CN111427260A - Control method, device, controller and system for vehicle path tracking and vehicle - Google Patents
Control method, device, controller and system for vehicle path tracking and vehicle Download PDFInfo
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Abstract
The invention discloses a control method, a device, a controller, a system and a vehicle for vehicle path tracking, wherein the control method for the vehicle path tracking comprises the following steps: acquiring a target path and vehicle state information, selecting three types of preview points on the target path according to the current vehicle speed information of the vehicle, determining the coordinates of each preview point in the three types of preview points, and calculating to obtain the transverse deviation of each preview point; calculating each preview output quantity according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters; determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight; and carrying out weighted summation on each preview output quantity to obtain and output steering wheel angle control quantity of the current control period. The problem of the path tracking effect that prior art exists is poor is solved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method, a control device, a control controller, a control system and a vehicle for vehicle path tracking.
Background
Path tracking means that in an inertial coordinate system, an unmanned vehicle starts from a given initial state, follows and reaches an ideal geometric path, and the initial point of the vehicle may or may not be on the path. In current engineering practice, path tracking is mainly performed by selecting a preview point, and the path tracking can be specifically divided into single-point preview path tracking and double-point preview path tracking. For single-point preview path tracking, because the curvature change of a given path on a vehicle is difficult to track, and the sudden change of a control quantity caused by the sudden change of the preview path easily exists, the vehicle instability problem is caused, and the double-point preview path tracking is more used in actual production. For the double-point preview path tracking, although the preview distance is adjusted according to the curvature to select the main preview point and the auxiliary preview point, the curvature is only used for selecting the preview point, and the path tracking of the selected preview point is not combined with the curvature for analysis, so that the tracking of the vehicle at the curve part cannot always completely fit the actual target path, and the path tracking effect is poor. In view of the above, in practical production, a more accurate control method for vehicle path tracking is needed to solve the problem of poor path tracking effect in the prior art.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, a controller, a control system and a vehicle for vehicle path tracking, which can effectively solve the technical problem of poor path tracking effect in the prior art.
To achieve the above object, the present invention provides a control method for vehicle path tracking, comprising:
acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle;
selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining the transverse deviation of each pre-aiming point according to the coordinates of each pre-aiming point, the position information of the vehicle and the course angle information of the vehicle;
respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point;
determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight;
weighting and summing the preview output quantities to obtain steering wheel turning angle control quantity of the current control period;
and outputting the steering wheel angle control quantity of the current control period.
Compared with the prior art, the control method for vehicle path tracking disclosed by the invention has the advantages that a plurality of preview points are selected on a target path according to the current vehicle speed information of a vehicle, preview transverse deviation and preview output quantity of each preview point are obtained through calculation, the curvature of the closest point is calculated, the weight of each preview output quantity is determined according to the curvature, and the weighted summation is carried out on each preview output quantity to obtain the steering wheel corner control quantity of the current control period. According to the method, each preview point is not determined through curvature, but the weight of each preview output quantity is determined through curvature, so that the preview point path tracking combined with the curvature is realized, the curvature and the curvature change of a target path are considered, and a plurality of preview points on the target path are selected according to the current speed, so that the vehicle can be driven along the target track at a curve as much as possible. In addition, the steering wheel corner weight obtained by each preview point is adjusted according to the curvature of the nearest point path of the vehicle, which is actually equivalent to adjusting the preview distance between a main preview point (the preview point with the maximum weight) and a plurality of auxiliary preview points (preview points with other weights), so that the main preview is changed into the preview near point at a position with larger curvature of the path, and the main preview is changed into the preview far point at a position with smaller curvature of the path, thereby conforming to the driving habit of a driver and improving the path tracking effect. The problem of the path tracking effect that prior art exists is poor is solved.
Further, the step of selecting three types of preview points on the target path according to the current speed information of the vehicle, determining the coordinates of each preview point in the three types of preview points, and obtaining the transverse deviation of each preview point according to the coordinates of each preview point, the position information of the vehicle and the course angle information of the vehicle comprises the following steps:
determining the pre-aiming distance of each pre-aiming point in three types of pre-aiming points according to the current speed of the vehicle multiplied by the pre-aiming time, wherein the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance;
selecting a coordinate point which is away from the vehicle position by a distance meeting the pre-aiming distance on the target path as a pre-aiming point, and determining the coordinate of each pre-aiming point;
determining included angles between the current vehicle position and each pre-aiming point according to the vehicle position information and the vehicle course angle information;
and determining each pre-aiming transverse deviation according to the sine value of the included angle between the current vehicle position and each pre-aiming point and the pre-aiming distance of each pre-aiming point, wherein each pre-aiming transverse deviation is the pre-aiming transverse deviation of each pre-aiming point and comprises a near pre-aiming transverse deviation, a middle pre-aiming transverse deviation and a far pre-aiming transverse deviation.
