CN114735002B - Steering control method and device for vehicle, vehicle and storage medium - Google Patents
Steering control method and device for vehicle, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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Abstract
The embodiment of the invention provides a steering control method and device of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: when a front vehicle running in the same direction in front of a target vehicle is detected, track information formed by a plurality of track points collected for the front vehicle is acquired; taking the track information as the running track information of the target vehicle, pre-aiming the target vehicle according to preset pre-aiming time, and determining pre-aiming point information; and steering the target vehicle according to the pre-aiming point information. According to the embodiment of the invention, the pre-aiming and steering control of the vehicle by collecting the track of the front vehicle are realized, the lane line identification is not needed, the obstacle which cannot be temporarily obtained by the existing sensing device can be effectively avoided, and the driving assisting safety is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a steering control method and apparatus for a vehicle, and a storage medium.
Background
With the development of intelligent automobiles, the auxiliary driving functions of the automobile are increasingly strong, and in the current auxiliary driving of the automobile, the transverse control of the automobile is generally performed according to double-sided/single-sided lane line information identified by a camera, so as to generate a tracking track of the automobile according to the lane line information.
However, in the running process of the vehicle, lane line blurring or blocking often occurs, so that the vehicle cannot accurately extract lane line information; in addition, the vehicle running track generated according to the lane line information cannot truly reflect the road running condition, for example, when an unidentified pothole, a warning sign and other obstacles exist in the middle of the road, the vehicle cannot effectively avoid, and certain potential safety hazards exist.
In addition, in the track planning process in the vehicle auxiliary driving process, the information of the coordinates of the front position points of the vehicle is usually identified for pre-aiming, so that the planned track of the vehicle is generated, and when an obstacle exists in front of the vehicle, the information of the coordinates of the front position points of the lane cannot be identified, and the planned track of the vehicle cannot be accurately acquired at any moment.
Disclosure of Invention
In view of the above problems, a steering control method, apparatus, vehicle, and storage medium of a vehicle have been proposed to overcome or at least partially solve the above problems, including:
a steering control method of a vehicle, the method comprising:
when a front vehicle running in the same direction in front of a target vehicle is detected, track information formed by a plurality of track points collected for the front vehicle is acquired;
taking the track information as the running track information of the target vehicle, pre-aiming the target vehicle according to preset pre-aiming time, and determining pre-aiming point information;
and steering the target vehicle according to the pre-aiming point information.
Optionally, the taking the track information as the driving track information of the target vehicle, so as to pretighten the target vehicle according to a preset pretightening time, and determining pretightening point information includes:
acquiring speed information of the target vehicle;
determining a pre-aiming distance based on the speed information and a preset pre-aiming time;
and determining pretightening point information corresponding to the pretightening distance in the track information.
Optionally, in the track information, determining pretightening point information corresponding to the pretightening distance includes:
determining a pretightening point corresponding to the pretightening distance, and a first track point and a second track point which are adjacent to the pretightening point in the track information;
and determining pre-aiming point information according to the first track point and the second track point.
Optionally, the determining pre-aiming point information according to the first track point and the second track point includes:
determining first coordinate information of the first track point and second coordinate information of the second track point;
and determining target coordinate information of the pretightening point on the track information according to the first coordinate information, the second coordinate information and the pretightening distance.
Optionally, the determining pre-aiming point information according to the first track point and the second track point includes:
determining first curvature information of the first track point and second curvature information of the second track point;
and determining curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
Optionally, the determining pre-aiming point information according to the first track point and the second track point includes:
determining third curvature information of a plurality of track points from a nearest track point of a target vehicle to the pre-aiming point and distance information between adjacent track points in the track information;
determining the course angle change amount between adjacent track points according to the third curvature information and the distance information;
and determining the course angle information of the pre-aiming point according to the course angle change amount between the adjacent track points.
Optionally, after acquiring the track information formed by the plurality of track points acquired for the preceding vehicle, the method further includes:
and in the running process of the target vehicle, when the latest track point of the preceding vehicle is acquired, carrying out coordinate conversion on all track points in the track information according to the current coordinate system of the target vehicle.
