Auxiliary control method, apparatus and system for vehicle operation, and device and storage medium

Abstract

The present application provides an auxiliary control method, apparatus and system for vehicle operation, and a device and a storage medium. The method comprises: measuring a front lateral deviation and a rear lateral deviation of a vehicle; determining a yaw angle deviation on the basis of the front lateral deviation and the rear lateral deviation; and obtaining a steering wheel angle on the basis of the yaw angle deviation and a preview angle. The method of the present application obtains a steering wheel angle on the basis of a front lateral deviation, a rear lateral deviation and a preview angle of a vehicle, which can assist in controlling the vehicle to travel along a magnetic nail trajectory, thereby improving the precision and stability of the vehicle traveling along the magnetic nail trajectory.

Description

Auxiliary control method, device, system and equipment for vehicle operation, and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle auxiliary driving, and in particular to an auxiliary control method, device, system, equipment and storage medium for vehicle operation. BACKGROUND

[0002] The lane departure warning system mainly consists of a display, a camera, a controller and a sensor. When the lane departure system is turned on, the camera will collect the marking line of the driving lane at all times, and the position parameters of the vehicle in the current lane are obtained through image processing. When it is detected that the vehicle deviates from the lane, the sensor will timely collect the vehicle data and the operation state of the driver, and then the controller will issue a warning signal.

[0003] The lane keeping assistance system controls the steering system on the basis of the lane departure warning system, assists the vehicle to keep driving in the lane, and prevents the vehicle from deviating from the lane unintentionally. The system uses the information provided by the lane departure warning sensor to determine whether the vehicle will unintentionally move out of its driving lane. If so, the system will activate and correct the steering, braking or acceleration of one or more wheels, or a combination of both, so that the vehicle returns to its predetermined driving lane.

[0004] The vehicle runs along the magnetic nail track, which is different from running in the lane with only lane line marks, and is also different from running along the steel rail or physically constrained track. The magnetic nail track can be regarded as a virtual track, and the vehicle running on the virtual track needs a suitable tracking strategy to reduce the risk of derailment. SUMMARY

[0005] To solve one of the above technical defects, the present application provides an auxiliary control method, device, system, equipment and storage medium for vehicle operation.

[0006] In a first aspect, the present application provides an auxiliary control method for vehicle operation, which comprises:

[0007] detecting the front lateral deviation and the rear lateral deviation of the vehicle;

[0008] determining the yaw angle deviation according to the front lateral deviation and the rear lateral deviation;

[0009] obtaining the steering wheel rotation angle according to the yaw angle deviation and the preview angle.

[0010] Optionally, a magnetic nail track with polarity coding is laid under the running route of the vehicle, the magnetic nail track is composed of a plurality of equally spaced magnetic nails, and the magnetic nail track represents different routes through regular polarity changes to form polarity coding segments.

[0011] A front magnetic spike sensor is installed below the front axle of the vehicle, and a rear magnetic spike sensor is installed below the rear axle of the vehicle.

[0012] When the front magnetic spike sensor sweeps across any magnetic spike D x , the front magnetic spike sensor obtains the front polarity encoding segment of D x , the front shortest straight line distance between the center of the front magnetic spike sensor and the center of D x by detecting the magnetic field of D x .

[0013] When the rear magnetic spike sensor sweeps across any magnetic spike D y , the rear magnetic spike sensor obtains the rear polarity encoding segment of D y , the rear shortest straight line distance between the center of the rear magnetic spike sensor and the center of D y by detecting the magnetic field of D y .

[0014] Optionally, the lateral deviation of the front side and the lateral deviation of the rear side of the vehicle are detected, including:

[0015] The front shortest straight line distance detected by the front magnetic spike sensor is obtained, and the front shortest straight line distance is determined as the lateral deviation of the front side; the rear shortest straight line distance detected by the rear magnetic spike sensor is obtained, and the rear shortest straight line distance is determined as the lateral deviation of the rear side.

[0016] Optionally, the front magnetic spike sensor is located directly below the front axle, and the rear magnetic spike sensor is located directly below the rear axle.

[0017] According to the lateral deviation of the front side and the lateral deviation of the rear side, the yaw angle deviation is determined, including:

[0018] The yaw angle deviation is determined by the following formula

[0019] wherein, is the yaw angle deviation, L is the length of the center axis of the vehicle, d1 is the lateral deviation of the front side, and d2 is the lateral deviation of the rear side.

[0020] Optionally, the front magnetic spike sensor is not located directly below the front axle, and the rear magnetic spike sensor is not located directly below the rear axle.

[0021] According to the lateral deviation of the front side and the lateral deviation of the rear side, the yaw angle deviation is determined, including:

[0022] The front polarity encoding segment detected by the front magnetic spike sensor and the rear polarity encoding segment detected by the rear magnetic spike sensor are obtained.

[0023] According to the front polarity encoding segment and the rear polarity encoding segment, the position of the vehicle on the magnetic spike track is located.

[0024] According to the position, determine the corresponding front magnetic spike number, rear magnetic spike number, the front axle of the vehicle corresponding to the magnetic spike position (x1, y1), the rear axle of the vehicle corresponding to the magnetic spike position (x2, y2);

[0025] According to the front magnetic spike number and the rear magnetic spike number, determine the front magnetic spike position (x'1, y'1) and the rear magnetic spike position (x'2, y'2) in the electronic map;

[0026] According to the position, determine the ideal yaw angle And the expected yaw angle

[0027] Determine the yaw angle deviation

[0028] Wherein, The yaw angle deviation, L' is the distance between the front magnetic spike sensor and the rear magnetic spike sensor, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0029] Optionally, the steering wheel rotation angle is obtained according to the yaw angle deviation and the preview angle, comprising:

[0030] The steering wheel rotation angle is obtained by the following formula

[0031] Wherein, δ is the steering wheel rotation angle, k d The lateral deviation control coefficient, The yaw angle deviation control coefficient, The yaw angle deviation, The preview angle.

[0032] Optionally, The determination method of the above-mentioned preview magnetic spike position (x3, y3) comprises:

[0033] Determine the preview magnetic spike position (x3, y3);

[0034] According to the equation group Calculate the first distance coefficient k and the second distance coefficient b; wherein (x'1, y'1) is the front magnetic spike position, (x'2, y'2) is the rear magnetic spike position, d1 is the front lateral deviation, and d2 is the rear lateral deviation;

[0035] Determine the deviation of the preview magnetic spike

[0036] Determine Wherein, K a The preview coefficient is set in advance, and S is the preview distance set in advance.

[0037] Optionally, before detecting the front lateral deviation and the rear lateral deviation of the vehicle, further comprising:

[0038] determining that the vehicle enters an auxiliary control state;

[0039] The method further comprises:

[0040] detecting in real time whether an exit condition of the auxiliary control state is met, and if so, exiting the method and exiting the auxiliary control state;

[0041] The exit condition of the auxiliary control state is that the vehicle deviates from the magnetic peg track, or that neither the front magnetic peg sensor nor the rear magnetic peg sensor detects the magnetic field of a magnetic peg within a preset time period, or that the front magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the rear magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the speed of the vehicle exceeds a preset safe maximum speed, or that the vehicle is turned off.