In a preferred embodiment of the invention, the pre-aiming distance of each of three types of pre-aiming points is determined according to the current vehicle speed multiplied by the pre-aiming time, the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance, each type of pre-aiming point comprises at least one pre-aiming point, and the target path is better described by selecting the pre-aiming points at different positions, namely the near, the middle and the far, so that the path tracking effect is ensured.
Further, the determining each preview lateral deviation according to the sine value of the included angle between the current vehicle position and each preview point and the preview distance of each preview point further includes:
and carrying out amplitude limiting and mean value filtering processing on each preview transverse deviation of the current control period according to a mapping relation between the pre-calibrated vehicle speed and the amplitude limiting parameters and each preview transverse deviation of the previous n control periods.
In a preferred embodiment of the invention, in order to avoid sudden change of the preview point caused by sudden change of the path and further bring the risk of vehicle instability caused by sharp turning, amplitude limiting and mean value filtering processing are carried out on each preview transverse error according to the speed, so that the steering wheel corner transition is smoother.
Further, the step of determining the PID controller parameters of each preview point respectively according to the current vehicle speed information of the vehicle and the mapping relationship between the vehicle speed and the PID controller parameters calibrated in advance, and calculating the preview output quantity through the PID controller of each preview point includes:
according to the current vehicle speed information, the proportion parameter K of the PID controller of each preview point is determined by searching the mapping relation between the vehicle speed calibrated in advance and the PID controller parameterpDifferential parameter KdAnd integral parameter Ki；
The proportion parameter KpDifferential parameter KdIntegral parameter KiAnd near preview lateral deviation Δ d1Substituting the PID controller of the near preview point to calculate the output amount of the near preview1The PID controller of the near preview point is
The above-mentioned
Is the rate of change of the near preview lateral deviation;
the proportion parameter KpDifferential parameter KdAnd the horizontal deviation deltad of the center preview2Substituting the PID controller of the intermediate preview point to calculate the preview output quantity of the intermediate preview point2The PID controller of the middle preview point is
The above-mentioned
For aiming at the centerPoor rate of change;
the proportion parameter KpDifferential parameter KdAnd the remote preview lateral deviation Δ d3Substituting the PID controller of the far preview point to calculate the preview output quantity of the far preview point2The PID controller of the far preview point is
The above-mentioned
The rate of change of the lateral deviation is predicted for the distance.
In a preferred embodiment of the invention, different PID controllers are respectively designed for different types of preview points, so that the method adapts to the actual conditions of the preview points at different positions, more accurate preview output quantity is obtained, and the path tracking effect is guaranteed.
Further, the step of determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relationship between the pre-calibrated curvature and the weight comprises:
determining a closest point on a target path according to the vehicle position information, and selecting all points within a curve distance on the target path by taking the closest point as a starting point;
fitting the selected points to obtain a path function of the section of path, and obtaining the curvature of the closest point according to the path function;
and determining the weight of each preview output quantity according to the curvature of the closest point and the mapping relation between the preset curvature and the weight.
In a preferred embodiment of the invention, a specific curvature calculation method is provided, all points in a curve distance on a target path are selected by taking the closest point as a starting point and are fitted to obtain a path function of the path, the curve distance is an appropriate distance selected according to actual conditions, the preferred distance in the example is 5m, the situation that the distance is too long and comprises a straight line section and the situation that the distance is too short and cannot reflect the curvature is avoided, the curvature of the closest point is obtained according to the path function, the curvature of the closest point of a vehicle is accurately obtained, and the path tracking effect is guaranteed.
Further, the weighting and summing the preview output quantities to obtain the steering wheel angle control quantity of the current control period further includes:
and carrying out mean value filtering processing on the steering wheel angle control quantity of the current control period according to the steering wheel angle control quantity of the previous n control periods.
In a preferred embodiment of the present invention, the steering wheel angle control amount is subjected to an average filtering process for smoothing the steering wheel angle transition.
Another embodiment of the present invention correspondingly provides a control device for vehicle path tracking, which includes:
the information acquisition unit is used for acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle;
the transverse deviation calculation unit is used for selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining each pre-aiming transverse deviation according to the coordinates of each pre-aiming point, the vehicle position information and the vehicle course angle information;
the preview output quantity calculating unit is used for respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point;
the weight calculation unit is used for determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight;
the steering wheel corner control quantity calculation unit is used for weighting and summing each preview output quantity to obtain the steering wheel corner control quantity of the current control period;
and the steering wheel angle control quantity output unit is used for outputting the steering wheel angle control quantity of the current control period.
Another embodiment of the present invention provides a controller for vehicle path tracking, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the controller implements the control method for vehicle path tracking according to the above embodiment of the present invention.
