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CN114735002A - 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 PDF

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Publication number
CN114735002A
CN114735002A CN202210258907.2A CN202210258907A CN114735002A CN 114735002 A CN114735002 A CN 114735002A CN 202210258907 A CN202210258907 A CN 202210258907A CN 114735002 A CN114735002 A CN 114735002A
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China
Prior art keywords
information
track
point
vehicle
aiming
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CN202210258907.2A
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Chinese (zh)
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CN114735002B (en
Inventor
康代轲
李力耘
陈建兴
郭笑非
肖智冲
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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Priority to CN202210258907.2A priority Critical patent/CN114735002B/en
Publication of CN114735002A publication Critical patent/CN114735002A/en
Priority to PCT/CN2022/119435 priority patent/WO2023173713A1/en
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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
    • 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
    • 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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

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 is detected in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the front vehicle; taking the track information as the running track information of the target vehicle, and pre-aiming the target vehicle according to preset pre-aiming time to determine pre-aiming point information; and steering control is carried out on the target vehicle according to the preview point information. According to the embodiment of the invention, the aim and steering control of the vehicle are realized by acquiring the front track without depending on lane line identification, and the obstacles which cannot be temporarily acquired by the current sensing device can be effectively avoided, so that the driving assisting safety is improved.

Description

Steering control method and device for vehicle, vehicle and storage medium
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling steering of a vehicle, and a storage medium.
Background
With the development of intelligent automobiles, the driving assistance function of vehicles is increasingly powerful, and in the current driving assistance of vehicles, the transverse control of the vehicles is usually based on the information of the lane lines on two sides/one side identified by a camera, so as to generate the tracking tracks of the vehicles according to the information of the lane lines.
However, in the driving process of the vehicle, the lane line is often blurred or shielded, so that the vehicle cannot accurately extract the lane line information; in addition, the vehicle driving track generated according to the lane line information cannot truly reflect the road driving condition, for example, when an unidentified obstacle such as a pothole or a warning board exists in the middle of the road, the vehicle cannot be effectively avoided, and certain potential safety hazards exist.
In addition, in the trajectory planning process in the vehicle driving assistance process, the planned trajectory of the vehicle is generated by performing pre-aiming through information identifying coordinates of a position point in front of the vehicle, and when an obstacle exists in front of the vehicle, the information identifying the coordinates of the position point in front of the lane may not be identified, and thus the planned trajectory of the vehicle cannot be acquired constantly and accurately.
Disclosure of Invention
In view of the above problems, it is proposed to provide a steering control method, apparatus, vehicle and storage medium for a vehicle that 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 is detected in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the front vehicle;
taking the track information as the running track information of the target vehicle, and pre-aiming the target vehicle according to preset pre-aiming time to determine pre-aiming point information;
and steering control is carried out on the target vehicle according to the preview point information.
Optionally, the taking the track information as the traveling track information of the target vehicle to pre-aim the target vehicle according to a preset pre-aiming time to determine pre-aiming point information includes:
acquiring speed information of the target vehicle;
determining a pre-aiming distance based on the speed information and preset pre-aiming time;
and in the track information, determining the preview point information corresponding to the preview distance.
Optionally, the determining, in the track information, preview point information corresponding to the preview distance includes:
in the track information, a pre-aiming point corresponding to the pre-aiming distance, and a first track point and a second track point which are adjacent to the pre-aiming point are determined;
and determining the pre-aiming point information according to the first track point and the second track point.
Optionally, the determining the pre-pointing 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 pre-aiming point on the track information according to the first coordinate information, the second coordinate information and the pre-aiming distance.
Optionally, the determining the pre-pointing 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 the curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
Optionally, the determining the pre-pointing 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 the nearest track point of the target vehicle to the pre-aiming point and distance information between adjacent track points in the track information;
determining course angle change quantity between adjacent track points according to the third curvature information and the distance information;
and determining course angle information of the pre-aiming point according to the course angle change quantity between the adjacent track points.