[0042] Optionally, after obtaining the steering wheel angle based on the yaw angle deviation and the preview angle, the method further comprises:

[0043] controlling the lateral steering of the vehicle based on the steering wheel angle.

[0044] The second aspect of the present application provides an auxiliary control device for a vehicle running along a magnetic peg track, the device comprising:

[0045] a detection module configured to detect the front lateral deviation and the rear lateral deviation of the vehicle;

[0046] a first determination module configured to determine the yaw angle deviation based on the front lateral deviation and the rear lateral deviation detected by the detection module;

[0047] a second determination module configured to obtain the steering wheel angle based on the yaw angle deviation determined by the first determination module and a preview angle.

[0048] The third aspect of the present application provides an auxiliary control system for a vehicle running along a magnetic peg track, the system comprising:

[0049] the magnetic peg track with polarity encoding is laid under the road surface of the running route of the vehicle;

[0050] the vehicle comprises a tracking controller, a steering system, a front magnetic peg sensor, a rear magnetic peg sensor, and other components ensuring normal operation of the vehicle;

[0051] the tracking controller is configured to execute the method of the first aspect to obtain the steering wheel angle;

[0052] the steering system is connected to the tracking controller, and the steering system is configured to control the lateral steering of the vehicle based on the steering wheel angle obtained by the tracking controller;

[0053] The front magnetic pin sensor is located below the front axle of the bottom of the vehicle.

[0054] The rear magnetic pin sensor is located below the rear axle of the bottom of the vehicle.

[0055] The fourth aspect of the present application provides an electronic device, comprising:

[0056] A memory;

[0057] A processor; and

[0058] A computer program;

[0059] The computer program is stored in the memory and is configured to be executed by the processor to implement the method of the first aspect.

[0060] The fifth aspect of the present application provides a computer readable storage medium, which stores a computer program; the computer program is executed by a processor to implement the method of the first aspect.

[0061] The present application provides an auxiliary control method, device, system, equipment and storage medium for vehicle operation, the method comprising: detecting the front lateral deviation and the rear lateral deviation of the vehicle; determining the yaw angle deviation according to the front lateral deviation and the rear lateral deviation; and obtaining the steering wheel rotation angle according to the yaw angle deviation and the preview angle. The method of the present application obtains the steering wheel rotation angle according to the front lateral deviation, the rear lateral deviation and the preview angle of the vehicle, which can assist in controlling the vehicle to travel along the magnetic pin track, and improves the precision and stability of the vehicle traveling along the magnetic pin track. BRIEF DESCRIPTION OF DRAWINGS

[0062] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application, the schematic embodiments of the present application and the description thereof serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0063] Fig. 1 is a structural schematic diagram of an auxiliary control system for vehicle operation provided by an embodiment of the present application;

[0064] Fig. 2 is a flow schematic diagram of an auxiliary control method for vehicle operation provided by an embodiment of the present application;

[0065] Fig. 3 is a simplified schematic diagram of a vehicle structure provided by an embodiment of the present application;

[0066] Fig. 4 is a control strategy schematic diagram of an auxiliary control method for vehicle operation provided by an embodiment of the present application;

[0067] Fig. 5 is a structural schematic diagram of an auxiliary control device for vehicle operation provided by an embodiment of the present application;

[0068] Fig. 6 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application are further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0070] In the process of implementing the present application, the inventor found that the vehicle runs along the magnetic nail track, which is different from running in the lane with only lane line marks, and is also different from running along the steel rail, the track with physical constraints. The magnetic nail track can be regarded as a virtual track, and the vehicle running on the virtual track needs a suitable tracking strategy to reduce the risk of derailment.

[0071] To solve the above problems, the present application provides a kind of auxiliary control method, device, system, equipment and storage medium for vehicle along magnetic nail track running, which comprises: detecting the front lateral deviation and rear lateral deviation of vehicle;According to front lateral deviation and rear lateral deviation, determine yaw angle deviation;According to yaw angle deviation and preview angle, get steering wheel rotation angle.The method of the present application can assist the control of vehicle driving along the magnetic nail track according to the front lateral deviation, rear lateral deviation and preview angle of the vehicle, and improve the precision and stability of the vehicle driving along the magnetic nail track.

[0072] The present embodiment provides an auxiliary control method for vehicle running along magnetic nail track, which can be realized based on an auxiliary control system for vehicle running along magnetic nail track. As shown in Fig. 1, vehicle 1 and magnetic nail track 10 with polarity coding.

[0073] Wherein, magnetic nail track 10 with polarity coding is laid under the road surface of the running route of vehicle 1. Magnetic nail track 10 is composed of a plurality of equidistant magnetic nails, and magnetic nail track 10 represents different routes by regular polarity change of polarity coding section. That is, magnetic nail track 10 with polarity coding is composed of equidistant magnetic nails laid under the road surface of the preset running route, and different routes are represented by regular polarity change of polarity coding section through regular laying of a plurality of magnetic nails.

[0074] In addition, there can be multiple polarity coding sections in a route, and when the vehicle passes through the polarity coding section in the auxiliary driving mode, the vehicle will update the magnetic nail number, and when the vehicle detects the magnetic nail without passing through the polarity coding section, the tracking controller 2 will accumulate according to the updated magnetic nail number, and multiple polarity coding sections in a route can realize more accurate vehicle longitudinal positioning.

[0075] The vehicle 1 comprises a tracking controller 2, a steering system 3, a front magnetic spike sensor 4, a rear magnetic spike sensor 5 and other components ensuring normal operation of the vehicle. For example, the other components ensuring normal operation of the vehicle include but are not limited to: a front axle 6, a rear axle 7, a steering wheel 8, a wheel 9, etc.

[0076] The tracking controller 2 is used to execute the auxiliary control method for the vehicle to run along the magnetic spike track provided in the embodiment, and obtain the steering wheel rotation angle. In the specific implementation, the tracking controller 2 is loaded with an electronic map, and the electronic map contains magnetic spike numbers (each magnetic spike has a unique magnetic spike number), magnetic spike coordinates and expected yaw angles (the expected yaw angles are calculated offline from the magnetic spike coordinates), etc. The longitudinal and lateral positioning of the vehicle 1 can be realized through the front magnetic spike sensor 4 and the rear magnetic spike sensor 5, so as to obtain the ideal yaw angle and the expected yaw angle of the vehicle 1, and the yaw angle deviation of the vehicle 1 can be obtained by comparison with the electronic map. Considering that the signal delay will cause the vehicle to oscillate, a preview angle is added, and then the steering wheel rotation angle is calculated in real time from the yaw angle deviation, the preview angle and the control coefficient.