Another embodiment of the present invention provides a control system for vehicle path tracking, including: the system comprises a controller, a target path receiving unit, a vehicle pose information receiving unit, a vehicle speed information receiving unit and a steering wheel corner executing mechanism; wherein,
the target path receiving unit is connected with the controller and is used for sending the detected target path to the controller;
the vehicle pose information receiving unit is connected with the controller and is used for sending the detected vehicle position information and the detected vehicle course angle information to the controller;
the vehicle speed information receiving unit is connected with the controller and is used for sending the detected current vehicle speed information of the vehicle to the controller;
the steering wheel angle actuating mechanism is connected with the controller and is used for executing steering wheel angle action under the control of the controller;
the controller includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the control method for vehicle path tracking described in any of the foregoing embodiments when executing the computer program.
Another embodiment of the present invention provides a vehicle including the control system for vehicle path tracking according to the above embodiment of the present invention.
Compared with the prior art, the vehicle path tracking control method, the vehicle path tracking control device, the vehicle path tracking control system and the vehicle provided by the embodiment of the invention have the advantages that a plurality of preview points are selected on a target path according to current vehicle speed information of the vehicle, preview transverse deviation and preview output quantity of each preview point are obtained through calculation, the curvature of the closest point is calculated, the weight of each preview output quantity is determined according to the curvature, and the preview output quantities are subjected to weighted summation to obtain the steering wheel angle control quantity of a current control period. According to the method, each preview point is not determined through curvature, but the weight of each preview output quantity is determined through curvature, so that the preview point path tracking combined with the curvature is realized, the curvature and the curvature change of a target path are considered, and a plurality of preview points on the target path are selected according to the current speed, so that the vehicle can be driven along the target track at a curve as much as possible. In addition, the steering wheel corner weight obtained by each preview point is adjusted according to the curvature of the nearest point path of the vehicle, which is actually equivalent to adjusting the preview distance between a main preview point (the preview point with the maximum weight) and a plurality of auxiliary preview points (preview points with other weights), so that the main preview is changed into the preview near point at a position with larger curvature of the path, and the main preview is changed into the preview far point at a position with smaller curvature of the path, thereby conforming to the driving habit of a driver and improving the path tracking effect. The problem of the path tracking effect that prior art exists is poor is solved.
Drawings
FIG. 1 is a schematic flow chart of a control method for vehicle path tracking according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another control method for vehicle path tracking according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control device for vehicle path tracking according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another control device for vehicle path tracking according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control system for vehicle path tracking according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
As shown in fig. 1, the present invention provides a control method of vehicle path tracking, which includes: acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle; selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining the transverse deviation of each pre-aiming point according to the coordinates of each pre-aiming point, the position information of the vehicle and the course angle information of the vehicle; respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point; determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight; weighting and summing the preview output quantities to obtain steering wheel turning angle control quantity of the current control period; and outputting the steering wheel angle control quantity of the current control period.
In one embodiment of the invention, the target path comprises at least one target waypoint, the target waypoints are sequentially arranged according to the sequence of the vehicle running to each target waypoint, the vehicle position information can obtain the vehicle position coordinate, the vehicle course angle information can obtain the vehicle course angle, and the current vehicle speed information of the vehicle can obtain the current speed of the vehicle. The three types of the preview points comprise a near preview point, a middle preview point and a far preview point which are distinguished according to preview distances, each type of the preview points comprises at least one preview point, each preview transverse deviation is the preview transverse deviation of each preview point and comprises a near preview transverse deviation, a middle preview transverse deviation and a far preview transverse deviation, the near preview transverse deviation is the preview transverse deviation of the near preview point, the middle preview transverse deviation is the preview transverse deviation of the middle preview point, and the far preview transverse deviation is the preview transverse deviation of the far preview point. And each preview output quantity is a preview output quantity of each preview point, and comprises a preview output quantity of a near preview point, a preview output quantity of a middle preview point and a preview output quantity of a far preview point. Selecting a plurality of preview points on a target path according to the current vehicle speed information of the vehicle, calculating to obtain preview transverse deviation and preview output quantity of each preview point, calculating the curvature of the closest point, determining the weight of each preview output quantity according to the curvature, and performing weighted summation on each preview output quantity to obtain the steering wheel corner control quantity of the current control period. In the embodiment, each preview point is not determined through the curvature, but the weight of each preview output quantity is determined through the curvature, so that the preview point path tracking combined with the curvature is realized, the curvature and the curvature change of the target path are considered, and a plurality of preview points on the target path are selected according to the current speed, so that the vehicle can be driven along the target track at the curve as much as possible. And, according to the vehicle closest point path curvature, the steering wheel corner weight obtained by each preview point is adjusted, which is actually equivalent to adjusting the preview distance between the main preview point (the preview point with the maximum weight) and a plurality of auxiliary preview points (preview points with other weights), so that the main preview is changed into the preview near point at the position with larger path curvature, and the main preview is changed into the preview far point at the position with smaller path curvature, thereby conforming to the driving habit of the driver and improving the path tracking effect. The problem of the path tracking effect that prior art exists is poor is solved.