Optionally, after obtaining track information constituted by a plurality of track points collected for the leading vehicle, the method further includes:
and in the running process of the target vehicle, when the latest track point of the vehicle in front is acquired, performing 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 aiming at a front vehicle when the front vehicle running in the same direction is detected to exist in front of a 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 preset pre-aiming time and determine the pre-aiming point information;
and the steering control module is used for steering control over the target vehicle according to the preview point information.
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 described above.
A computer-readable storage medium, on which a computer program is stored 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 a preceding vehicle which runs in the same direction is detected in front of a target vehicle, track information consisting of a plurality of track points acquired by the preceding 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, and therefore, the purpose that the preceding vehicle track is acquired for pre-aiming and steering control of the vehicle is realized, the obstacle which cannot be acquired temporarily by a current sensing device can be effectively avoided, and the driving assisting safety is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
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 covered lane line 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 method for tracking a leading vehicle trajectory according to an embodiment of the present invention;
FIG. 1e is a schematic diagram of a front vehicle tracking system according to an embodiment of the present invention;
FIG. 1f is a flowchart illustrating steps of a method for controlling a steering system of a vehicle according to an embodiment of the present invention;
fig. 1g is a schematic diagram of coordinate transformation of track points according to an embodiment of the present invention;
fig. 1h is a schematic diagram of track point curvature calculation 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 flowchart illustrating steps of a method for controlling steering of a vehicle according to an embodiment of the present invention;
FIG. 3b is a schematic diagram illustrating interpolation of preview points of a vehicle according to an embodiment of the present invention;
FIG. 3c is a schematic diagram of a process for determining preview point information of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle steering control device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the development of intelligent automobiles, the driving assistance function of the automobile is increasingly powerful. As shown in fig. 1a, during the driving assistance of the vehicle, the camera installed in front of the vehicle acquires information on two-sided/one-sided lane lines (a left lane line and a right lane line in a solid line in fig. 1 a), acquires a driving track of the vehicle (a dotted line in fig. 1 a), and performs steering control based on a point (point X in fig. 1 a) pre-aimed at the driving track in front of the vehicle.
In practical application, the lane line may be shielded by an obstacle, as shown in fig. 1b, vehicles on both sides of the vehicle are shielded by obstacles (such as other vehicles) so that the vehicle cannot acquire a complete lane line and cannot acquire a driving track.
In another case, there may be an unrecognized obstacle on the driving track of the vehicle, that is, the generated driving track does not avoid the obstacle, and there is a safety hazard, as shown in fig. 1c, that is, an unrecognized obstacle (e.g., a warning board, a pothole, etc.) exists on the driving track.
In addition, when an unidentified obstacle exists in front of the vehicle, the coordinate information of the position point in front of the vehicle cannot be identified, and the preview cannot be realized, so that the traveling track information of the vehicle cannot be obtained accurately at any time.
In order to solve the problem of vehicle auxiliary driving caused by lane line shielding and unidentified obstacles, the embodiment of the invention provides a vehicle steering control method with a wide application scene. As shown in fig. 1d, during the running of the vehicle, when the vehicle runs ahead of the vehicle running on the road, the vehicle steering control can be performed by collecting a plurality of track points of the front vehicle as the running track of the vehicle.
As shown in fig. 1e, the system for extracting and tracking a front vehicle trajectory in a vehicle includes a front vehicle trajectory point acquisition module, a front vehicle trajectory point tracking module, a pre-aiming point calculation module, and a steering control module.
The front track extracting and tracking system is connected with a vehicle camera and a vehicle radar, can acquire the acquisition information of the camera and the radar, and is also connected with an Electric Power Steering (EPS) system.
In the running process of the vehicle, the camera and the radar of the vehicle collect the surrounding environment information of the vehicle, wherein, the data collection and identification are carried out on the environment in front of the vehicle, when the running vehicle appears in front of the vehicle, the track points of the front vehicle can be collected through a front vehicle track point collecting module of the vehicle through a camera and/or a radar, and in the process of collecting the track points, continuously updating the front vehicle track point according to the current position of the vehicle in a front vehicle track point updating module, determining related pre-aiming point information through a pre-aiming point calculating module after the track point is updated, furthermore, the information of the preview point can be input into a steering control module of the vehicle to output the related vehicle steering control data, after the steering control data module obtains the data related to the vehicle steering control, the input signal is input into an electric power steering system of the vehicle to realize the steering control of the vehicle.
