shape of obstacle A. For example, the radius of the impassable area for obstacle A is 2 meters. An obstacle circle is generated in the global coordinate system XOY corresponding to the impassable area for obstacle A.

[0056] Step 202: Determine a first tangent point and a second tangent point between the current position of the vehicle and the obstacle circle.

[0057] In some embodiments, the vehicle can determine its current location information using a device such as a GPS device. The vehicle's current location U is determined in the global coordinate system XOY, and the coordinates of the vehicle's current location U in the global coordinate system XOY can be determined. A first tangent point B and a second tangent point C between the vehicle's current location U and the obstacle circle can be determined in the global coordinate system XOY.

[0058] Step 203: Select a tangent point from the first tangent point and the second tangent point according to the relative speed as an obstacle avoidance reference point.

[0059] In some embodiments, the relative distance between the vehicle's current position U and obstacle A is Rt, and the relative speed between the vehicle's current position U and obstacle A is V_ref. Based on V_ref, a tangent point is selected between the first tangent point B and the second tangent point C as the obstacle avoidance reference point. Various methods can be used to select the obstacle avoidance reference point.

[0060] Step 204 : Determine a guidance reference vector based on the current position of the vehicle and the obstacle avoidance reference point.

[0061] In some embodiments, a first change in relative speed is determined based on the vehicle's current position and the first tangent point, and a second change in relative speed is determined based on the vehicle's current position and the second tangent point. The smaller of the first and second changes is determined, and the first or second tangent point is determined based on the smaller change as a reference point for obstacle avoidance.

[0062] For example, to steer a vehicle around obstacle A, the direction of minimal relative velocity change is determined, using the tangent of the obstacle circle as a reference, to determine the obstacle avoidance reference point. As shown in Figure 3A , based on the vehicle's current position U and the first tangent point B, the magnitude of the velocity component of V_ref in the direction of the first tangent point B is determined as the distance 1 between the current position U and the first tangent point B. This distance 1 is then used to determine the first change in relative velocity V_ref (approximately Rt minus distance 1).

[0063] Based on the vehicle's current position U and the second tangent point C, the magnitude of the velocity component of V_ref in the direction of the second tangent point C is determined to be the distance 2 between the current position U and the second tangent point C. The second change in relative velocity V_ref is determined based on UC (the first change is approximately equal to Rt minus distance 2). If the first change is less than the second change, the first tangent point B is selected as the obstacle avoidance reference point. Based on the vehicle's current position U and the obstacle avoidance reference point B, the guidance reference vector is determined to be the vector UB starting at point U and ending at point B.

[0064] In some embodiments, based on the guidance reference vector, the position of the vehicle and the obstacle, a first guidance reference angle and a second guidance reference angle are determined, the first guidance reference angle being the angle between the line connecting the vehicle and the obstacle and the guidance reference vector, and the second guidance reference angle being the angle between the baseline and the line connecting the vehicle and the obstacle.

[0065] According to the relative distance, the speed and heading angle of the vehicle, the first steering reference angle and the second steering reference angle, the angular velocity change rate of the heading angle is determined, and the angular velocity change rate of the heading angle is the sum of the angular velocity change rate of the first steering reference angle and the angular velocity change rate of the second steering reference angle.

[0066] Proportional guidance is a commonly used method for missile guidance. By using the proportional relationship between longitudinal acceleration and longitudinal line of sight angle, the longitudinal acceleration required for the missile to hit the target can be obtained, and then the control quantity can be obtained through the kinematic equation. Moreover, by solving the kinematic equation, a trajectory that satisfies the kinematic model and can reach the target point can be obtained. In order to achieve the angle constraint of the target point, biased proportional guidance can be used. By adding the angle constraint term, the missile is forced to hit the target at a fixed angle at a specified position.

[0067] The vehicle operation control method disclosed herein can apply the algorithmic concept of the proportional guidance method to vehicle control. According to the proportional guidance method, it can be determined that:

[0068] Where N is the proportional coefficient, is the angular rate of change of the sight angle, v is the current speed of the vehicle, As shown in Figure 3A, the heading angle θ is the angle between the vehicle's velocity v and the baseline, which is a straight line parallel to the X-axis; the sight angle q represents the angle between the target's sight line and the baseline; a n is the longitudinal acceleration, a n The direction of is perpendicular to the direction of velocity v.