Further, the step of selecting three types of preview points on the target path according to the current speed information of the vehicle, determining the coordinates of each preview point in the three types of preview points, and obtaining the transverse deviation of each preview point according to the coordinates of each preview point, the position information of the vehicle and the course angle information of the vehicle comprises the following steps: determining the pre-aiming distance of each pre-aiming point in three types of pre-aiming points according to the current speed of the vehicle multiplied by the pre-aiming time, wherein the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance; selecting a coordinate point which is away from the vehicle position by a distance meeting the pre-aiming distance on the target path as a pre-aiming point, and determining the coordinate of each pre-aiming point; determining included angles between the current vehicle position and each pre-aiming point according to the vehicle position information and the vehicle course angle information; and determining each pre-aiming transverse deviation according to the sine value of the included angle between the current vehicle position and each pre-aiming point and the pre-aiming distance of each pre-aiming point, wherein each pre-aiming transverse deviation is the pre-aiming transverse deviation of each pre-aiming point and comprises a near pre-aiming transverse deviation, a middle pre-aiming transverse deviation and a far pre-aiming transverse deviation. In a preferred embodiment of the invention, the pre-aiming distance of each of three types of pre-aiming points is determined according to the current vehicle speed multiplied by the pre-aiming time, the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance, each type of pre-aiming point comprises at least one pre-aiming point, and the target path is better described by selecting the pre-aiming points at different positions, namely the near, the middle and the far, so that the path tracking effect is ensured.
In this embodiment, each type of preview point includes one preview point, that is, three preview points, i.e., a near preview point, a middle preview point, and a far preview point, are selected. According to the current vehicle speed, the pre-aiming distances of three pre-aiming points are set as follows, and the pre-aiming distances of all points are multiplied by the pre-aiming time(s) according to the vehicle speed (km/h) to obtain the pre-aiming distances d of the three pre-aiming points1，d2，d3D is said1，d2，d3Satisfy, d1＝v/3.6×0.2s,2m≤d1≤4m，d2＝v/3.6×1.0s,4m≤d2≤6m，d3＝v/3.6×2.0s,6m≤d3Less than or equal to 25 m. According to d1，d2，d3Selecting respective distance vehicle positions d on the target path1，d2，d3Pre-aim point coordinate (X) of distance1,Y1)，(X2,Y2)，(X3,Y3) Calculating the included angle between the current position of the vehicle and each pre-aiming point according to the position (X, Y) of the vehicle and the course angle theta
Obtaining the transverse deviation delta d of each preview1，Δd2，Δd3Wherein
Further, the determining each preview lateral deviation according to the sine value of the included angle between the current vehicle position and each preview point and the preview distance of each preview point further includes: and carrying out amplitude limiting and mean value filtering processing on each preview transverse deviation of the current control period according to a mapping relation between the pre-calibrated vehicle speed and the amplitude limiting parameters and each preview transverse deviation of the previous n control periods. In a preferred embodiment of the invention, in order to avoid sudden change of the preview point caused by sudden change of the path and further bring the risk of vehicle instability caused by sharp turning, amplitude limiting and mean value filtering processing are carried out on each preview transverse error according to the speed, so that the steering wheel corner transition is smoother.
In this embodiment, clipping: and | delta d | is less than or equal to a, and the amplitude limiting parameter a is a standard quantity related to the actual vehicle speed. T is the control period, n is the number of filter elements, Δ dnThe horizontal preview error of the previous n periods is obtained, delta d is the horizontal preview error of the current period, and the mean value filtering:
further, the step of determining the PID controller parameters of each preview point respectively according to the current vehicle speed information of the vehicle and the mapping relationship between the vehicle speed and the PID controller parameters calibrated in advance, and calculating the preview output quantity through the PID controller of each preview point includes: according to the current vehicle speed information, the proportion parameter K of the PID controller of each preview point is determined by searching the mapping relation between the vehicle speed calibrated in advance and the PID controller parameterpDifferential parameter KdAnd integral parameter Ki(ii) a The proportion parameter KpDifferential parameter KdIntegral parameter KiAnd near preview lateral deviation Δ d1Substituting the PID controller of the near preview point to calculate the output amount of the near preview1The PID controller of the near preview point is
The above-mentioned
Is the rate of change of the near preview lateral deviation; the proportion parameter KpDifferential parameter KdAnd the horizontal deviation deltad of the center preview2PID controller, meter for pointing point inPreview output quantity of pre-view point in calculation2The PID controller of the middle preview point is
The above-mentioned
The change rate of the horizontal deviation of the medium preview is taken as the target value; the proportion parameter KpDifferential parameter KdAnd the remote preview lateral deviation Δ d3Substituting the PID controller of the far preview point to calculate the preview output quantity of the far preview point2The PID controller of the far preview point is
The above-mentioned
The rate of change of the lateral deviation is predicted for the distance. In a preferred embodiment of the invention, different PID controllers are respectively designed for different types of preview points, so that the method adapts to the actual conditions of the preview points at different positions, more accurate preview output quantity is obtained, and the path tracking effect is guaranteed.