[0077] In the embodiment, the origin of the magnetic spike coordinates of the electronic map is generally the first magnetic spike after the first polarity coding section of the track, and the expected yaw angle can be calculated offline from the magnetic spike coordinates.

[0078] The steering system 3 is connected with the tracking controller 2. The steering system 3 is used to control the lateral steering of the vehicle 1 based on the steering wheel rotation angle obtained by the tracking controller 2.

[0079] The front magnetic spike sensor 4 is located below the front axle 6 at the bottom of the vehicle, and the front magnetic spike sensor 4 is in communication connection with the tracking controller 2. When the front magnetic spike sensor 4 sweeps through any magnetic spike D x , the front magnetic spike sensor 4 detects the magnetic field of D x , obtains the front polarity coding section of D x , and the front shortest straight line distance between the center of the front magnetic spike sensor 4 and the center of D x . The front magnetic spike sensor 4 sends the front polarity coding section and the front shortest straight line distance to the tracking controller 2.

[0080] The rear magnetic spike sensor 5 is located below the rear axle 7 at the bottom of the vehicle, and the rear magnetic spike sensor 5 is in communication connection with the tracking controller 2. When the rear magnetic spike sensor 5 sweeps through any magnetic spike D y , the rear magnetic spike sensor 5 detects the magnetic field of D y , obtains the rear polarity coding section of D y , and the rear shortest straight line distance between the center of the rear magnetic spike sensor 5 and the center of D y . The rear magnetic spike sensor 5 sends the rear polarity coding section and the rear shortest straight line distance to the tracking controller 2.

[0081] It should be noted that the front polarity encoding section is the polarity encoding section of the magnetic nail detected by the front magnetic nail sensor 4, and the rear polarity encoding section is the polarity encoding section of the magnetic nail detected by the rear magnetic nail sensor 5. Therefore, the front polarity encoding section and the rear polarity encoding section are both polarity encoding sections, and only the corresponding magnetic nails are different. The front shortest straight line distance and the rear shortest straight line distance are both shortest straight line distances, but they are renamed to distinguish the positions of the magnetic nail sensors that detect them. That is, the shortest straight line distance detected by the magnetic nail sensor located below the front axle (which is named as the front magnetic nail sensor in this embodiment and subsequent embodiments, and the actual front magnetic nail sensor is one magnetic nail sensor) is renamed as the front shortest straight line distance. The shortest straight line distance detected by the magnetic nail sensor located below the rear axle (which is named as the rear magnetic nail sensor in this embodiment and subsequent embodiments, and the actual rear magnetic nail sensor is also one magnetic nail sensor) is renamed as the rear shortest straight line distance. The structure and performance of the front magnetic nail sensor and the rear magnetic nail sensor can be the same or different, and preferably the front magnetic nail sensor and the rear magnetic nail sensor are magnetic nail sensors with the same structure and performance.

[0082] In addition, the vehicle running along the magnetic nail track auxiliary control method provided by the embodiment is executed when the vehicle 1 is in an auxiliary control state (for example, when the vehicle 1 is advancing along the magnetic nail track 10 under the control of the driver and passing through the polarity encoding section, the tracking controller 2 will determine whether it can enter the auxiliary driving mode according to the current vehicle state. If it can, the indicator light on the instrument panel indicating that the auxiliary driving can be entered will remain on, the driver presses the auxiliary driving switch button to turn it on, and the vehicle 1 enters the auxiliary driving state). Therefore, before executing the vehicle running along the magnetic nail track auxiliary control method provided by the embodiment, it is necessary to determine that the vehicle 1 enters the auxiliary control state.

[0083] If the vehicle 1 does not enter the auxiliary control state, the vehicle running along the magnetic nail track auxiliary control method provided by the embodiment is not executed, and if the vehicle 1 enters the auxiliary control state, the vehicle running along the magnetic nail track auxiliary control method provided by the embodiment is executed. The implementation process of the method is shown in FIG. 2.

[0084] During the execution of the vehicle running along the magnetic nail track auxiliary control method provided by the embodiment, it is also necessary to ensure that the vehicle 1 is always in the auxiliary control state, that is, during the execution of the vehicle running along the magnetic nail track auxiliary control method shown in FIG. 2, it is necessary to detect in real time whether the exit condition of the auxiliary control state is met. If it is met, the vehicle running along the magnetic nail track auxiliary control method shown in FIG. 2 is exited, and the auxiliary control state is exited.

[0085] The exit condition of the auxiliary control state is that the vehicle 1 deviates from the magnetic nail track, or the magnetic nail sensors 4 and 5 do not detect the magnetic field of the magnetic nail within a preset time period, or the front magnetic nail sensor 4 continuously fails to detect the magnetic field of a preset number of magnetic nails, or the rear magnetic nail sensor 5 continuously fails to detect the magnetic field of a preset number of magnetic nails, or the speed of the vehicle 1 exceeds the preset safe maximum speed, or the vehicle is turned off.

[0086] Taking the preset number = 3 and the safe maximum speed = 30 km / h as an example, in the case of driver-controlled vehicle speed, the tracking controller 2 controls the steering to assist the vehicle to travel along the magnetic nail track. To avoid unexpected situations, when the vehicle 1 deviates from the magnetic nail track (including deviation and exit), or the magnetic sensor (including the front magnetic nail sensor 4 and the rear magnetic nail sensor 5) continuously fails to detect the magnetic nail, or the magnetic sensor (including the front magnetic nail sensor 4 and the rear magnetic nail sensor 5) continuously fails to detect 3 or more magnetic nails, or the vehicle speed exceeds 30 km / h, the indicator light on the dashboard indicating that the auxiliary driving can be entered is turned off, the auxiliary driving switch is automatically closed, and a warning is issued to remind the driver to manually take over. If the vehicle is temporarily parked during auxiliary driving, the state of the vehicle should be maintained, and as long as the indicator light on the dashboard indicating that the auxiliary driving can be entered is always on, the vehicle can still maintain the auxiliary driving mode when starting again.

[0087] After exiting the auxiliary control method of the vehicle running along the magnetic nail track shown in FIG. 2, if the vehicle 1 enters the auxiliary control state again, the auxiliary control method of the vehicle running along the magnetic nail track shown in FIG. 2 will be executed again.

[0088] Referring to FIG. 2, the implementation process of the auxiliary control method of the vehicle running along the magnetic nail track provided by the embodiment is as follows:

[0089] 201, detecting the front lateral deviation and the rear lateral deviation of the vehicle.

[0090] In specific implementation, the tracking controller 2 detects the front lateral deviation and the rear lateral deviation of the vehicle.