A steering control apparatus of a vehicle, the apparatus comprising:
the track information acquisition module is used for acquiring track information formed by a plurality of track points acquired for a front vehicle when the front vehicle running in the same direction exists in front of the target vehicle;
the pre-aiming point information determining module is used for taking the track information as the running track information of the target vehicle so as to pre-aim the target vehicle according to the preset pre-aiming time and determine pre-aiming point information;
and the steering control module is used for steering the target vehicle according to the pre-aiming point information.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements a steering control method for a vehicle as described above.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a steering control method of a vehicle as described above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, when the front vehicle running in the same direction exists in front of the target vehicle, track information formed by a plurality of track points collected for the front vehicle is obtained, the track information is further used as the running track information of the target vehicle, the target vehicle is pre-aimed according to the preset pre-aiming time, and the pre-aiming point information is determined, so that the target vehicle can be subjected to steering control according to the pre-aiming point information, the pre-aiming and steering control for the vehicle by collecting the front vehicle track are realized, the lane line identification is not needed, the obstacle which cannot be temporarily obtained by the current sensing device can be effectively avoided, and the driving assisting safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1a is a schematic view of a driving road of a vehicle according to an embodiment of the present invention;
FIG. 1b is a schematic view of a lane with a lane line being blocked according to an embodiment of the present invention;
FIG. 1c is a schematic view of a lane with an obstacle according to an embodiment of the present invention;
FIG. 1d is a schematic diagram of a track following a front vehicle track according to an embodiment of the present invention;
FIG. 1e is a schematic diagram of a front truck track following system according to an embodiment of the present invention;
FIG. 1f is a flow chart illustrating steps of a method for controlling steering of a vehicle according to an embodiment of the present invention;
FIG. 1g is a schematic diagram of transformation of coordinates of a trace point according to an embodiment of the present invention;
FIG. 1h is a schematic diagram illustrating calculation of curvature of a trajectory point according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of another method for controlling steering of a vehicle according to an embodiment of the present invention;
FIG. 3a is a flow chart illustrating steps of a steering control method for a vehicle according to another embodiment of the present invention;
FIG. 3b is a schematic illustration of pre-aiming interpolation for a vehicle according to an embodiment of the present invention;
FIG. 3c is a schematic diagram illustrating a process for determining pre-aiming information of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a steering control apparatus for a vehicle according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
With the development of intelligent automobiles, the auxiliary driving functions of the automobiles are increasingly strong. As shown in fig. 1a, during the assisted driving of the vehicle, the two-sided/one-sided lane line information (the left lane line and the right lane line in the solid line part in fig. 1 a) is acquired by the camera mounted in front of the vehicle, the driving track of the vehicle (the broken line part in fig. 1 a) is acquired, a point (point X in fig. 1 a) is pre-aimed on the driving track in front of the vehicle, and then the steering control is performed according to the pre-aimed point.
In practical application, the lane lines may be blocked by obstacles, as shown in fig. 1b, vehicles on two sides of the vehicle are blocked by obstacles (such as other vehicles, etc.), so that the vehicle cannot acquire the complete lane line, and thus cannot acquire the driving track.
In another case, there may be unrecognized obstacles on the running track of the vehicle, that is, the generated running track does not avoid the obstacles, and then there may be a safety hazard, as shown in fig. 1c, where unrecognized obstacles (such as warning signs, pothole segments, etc.) are present on the running track.
In addition, when an unidentified obstacle exists in front of the vehicle, the coordinate information of the front position point of the vehicle cannot be identified, and pre-aiming cannot be realized, so that the running track information of the vehicle cannot be obtained at any time accurately.
In order to solve the problem of vehicle auxiliary driving caused by the shielding of the lane lines and the fact that the obstacles are not recognized, the embodiment of the invention provides a vehicle steering control method with wide application scenes. As shown in fig. 1d, when a vehicle travels in front of a road during travel of the vehicle, the vehicle steering control can be performed by collecting a plurality of track points of the front vehicle as the travel track of the vehicle.
As shown in fig. 1e, the front vehicle track extraction and tracking system in the vehicle comprises a front vehicle track point acquisition module, a front vehicle track point tracking module, a pre-aiming point calculation module and a steering control module.
The front vehicle track extraction tracking system is connected with a vehicle camera and a vehicle radar, can acquire acquisition information of the camera and the radar, and is also connected with an electric power steering system (Electric Power Steering, EPS).