In the method, the vehicle does not need to identify the lane line on the road, and the running path of the front vehicle can avoid hollow sections or small obstacles in the middle of the road, so that the vehicle can avoid dangerous sections when following the track of the front vehicle, and safe driving is realized.
Referring to fig. 1f, a flowchart illustrating steps of a steering control method for a vehicle according to an embodiment of the present invention is shown, and may specifically include the following steps:
step 101, when detecting that a front vehicle running in the same direction exists in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the front vehicle;
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, and the like, and in the embodiment of the present invention, the sensing device for detecting the track of the leading 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 running track of the front vehicle can be the running track of the target vehicle, and the front vehicle can avoid obstacles to run, so that the actual running track of the front vehicle is used as the running track of the target vehicle, and the safety of the running process of the vehicle can be effectively ensured.
When the target vehicle detects the front vehicle, the track points of the front vehicle can be continuously collected in the driving process, and the track points of the collected front vehicles can form track information of the front vehicle.
In the embodiment of the present invention, after obtaining track information configured by a plurality of track points collected for the preceding vehicle, the method further includes:
and in the running process of the target vehicle, when the latest track point of the vehicle in front is acquired, performing 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 process of running of the target vehicle, the sensing equipment can continuously acquire the latest track point of the target vehicle, but the target vehicle continuously moves, so that the latest acquired track point and the previously acquired track point are not actually in the same coordinate system, and therefore the coordinate conversion of the previously acquired track point is required according to the current coordinate system of the target vehicle, and all the acquired track points are all in the current coordinate system of the target vehicle, so that the steering control of a subsequent vehicle is performed.
In an example, coordinate transformation may be performed on all track points in the track information in one calculation period in the following manner (as shown in fig. 1g, a target object is a track point of a coordinate system to be transformed in the track information):
(1) and acquiring front wheel steering angle information, real-time vehicle speed information, the wheel base of the target vehicle and a double-data timestamp of the target vehicle.
(2) And determining pose change information of the target vehicle in a calculation period according to the front wheel steering angle information, the real-time vehicle speed information, the wheel base and the timestamp information.
(3) And carrying out coordinate transformation on the track points according to the pose change information.
Figure BDA0003549900520000071
Figure BDA0003549900520000072
Figure BDA0003549900520000073
Figure BDA0003549900520000074
Figure BDA0003549900520000075
Wherein L is an axle of the target vehicle; v is the current vehicle speed of the target vehicle; delta is a front wheel corner; k is a stability factor (a parameter calibrated in advance, associated with a vehicle system); t represents one calculation cycle; (x, y) is the coordinates of the trace point of the last calculation period relative to the target vehicle; (x ', y') are the coordinates of the current computed periodic track points relative to the target vehicle,
Figure BDA0003549900520000076
the pose change information of the target vehicle in a calculation period is obtained.
The formula (1), the formula (2) and the formula (3) are substituted into the formula (4) and the formula (5), so that a transformation matrix can be obtained, and further, the coordinate of the track point in the track information can be converted into a coordinate point in the current coordinate system of the target vehicle.
In an example, when the target vehicle acquires the latest track point of the preceding vehicle, the coordinate information, the curvature information, the distance information between the track point and the previous track point, and the like of the track point can be determined, and the coordinate information, the curvature information, and the distance information can 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 acquired before the latest track point, specifically, as shown in fig. 1h, the curvature of the latest point C can be determined according to the first two points A, B by using a three-point curvature calculation mode, a circle can be formed by any A, B, C which is not on a straight line, and the curvature can be obtained by calculating the radius of the circle.
Figure BDA0003549900520000081
Figure BDA0003549900520000082
Figure BDA0003549900520000083
Wherein k represents the curvature (i.e. curvature information) of the trace point, R is the curvature radius, a, b, c are the side lengths of A, B, C composition triangles respectively, and α is the angle of point a in triangle ABC.