[0091] Since the running route of the vehicle 1 is paved with a magnetic nail track 10 with polarity coding under the road surface, the magnetic nail track 10 is composed of a plurality of equally spaced magnetic nails, and the magnetic nail track 10 represents different routes through regular polarity changes to form polarity coding sections. The front magnetic nail sensor 4 is installed below the front axle 6 of the bottom of the vehicle 1, and the rear magnetic nail sensor 5 is installed below the rear axle 7. When the front magnetic nail sensor 4 sweeps through any magnetic nail D x , the front magnetic nail sensor 4 detects the magnetic field of D x , obtains the front polarity coding section of D x , and the center of the front magnetic nail sensor 4 and D xThe shortest straight line distance between the center of the front magnetic pin sensor 4 and the center of the magnetic pin D y When the rear magnetic pin sensor 5 sweeps across any magnetic pin D y , the rear magnetic pin sensor 5 obtains the rear polarity encoding segment of D y , and the rear shortest straight line distance between the center of the rear magnetic pin sensor 5 and the center of D y .

[0092] Therefore, in the step 201, the front shortest straight line distance detected by the front magnetic pin sensor 4 is obtained, and the front shortest straight line distance is determined as the front lateral deviation dl. The rear shortest straight line distance detected by the rear magnetic pin sensor 5 is obtained, and the rear shortest straight line distance is determined as the rear lateral deviation d2.

[0093] In addition, if the front magnetic pin sensor 4 is not located directly below the front axle 6, and the rear magnetic pin sensor 5 is not located directly below the rear axle 7, then while obtaining the front lateral deviation dl and the rear lateral deviation d2 in the step 201, the front polarity encoding segment detected by the front magnetic pin sensor 4 and the rear polarity encoding segment detected by the rear magnetic pin sensor 5 can also be obtained.

[0094] 202, determining the yaw angle deviation according to the front lateral deviation and the rear lateral deviation.

[0095] In a specific implementation, the tracking controller 2 determines the yaw angle deviation according to the front lateral deviation and the rear lateral deviation.

[0096] The determination scheme of the yaw angle deviation varies according to the specific positions of the front magnetic pin sensor 4 and the rear magnetic pin sensor 5.

[0097] For example, if the front magnetic pin sensor 4 is located directly below the front axle, and the rear magnetic pin sensor 5 is located directly below the rear axle, then the yaw angle deviation is determined by the following formula:

[0098] wherein, is the yaw angle deviation, L is the length of the center axis of the vehicle, dl is the front lateral deviation, and d2 is the rear lateral deviation.

[0099] If the front magnetic pin sensor 4 is not located directly below the front axle, and the rear magnetic pin sensor 5 is not located directly below the rear axle, then the yaw angle deviation is determined by the following steps:

[0100] 1. Obtain the front polarity encoding segment detected by the front magnetic pin sensor 4 and the rear polarity encoding segment detected by the rear magnetic pin sensor 5.

[0101] 2. According to the front polarity encoding segment and the rear polarity encoding segment, the position of the vehicle 1 on the magnetic pin track is located.

[0102] 3. According to the position, determine the corresponding front magnet number, rear magnet number, the front axle 6 of the vehicle 1 corresponding magnet position (x1, y1), the rear axle 7 of the vehicle corresponding magnet position (x2, y2).

[0103] 4. According to the front magnet number and the rear magnet number, determine the front magnet position (x'1, y'1) and the rear magnet position (x'2, y'2) in the electronic map.

[0104] 5. According to the position, determine the ideal yaw angle and the expected yaw angle

[0105] 6. Determine the yaw angle deviation

[0106] Wherein, L' is the distance between the front magnet sensor 4 and the rear magnet sensor 5.

[0107] For example, the tracking controller 2 will locate the position of the vehicle 1 on the magnet track according to the polarity encoding section (front polarity encoding section and rear polarity encoding section), get the detected magnet number (front magnet number and rear magnet number), and then find the expected yaw angle of the vehicle 1 at this magnet position in the electronic map Thus, the real-time yaw angle deviation of the vehicle 1 can be obtained

[0108] As shown in FIG. 3, if the axle (front axle 6 and rear axle 7) is the solid rectangle in FIG. 3, and the magnet sensor (front magnet sensor 4 and rear magnet sensor 5) is the dotted rectangle in FIG. 3, at this time, the front magnet sensor 4 is not located directly below the front axle, and the rear magnet sensor 5 is not located directly below the rear axle. Then,

[0109] 1. Get the front polarity encoding section detected by the front magnet sensor 4 and the rear polarity encoding section detected by the rear magnet sensor 5.

[0110] 2. According to the front polarity encoding section and the rear polarity encoding section, locate the position of the vehicle 1 on the magnet track.

[0111] 3. According to the position, determine the corresponding front magnet number, rear magnet number, the front axle 6 of the vehicle 1 corresponding magnet is D1 in FIG. 3, the position is (x1, y1), the rear axle 7 of the vehicle corresponding magnet is D2 in FIG. 3, the position is (x2, y2).

[0112] 4. Based on the front and rear magnetic nail numbers, the position of the front magnetic nail in the electronic map is determined to be position D4 in Figure 3, i.e. (x′1,y′1)=(x4,y4), and the position of the rear magnetic nail is determined to be position D5 in Figure 3, i.e. (x′2,y′2)=(x5,y5).

[0113] 5. Thus, the dashed line containing D1 and D2 represents the straight line where the magnetic sensor is located, and at this point, the ideal yaw angle of the vehicle is... Expected yaw angle

[0114] 6. Determine the yaw angle deviation

[0115] Where L′ is the distance between the front magnetic nail sensor 4 and the rear magnetic nail sensor 5. d1 is the shortest straight-line distance between the center of the front magnetic nail sensor 4 and the center of D4, as detected by the front magnetic nail sensor 4, and d2 is the shortest straight-line distance between the center of the rear magnetic nail sensor 5 and the center of D4, as detected by the rear magnetic nail sensor 5.

[0116] Obviously, when the magnetic nail sensors (front magnetic nail sensor 4 and rear magnetic nail sensor 5) are installed directly below the axles (front axle 6 and rear axle 7), the yaw angle deviation can be obtained by only obtaining the front lateral deviation and the rear lateral deviation, which greatly reduces the amount of calculation.

[0117] 203. The steering wheel angle is obtained based on the yaw angle deviation and the aiming angle.

[0118] In practice, the tracking controller 2 will obtain the steering wheel angle based on the yaw angle deviation and the aiming angle.

[0119] Since vehicle 1's response to input and output signals has a time delay, relying solely on yaw angle deviation... Controlling the lateral deviation d1 at the front side would cause vehicle 1 to vibrate, therefore a pre-aiming angle is added. To exercise control. By d1、 By combining the various control coefficients, the steering wheel angle δ can be obtained.

[0120] For example, the steering wheel angle can be obtained using the following formula.

[0121] Where δ is the steering wheel angle, k d This is the lateral deviation control coefficient. This is the yaw angle deviation control coefficient. For yaw angle deviation, This is the aiming angle.

[0122] in addition, The method for determining it is as follows:

[0123] 301, determine the pre-look peg position (x3, y3).