In this embodiment, the PID controllers of the three preview points are:
parameter Kp、KdIntegral parameter KiAnd calibrating according to the actual vehicle speed to obtain the vehicle speed.
Further, the step of determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relationship between the pre-calibrated curvature and the weight comprises: determining a closest point on a target path according to the vehicle position information, and selecting all points within a curve distance on the target path by taking the closest point as a starting point; fitting the selected points to obtain a path function of the section of path, and obtaining the curvature of the closest point according to the path function; and determining the weight of each preview output quantity according to the curvature of the closest point and the mapping relation between the preset curvature and the weight. In a preferred embodiment of the invention, a specific curvature calculation method is provided, all points in a curve distance on a target path are selected by taking the closest point as a starting point and are fitted to obtain a path function of the path, the curve distance is an appropriate distance selected according to actual conditions, the preferred distance in the example is 5m, the situation that the distance is too long and comprises a straight line section and the situation that the distance is too short and cannot reflect the curvature is avoided, the curvature of the closest point is obtained according to the path function, the curvature of the closest point of a vehicle is accurately obtained, and the path tracking effect is guaranteed.
In this embodiment, the distance of the one curve is experimentally selected to be 5m to 10m, preferably 5m, so that the phenomenon that the distance is too long and includes a straight line segment is avoided, and the phenomenon that the distance is too short and curvature cannot be reflected is avoided. Finding the closest point (X) on the target path based on the vehicle position (X, Y)near,Ynear) At the closest point (X)near,Ynear) Selecting all points 5m ahead of the vehicle on the target path as a starting point, and fitting to obtain a cubic polynomial y as ax3+bx2+ cx + d, the curvature of the closest point is calculated as follows:
according to the curvature rho of the closest point, calibrating1，2，3Weight w of1，w2，w3. In the present embodiment, the larger ρ is, the larger w1The larger the value of (A), w3The smaller the value of (a), the smaller the value of (b), which is actually equivalent to adjusting the pre-aiming distance between the main pre-aiming point (the maximum pre-aiming point with weight) and a plurality of auxiliary pre-aiming points (pre-aiming points with other weights), so that the main pre-aiming point is changed into a pre-aiming near point at a position with larger path curvature, and the main pre-aiming point is changed into a pre-aiming far point at a position with smaller path curvature, thereby conforming to the driving habit of a driver and improving the path tracking effect.
Further, the weighting and summing the preview output quantities to obtain the steering wheel angle control quantity of the current control period further includes: and carrying out mean value filtering processing on the steering wheel angle control quantity of the current control period according to the steering wheel angle control quantity of the previous n control periods. In a preferred embodiment of the present invention, the steering wheel angle control amount is subjected to an average filtering process for smoothing the steering wheel angle transition.
In this embodiment, T is the control period, n is the number of filter elements,nthe steering wheel angle control quantity of the previous n periods is the steering wheel angle control quantity of the current period, and the mean value filtering:
one specific example of the present invention is shown in fig. 2, and comprises the following steps:
the method comprises the steps of receiving a target path from a target path receiving module, receiving vehicle position information (longitude and latitude coordinates) and vehicle course angle information of a vehicle pose information receiving module, and receiving vehicle speed information from a CAN line.