In the running process of the vehicle, the camera and the radar of the vehicle acquire surrounding environment information of the vehicle, wherein the method comprises the steps of acquiring and identifying data of the environment in front of the vehicle, acquiring track points of the front vehicle through the camera and/or the radar through a front vehicle track point acquisition module of the vehicle when the running vehicle appears in front of the vehicle, continuously updating the front vehicle track point according to the current position of the vehicle in the track point acquisition process, determining relevant pre-aiming point information through a pre-aiming point calculation module after the track point is updated, further inputting the pre-aiming point information into a steering control module of the vehicle to output relevant vehicle steering control data, and inputting the data related to steering control of the vehicle into an electric power steering system of the vehicle after the steering control data module obtains the data related to steering control of the vehicle to realize steering control of the vehicle.
In the method, the vehicle does not need to identify the lane line on the road, and the path travelled by the front vehicle can avoid a pothole area or a small obstacle in the middle of the road, so that the vehicle can also avoid a dangerous road section when following the track of the front vehicle, and safe driving is realized.
Referring to fig. 1f, a flowchart illustrating steps of a method for controlling steering of a vehicle according to an embodiment of the present invention may specifically include the following steps:
one or more sensing devices may be disposed on the target vehicle, so that the target vehicle may better sense the surrounding environment, where the sensing devices may be a camera device of the vehicle, a radar of the vehicle body, etc., and in the embodiment of the present invention, the sensing device for detecting the track of the preceding vehicle is not limited too much.
When the vehicle detects the surrounding environment through the sensing device, the vehicle in front of the target vehicle can be detected, the vehicle which is positioned in front of the vehicle and runs in the same direction as the target vehicle is defined as a front vehicle, the track of the front vehicle which runs at the moment can be the track of the target vehicle which is to run, and the front vehicle can avoid obstacle to run, so that the track of the front vehicle which is actually run is taken as the running track of the target vehicle, and the safety of the vehicle in the running process can be effectively ensured.
When the target vehicle detects the front vehicle, track points of the front vehicle can be continuously collected in the running process, and track information of the front vehicle can be formed through the collected track points of the plurality of front vehicles.
In an embodiment of the present invention, after acquiring track information configured by a plurality of track points acquired for the preceding vehicle, the method further includes:
and in the running process of the target vehicle, when the latest track point of the preceding vehicle is acquired, carrying out coordinate conversion on all track points in the track information according to the current coordinate system of the target vehicle.
In practical application, in the running process of the target vehicle, the sensing device may continuously collect the latest track point of the target vehicle, but because the target vehicle is continuously moving, the latest track point collected and the track point collected before are not in the same coordinate system in practice, so that coordinate conversion is required to be performed on the track point collected before according to the current coordinate system of the target vehicle, so that all the collected track points are in the current coordinate system of the target vehicle, and steering control of the subsequent vehicle is performed.
In an example, coordinate conversion may be performed on all track points in track information in one calculation period (as shown in fig. 1g, the target object is a track point of a coordinate system to be converted in track information):
(1) Front wheel steering angle information, real-time vehicle speed information, wheelbase of the target vehicle and two data time stamps of the target vehicle are acquired.
(2) And determining pose change information of the target vehicle in one calculation period according to the front wheel steering angle information, the real-time vehicle speed information, the wheelbase and the timestamp information.
(3) And carrying out coordinate conversion on the track points according to the pose change information.
Wherein L is an axle of the target vehicle; v is the current speed of the target vehicle; delta is the front wheel corner; k is a stability factor (parameters calibrated in advance, associated with the vehicle system); t represents a calculation period; (x, y) is the coordinates of the last calculated periodic track point relative to the target vehicle; (x ', y') is the coordinates of the current calculation cycle trajectory point with respect to the target vehicle,
refers to the pose change information of the target vehicle in one calculation cycle.
The transformation matrix can be obtained by substituting the formula (1), the formula (2) and the formula (3) into the formulas (4) and (5), and further, the coordinate conversion of the track point in the track information into the coordinate point under the current coordinate system of the target vehicle can be realized.
In an example, when the target vehicle obtains the latest track point of the preceding vehicle, coordinate information, curvature information, distance information between the track point and the previous track point, and the like of the track point may be determined, and the coordinate information, curvature information, and distance information may be stored in the information structure of the current track point.