[0124] 302, according to the equation group Calculate the first distance coefficient k and the second distance coefficient b.

[0125] Where (x'1, y'1) is the front peg position, (x'2, y'2) is the rear peg position, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0126] The calculation process of the front peg position and the rear peg position is as follows:

[0127] 1. Obtain the front polarity encoding section detected by the front peg sensor 4 and the rear polarity encoding section detected by the rear peg sensor 5.

[0128] 2. According to the front polarity encoding section and the rear polarity encoding section, the position of the vehicle 1 on the peg track is located.

[0129] 3. According to the position, determine the corresponding front peg number and rear peg number.

[0130] 4. According to the front peg number and the rear peg number, determine the front peg position (x'1, y'1) and the rear peg position (x'2, y'2) in the electronic map.

[0131] 303, determine the deviation of the pre-look peg

[0132] 304, determine

[0133] Where K a is a pre-set pre-look coefficient, and S is a pre-set pre-look distance.

[0134] In addition, after performing step 203 to obtain the steering wheel angle according to the yaw angle deviation and the pre-look angle, the tracking controller 2 will also control the lateral steering of the vehicle 1 according to the steering wheel angle (for example, the tracking controller 2 will also control the steering system 3 of the vehicle 1, and then control the steering wheel 8 and the wheel 9 to perform lateral steering according to the steering wheel angle).

[0135] Since the response of the vehicle 1 to the input and output signals is delayed, if only the yaw angle deviation and the front lateral deviation d1 are controlled, it will cause the vehicle 1 to shake, so the pre-look angle is added for control. As shown in FIG. 3, the pre-look peg is determined as D3, and its position is (x3, y3), then the center axis of the vehicle is extended forward by K aS length. The coefficients of the equation of the straight line y=kx+b on which the vehicle axis lies (i.e., the first distance coefficient k and the second distance coefficient b) can be obtained from the equation group .

[0136] As shown in FIG. 3, if the front magnetic spike sensor 4 is located directly below the front axle and the rear magnetic spike sensor 5 is located directly below the rear axle, the front magnetic spike is D1 and the rear magnetic spike is D2, then (x'1, y'1)=(x1, y1) and (x'2, y'2)=(x2, y2). If the front magnetic spike sensor 4 is not located directly below the front axle and the rear magnetic spike sensor 5 is not located directly below the rear axle, the front magnetic spike is D4 and the rear magnetic spike is D5, then (x'1, y'1)=(x4, y4) and (x'2, y'2)=(x5, y5).

[0137] Further, the distance of the preview magnetic spike D3 to the straight line (i.e., the deviation of the preview magnetic spike) can be obtained as

[0138] The preview angle is

[0139] Finally, the steering wheel rotation angle is

[0140] The control strategy of the auxiliary control method for the vehicle running along the magnetic spike track provided in the embodiment is shown in FIG. 4. The vehicle running along the magnetic spike track is realized by monitoring the posture and track of the vehicle in real time. The auxiliary control method for the vehicle running along the magnetic spike track provided in the embodiment can realize the auxiliary control with high tracking precision, strong stability and simple structure. The steering wheel rotation angle of the vehicle can be adjusted in real time. The vehicle head axis can run along the magnetic spike track accurately under the control of the driver's vehicle speed. The precision and stability of the vehicle running along the magnetic spike track are improved.

[0141] The auxiliary control strategy of the vehicle running along the magnetic spike track of the application can realize the running effect of the vehicle equipped with a camera to recognize lane lines or the vehicle with actual track constraints. The safety of the vehicle running is improved.

[0142] The embodiment provides an auxiliary control method for a vehicle running along a magnetic spike track. The front side lateral deviation and the rear side lateral deviation of the vehicle are detected. The yaw angle deviation is determined according to the front side lateral deviation and the rear side lateral deviation. The steering wheel rotation angle is obtained according to the yaw angle deviation and the preview angle. The method of the embodiment can obtain the steering wheel rotation angle according to the front side lateral deviation, the rear side lateral deviation and the preview angle. The vehicle running along the magnetic spike track can be controlled. The precision and stability of the vehicle running along the magnetic spike track are improved.

[0143] Based on the same inventive concept of the auxiliary control method for the vehicle running along the magnetic nail track, the embodiment provides an auxiliary control device for the vehicle running along the magnetic nail track, referring to FIG. 5, the device comprises:

[0144] The detection module 501 is configured to detect the front lateral deviation and the rear lateral deviation of the vehicle.

[0145] The first determination module 502 is configured to determine the yaw angle deviation according to the front lateral deviation and the rear lateral deviation detected by the detection module 501.

[0146] The second determination module 503 is configured to obtain the steering wheel angle according to the yaw angle deviation determined by the first determination module 502 and the preview angle.

[0147] The running route of the vehicle is paved with the magnetic nail track with polarity coding under the road surface, the magnetic nail track is composed of a plurality of equidistant magnetic nails, and the magnetic nail track represents different routes through polarity coding segments formed by regular polarity changes.

[0148] The front magnetic nail sensor is installed below the front axle of the bottom of the vehicle, and the rear magnetic nail sensor is installed below the rear axle.

[0149] When the front magnetic nail sensor sweeps through any magnetic nail D x , the front magnetic nail sensor detects the magnetic field of D x to obtain the front polarity coding segment of D x , and the front shortest straight line distance between the center of the front magnetic nail sensor and the center of D x .

[0150] When the rear magnetic nail sensor sweeps through any magnetic nail D y , the rear magnetic nail sensor detects the magnetic field of D y to obtain the rear polarity coding segment of D y , and the rear shortest straight line distance between the center of the rear magnetic nail sensor and the center of D y .

[0151] The detection module 501 is configured to obtain the front shortest straight line distance detected by the front magnetic nail sensor and determine the front shortest straight line distance as the front lateral deviation, and obtain the rear shortest straight line distance detected by the rear magnetic nail sensor and determine the rear shortest straight line distance as the rear lateral deviation.

[0152] The front magnetic nail sensor is located directly below the front axle, and the rear magnetic nail sensor is located directly below the rear axle.

[0153] The first determination module 502 is configured to determine the yaw angle deviation through the following formula

[0154] Wherein, is the yaw angle deviation, L is the length of the vehicle center axis, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0155] Wherein, the front magnetic spike sensor is not located directly below the front axle, and the rear magnetic spike sensor is not located directly below the rear axle.