[0069] When the extension line of the vehicle's speed direction intersects the obstacle circle, it is determined that the vehicle is in danger of colliding with the obstacle. Therefore, in order to make the vehicle bypass the obstacle, it is necessary to make the vehicle's relative speed coincide with the guidance reference vector, or make the extension line of the vehicle's speed direction outside the obstacle circle.

[0070] In order to make the vehicle go around the obstacle, the guidance reference vector is determined to be the vector UB with the starting point U and the end point B. The direction of the guidance reference vector is used as the vector direction to guide the vehicle around the obstacle. The following equation can be used:

[0071] in, is the second steering reference angle, γ is the first steering reference angle; Rt is the line between the vehicle and the obstacle; Y=y veh -y obs ,X=x veh -x obs ;y veh is the ordinate of the vehicle's current position U in the global coordinate system XOY, obs is the vertical coordinate of the obstacle position A in the global coordinate system XOY; veh is the horizontal coordinate of the vehicle's current position U in the global coordinate system XOY, x obs is the horizontal coordinate of the obstacle A in the global coordinate system XOY; Rp is the radius of the obstacle circle; is the rate of change of Y.

[0072] The guidance method based on proportional guidance has the following constraints:

[0073] in, is the angular velocity change rate of the second steering reference angle, is the angular velocity change rate of the first steering reference angle.

[0074] By taking the derivative of formula (1-3) and formula (1-4) with respect to time and combining them with formula (1-5) and formula (1-7), we can obtain the following formula:

[0075] in, is the rate of change of Rt.

[0076] Determine the angular velocity change rate of the heading angle according to formula (1-8) Based on Control the operation of the vehicle. Formula (1-8) in order to meet the heading angle (towards the angle) requirements, to promote the heading angle to exceed the obstacle circle tangent direction movement, guiding the reference vector UB (tangent) will promote the convergence of formula (1-8). A variety of control methods can be used, based on And combined with other parameters of formula (1-8) to control the operation of the vehicle. In the process of controlling the operation of the vehicle, the various parameters required by formula (1-8) are obtained regularly (for example, every 2 or 3 seconds, etc.), and the calculation is performed regularly according to formula (1-8) based on Control the vehicle's movement to steer around obstacles.

[0077] In some embodiments, in the operation control of the vehicle, when the vehicle operation is controlled based on the angular velocity change rate of the heading angle, if the relative distance gradually increases within a preset time period, it is determined that the vehicle has bypassed the obstacle.

[0078] For example, based on During the process of controlling the vehicle to circumvent an obstacle, if the relative distance between the vehicle and the obstacle is determined to be gradually increasing within a preset time period (e.g., 4, 5, or 6 seconds), the vehicle is determined to have circumvented the obstacle. For example, if the preset time period is 4 seconds and the relative distance is determined to be 18 meters at the first second, 22 meters at the second second, 25 meters at the third second, and 26 meters at the fourth second, the relative distance between the vehicle and the obstacle is determined to be gradually increasing, and the vehicle is determined to have circumvented the obstacle.

[0079] The vehicle operation control method disclosed in the present invention applies the algorithmic concept of the proportional guidance method to vehicle control, can quickly generate control information for the vehicle to bypass obstacles, can meet the vehicle's kinematic constraints, improve computing efficiency and vehicle operation control accuracy, and reduce computational complexity.

[0080] FIG4 is a schematic diagram of a process for determining guidance information in some embodiments of the vehicle operation control method according to the present disclosure, as shown in FIG4 :

[0081] Step 401: construct a vehicle kinematic model.

[0082] In some embodiments, after the vehicle bypasses an obstacle, a first correlation between the rate of change of the vehicle's running distance and the heading angle, and a second correlation between the rate of change of the angular velocity of the heading angle and the front wheel turning angle of the vehicle are determined; and a vehicle kinematic model is constructed based on the first correlation and the second correlation.

[0083] For example, after the vehicle goes around an obstacle, the determined vehicle kinematic model (vehicle kinematic equation) is as follows:

[0084] Where L is the distance between the front and rear wheels of the vehicle (the distance between the front and rear wheels of the vehicle along the vehicle direction); δ is the front wheel turning angle of the vehicle; the running distance change rate of the vehicle includes and is the rate of change of the vehicle's running distance on the X-axis in the global coordinate system XOY, that is, the velocity component of the vehicle speed v on the X-axis; is the rate of change of the vehicle's travel distance on the Y-axis in the global coordinate system XOY, i.e., the velocity component of the vehicle speed v on the Y-axis. Step 402 discretizes the vehicle kinematic model to obtain first discrete data corresponding to the vehicle's travel distance and second discrete data corresponding to the rate of change of the angular velocity of the heading angle.