In this embodiment, each type of preview point includes one preview point, that is, three preview points, i.e., a near preview point, a middle preview point, and a far preview point, are selected. According to the current vehicle speed, the pre-aiming distances of three pre-aiming points are set as follows, and the pre-aiming distances of all points are multiplied by the pre-aiming time(s) according to the vehicle speed (km/h) to obtain the pre-aiming distances d of the three pre-aiming points1，d2，d3D is said1，d2，d3Satisfy, d1＝v/3.6×0.2s,2m≤d1≤4m，d2＝v/3.6×1.0s,4m≤d2≤6m，d3＝v/3.6×2.0s,6m≤d3Less than or equal to 25 m. According to d1，d2，d3Selecting respective distance vehicle positions d on the target path1，d2，d3Pre-aim point coordinate (X) of distance1,Y1)，(X2,Y2)，(X3,Y3) Calculating the included angle between the current position of the vehicle and each pre-aiming point according to the position (X, Y) of the vehicle and the course angle theta
Obtaining the transverse deviation delta d of each preview1，Δd2，Δd3Wherein
In order to avoid sudden change of the preview point caused by sudden change of the path and further bring the risk of vehicle instability caused by sharp turning, amplitude limiting and mean value filtering processing are carried out on each preview transverse error according to the speed, so that the steering wheel corner transition is smoother. And (3) amplitude limiting: and | delta d | is less than or equal to a, and the amplitude limiting parameter a is a standard quantity related to the actual vehicle speed. T is the control period, n is the number of filter elements, Δ dnThe horizontal preview error of the previous n periods is obtained, delta d is the horizontal preview error of the current period, and the mean value filtering:
the PID controllers for the three preview points are designed as follows:
parameter Kp、KdIntegral parameter KiAnd calibrating according to the actual vehicle speed to obtain the vehicle speed.
Finding the closest point (X) on the target path based on the vehicle position (X, Y)near,Ynear) At the closest point (X)near,Ynear) Selecting all points 5m ahead of the vehicle on the target path as a starting point, and fitting to obtain a cubic polynomial y as ax3+bx2+ cx + d, the curvature of the closest point is calculated as follows:
according to the curvature rho of the closest point, calibrating1，2，3Weight w of1，w2，w3。
And weighting and summing the steering wheel rotation angles obtained by the three preview points to obtain a steering wheel rotation angle control quantity: is given by1 1+w2 2+w3 3。
And performing mean value filtering treatment on the steering wheel angle control quantity to enable the steering wheel angle to be transited smoothly. T is the control period, n is the number of filter elements,nthe steering wheel angle control quantity of the previous n periods is the steering wheel angle control quantity of the current period, and the mean value filtering:
and outputting the steering wheel angle control quantity of the current control period.
As shown in fig. 3, a control apparatus for vehicle path tracking includes:
the information acquisition unit is used for acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle;
the transverse deviation calculation unit is used for selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining each pre-aiming transverse deviation according to the coordinates of each pre-aiming point, the vehicle position information and the vehicle course angle information;
the preview output quantity calculating unit is used for respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point;
the weight calculation unit is used for determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight;
the steering wheel corner control quantity calculation unit is used for weighting and summing each preview output quantity to obtain the steering wheel corner control quantity of the current control period;
and the steering wheel angle control quantity output unit is used for outputting the steering wheel angle control quantity of the current control period.
As shown in fig. 4, as a modification of the above, in an embodiment of the present invention, the lateral deviation calculating unit includes:
the system comprises a pre-aiming distance calculation module, a pre-aiming distance calculation module and a pre-aiming distance calculation module, wherein the pre-aiming distance calculation module is used for determining the pre-aiming distance of each pre-aiming point in three types of pre-aiming points according to the current vehicle speed multiplied by the pre-aiming time, and the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance;
the pre-aiming point coordinate determination module is used for selecting a coordinate point which is away from the vehicle position and meets the pre-aiming distance as a pre-aiming point on the target path, and determining the coordinate of each pre-aiming point;
the included angle calculation module is used for determining the included angle between the current vehicle position and each pre-aiming point according to the vehicle position information and the vehicle course angle information;
and the transverse deviation calculation module is used for determining each pre-aiming transverse deviation according to the sine value of the included angle between the current vehicle position and each pre-aiming point and the pre-aiming distance of each pre-aiming point, wherein each pre-aiming transverse deviation is the pre-aiming transverse deviation of each pre-aiming point and comprises a near pre-aiming transverse deviation, a middle pre-aiming transverse deviation and a far pre-aiming transverse deviation.
As shown in fig. 4, as an improvement of the foregoing solution, in an embodiment of the present invention, the lateral deviation calculating unit further includes a lateral deviation processing module, configured to perform amplitude limiting and mean value filtering processing on each preview lateral deviation of the current control period according to a pre-calibrated mapping relationship between a vehicle speed and an amplitude limiting parameter and each preview lateral deviation of the previous n control periods.