In practical application, the curvature information of the latest track point can be calculated through two track points collected before the latest track point, specifically, as shown in fig. 1h, a three-point curvature calculating mode can be used, the curvature of the latest point C is determined according to the first two points A, B, a circle can be formed by A, B, C which is not on a straight line, and the radius of the circle can be calculated to obtain the curvature.
Where k represents the curvature (i.e. curvature information) of the track point, R is the radius of curvature, a, b, c are the side lengths of the triangle A, B, C respectively, and α is the angle of the point a in the triangle ABC.
Substituting the formula (7) and the formula (8) into the formula (6) can obtain the curvature of the C point.
In practical application, after determining the coordinates of the latest track point and performing coordinate system replacement on one track point adjacent to the latest track point, the distance between the two track points can be calculated according to the two coordinate information, as shown in formula 9.
Wherein the coordinates of the point B are (x) b ,y b ) C point coordinatesIs (x) c ,y c )。
When the track points are updated each time, the coordinate information, the curvature information and the distance information between each track point and the last track point are calculated according to the mode, so that the coordinate information, the curvature information and the distance information between the adjacent track points of each track point can be obtained.
In one example, a new track point is stored for each predetermined distance traveled by the target vehicle (the predetermined distance may be calibrated, such as 1 m); the target vehicle can store the points in a cyclic update mode, for example, a preset storage point (the storage point can be calibrated, for example, 50 track points) is set, a new track point of the front vehicle is generated when the target vehicle advances a certain distance, and when the storage quantity reaches the preset storage point, the oldest track point can be discarded when the target vehicle stores a new track point.
In one example, the target vehicle and the lead vehicle may be vehicles that access a vehicle networking system, such that track information of the lead vehicle that most recently passed a road segment in which the target vehicle is currently located may be obtained through the vehicle networking system, with the track information being used to assist the target vehicle in passing the road segment.
102, taking the track information as the running track information of the target vehicle, so as to pretighten the target vehicle according to preset pretightening time and determine pretightening point information;
after the track information of the preceding vehicle is determined, the preceding change track information can be used as the running track information of the target vehicle, namely, the vehicle can automatically drive according to the running track information, in the automatic driving, various parameters required by steering of the target vehicle can be determined by pre-aiming on the track information, specifically, the pre-aiming time of the target vehicle can be determined (the pre-aiming time can be set according to the requirement of a user and is not excessively limited), and the pre-aiming point information can be determined by interpolating the pre-aiming point at the track information according to the pre-aiming time.
And step 103, steering control is carried out on the target vehicle according to the pre-aiming point information.
In an example, the pretighted point information may include coordinate information, curvature information, heading angle information, and the like of the pretighted point.
After the pre-aiming point information is determined, the pre-aiming point information can be converted into steering control parameters (such as steering wheel angle information) related to the target vehicle, and the vehicle can be controlled to steer according to the parameters.
In the embodiment of the invention, when the front vehicle running in the same direction exists in front of the target vehicle, track information formed by a plurality of track points acquired for the front vehicle is acquired, and then the track information is used as the running track information of the target vehicle, so that the target vehicle is pre-aimed according to the preset pre-aiming time, and the pre-aiming point information is determined, so that the target vehicle can be subjected to steering control according to the pre-aiming point information, the pre-aiming and steering control for the vehicle by acquiring the track of the front vehicle are realized, the lane line identification is not needed, the obstacle which cannot be acquired temporarily by the current sensing device can be avoided effectively, and the safety of auxiliary driving is improved.
Referring to fig. 2, a flowchart illustrating steps of another method for controlling steering of a vehicle according to an embodiment of the present invention may specifically include the following steps:
the pre-aiming distance can be an X coordinate of a pre-aiming point of the target vehicle under the current coordinate system, can be changed along with the real-time speed of the target vehicle, and can be calibrated in advance (for example, 0.5S) when the pre-aiming distance is determined, so that after the speed information of the target vehicle is obtained, the pre-aiming distance of the target vehicle can be obtained by multiplying the speed information by the preset pre-aiming time.
After the pretightening distance is determined, interpolation operation can be performed in the track information according to the distance to obtain a pretightening point corresponding to the pretightening distance, so that pretightening point information can be determined.
And 205, steering control is carried out on the target vehicle according to the pre-aiming point information.