[0085] The front wheel steering angle of the vehicle is determined based on the angular velocity change rate of the heading angle, the distance between the front and rear wheels, and the vehicle's speed. For example, to satisfy the vehicle's kinematic model, the front wheel steering angle needs to be limited under certain vehicle speed conditions. By combining formula (1-9) with formula (1-8), we can obtain:

[0086] Among them, in formula (1-10) There are many ways to obtain it. For example, It can be calculated using formula (1-1), where q is the sight angle, and q is the angle between the target sight line (the line connecting the current position of the vehicle and the target parking position) and the baseline in Figure 3A.

[0087] The proportional guidance method can be used to solve the front wheel steering angle control variable (the front wheel steering angle of the vehicle) through formula (1-10). Substituting the front wheel steering angle control variable into formula (1-9) can obtain the vehicle kinematic differential equation. The differential equation of formula (1-9) can be solved by the Runge-Kutta method or the Euler method.

[0088] For example, the differential equation of formula (1-9) can be quickly solved by Euler method, and the solution obtained is:

[0089] Among them, the first discrete data corresponding to the vehicle's running distance includes △x and △y, △x and △y are the components of the vehicle's running distance change on the X-axis and Y-axis of the global coordinate system XOY respectively; the second discrete data corresponding to the angular velocity change rate of the heading angle is △θ.

[0090] Step 403: Determine guidance information according to the first discrete data and the second discrete data.

[0091] After bypassing an obstacle and in the absence of a road reference line, a vehicle kinematic model is constructed, the vehicle kinematic model is discretized, discrete data is obtained, and guidance information is determined. The guidance information can be a guide line determined based on the discrete data, and the vehicle operation is controlled based on the guide line.

[0092] The vehicle operation control method disclosed herein, in the presence of an obstacle, determines a guidance reference vector so that the relative velocity between the vehicle and the obstacle coincides with the guidance reference vector. A proportional guidance method, combined with the relative relationship between the vehicle and the obstacle, is used to determine the rate of change of the angular velocity of the heading angle, thereby guiding the vehicle around the obstacle. When circumventing the obstacle, guidance information is determined by solving the vehicle's kinematic differential equations, and the vehicle is controlled to reach the target parking location based on the guidance information. For example, a control operation circuit for controlling the vehicle to avoid obstacles and, after avoiding the obstacle, controlling the vehicle to reach the target parking location is shown in FIG3B .

[0093] The vehicle operation control method disclosed in the present invention can reduce computational complexity and improve vehicle control efficiency; it can meet vehicle kinematic requirements, improve computational efficiency and vehicle operation control accuracy, and enhance user experience.

[0094] In some embodiments, as shown in FIG5 , the present disclosure provides a vehicle operation control device 50, comprising a vector determination module 51, a heading angle determination module 52, an obstacle avoidance control module 53, and a docking control module 54. The vector determination module 51 determines a guidance reference vector for guiding the vehicle around the obstacle based on the relative speed between the obstacle and the vehicle. The heading angle determination module 52 determines the angular velocity change rate of the heading angle based on the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the vehicle's speed and heading angle.

[0095] The obstacle avoidance control module 53 controls the vehicle's movement based on the angular velocity change rate of the heading angle to enable the vehicle to bypass obstacles. The docking control module 54 determines vehicle guidance information based on the vehicle's kinematic model when the vehicle is bypassing an obstacle and controls the vehicle to reach the docking target location based on the guidance information.

[0096] In some embodiments, the vector determination module 51 generates an obstacle circle corresponding to the impassable area of ​​the obstacle and determines a first tangent point and a second tangent point between the vehicle's current position and the obstacle circle. Based on the relative velocity, the vector determination module 51 selects one of the first and second tangent points as the obstacle avoidance reference point and determines a guidance reference vector based on the vehicle's current position and the obstacle avoidance reference point.

[0097] For example, the vector determination module 51 may determine a first change in relative speed based on the vehicle's current position and the first tangent point, and determine a second change in relative speed based on the vehicle's current position and the second tangent point. The vector determination module 51 determines the smaller change between the first change and the second change, and determines the first or second tangent point as the obstacle avoidance reference point based on the smaller change.