As shown in fig. 4, as a modification of the above-described scheme, in an embodiment of the present invention, the preview output amount calculating unit includes:
a parameter determining module for determining the proportional parameter K of the PID controller of each preview point by searching the mapping relation between the pre-calibrated vehicle speed and the PID controller parameter according to the current vehicle speed informationpDifferential parameter KdAnd integral parameter Ki；
A near-preview transverse deviation calculation module for calculating a proportional parameter KpDifferential parameter KdIntegral parameter KiAnd near preview lateral deviation Δ d1Substituting into the near preview pointThe PID controller calculates the near preview output quantity1The PID controller of the near preview point is
The above-mentioned
Is the rate of change of the near preview lateral deviation;
a medium preview transverse deviation calculation module for calculating a proportional parameter KpDifferential parameter KdAnd the horizontal deviation deltad of the center preview2Substituting the PID controller of the intermediate preview point to calculate the preview output quantity of the intermediate preview point2The PID controller of the middle preview point is
The above-mentioned
The change rate of the horizontal deviation of the medium preview is taken as the target value;
a far-preview transverse deviation calculation module for calculating a proportional parameter KpDifferential parameter KdAnd the remote preview lateral deviation Δ d3Substituting the PID controller of the far preview point to calculate the preview output quantity of the far preview point2The PID controller of the far preview point is
The above-mentioned
The rate of change of the lateral deviation is predicted for the distance.
As shown in fig. 4, as a modification of the above scheme, in an embodiment of the present invention, the weight calculating unit includes:
the target path determining module is used for determining a closest point on the target path according to the vehicle position information and selecting all points in a curve distance on the target path by taking the closest point as a starting point;
the curvature calculation module is used for fitting the selected points to obtain a path function of the section of path and obtaining the curvature of the closest point according to the path function;
and the weight calculation module is used for determining the weight of each preview output quantity according to the curvature of the closest point and the mapping relation between the curvature and the weight calibrated in advance.
As shown in fig. 4, as a modification of the above, in an embodiment of the present invention, the steering wheel angle control amount calculation unit further includes: and the mean value filtering module is used for carrying out mean value filtering processing on the steering wheel angle control quantity of the current control period according to the steering wheel angle control quantity of the previous n control periods.
The control device for vehicle path tracking according to the embodiment of the present invention can implement all the processes of the control method for vehicle path tracking according to any one of the embodiments, and the functions and technical effects of the modules and units in the device are respectively the same as those of the control method for vehicle path tracking according to the embodiment, and are not repeated herein.
As shown in fig. 5, the present invention discloses a control system for vehicle path tracking, which includes: the system comprises a controller, a target path receiving unit, a vehicle pose information receiving unit, a vehicle speed information receiving unit and a steering wheel corner executing mechanism; wherein,
the target path receiving unit is connected with the controller and is used for sending the detected target path to the controller;
the vehicle pose information receiving unit is connected with the controller and is used for sending the detected vehicle position information and the detected vehicle course angle information to the controller;
the vehicle speed information receiving unit is connected with the controller and is used for sending the detected current vehicle speed information of the vehicle to the controller;
the steering wheel angle actuating mechanism is connected with the controller and is used for executing steering wheel angle action under the control of the controller;
the controller includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the control method for vehicle path tracking described in any of the foregoing embodiments when executing the computer program.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the control device for vehicle path tracking.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the control device for vehicle path tracking by running or executing the computer programs and/or modules stored in the memory, as well as invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein the module/unit integrated with the control device for vehicle path tracking, if implemented in the form of software functional unit and sold or used as a stand-alone product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A control method for vehicle path tracking, comprising:
acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle;
selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining the transverse deviation of each pre-aiming point according to the coordinates of each pre-aiming point, the position information of the vehicle and the course angle information of the vehicle;
respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point;
determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight;
weighting and summing the preview output quantities to obtain steering wheel turning angle control quantity of the current control period;
and outputting the steering wheel angle control quantity of the current control period.
2. The control method for tracking the vehicle route according to claim 1, wherein the step of selecting three types of pre-aiming points on the target route according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining the transverse deviation of each pre-aiming point according to the coordinates of each pre-aiming point, the position information of the vehicle and the heading angle information of the vehicle comprises the following steps:
determining the pre-aiming distance of each pre-aiming point in three types of pre-aiming points according to the current speed of the vehicle multiplied by the pre-aiming time, wherein the three types of pre-aiming points comprise a near pre-aiming point, a middle pre-aiming point and a far pre-aiming point which are distinguished according to the pre-aiming distance;
selecting a coordinate point which is away from the vehicle position by a distance meeting the pre-aiming distance on the target path as a pre-aiming point, and determining the coordinate of each pre-aiming point;
determining included angles between the current vehicle position and each pre-aiming point according to the vehicle position information and the vehicle course angle information;
and determining each pre-aiming transverse deviation according to the sine value of the included angle between the current vehicle position and each pre-aiming point and the pre-aiming distance of each pre-aiming point, wherein each pre-aiming transverse deviation is the pre-aiming transverse deviation of each pre-aiming point and comprises a near pre-aiming transverse deviation, a middle pre-aiming transverse deviation and a far pre-aiming transverse deviation.
3. The method for controlling vehicle path tracking according to claim 2, wherein the determining the respective preview lateral deviation according to the sine value of the included angle between the current vehicle position and each preview point and the preview distance of each preview point further comprises:
and carrying out amplitude limiting and mean value filtering processing on each preview transverse deviation of the current control period according to a mapping relation between the pre-calibrated vehicle speed and the amplitude limiting parameters and each preview transverse deviation of the previous n control periods.