In the embodiment of the invention, when the front vehicle running in the same direction exists in front of the target vehicle, track information formed by a plurality of track points acquired for the front vehicle is acquired, so that speed information of the target vehicle is acquired, a pre-aiming distance is determined based on the speed information and the preset pre-aiming time, and pre-aiming point information corresponding to the pre-aiming distance is determined in the track information, so that steering control can be performed on the target vehicle according to the pre-aiming point information, pre-aiming and steering control for the vehicle by acquiring the front vehicle track is realized, lane line identification is not needed, the obstacle which cannot be acquired temporarily by a current sensing device can be avoided effectively, and the safety of auxiliary driving is improved.
Referring to fig. 3a, a flowchart illustrating steps of another method for controlling steering of a vehicle according to an embodiment of the present invention may specifically include the following steps:
after the pretightening distance is determined, interpolation can be performed in the track information according to the pretightening distance, so that pretightening points corresponding to the large pretightening distance can be determined, and two track points, namely a first track point and a second track point, adjacent to each other in front of and behind the pretightening point can be determined.
Specifically, the front-back search can be performed in the track points of the track information according to the pre-aiming distance, so that two adjacent track points are obtained.
And step 305, determining pre-aiming point information according to the first track point and the second track point.
After the first track point and the second track point are determined, pre-aiming point information of the pre-aiming point can be determined according to the first track point and the second track point.
The pre-aiming point information may include coordinate information, curvature information, heading angle information, and the like of the pre-aiming point.
In an embodiment of the present invention, step 305 may include the sub-steps of:
sub-step 3051, determining first coordinate information of the first track point and second coordinate information of the second track point;
in practical application, each track point in the track information can be structured by corresponding information, so that the coordinate information of the first track point and the second track point, namely the first coordinate information and the second coordinate information, can be determined.
And a substep 3052, determining target coordinate information of the pretightening point on the track information according to the first coordinate information, the second coordinate information and the pretightening distance.
After the first coordinate information and the second coordinate information are obtained, the pretightening offset of the pretightening point in the track information, namely the Y coordinate of the pretightening point, can be determined by combining the pretightening distance, and then the target coordinate information of the pretightening point can be obtained by combining the pretightening distance and the pretightening offset.
As shown in fig. 3B, the track information is searched back and forth by the pretightening distance of the B1 point (pretightening point), so as to obtain two track points A1 and C1, and the Y coordinate of the B1 point is calculated by interpolation by the distance in the X-axis direction. Let the A1 point coordinates be (x a1 ,y a1 ) Point B1 coordinates (x b1 ,y b1 ) Is x b1 For pretightening distance, the coordinate of the C1 point is(x c1 ,y c1 )。
y b1 ＝y a1 +p*(y c1 -y a1 ) (11)
Substituting the formula (10) into the formula (11) to calculate the pre-aiming point offset y b1 。
In another embodiment of the present invention, the step 305 further comprises the sub-steps of:
sub-step 3053, determining first curvature information of the first track point and second curvature information of the second track point;
in practical application, each track point in the track information can be structured by corresponding information, so that the curvature information of the first track point and the second track point, namely the first curvature information and the second curvature information, can be determined.
Substep 3054, determining curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
As shown in fig. 3B, the curvature at the position B is calculated by interpolating the distance between the curvatures at the points A1 and C1 in the X direction, namely the curvature at the pre-aiming point, M (filtering parameters can be adjusted according to the sensor error) is an interpolation slope, and the curvature at the pre-aiming point is calculated by substituting the following formula (12), wherein the curvature at the point a is k a1 The curvature of the point B1 is k b1 The curvature at point C1 is k c1 。
k b1 ＝k a1 +M*(k c1 -k a1 ) (12)
In another embodiment of the present invention, the step 305 further comprises the sub-steps of:
sub-step 3055, in the track information, determining third curvature information of a plurality of track points from a nearest track point of the target vehicle to the pre-aiming point and distance information between adjacent track points;
sub-step 3056, determining course angle change amount between adjacent track points according to the third curvature information and the distance information;
sub-step 3057, determining course angle information of the pre-aiming point according to the course angle change amount between the adjacent track points.