[0156] The first determining module 502 is configured to obtain a front polarity coding section detected by the front magnetic spike sensor and a rear polarity coding section detected by the rear magnetic spike sensor. According to the front polarity coding section and the rear polarity coding section, the position of the vehicle on the magnetic spike track is located. According to the position, the corresponding front magnetic spike number, rear magnetic spike number, magnetic spike position (x1, y1) corresponding to the front axle of the vehicle, and magnetic spike position (x2, y2) corresponding to the rear axle of the vehicle are determined. According to the front magnetic spike number and the rear magnetic spike number, the front magnetic spike position (x'1, y'1) and the rear magnetic spike position (x'2, y'2) are determined in the electronic map. According to the position, the ideal yaw angle and the expected yaw angle The yaw angle deviation is determined

[0157] Wherein, is the yaw angle deviation, L' is the distance between the front magnetic spike sensor and the rear magnetic spike sensor, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0158] The second determining module 503 is configured to obtain the steering wheel rotation angle

[0159] Wherein, δ is the steering wheel rotation angle, k d is the lateral deviation control coefficient, is the yaw angle deviation control coefficient, is the yaw angle deviation, is the pre-look angle.

[0160] Wherein, The determination method of the pre-look angle includes:

[0161] The pre-look magnetic spike position (x3, y3) is determined.

[0162] According to the equation group The first distance coefficient k and the second distance coefficient b are calculated. Wherein, (x'1, y'1) is the front magnetic spike position, (x'2, y'2) is the rear magnetic spike position, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0163] The deviation of the pre-look magnetic spike is determined

[0164] is determined Wherein, Ka The preset preview coefficient is S, and the preset preview distance is L.

[0165] The device further comprises a third determination module configured to determine that the vehicle enters an auxiliary control state.

[0166] The first control module is configured to detect in real time whether an exit condition of the auxiliary control state is met, and if so, exit the method and exit the auxiliary control state.

[0167] The exit condition of the auxiliary control state is that the vehicle deviates from the magnetic peg track, or that neither the front magnetic peg sensor nor the rear magnetic peg sensor detects the magnetic field of the magnetic peg within a preset time period, or that the front magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the rear magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the speed of the vehicle exceeds a preset maximum safe speed, or that the vehicle is turned off.

[0168] The second control module is configured to control the lateral steering of the vehicle according to the steering wheel angle.

[0169] The embodiment provides an auxiliary control device for a vehicle running along a magnetic peg track, and the steering wheel angle is obtained according to the front lateral deviation, the rear lateral deviation and the preview angle of the vehicle, so that the vehicle can be assisted to run along the magnetic peg track, and the precision and stability of the vehicle running along the magnetic peg track are improved.

[0170] Based on the same inventive concept of the auxiliary control method for the vehicle running along the magnetic peg track, the embodiment provides an electronic device, as shown in FIG. 6, which comprises a memory 601, a processor 602 and a computer program.

[0171] The computer program is stored in the memory 601 and is configured to be executed by the processor 602 to implement the auxiliary control method for the vehicle running along the magnetic peg track.

[0172] Specifically,

[0173] The front lateral deviation and the rear lateral deviation of the vehicle are detected.

[0174] The yaw angle deviation is determined according to the front lateral deviation and the rear lateral deviation.

[0175] The steering wheel angle is obtained according to the yaw angle deviation and the preview angle.

[0176] Optionally, a magnetic peg track with polarity coding is laid under the running route of the vehicle, the magnetic peg track is composed of a plurality of equidistant magnetic pegs, and the magnetic peg track represents different routes through polarity coding segments formed by regular polarity changes.

[0177] A front magnetic nail sensor is installed under the front axle at the bottom of the vehicle, and a rear magnetic nail sensor is installed under the rear axle.

[0178] The current magnetic nail sensor passes over any magnetic nail D x At that time, the front magnetic nail sensor detects D x The magnetic field, to obtain D x The front polarity coding segment, the center of the front magnetic nail sensor and D x The shortest straight-line distance between the centers.

[0179] When the rear magnetic nail sensor passes over any magnetic nail D y At that time, the rear magnetic nail sensor detects D y The magnetic field, to obtain D y The post-polarity coding segment, the center of the post-magnetic nail sensor and D y The shortest straight-line distance between the centers.

[0180] Optionally, the detection of the vehicle's frontal and rearal lateral deviations includes:

[0181] Obtain the shortest straight-line distance detected by the front magnetic nail sensor and define it as the front lateral deviation. Obtain the shortest straight-line distance detected by the rear magnetic nail sensor and define it as the rear lateral deviation.

[0182] Optionally, the front magnetic nail sensor is located directly below the front axle, and the rear magnetic nail sensor is located directly below the rear axle.

[0183] The yaw angle deviation is determined based on the front lateral deviation and the rear lateral deviation, including:

[0184] The yaw angle deviation is determined by the following formula.

[0185] in, d1 represents the yaw angle deviation, L represents the length of the vehicle's centerline, d1 represents the front lateral deviation, and d2 represents the rear lateral deviation.

[0186] Optionally, the front magnetic nail sensor is not located directly under the front axle, and the rear magnetic nail sensor is not located directly under the rear axle.

[0187] The yaw angle deviation is determined based on the front lateral deviation and the rear lateral deviation, including:

[0188] Obtain the front polarity encoded segment detected by the front magnetic nail sensor and the back polarity encoded segment detected by the rear magnetic nail sensor.

[0189] The vehicle's position on the magnetic nail track is located based on the preceding polarity coding segment and the following polarity coding segment.

[0190] According to the position, determine the corresponding front magnetic spike number, rear magnetic spike number, the front axle of the vehicle corresponding to the magnetic spike position (x1, y1), and the rear axle of the vehicle corresponding to the magnetic spike position (x2, y2).

[0191] According to the front magnetic spike number and the rear magnetic spike number, determine the front magnetic spike position (x'1, y'1) and the rear magnetic spike position (x'2, y'2) in the electronic map.

[0192] According to the position, determine the ideal yaw angle and the expected yaw angle

[0193] Determine the yaw angle deviation

[0194] Wherein, is the yaw angle deviation, L' is the distance between the front magnetic spike sensor and the rear magnetic spike sensor, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0195] Optionally, the steering wheel steering angle is obtained according to the yaw angle deviation and the preview angle, including:

[0196] The steering wheel steering angle is obtained by the following formula

[0197] Wherein, δ is the steering wheel steering angle, k d is the lateral deviation control coefficient, is the yaw angle deviation control coefficient, is the yaw angle deviation, is the preview angle.

[0198] Optionally, The determination method of the above-mentioned preview magnetic spike position (x3, y3) includes:

[0199] Determine the preview magnetic spike position (x3, y3).

[0200] According to the equation group Calculate the first distance coefficient k and the second distance coefficient b. Wherein, (x'1, y'1) is the front magnetic spike position, (x'2, y'2) is the rear magnetic spike position, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0201] Determine the deviation of the preview magnetic spike

[0202] Determine Wherein, K a is a pre-set preview coefficient, and S is a pre-set preview distance.

[0203] Optionally, before detecting the front lateral deviation and the rear lateral deviation of the vehicle, the method further includes:

[0204] determining that the vehicle enters an auxiliary control state.

[0205] The method further comprises:

[0206] detecting in real time whether an exit condition of the auxiliary control state is met, and if so, exiting the method and exiting the auxiliary control state.