4. The control method for tracking the vehicle path according to claim 2, wherein the step of respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relationship between the pre-calibrated vehicle speed and the PID controller parameters, and the step of calculating the output amount of each preview point through the PID controller of each preview point comprises:
according to the current vehicle speed information, the proportion parameter K of the PID controller of each preview point is determined by searching the mapping relation between the vehicle speed calibrated in advance and the PID controller parameterpDifferential parameter KdAnd integral parameter Ki；
The proportion parameter KpDifferential parameter KdIntegral parameter KiAnd near preview lateral deviation Δ d1Substituting the PID controller of the near preview point to calculate the output amount of the near preview1The PID controller of the near preview point is
The above-mentioned
Is the rate of change of the near preview lateral deviation;
the proportion parameter KpDifferential parameter KdAnd the horizontal deviation deltad of the center preview2Substituting the PID controller of the intermediate preview point to calculate the preview output quantity of the intermediate preview point2The PID controller of the middle preview point is
The above-mentioned
The change rate of the horizontal deviation of the medium preview is taken as the target value;
the proportion parameter KpDifferential parameter KdAnd the remote preview lateral deviation Δ d3Substituting the PID controller of the far preview point to calculate the preview output quantity of the far preview point2The PID controller of the far preview point is
The above-mentioned
The rate of change of the lateral deviation is predicted for the distance.
5. The vehicle path tracking control method according to claim 1, wherein the determining a closest point on the target path according to the vehicle position information, calculating a curvature of the closest point, and determining the weight of each pre-aimed output quantity according to the curvature of the closest point and a mapping relationship between a pre-calibrated curvature and the weight includes:
determining a closest point on a target path according to the vehicle position information, and selecting all points within a curve distance on the target path by taking the closest point as a starting point;
fitting the selected points to obtain a path function of the section of path, and obtaining the curvature of the closest point according to the path function;
and determining the weight of each preview output quantity according to the curvature of the closest point and the mapping relation between the preset curvature and the weight.
6. The control method for vehicle path tracking according to claim 1, wherein the weighted summation of the preview output quantities to obtain the steering wheel angle control quantity of the current control cycle further comprises:
and carrying out mean value filtering processing on the steering wheel angle control quantity of the current control period according to the steering wheel angle control quantity of the previous n control periods.
7. A control device for vehicle path tracking, characterized by comprising:
the information acquisition unit is used for acquiring a target path and vehicle state information, wherein the vehicle state information comprises vehicle position information, vehicle course angle information and current vehicle speed information of a vehicle;
the transverse deviation calculation unit is used for selecting three types of pre-aiming points on a target path according to the current speed information of the vehicle, determining the coordinates of each pre-aiming point in the three types of pre-aiming points, and obtaining each pre-aiming transverse deviation according to the coordinates of each pre-aiming point, the vehicle position information and the vehicle course angle information;
the preview output quantity calculating unit is used for respectively determining the PID controller parameters of each preview point according to the current vehicle speed information of the vehicle and the mapping relation between the pre-calibrated vehicle speed and the PID controller parameters, and calculating each preview output quantity through the PID controller of each preview point;
the weight calculation unit is used for determining the closest point on the target path according to the vehicle position information, calculating the curvature of the closest point, and determining the weight of each pre-aiming output quantity according to the curvature of the closest point and the mapping relation between the pre-calibrated curvature and the weight;
the steering wheel corner control quantity calculation unit is used for weighting and summing each preview output quantity to obtain the steering wheel corner control quantity of the current control period;
and the steering wheel angle control quantity output unit is used for outputting the steering wheel angle control quantity of the current control period.
8. A controller for vehicle path tracking, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the control method for vehicle path tracking according to any one of claims 1 to 6 when executing the computer program.
9. A control system for vehicle path tracking, comprising: the system comprises a controller, a target path receiving unit, a vehicle pose information receiving unit, a vehicle speed information receiving unit and a steering wheel corner executing mechanism; wherein,
the target path receiving unit is connected with the controller and is used for sending the detected target path to the controller;
the vehicle pose information receiving unit is connected with the controller and is used for sending the detected vehicle position information and the detected vehicle course angle information to the controller;
the vehicle speed information receiving unit is connected with the controller and is used for sending the detected current vehicle speed information of the vehicle to the controller;
the steering wheel angle actuating mechanism is connected with the controller and is used for executing steering wheel angle action under the control of the controller;
the controller comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the control method of vehicle path tracking according to any one of claims 1 to 6 when executing the computer program.
10. A vehicle characterized by comprising a control system for vehicle path tracking according to claim 9.
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