CN-116620319-B - Vehicle motion control method, system, electronic device and storage medium

CN116620319BCN 116620319 BCN116620319 BCN 116620319BCN-116620319-B

Abstract

The invention discloses a vehicle motion control method, a vehicle motion control system, electronic equipment and a storage medium. The method comprises the steps of receiving a function control request through a function logic control module, carrying out logic judgment on the function control request, outputting a function logic control instruction, enabling a track tracking control module to activate a track tracking function based on the function logic control instruction, outputting a track tracking control instruction to a target distribution layer, receiving the track tracking control instruction through the target distribution control module, decomposing the track tracking control instruction, outputting a plurality of horizontal and vertical control instructions obtained through decomposition to a coordination control layer, receiving the plurality of horizontal and vertical control instructions through a horizontal and vertical coordination control module, converting the plurality of horizontal and vertical control instructions, obtaining dynamic instructions respectively corresponding to the plurality of horizontal and vertical control instructions, and outputting each dynamic instruction to a corresponding executor. According to the scheme, the problem of target distribution of multiple actuators is solved through the vehicle motion control platform.

Inventors

LIU JINBO
ZHANG JIAN
GAO YUAN
LIU MENGKE
WANG YU
ZHOU TIAN
JIANG HONGWEI

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20230128

Claims (10)

1. The vehicle motion control method is characterized by being executed by a vehicle motion control platform, wherein the vehicle motion control platform comprises a supervision layer, a motion control layer, a target distribution layer and a coordination control layer, the supervision layer comprises a functional logic control module, a pre-stabilization arbitration control module and a constraint control module, the motion control layer comprises a track tracking control module, the target distribution layer comprises a target distribution control module, the coordination control layer comprises a transverse and longitudinal coordination control module, and the method comprises the following steps: Receiving a function control request through a function logic control module of the supervisory layer, performing logic judgment on the function control request, and outputting a function logic control instruction to the motion control layer; Receiving a state estimation result through a pre-stabilization arbitration control module of the supervision layer, and judging the instability condition of the vehicle based on the state estimation result to obtain an instability judgment result; Receiving the state estimation result and the instability judgment result through a constraint control module of the supervision layer, generating a transverse and longitudinal constraint boundary based on the state estimation result, outputting the transverse and longitudinal constraint boundary to the motion control layer, and correcting the transverse and longitudinal constraint boundary based on the instability judgment result to obtain a corrected transverse and longitudinal constraint boundary; receiving the function logic control instruction through a track tracking control module of the motion control layer, activating a track tracking function based on the function logic control instruction, and outputting the track tracking control instruction to the target distribution layer; The track tracking control instruction is received through a target distribution control module of the target distribution layer, decomposed, and a plurality of horizontal and vertical control instructions obtained through decomposition are output to the coordination control layer; And receiving the plurality of transverse and longitudinal control instructions through a transverse and longitudinal coordination control module of the coordination control layer, converting the plurality of transverse and longitudinal control instructions to obtain dynamic instructions respectively corresponding to the plurality of transverse and longitudinal control instructions, and outputting each dynamic instruction to a corresponding actuator.
2. The method of claim 1, wherein the motion control layer further comprises a signal processing module comprising a trajectory interpolation fitting sub-module and a localization fusion processing sub-module, the method further comprising: receiving discrete track points input by a track interface through the track interpolation fitting sub-module, and carrying out interpolation fitting on the discrete track points input by the track interface to obtain a target track, wherein the target track is controlled by the track tracking control module; And receiving external positioning information and vehicle chassis information through the positioning fusion processing sub-module, and correcting the external positioning information based on the vehicle chassis information to obtain corrected positioning information.
3. The method of claim 1, wherein the trajectory tracking control module comprises a parking trajectory tracking sub-module for determining trajectory tracking control commands based on a synovial control algorithm and a trajectory tracking sub-module for determining trajectory tracking control commands based on a model predictive control algorithm.
4. The method of claim 1, wherein the motion control layer further comprises an actuator characteristic compensation module, the method further comprising: And receiving response time delay and overshoot information through the actuator characteristic compensation module, compensating the response time delay and overshoot information to obtain actuator response characteristic parameters, and outputting the actuator response characteristic parameters to the track tracking control module.
5. The method of claim 1, wherein the target allocation layer further comprises a motion assist control module and a cross-system execution redundancy control module; Receiving the transverse and longitudinal control instructions through a motion auxiliary control module of the target distribution layer, and monitoring key state variables; And under the condition that the fault state information of the executor output by the coordination control layer is received, the control instruction is converted into the control instruction of the redundant executor by the cross-system execution redundancy control module of the target distribution layer, and the transverse and longitudinal control of the vehicle is realized based on the control instruction of the redundant executor.
6. The method of claim 1, wherein the coordination control layer further comprises a motion management module comprising a mode management sub-module, a man-machine management sub-module, and an actuator management sub-module; the mode management submodule is used for switching the driving mode of the vehicle; The man-machine management submodule is used for manually intervening automatic driving; The actuator management sub-module is used for managing the working state and the fault state of each actuator of the chassis.
7. The method of claim 1, wherein the vehicle motion control platform further comprises a state estimation and prediction module, the method further comprising: And receiving vehicle state information and external environment information through the state estimation and prediction module, and determining a state estimation result based on the vehicle state information and the external environment information.
8. A vehicle motion control system, characterized in that the vehicle motion control system comprises: the monitoring layer is used for receiving the function control request, carrying out logic judgment on the function control request and outputting a function logic control instruction to the motion control layer; The pre-stabilization arbitration control module of the monitoring layer is used for receiving a state estimation result, and judging the instability condition of the vehicle based on the state estimation result to obtain an instability judgment result; The constraint control module of the monitoring layer is used for receiving the state estimation result and the destabilization judgment result, generating a transverse and longitudinal constraint boundary based on the state estimation result, outputting the transverse and longitudinal constraint boundary to the motion control layer, and correcting the transverse and longitudinal constraint boundary based on the destabilization judgment result to obtain a corrected transverse and longitudinal constraint boundary; the track tracking control module of the motion control layer is used for receiving the functional logic control instruction, activating a track tracking function based on the functional logic control instruction, and outputting the track tracking control instruction to the target distribution layer; The target distribution control module of the target distribution layer is used for receiving the track tracking control instruction, decomposing the track tracking control instruction, and outputting a plurality of horizontal and vertical control instructions obtained by decomposition to the coordination control layer; The transverse and longitudinal coordination control module of the coordination control layer is used for receiving the transverse and longitudinal control instructions, converting the transverse and longitudinal control instructions to obtain dynamic instructions respectively corresponding to the transverse and longitudinal control instructions, and outputting the dynamic instructions to corresponding actuators.
9. An electronic device, the electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle motion control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle motion control method of any one of claims 1-7 when executed.