As shown in fig. 3B, θ0 is the heading angle of the nearest track point in front of the target vehicle at the current moment, θi is the change of the heading angle between two adjacent track points, θab is the change of the heading angle from A1 point to B1 point, θn is the change of the heading angle from A1 point to C1 point, and k i D is the curvature of the point i Represents the distance from the point to the previous point, R a The radius of curvature at point A1.
θi＝k i *d i (14)
Wherein α is the heading angle of the pre-aiming point B1, and substituting the formula (14) into the formula (13) to obtain the heading angle of the pre-aiming point.
And 306, steering control is carried out on the target vehicle according to the pre-aiming point information.
In the embodiment of the invention, when a front vehicle running in the same direction exists in front of a target vehicle, track information formed by a plurality of track points collected for the front vehicle is acquired, so that speed information of the target vehicle is acquired, a pre-aiming distance is determined based on the speed information and the preset pre-aiming time, the pre-aiming point corresponding to the pre-aiming distance, and a first track point and a second track point adjacent to the pre-aiming point are determined in the track information, and pre-aiming point information is determined according to the first track point and the second track point, so that steering control can be performed on the target vehicle according to the pre-aiming point information, pre-aiming and steering control can be realized through the track points before and after the pre-aiming point, lane line recognition is not needed, the obstacle which cannot be acquired temporarily by a sensing device can be avoided effectively, and the safety of auxiliary driving is improved.
An embodiment of the invention is illustrated below in conjunction with fig. 3 c:
(1) Whether or not there is a front car
During the running of the target vehicle, detecting an obstacle in the surrounding environment according to a camera of the target vehicle or a sensor such as a radar and confirming the type of the obstacle, executing the step (2) when the front vehicle running in the same direction in front of the target vehicle is detected, and ending the process when the front vehicle meeting the preset condition is not detected.
(2) X and Y coordinates storage of track point of front vehicle
When a preceding vehicle exists, the track point of the preceding vehicle can be in Egypt, and the coordinate information of the preceding vehicle track point can be stored.
(3) Updating after conversion of X and Y coordinate systems of track points of front vehicle
When a plurality of front vehicle track points are acquired, in the moving process of the target vehicle, the track points acquired in history are different from the coordinate system of the track points acquired by the target vehicle at the current moment, so that the track points of the front vehicle can be transformed in a coordinate system to update all the track points of the front vehicle, all the track points are track points under the coordinate system where the target vehicle at the current moment is positioned, and the updated coordinate information is stored in the information structure of the track points.
(4) Calculation and update of curvature of track point of front vehicle
After updating the track points, determining the curvature of the latest track point according to a circle formed by three points which are not on the same straight line, and storing the calculated curvature into the information structure of the track point.
(5) Calculation of distance from track point of preceding vehicle to last point
After the coordinates of the track points, the distance (i.e. distance information) from the latest track point to the last track point can be calculated through the coordinate information, and the calculated distance is stored in the information structure of the associated track points.
(6) Pre-aiming point offset calculation
After the track point coordinates are updated, preset aiming time can be set, and the preset aiming distance (namely, the X coordinate of the preset aiming point) is determined according to the current speed of the target vehicle, and the preset aiming point interpolation is carried out in the track of the front vehicle, so that the preset aiming point offset (namely, the Y coordinate of the preset aiming point) is obtained.
(7) Preview point course angle calculation
Starting from the current position of the target vehicle, determining the curvature of each point and the distance between two adjacent points from the nearest track point to the pre-aiming point, and accumulating the course angle through the curvature and the distance to obtain the course angle information of the pre-aiming point.
(7) Calculation of curvature of pre-aiming point
And calculating the curvature of the pre-aiming point according to the curvatures of the front track point and the rear track point adjacent to the pre-aiming point.
It should be noted that, for simplicity of description, the method embodiments are depicted as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 4, a schematic structural diagram of a steering control device for a vehicle according to an embodiment of the present invention may specifically include the following modules:
a track information acquisition module 401, configured to acquire track information configured by a plurality of track points acquired for a preceding vehicle when the preceding vehicle running in the same direction in front of a target vehicle is detected;
a pre-aiming point information determining module 402, configured to take the track information as running track information of the target vehicle, so as to pre-aim the target vehicle according to a preset pre-aiming time, and determine pre-aiming point information;
and the steering control module 403 is configured to perform steering control on the target vehicle according to the pre-aiming point information.