[0098] In some embodiments, the heading angle determination module 52 determines a first steering reference angle and a second steering reference angle based on the guidance reference vector, the positions of the vehicle, and the obstacle. The heading angle determination module 52 determines the angular velocity change rate of the heading angle based on the relative distance, the vehicle's speed and heading angle, the first steering reference angle, and the second steering reference angle. The heading angle determination module 52 determines that there is a risk of collision between the vehicle and the obstacle if an extension of the vehicle's speed direction intersects the obstacle circle.

[0099] When controlling vehicle movement based on the angular velocity change rate of the heading angle, the obstacle avoidance control module 53 determines that the vehicle has bypassed an obstacle if the relative distance gradually increases over a preset period of time. The docking control module 54 determines a first correlation between the vehicle's distance change rate and the heading angle, and a second correlation between the angular velocity change rate of the heading angle and the vehicle's front wheel angle. The docking control module 54 constructs a vehicle kinematic model based on the first and second correlations.

[0100] The docking control module 54 determines the vehicle's front wheel turning angle based on the angular velocity change rate of the heading angle, the distance between the front and rear wheels, and the vehicle's speed. The docking control module 54 discretizes the vehicle's kinematic model to obtain first discrete data corresponding to the vehicle's travel distance and second discrete data corresponding to the angular velocity change rate of the heading angle. Guidance information is then determined based on the first and second discrete data.

[0101] In some embodiments, as shown in FIG6 , the present disclosure provides a vehicle operation control device, which may include a memory 62, a processor 61, a communication interface 63, and a bus 64. The memory 62 is used to store instructions, and the processor 61 is coupled to the memory 62. The processor 61 is configured to execute the above-mentioned vehicle operation control method applied to the terminal based on the instructions stored in the memory 62.

[0102] Memory 62 can be high-speed RAM, non-volatile memory, or a memory array. Memory 62 can also be divided into blocks, and the blocks can be combined into virtual volumes according to certain rules. Processor 61 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the vehicle operation control method for a terminal of the present disclosure.

[0103] In some embodiments, the present disclosure provides a vehicle comprising the vehicle operation control device described in any of the above embodiments. The vehicle may be a car, truck, or the like. The vehicle operation control device may be implemented in an automatic control device for the vehicle. The vehicle may have an unmanned driving mode or an assisted driving mode, and the automatic control device may provide unmanned or assisted control of the vehicle.

[0104] In some embodiments, the present disclosure provides a computer-readable storage medium storing computer instructions. When the instructions are executed by a processor, the vehicle operation control method in any of the above embodiments is implemented.

[0105] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive enumeration) of readable storage media can include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or 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 thereof.

[0106] In some embodiments, the present disclosure provides a computer program comprising: instructions, which, when executed by a processor, cause the processor to execute a vehicle operation control method as in any of the above embodiments. The vehicle operation control method, device, vehicle, storage medium, and computer program in the above embodiments determine a guidance reference vector for guiding the vehicle around an obstacle to determine the angular velocity change rate of the orientation angle, and control the vehicle to bypass the obstacle based on the angular velocity change rate of the orientation angle; when the vehicle bypasses the obstacle, the vehicle's guidance information is determined based on the vehicle's kinematic model to control the vehicle to reach the target parking position; the method can reduce computational complexity and improve vehicle control efficiency; it can meet vehicle kinematic requirements, improve computational efficiency and vehicle operation control accuracy, and enhance user experience.

[0107] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0108] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. References to the same or similar parts between the various embodiments are sufficient. For system embodiments, since they largely correspond to method embodiments, their description is relatively simple. For relevant parts, references to the description of the method embodiments are sufficient.

[0109] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0110] It should also be noted that in the apparatus, device, and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0111] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0112] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, it will be understood by those skilled in the art that the above embodiments are merely illustrative and do not limit the scope of the present disclosure. It will be understood by those skilled in the art that the above embodiments may be combined, modified, or replaced without departing from the scope and essence of the present disclosure.

Claims

1. A vehicle operation control method, comprising: Determining a guidance reference vector for guiding the vehicle to bypass the obstacle according to a relative speed between the obstacle and the vehicle; Determining an angular velocity change rate of the heading angle according to the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the speed and heading angle of the vehicle; controlling the vehicle to move around the obstacle based on the angular velocity change rate of the heading angle; In the case where the vehicle bypasses the obstacle, guidance information of the vehicle is determined based on a vehicle kinematic model, and the vehicle is controlled to reach the parking target position according to the guidance information.