[0207] The exit condition of the auxiliary control state is that the vehicle deviates from the magnetic peg track, or that neither the front magnetic peg sensor nor the rear magnetic peg sensor detects the magnetic field of the magnetic peg within a preset time period, or that the front magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the rear magnetic peg sensor continuously fails to detect the magnetic field of a preset number of magnetic pegs, or that the speed of the vehicle exceeds a preset safe maximum speed, or that the vehicle is turned off.

[0208] Optionally, after obtaining the steering wheel angle according to the yaw angle deviation and the preview angle, the method further comprises:

[0209] controlling the lateral steering of the vehicle according to the steering wheel angle.

[0210] The electronic device provided by the embodiment is used to obtain the steering wheel angle according to the front lateral deviation, the rear lateral deviation and the preview angle of the vehicle, and the vehicle can be assisted to travel along the magnetic peg track, and the precision and stability of the vehicle traveling along the magnetic peg track are improved.

[0211] Based on the same inventive concept of the auxiliary control method for the vehicle running along the magnetic peg track, the embodiment provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium. The computer program is executed by a processor to implement the auxiliary control method for the vehicle running along the magnetic peg track.

[0212] Specifically,

[0213] detecting the front lateral deviation and the rear lateral deviation of the vehicle.

[0214] determining the yaw angle deviation according to the front lateral deviation and the rear lateral deviation.

[0215] obtaining the steering wheel angle according to the yaw angle deviation and the preview angle.

[0216] Optionally, a magnetic peg track with polarity coding is laid under the running route of the vehicle, and the magnetic peg track is composed of a plurality of equidistant magnetic pegs, and the magnetic peg track is composed of polarity coding segments through regular polarity changes to represent different routes.

[0217] The front magnetic peg sensor is installed below the front axle of the bottom of the vehicle, and the rear magnetic peg sensor is installed below the rear axle.

[0218] The front magnetic pin sensor sweeps across any magnetic pin D x , the front magnetic pin sensor detects the magnetic field of D x , obtains the front polarity encoding segment of D x , the front shortest straight line distance between the center of the front magnetic pin sensor and the center of D x .

[0219] When the rear magnetic pin sensor sweeps across any magnetic pin D y , the rear magnetic pin sensor detects the magnetic field of D y , obtains the rear polarity encoding segment of D y , the rear shortest straight line distance between the center of the rear magnetic pin sensor and the center of D y .

[0220] Optionally, the front side lateral deviation and the rear side lateral deviation of the vehicle are detected, including:

[0221] The front shortest straight line distance detected by the front magnetic pin sensor is obtained, and the front shortest straight line distance is determined as the front side lateral deviation. The rear shortest straight line distance detected by the rear magnetic pin sensor is obtained, and the rear shortest straight line distance is determined as the rear side lateral deviation.

[0222] Optionally, the front magnetic pin sensor is located directly below the front axle, and the rear magnetic pin sensor is located directly below the rear axle.

[0223] According to the front side lateral deviation and the rear side lateral deviation, the yaw angle deviation is determined, including:

[0224] The yaw angle deviation is determined by the following formula

[0225] Wherein, is the yaw angle deviation, L is the length of the center axis of the vehicle, d1 is the front side lateral deviation, and d2 is the rear side lateral deviation.

[0226] Optionally, the front magnetic pin sensor is not located directly below the front axle, and the rear magnetic pin sensor is not located directly below the rear axle.

[0227] According to the front side lateral deviation and the rear side lateral deviation, the yaw angle deviation is determined, including:

[0228] The front polarity encoding segment detected by the front magnetic pin sensor and the rear polarity encoding segment detected by the rear magnetic pin sensor are obtained.

[0229] According to the front polarity encoding segment and the rear polarity encoding segment, the position of the vehicle on the magnetic pin track is located.

[0230] According to the position, the corresponding front magnetic pin number, rear magnetic pin number, magnetic pin position corresponding to the front axle of the vehicle (x1, y1), and magnetic pin position corresponding to the rear axle of the vehicle (x2, y2) of the vehicle are determined.

[0231] According to the front magnet pin number and the rear magnet pin number, the front magnet pin position (x'1, y'1) and the rear magnet pin position (x'2, y'2) are determined in the electronic map.

[0232] According to the position, the ideal yaw angle and the expected yaw angle

[0233] The yaw angle deviation is determined

[0234] wherein, is the yaw angle deviation, L' is the distance between the front magnet pin sensor and the rear magnet pin sensor, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0235] Optionally, the steering wheel rotation angle is obtained according to the yaw angle deviation and the preview angle, including:

[0236] The steering wheel rotation angle is obtained by the following formula

[0237] wherein, δ is the steering wheel rotation angle, k d is the lateral deviation control coefficient, is the yaw angle deviation control coefficient, is the yaw angle deviation, is the preview angle.

[0238] Optionally, The determination method of the preview magnet pin position (x3, y3) includes:

[0239] The preview magnet pin position (x3, y3) is determined.

[0240] According to the equation group The first distance coefficient k and the second distance coefficient b are calculated. Wherein, (x'1, y'1) is the front magnet pin position, (x'2, y'2) is the rear magnet pin position, d1 is the front lateral deviation, and d2 is the rear lateral deviation.

[0241] The deviation of the preview magnet pin is determined

[0242] The determination wherein, K a is the preview coefficient set in advance, and S is the preview distance set in advance.

[0243] Optionally, before detecting the front lateral deviation and the rear lateral deviation of the vehicle, the method further includes:

[0244] The vehicle enters the auxiliary control state is determined.

[0245] The method further includes:

[0246] The exit condition of the auxiliary control state is detected in real time, and if the exit condition is met, the method is exited, and the auxiliary control state is exited.

[0247] The exit condition of the auxiliary control state is that the vehicle deviates from the magnetic peg track, or the front magnetic peg sensor and the rear magnetic peg sensor do not detect the magnetic field of the magnetic peg within a preset time period, or the front magnetic peg sensor continuously misses detection of the magnetic field of a preset number of magnetic pegs, or the rear magnetic peg sensor continuously misses detection of the magnetic field of a preset number of magnetic pegs, or the speed of the vehicle exceeds a preset safe maximum speed, or the vehicle is turned off.

[0248] Optionally, after the steering wheel steering angle is obtained according to the yaw angle deviation and the preview angle, the method further comprises:

[0249] The lateral steering of the vehicle is controlled according to the steering wheel steering angle.

[0250] The computer readable storage medium provided by the embodiment of the present application, and the computer program thereon are executed by the processor to obtain the steering wheel steering angle according to the front side lateral deviation, the rear side lateral deviation, and the preview angle of the vehicle, which can assist in controlling the vehicle to travel along the magnetic peg track, and improve the precision and stability of the vehicle traveling along the magnetic peg track.

[0251] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes. The solutions in the embodiments of the present application can be implemented in various computer languages, such as object-oriented programming languages Java and interpreted scripting language JavaScript.