In an embodiment of the present invention, the pre-aiming point information determining module 402 may include:
a speed information determination submodule for acquiring speed information of the target vehicle;
a pre-aiming distance determining sub-module, configured to determine a pre-aiming distance based on the speed information and the preset pre-aiming time;
and the pretightening point information determining submodule is used for determining pretightening point information corresponding to the pretightening distance in the track information.
In an embodiment of the present invention, the pre-aiming point information determining sub-module may include:
a track point determining unit, configured to determine, in the track information, a pretightening point corresponding to the pretightening distance, and a first track point and a second track point adjacent to the pretightening point;
and the pretightening point information determining unit is used for determining pretightening point information according to the first track point and the second track point.
In an embodiment of the present invention, the pretightening-point information determining unit may include:
a track point coordinate information determining subunit, configured to determine first coordinate information of the first track point and second coordinate information of the second track point;
and the pre-aiming point coordinate information determining subunit is used for determining target coordinate information of the pre-aiming point on the track information according to the first coordinate information, the second coordinate information and the pre-aiming distance.
In an embodiment of the present invention, the pretightening-point information determining unit may include:
a track point curvature determination subunit, configured to determine first curvature information of the first track point and second curvature information of the second track point;
and the pretightening point curvature determination subunit is used for determining curvature information of the pretightening point according to the first curvature information and the second curvature information.
In an embodiment of the present invention, the pretightening-point information determining unit may include:
a curvature and distance determining subunit, configured to determine, from among the track information, third curvature information of a plurality of track points from a track point closest to the target vehicle to the pre-aiming point, and distance information between adjacent track points;
a course angle change amount determination sub-unit for determining a course angle change amount between adjacent track points according to the third curvature information and the distance information;
and the course angle information determining subunit is used for determining course angle information of the pre-aiming point according to the course angle change amount between the adjacent track points.
In an embodiment of the present invention, the apparatus may further include:
and the coordinate conversion module is used for carrying out coordinate conversion on all track points in the track information according to the current coordinate system of the target vehicle when the latest track point of the preceding vehicle is acquired in the running process of the target vehicle.
In the embodiment of the invention, when the front vehicle running in the same direction exists in front of the target vehicle, track information formed by a plurality of track points acquired for the front vehicle is acquired, and then the track information is used as the running track information of the target vehicle, so that the target vehicle is pre-aimed according to the preset pre-aiming time, and the pre-aiming point information is determined, so that the target vehicle can be subjected to steering control according to the pre-aiming point information, the pre-aiming and steering control for the vehicle by acquiring the track of the front vehicle are realized, the lane line identification is not needed, the obstacle which cannot be acquired temporarily by the current sensing device can be avoided effectively, and the safety of auxiliary driving is improved.
An embodiment of the present invention also provides a vehicle that may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program implementing the steps of the steering control method of the vehicle as above when executed by the processor.
An embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the steering control method of the vehicle as above.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may 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 instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may 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 flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has described in detail the methods, apparatus, vehicles and storage media for controlling steering of a vehicle, and specific examples have been presented herein to illustrate the principles and embodiments of the present invention, and the above examples are provided only to assist in understanding the methods and core concepts of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (9)
1. A steering control method of a vehicle, characterized by comprising:
when a front vehicle running in the same direction in front of a target vehicle is detected, track information formed by a plurality of track points collected for the front vehicle is acquired;
taking the track information as the running track information of the target vehicle, pre-aiming the target vehicle according to preset pre-aiming time, and determining pre-aiming point information interpolated in the track information;
steering control is carried out on the target vehicle according to the pre-aiming point information;
the step of taking the track information as the running track information of the target vehicle to pretighten the target vehicle according to preset pretightening time and determining pretightening point information interpolated in the track information comprises the following steps:
acquiring speed information of the target vehicle;
determining a pre-aiming distance based on the speed information and a preset pre-aiming time;
and determining pretightening point information corresponding to the pretightening distance in the track information.
2. The method according to claim 1, wherein determining pretightening point information corresponding to the pretightening distance in the trajectory information includes:
determining a pretightening point corresponding to the pretightening distance, and a first track point and a second track point which are adjacent to the pretightening point in the track information;
and determining pre-aiming point information according to the first track point and the second track point.