Description

Vehicle motion control method, system, electronic device and storage medium Technical Field The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle motion control method, a system, an electronic device, and a storage medium. Background With the development of automatic driving technology, the application of vehicle motion control technology is becoming more and more widespread. The vehicle motion control technology mainly controls a target vehicle to run along a planned path by combining a control theory and vehicle kinematics and dynamics. In the process of realizing the invention, the inventor finds that at least the following technical problems exist in the prior art, namely the problem of multi-actuator target distribution exists in the prior vehicle motion control technical scheme. Disclosure of Invention The invention provides a vehicle motion control method, a vehicle motion control system, electronic equipment and a storage medium, so as to solve the problem of target distribution of multiple actuators. According to an aspect of the invention, there is provided a vehicle motion control method, which is executed by a vehicle motion control platform, the vehicle motion control platform comprising a supervisory layer, a motion control layer, a target allocation layer and a coordination control layer, the supervisory layer comprising a functional logic control module, the motion control layer comprising a track tracking control module, the target allocation layer comprising a target allocation control module, the coordination control layer comprising a horizontal-vertical coordination control module, the method comprising: Receiving a function control request through a function logic control module of the supervisory layer, performing logic judgment on the function control request, and outputting a function logic control instruction to the motion control layer; receiving the function logic control instruction through a track tracking control module of the motion control layer, activating a track tracking function based on the function logic control instruction, and outputting the track tracking control instruction to the target distribution layer; The track tracking control instruction is received through a target distribution control module of the target distribution layer, decomposed, and a plurality of horizontal and vertical control instructions obtained through decomposition are output to the coordination control layer; And receiving the plurality of transverse and longitudinal control instructions through a transverse and longitudinal coordination control module of the coordination control layer, converting the plurality of transverse and longitudinal control instructions to obtain dynamic instructions respectively corresponding to the plurality of transverse and longitudinal control instructions, and outputting each dynamic instruction to a corresponding actuator. According to another aspect of the present invention, there is provided a vehicle motion control system including: The monitoring layer is used for receiving a function control request, carrying out logic judgment on the function control request and outputting a function logic control instruction to the motion control layer; The track tracking control module of the motion control layer is used for receiving the functional logic control instruction, activating a track tracking function based on the functional logic control instruction, and outputting the track tracking control instruction to the target distribution layer; The target distribution control module of the target distribution layer is used for receiving the track tracking control instruction, decomposing the track tracking control instruction, and outputting a plurality of horizontal and vertical control instructions obtained by decomposition to the coordination control layer; The transverse and longitudinal coordination control module of the coordination control layer is used for receiving the transverse and longitudinal control instructions, converting the transverse and longitudinal control instructions to obtain dynamic instructions respectively corresponding to the transverse and longitudinal control instructions, and outputting the dynamic instructions to corresponding actuators. According to another aspect of the present invention, there is provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle motion control method according to any one of the embodiments of the present invention. According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle motion control method according to