The C point curvature can be obtained by substituting the formula (7) and the formula (8) into the formula (6).
In practical application, after the coordinate of the latest track point is determined and the coordinate system of the track point adjacent to the latest track point is exchanged, the distance between the two track points can be calculated according to the two coordinate information, as shown in formula 9.
Figure BDA0003549900520000084
Wherein the coordinate of the point B is (x)b,yb) And the coordinate of the point C is (x)c,yc)。
When the track points are updated every time, the coordinate information and the curvature information of each track point and the distance information between the track points are calculated according to the mode, so that the coordinate information and the curvature information of each track point and the distance information between adjacent track points can be obtained.
In one example, a new trajectory point is stored every time the target vehicle travels a preset distance (the preset distance can be calibrated, such as 1 m); the target vehicle can adopt the mode counter point of circulation renewal to save, if set up predetermine the memory point count (the memory point count can be markd, like 50 track points), will produce new preceding car track point when target vehicle every advances a certain distance, when the memory number reaches predetermine the memory point count, when target vehicle every saves a new track point, can abandon oldest point.
In one example, the target vehicle and the preceding vehicle may be vehicles accessing the internet of vehicles system, so that the track information of the preceding vehicle which has recently passed through the road section where the target vehicle is currently located may be acquired by the internet of vehicles system, and the target vehicle is assisted to pass through the road section by using the track information.
Step 102, taking the track information as running track information of the target vehicle, and pre-aiming the target vehicle according to preset pre-aiming time to determine pre-aiming point information;
after the track information of the vehicle ahead is determined, the ahead-changed track information can be used as the running track information of the target vehicle, namely the vehicle can be automatically driven according to the running track information, in the automatic driving, various parameters required by the 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 requirements of a user, and the pre-aiming time is not limited too much), and then the pre-aiming point can be interpolated in the track information according to the pre-aiming time to determine the pre-aiming point information.
And 103, steering the target vehicle according to the preview point information.
In an example, the preview point information may include coordinate information of the preview point, curvature information, heading angle information, and the like.
After the preview point information is determined, the preview 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 steering control parameters.
In the embodiment of the invention, when a preceding vehicle which runs in the same direction in front of a target vehicle is detected, track information consisting of a plurality of track points acquired by the preceding vehicle is acquired, the track information is further used as the running track information of the target vehicle, the target vehicle is pre-aimed according to preset pre-aiming time, and 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 purpose that the preceding vehicle track is acquired for pre-aiming and steering control of the vehicle is realized, the aim that the current sensing device cannot temporarily acquire the obstacle is not required to be relied on track line identification, and the driving assisting safety is improved.
Referring to fig. 2, a flowchart illustrating steps of another steering control method for a vehicle according to an embodiment of the present invention is shown, which may specifically include the following steps:
step 201, when detecting that a front vehicle running in the same direction exists in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the front vehicle;
step 202, acquiring speed information of the target vehicle;
step 203, determining a pre-aiming distance based on the speed information and a preset pre-aiming time;
the pre-aiming distance can be an X coordinate of a pre-aiming point of the target vehicle in a current coordinate system, can change along with the real-time speed of the target vehicle, and can be used for calibrating the preset pre-aiming time (such as 0.5S) of the target vehicle in advance when the pre-aiming distance is determined, so that the pre-aiming distance of the target vehicle can be obtained by multiplying the speed information by the preset pre-aiming time after the speed information of the target vehicle is obtained.
And 204, determining the preview point information corresponding to the preview distance in the track information.
After the pre-aiming distance is determined, interpolation operation can be performed in the track information according to the distance to obtain a pre-aiming point corresponding to the pre-aiming distance, so that the information of the pre-aiming point can be determined.
And step 205, steering control is carried out on the target vehicle according to the pre-aiming point information.
In the embodiment of the invention, when a preceding vehicle traveling in the same direction is detected in front of a target vehicle, track information consisting of a plurality of track points acquired by the preceding vehicle is acquired, so that the 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 the target vehicle can be steered and controlled according to the pre-aiming point information, the aim of pre-aiming and steering control of the vehicle by acquiring the track of the preceding vehicle is realized, the dependence on lane line identification is not needed, obstacles which cannot be acquired temporarily by a current sensing device can be effectively avoided, and the driving assisting safety is improved.