3. The method of claim 2, wherein determining pre-aiming point information from the first and second trajectory points comprises:
determining first coordinate information of the first track point and second coordinate information of the second track point;
and determining target coordinate information of the pretightening point on the track information according to the first coordinate information, the second coordinate information and the pretightening distance.
4. A method according to claim 2 or 3, wherein said determining pre-aiming point information from said first and second trajectory points comprises:
determining first curvature information of the first track point and second curvature information of the second track point;
and determining curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
5. The method of claim 4, wherein determining pre-aiming point information from the first and second trajectory points comprises:
determining third curvature information of a plurality of track points from a nearest track point of a target vehicle to the pre-aiming point and distance information between adjacent track points in the track information;
determining the course angle change amount between adjacent track points according to the third curvature information and the distance information;
and determining the course angle information of the pre-aiming point according to the course angle change amount between the adjacent track points.
6. The method according to claim 1, further comprising, after acquiring the trajectory information constituted by the plurality of trajectory points acquired for the preceding vehicle:
and in the running process of the target vehicle, when the latest track point of the preceding vehicle is acquired, carrying out coordinate conversion on all track points in the track information according to the current coordinate system of the target vehicle.
7. A steering control apparatus of a vehicle, characterized by comprising:
the track information acquisition module is used for acquiring track information formed by a plurality of track points acquired for a front vehicle when the front vehicle running in the same direction exists in front of the target vehicle;
the pre-aiming point information determining module is used for taking the track information as the running track information of the target vehicle so as to pre-aim the target vehicle according to the preset pre-aiming time and determine pre-aiming point information interpolated in the track information;
the steering control module is used for steering the target vehicle according to the pre-aiming point information;
wherein, the pretightening point information determining module includes:
a speed information determination submodule for acquiring speed information of the target vehicle;
a pre-aiming distance determining sub-module, configured to determine a pre-aiming distance based on the speed information and the preset pre-aiming time;
and the pretightening point information determining submodule is used for determining pretightening point information corresponding to the pretightening distance in the track information.
8. A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor implementing a steering control method of a vehicle as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores thereon a computer program which, when executed by a processor, implements the steering control method of the vehicle according to any one of claims 1 to 6.
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| CN202210258907.2A CN114735002B (en) | 2022-03-16 | 2022-03-16 | Steering control method and device for vehicle, vehicle and storage medium |
| PCT/CN2022/119435 WO2023173713A1 (en) | 2022-03-16 | 2022-09-16 | Vehicle steering control method and apparatus, vehicle, and storage medium |
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| CN202210258907.2A CN114735002B (en) | 2022-03-16 | 2022-03-16 | Steering control method and device for vehicle, vehicle and storage medium |
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| CN114735002B (en) * | 2022-03-16 | 2023-05-16 | 广州小鹏自动驾驶科技有限公司 | Steering control method and device for vehicle, vehicle and storage medium |
| CN115092184A (en) * | 2022-07-20 | 2022-09-23 | 江苏徐工工程机械研究院有限公司 | Vehicle control method and device and vehicle |
| CN115683116B (en) * | 2022-11-02 | 2024-11-01 | 联创汽车电子有限公司 | Front vehicle track generation method and module |
| CN115973162B (en) * | 2023-02-14 | 2024-05-31 | 吉咖智能机器人有限公司 | Method, device, electronic device and medium for determining vehicle driving track |
| CN116931574B (en) * | 2023-07-24 | 2024-06-21 | 国广顺能(上海)能源科技有限公司 | Multi-mode tracking method for car body, storage medium and electronic equipment |
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| CN102358287A (en) * | 2011-09-05 | 2012-02-22 | 北京航空航天大学 | Trajectory tracking control method used for automatic driving robot of vehicle |
| KR102540842B1 (en) * | 2018-12-17 | 2023-06-08 | 현대자동차주식회사 | Vehicle, and control method for the same |
| CN110316193B (en) * | 2019-07-02 | 2020-07-17 | 华人运通(上海)自动驾驶科技有限公司 | Preview distance setting method, device, equipment and computer readable storage medium |
| WO2021102957A1 (en) * | 2019-11-29 | 2021-06-03 | 驭势（上海）汽车科技有限公司 | Lane keeping method, vehicle-mounted device, and storage medium |
| CN113353103A (en) * | 2021-07-27 | 2021-09-07 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for controlling speed of curve vehicle |
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