2. The vehicle operation control method according to claim 1, wherein: The determining, according to the relative speed between the obstacle and the vehicle, a guidance reference vector for guiding the vehicle to bypass the obstacle comprises: generating an obstacle circle corresponding to the inaccessible area of ​​the obstacle; Determining a first tangent point and a second tangent point between the current position of the vehicle and the obstacle circle; According to the relative speed, selecting a tangent point between the first tangent point and the second tangent point as an obstacle avoidance reference point; The guidance reference vector is determined according to the current position of the vehicle and the obstacle avoidance reference point.

3. The vehicle operation control method according to claim 2, wherein the step of selecting a tangent point between the first tangent point and the second tangent point as an obstacle avoidance reference point according to the relative speed comprises: Determining a first change in the relative speed according to the current position of the vehicle and the first tangent point; Determining a second change in the relative speed according to the current position of the vehicle and the second tangent point; A smaller change amount is determined between the first change amount and the second change amount, and a first tangent point or a second tangent point is determined according to the smaller change amount as the obstacle avoidance reference point.

4. The vehicle operation control method according to claim 2 or 3, wherein: Determining the angular velocity change rate of the heading angle includes: Determining a first steering reference angle and a second steering reference angle based on the steering reference vector, the positions of the vehicle and the obstacle; The heading angle is the angle between the speed of the vehicle and the reference line; the first steering reference angle is the angle between the line connecting the vehicle and the obstacle and the guidance reference vector; the second steering reference angle is the angle between the reference line and the line connecting the vehicle and the obstacle; Determining the angular velocity change rate of the heading angle according to the relative distance, the speed and heading angle of the vehicle, the first steering reference angle, and the second steering reference angle; The angular velocity change rate of the heading angle is the sum of the angular velocity change rate of the first steering reference angle and the angular velocity change rate of the second steering reference angle.

5. The vehicle operation control method according to any one of claims 2 to 4, further comprising: When the extension line of the speed direction of the vehicle intersects the obstacle circle, it is determined that there is a risk of collision between the vehicle and the obstacle.

6. The vehicle operation control method according to any one of claims 1 to 5, further comprising: In the case where the operation of the vehicle is controlled based on the angular velocity change rate of the heading angle, if the relative distance gradually increases within a preset time period, it is determined that the vehicle has bypassed the obstacle.

7. The vehicle operation control method according to any one of claims 1 to 6, further comprising: Determine a first correlation relationship between a rate of change of a running distance of the vehicle and the orientation angle, and a second correlation relationship between a rate of change of an angular velocity of the orientation angle and a front wheel turning angle of the vehicle; The vehicle kinematic model is constructed according to the first association relationship and the second association relationship.

8. The vehicle operation control method according to claim 7, wherein determining the guidance information of the vehicle based on the vehicle kinematic model comprises: Discretizing the vehicle kinematic model to obtain first discrete data corresponding to the running distance of the vehicle and second discrete data corresponding to the angular velocity change rate of the heading angle; The guide information is determined according to the first discrete data and the second discrete data.

9. The vehicle operation control method according to claim 7 or 8, wherein: The guide information includes a guide line for controlling the operation of the vehicle.

10. The vehicle operation control method according to any one of claims 7 to 9, further comprising: The front wheel turning angle of the vehicle is determined according to the angular velocity change rate of the heading angle, the distance between the front wheels and the rear wheels of the vehicle, and the speed of the vehicle.

11. A vehicle operation control device, comprising: A vector determination module, used to determine a guidance reference vector for guiding the vehicle to bypass the obstacle according to a relative speed between the obstacle and the vehicle; a heading angle determination module, configured to determine an angular velocity change rate of the heading angle according to the guidance reference vector, the positions of the vehicle and the obstacle, the relative distance between the vehicle and the obstacle, and the speed and heading angle of the vehicle; an obstacle avoidance control module, configured to control the operation of the vehicle based on the angular velocity change rate of the heading angle, so that the vehicle avoids the obstacle; The docking control module is used to determine the guidance information of the vehicle based on the vehicle kinematic model when the vehicle bypasses the obstacle, and control the vehicle to reach the docking target position according to the guidance information.

12. A vehicle operation control device, comprising: Memory; and a processor coupled to the memory, wherein the processor is configured to execute the vehicle operation control method according to any one of claims 1 to 10 based on instructions stored in the memory.

13. A vehicle comprising: A vehicle operation control device as claimed in claim 11 or 12. 14 . A computer-readable storage medium storing computer instructions, wherein the instructions are executed by a processor to implement the vehicle operation control method according to claim 1 .

15. A computer program comprising: Instructions, when executed by a processor, cause the processor to execute the vehicle operation control method according to any one of claims 1 to 10.

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