Referring to fig. 3a, a flowchart illustrating steps of another steering control method for a vehicle according to an embodiment of the present invention is shown, and specifically may include the following steps:
step 301, when detecting that a preceding vehicle running in the same direction exists in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the preceding vehicle;
step 302, acquiring speed information of the target vehicle;
step 303, determining a pre-aiming distance based on the speed information and the preset pre-aiming time;
step 304, in the track information, determining a 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;
after the pre-aiming distance is determined, interpolation can be carried out according to the pre-aiming distance in the track information, so that a pre-aiming point corresponding to the large pre-aiming distance can be determined, and two track points which are adjacent to each other before and after the pre-aiming point, namely a first track point and a second track point, can be determined.
Specifically, the two adjacent track points can be obtained by searching back and forth in the track points of the track information according to the pre-aiming distance.
And 305, determining the 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, the pre-aiming point information of the pre-aiming point can be determined according to the first track point and the second track point.
The preview point information may include coordinate information, curvature information, heading angle information, and the like of the preview point.
In an embodiment of the present invention, step 305 may include the following sub-steps:
the substep 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 defined by the corresponding information structure, 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 pre-aiming point on the trajectory information according to the first coordinate information, the second coordinate information and the pre-aiming distance.
After the first coordinate information and the second coordinate information are obtained, the pre-aiming offset of the pre-aiming point in the track information, namely the Y coordinate of the pre-aiming point, can be determined by combining the pre-aiming distance and the pre-aiming offset, and then the target coordinate information of the pre-aiming point can be obtained by combining the pre-aiming distance and the pre-aiming offset.
As shown in fig. 3B, the track information is searched back and forth by the pre-address distance of B1 point (pre-address point), two track points a1 and C1 are obtained, and the Y coordinate of B1 point is interpolated by the distance in the X axis direction. Let the coordinate of point A1 be (x)a1,ya1) B1 Point coordinate (x)b1,yb1) Is and xb1For the pre-aiming distance, the coordinate of the point C1 is (x)c1,yc1)。
Figure BDA0003549900520000111
yb1＝ya1+p*(yc1-ya1) Formula (11)
The formula (10) is substituted for the formula (11) to calculate the pre-aiming point offset yb1。
In another embodiment of the present invention, the step 305 further comprises the following sub-steps:
a substep 3053 of 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 defined by the corresponding information structure, 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.
A substep 3054, determining curvature information of the pre-pointing point according to the first curvature information and the second curvature information.
As shown in fig. 3B, the curvature at the point B, i.e. the curvature at the pre-aiming point, is calculated by interpolating the distance between the curvatures at the points a1 and C1 in the X direction, M (a filter parameter, which can be adjusted according to a sensor error) is an interpolation slope, and the curvature at the pre-aiming point can be calculated by substituting the following formula (12), wherein the curvature at the point a is ka1The curvature of point B1 is kb1The curvature at point C1 is kc1。
kb1＝ka1+M*(kc1-ka1) Formula (12)
In another embodiment of the present invention, the step 305 further comprises the following sub-steps:
a substep 3055, determining third curvature information of a plurality of track points from the nearest track point of the target vehicle to the pre-aiming point and distance information between adjacent track points in the track information;
a substep 3056, determining a course angle change amount between adjacent track points according to the third curvature information and the distance information;
and a substep 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, θ 0 is the heading angle of the nearest track point in front of the target vehicle at the current moment, θ i is the heading angle change between two adjacent track points, θ ab is the heading angle change from the point A1 to the point B1, θ n is the heading angle change from the point A1 to the point C1, and k is the heading angle change from the point A1 to the point C1iIs the curvature of the point, diRepresents the distance from the point to the previous point, RaIs the radius of curvature at point a 1.
Figure BDA0003549900520000121
θi＝ki*diFormula (14)
Wherein alpha is the heading angle of the preview point B1, and the heading angle of the preview point is obtained by substituting formula (14) for formula (13).