[0252] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce the device for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0253] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0254] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0255] Although preferred embodiments of the application have been described herein, substitutions and modifications of these embodiments made by those skilled in the art are within the scope of the application. Accordingly, the appended claims are intended to embrace all such substitutions and modifications.

[0256] It is apparent that those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. Accordingly, it is intended to include all such changes and modifications in so far as they come within the scope of the claims and their equivalents.

Claims

1. A method of assisting control of operation of a vehicle, characterized by, The method comprises: detecting front lateral deviation and rear lateral deviation of the vehicle; determining yaw angle deviation according to the front lateral deviation and the rear lateral deviation; obtaining steering wheel rotation angle according to the yaw angle deviation and preview angle.

2. The method of claim 1, wherein, The running route of the vehicle is paved with a magnetic nail track with polarity coding, the magnetic nail track is composed of a plurality of equidistant magnetic nails, and the magnetic nail track represents different routes through polarity coding segments formed by regular polarity changes; A front magnetic nail sensor is installed below the front axle of the bottom of the vehicle, and a rear magnetic nail sensor is installed below the rear axle; When the current magnetic pin sensor sweeps across any magnetic pin D x , the front magnetic pin sensor obtains the front polarity encoding segment of the D x , and the front shortest straight line distance between the center of the front magnetic pin sensor and the center of the D x by detecting the magnetic field of the D x . When the back magnetic pin sensor sweeps across any magnetic pin D y , the back magnetic pin sensor gets the back polarity encoding segment of the D y , and the back shortest straight line distance between the center of the back magnetic pin sensor and the center of the D y by detecting the magnetic field of the D y .

3. The method of claim 1, wherein, The detection of the front lateral deviation and the rear lateral deviation of the vehicle comprises: obtaining the front shortest straight line distance detected by the front magnetic nail sensor, and determining the front shortest straight line distance as the front lateral deviation; and obtaining the rear shortest straight line distance detected by the rear magnetic nail sensor, and determining the rear shortest straight line distance as the rear lateral deviation.

4. The method of claim 2, wherein, The front magnetic nail sensor is located directly below the front axle, and the rear magnetic nail sensor is located directly below the rear axle; The determination of the yaw angle deviation according to the front lateral deviation and the rear lateral deviation comprises: The yaw angle deviation is determined by the following equation wherein The yaw angle deviation is L, L is the length of the vehicle center axis, d1 is the front lateral deviation, d2 is the rear lateral deviation. The front magnetic nail sensor is not located directly below the front axle, and the rear magnetic nail sensor is not located directly below the rear axle; 5. The method of claim 2, wherein, The determination of the yaw angle deviation according to the front lateral deviation and the rear lateral deviation comprises: obtaining the front polarity coding segment detected by the front magnetic nail sensor and the rear polarity coding segment detected by the rear magnetic nail sensor; locating the position of the vehicle on the magnetic nail track according to the front polarity coding segment and the rear polarity coding segment; determining the corresponding front magnetic nail number, rear magnetic nail number, magnetic nail position (x1, y1) corresponding to the front axle of the vehicle, and magnetic nail position (x2, y2) corresponding to the rear axle of the vehicle according to the position; determining the front magnetic nail position (x'1, y'1) and the rear magnetic nail position (x'2, y'2) in the electronic map according to the front magnetic nail number and the rear magnetic nail number; The yaw angle deviation is L', L' is the distance between the front magnetic nail sensor and the rear magnetic nail sensor, d1 is the front lateral deviation, and d2 is the rear lateral deviation. determining an ideal yaw angle based on the position and desired yaw angle Determining yaw angle deviation wherein, The determination of the steering wheel rotation angle according to the yaw angle deviation and the preview angle comprises:

6. The method of claim 1, wherein, The preview angle is. The steering wheel angle is obtained by the following equation wherein δ is the steering wheel angle, k d is the lateral deviation control coefficient, for the yaw angle deviation control coefficient, for the yaw angle deviation, determining the preview magnetic nail position (x3, y3); 7. The method of claim 6, wherein, The determination method, comprising: calculating the first distance coefficient k and the second distance coefficient b; wherein (x'1, y'1) is the front magnetic nail position, (x'2, y'2) is the rear magnetic nail position, d1 is the front lateral deviation, and d2 is the rear lateral deviation. According to the system of equations Before the detection of the front lateral deviation and the rear lateral deviation of the vehicle, the method further comprises: Determining deviation of a preview magnet determining wherein K a is a pre-set preview coefficient, and S is a pre-set preview distance.

8. The method of claim 2, wherein, determining that the vehicle enters an auxiliary control state; The method further comprises: detecting whether the exit condition of the auxiliary control state is met in real time, and if the exit condition is met, exiting the method and the auxiliary control state. ​ The exit condition of the auxiliary control state is that the vehicle deviates from the magnetic peg track, or the front magnetic peg sensor and the rear magnetic peg sensor do not detect the magnetic field of the magnetic peg within a preset time period, or the front magnetic peg sensor continuously misses detection of the magnetic field of a preset number of magnetic pegs, or the rear magnetic peg sensor continuously misses detection of the magnetic field of a preset number of magnetic pegs, or the speed of the vehicle exceeds a preset safe maximum speed, or the vehicle is turned off.

9. The method of claim 1, wherein, After obtaining the steering wheel steering angle according to the yaw angle deviation and the preview angle, the method further comprises: Controlling the lateral steering of the vehicle according to the steering wheel steering angle.

10. An auxiliary control device for vehicle operation, characterized by comprising: The device comprises: A detection module for detecting the front lateral deviation and the rear lateral deviation of the vehicle; A first determination module for determining a yaw angle deviation according to the front lateral deviation and the rear lateral deviation detected by the detection module; A second determination module for obtaining a steering wheel steering angle according to the yaw angle deviation determined by the first determination module and a preview angle.

11. An auxiliary control system for vehicle operation, characterized by comprising: The system comprises a vehicle and a magnetic peg track with polarity coding; The magnetic peg track with polarity coding is laid under the road surface of the running route of the vehicle; The vehicle comprises a tracking controller, a steering system, a front magnetic peg sensor, a rear magnetic peg sensor, and other components for ensuring normal operation of the vehicle; The tracking controller is configured to execute the method of any one of claims 1-9 to obtain a steering wheel steering angle; The steering system is connected to the tracking controller, and is configured to control the lateral steering of the vehicle based on the steering wheel steering angle obtained by the tracking controller; The front magnetic peg sensor is located below the front axle of the bottom of the vehicle; The rear magnetic peg sensor is located below the rear axle of the bottom of the vehicle.

12. An electronic device, comprising: Comprise: A memory; A processor; And A computer program; The computer program is stored in the memory and is configured to be executed by the processor to implement the method of any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, A computer program is stored thereon; the computer program is executed by a processor to implement the method of any one of claims 1-9.

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