And step 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 is detected in front of a target vehicle, track information consisting of a plurality of track points acquired by the front vehicle is acquired, so that the 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, a pre-aiming point corresponding to the pre-aiming distance, a first track point and a second track point adjacent to the pre-aiming point are determined in the track information, so that the pre-aiming point information can be determined according to the first track point and the second track point, the target vehicle can be subjected to steering control according to the pre-aiming point information, pre-aiming and steering control can be realized through the track points in front of and behind the pre-aiming point, lane line identification is not needed, and obstacles which cannot be acquired temporarily by a current sensing device can be effectively avoided, the safety of the auxiliary driving is improved.
An embodiment of the invention is illustrated below with reference to fig. 3 c:
(1) whether there is a front vehicle
And (3) detecting obstacles in the surrounding environment and confirming the types of the obstacles according to a sensor such as a camera or a radar of the target vehicle during the running process of the target vehicle, executing the step (2) when a preceding vehicle running in the same direction in front of the target vehicle is detected, and ending the process when the preceding vehicle meeting the preset condition is not detected.
(2) Front vehicle track point X, Y coordinate storage
When the front vehicle exists, the track points of the front vehicle can be Egypt, and the coordinate information of the track points of the front vehicle is stored.
(3) Updating the X and Y coordinate system of the front vehicle track point after conversion
When gathering a plurality of preceding car track points, at the target vehicle removal in-process, the track point that historical collection was different with the coordinate system of the track point that the target vehicle gathered at the present moment to can carry out coordinate system conversion in order to update all preceding car track points to preceding car track point, make all track points be track point under the coordinate system that the target vehicle of present moment was located, coordinate information storage after will updating is in the information structure of track point.
(4) Front vehicle track point curvature calculation update
After track points are updated, the curvature of the latest track point is determined according to a circle formed by three points which are not on the same straight line, and the calculated curvature is stored in an information structure of the track point.
(5) Calculating the distance from the track point of the front vehicle to the previous point
After the coordinates of the track points, the distance from the latest track point to the last track point (i.e. distance information) can be calculated through the coordinate information, and the calculated distance is stored in the information structure of the associated track point.
(6) Preview point offset calculation
After the track point coordinates are updated, preset pre-aiming time can be set, the pre-aiming distance (namely the X coordinates of the pre-aiming points) is determined according to the current speed of the target vehicle, and pre-aiming point interpolation is carried out in the track of the front vehicle to obtain the offset of the pre-aiming points (namely the Y coordinates of the pre-aiming points).
(7) Heading angle calculation for a preview point
And determining the curvature of each point and the distance between two adjacent points from the current position of the target vehicle to the pre-aiming point from the nearest track point, and accumulating the course angle through the curvature and the distance to obtain the course angle information of the pre-aiming point.
(7) Preview point curvature calculation
And calculating the curvature of the preview point according to the curvatures of the front track point and the rear track point adjacent to the preview point.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art should understand that the embodiments are not limited by the described order of acts, as some steps can be performed in other orders or simultaneously according to the embodiments. Further, those of skill in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the embodiments of the invention.
Referring to fig. 4, a schematic structural diagram of a steering control device of a vehicle according to an embodiment of the present invention is shown, and may specifically include the following modules:
the track information acquiring module 401 is configured to acquire track information formed by a plurality of track points acquired for a preceding vehicle when it is detected that the preceding vehicle traveling in the same direction exists in front of a target vehicle;
a preview point information determining module 402, configured to use the track information as travel track information of the target vehicle, to perform preview on the target vehicle according to preset preview time, and determine preview point information;
and a steering control module 403, configured to perform steering control on the target vehicle according to the preview point information.
In an embodiment of the present invention, the preview point information determining module 402 may include:
the speed information determination submodule is used for acquiring the speed information of the target vehicle;
the pre-aiming distance determining submodule is used for determining a pre-aiming distance based on the speed information and the preset pre-aiming time;
and the preview point information determining submodule is used for determining preview point information corresponding to the preview distance in the track information.
In an embodiment of the present invention, the preview point information determining sub-module may include:
the track point determining unit is used for determining a pre-aiming point corresponding to the pre-aiming distance, and a first track point and a second track point which are adjacent to the pre-aiming point in the track information;
and the pre-aiming point information determining unit is used for determining the pre-aiming point information according to the first track point and the second track point.
In an embodiment of the present invention, the preview point information determining unit may include:
the track point coordinate information determining subunit is used for determining 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 preview point information determining unit may include:
the track point curvature determining subunit is used for determining first curvature information of the first track point and second curvature information of the second track point;
and the pre-aiming point curvature determining subunit is used for determining the curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
In an embodiment of the present invention, the preview point information determining unit may include:
a curvature and distance determining subunit, configured to determine, in the trajectory information, third curvature information of a plurality of trajectory points from a closest trajectory point of the target vehicle to the pre-pointing point, and distance information between adjacent trajectory points;
a course angle change amount determining subunit, configured to determine 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 the 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 performing 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 front vehicle is acquired in the running process of the target vehicle.
In the embodiment of the invention, when a preceding vehicle which runs in the same direction is detected in front of a target vehicle, track information consisting of a plurality of track points acquired by the preceding 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, and therefore, the purpose that the preceding vehicle track is acquired for pre-aiming and steering control of the vehicle is realized, the obstacle which cannot be acquired by a current sensing device temporarily can be avoided effectively, and the driving assisting safety is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the steering control method of the vehicle as above.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the steering control method of the vehicle as above.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other.
As will be appreciated by one skilled in the art, 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 present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) 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 flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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 to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, 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 terminal 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal 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 of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for a steering control method, a steering control device, a vehicle and a storage medium of a vehicle, and the present invention is explained in the context of applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A steering control method of a vehicle, characterized by comprising:
when a front vehicle running in the same direction is detected in front of a target vehicle, acquiring track information formed by a plurality of track points acquired by the front vehicle;
taking the track information as the running track information of the target vehicle, and pre-aiming the target vehicle according to preset pre-aiming time to determine pre-aiming point information;
and steering control is carried out on the target vehicle according to the preview point information.
2. The method according to claim 1, wherein the using the track information as the traveling track information of the target vehicle to pre-aim the target vehicle at a preset pre-aiming time to determine pre-aiming point information comprises:
acquiring speed information of the target vehicle;
determining a pre-aiming distance based on the speed information and preset pre-aiming time;
and in the track information, determining preview point information corresponding to the preview distance.
3. The method according to claim 2, wherein the determining, in the trajectory information, the preview point information corresponding to the preview distance comprises:
in the track information, a pre-aiming point corresponding to the pre-aiming distance, and a first track point and a second track point which are adjacent to the pre-aiming point are determined;
and determining the pre-aiming point information according to the first track point and the second track point.
4. The method of claim 3, wherein determining pre-pointing point information from the first and second trace 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 pre-aiming point on the track information according to the first coordinate information, the second coordinate information and the pre-aiming distance.
5. The method according to claim 3 or 4, wherein determining the pre-pointing point information from the 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 the curvature information of the pre-aiming point according to the first curvature information and the second curvature information.
6. The method of claim 5, wherein determining pre-pointing point information from the first and second trace points comprises:
determining third curvature information of a plurality of track points from the nearest track point of the target vehicle to the pre-aiming point and distance information between adjacent track points in the track information;
determining course angle change quantity between adjacent track points according to the third curvature information and the distance information;
and determining course angle information of the pre-aiming point according to the course angle change quantity between the adjacent track points.
7. The method according to claim 1, characterized by further comprising, after acquiring trajectory information made up of a plurality of trajectory points collected for the preceding vehicle:
and in the running process of the target vehicle, when the latest track point of the vehicle in front is acquired, performing coordinate conversion on all track points in the track information according to the current coordinate system of the target vehicle.
8. 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 aiming at a front vehicle when the front vehicle running in the same direction is detected to exist in front of a 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 preset pre-aiming time and determine the pre-aiming point information;
and the steering control module is used for steering control over the target vehicle according to the preview point information.
9. 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 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements a steering control method of a vehicle according to any one of claims 1 to 7.
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