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CN-121989992-A - Vehicle control method and related equipment

CN121989992ACN 121989992 ACN121989992 ACN 121989992ACN-121989992-A

Abstract

The application provides a vehicle control method and related equipment, wherein the vehicle control method comprises the steps of obtaining curvature variation of a path to be driven by a vehicle, determining a plurality of first pretightening distances of the vehicle on the path and determining cost values corresponding to the first pretightening distances under the condition that the curvature variation is larger than or equal to a preset variation, determining a second pretightening distance in each first pretightening distance according to the cost values and determining the position to be driven by the vehicle on the path according to the second pretightening distance and the current position of the vehicle, determining a first target steering angle according to the position to be driven, the current pose parameters of the vehicle and the wheelbase of the vehicle, and controlling the current steering angle of a steering wheel in the vehicle to be adjusted to the first target steering angle so as to drive the vehicle to the position to be driven. According to the application, the running safety of the vehicle is improved.

Inventors

  • WANG SHUO
  • LI RUYI
  • HAN ZHIKAI
  • WU BING

Assignees

  • 浙江吉利控股集团有限公司
  • 吉利汽车研究院（宁波）有限公司

Dates

Publication Date
20260508
Application Date
20260303

Claims (10)

  1. 1.A vehicle control method characterized by comprising: acquiring curvature variation of a path to be driven by the vehicle; when the curvature variation is greater than or equal to a preset variation, determining a plurality of first pretightening distances of the vehicle on the path, and determining a cost value corresponding to the first pretightening distances, wherein the cost value is used for indicating the deviation degree between a pretightening point corresponding to the first pretightening distance and a track point on the path; Determining a second pretightening distance from the first pretightening distances according to the cost values, and determining a to-be-driven position of the vehicle on the path according to the second pretightening distance and the current position of the vehicle, wherein the second pretightening distance is used for indicating the first pretightening distance with the cost value smaller than a preset threshold value; And determining a first target steering angle according to the position to be driven, the current pose parameter of the vehicle and the wheelbase of the vehicle, and controlling the current steering angle of a steering wheel in the vehicle to be adjusted to the first target steering angle so as to drive the vehicle to the position to be driven.
  2. 2. The vehicle control method according to claim 1, characterized in that the determining a cost value corresponding to the first pretighted distance includes: determining a pretightening point corresponding to the first pretightening distance according to the first pretightening distance and the current position of the vehicle; Determining an actual steering angle of the vehicle to the pre-aiming point, and determining an actual position of the vehicle at the next moment according to the actual steering angle; Determining a first deviation parameter between the pre-aiming point and the actual position; and determining a cost value corresponding to the first pretightening distance according to the first deviation parameter.
  3. 3. The vehicle control method according to claim 2, characterized in that the determining of the actual steering angle at which the vehicle is traveling to the pre-aiming point includes: determining a first curvature of the pre-aiming point according to the pre-aiming point and the current pose parameters of the vehicle, and determining a theoretical steering angle corresponding to the first curvature; And determining the actual steering angle required by the vehicle to travel to the pre-aiming point according to the theoretical steering angle and the current steering angle of the steering wheel in the vehicle.
  4. 4. The vehicle control method according to claim 2, characterized in that the determining of the actual position of the vehicle at the next time from the actual steering angle includes: determining a second curvature corresponding to the actual steering angle, and determining the steering radius of the vehicle according to the second curvature; constructing a circle according to the steering radius and the current position of the vehicle; And determining the actual position according to the circle and the next track point of the vehicle on the path.
  5. 5. The vehicle control method according to claim 1, characterized by further comprising, after the obtaining of the curvature change amount of the road on which the vehicle is to travel: Acquiring a second deviation parameter between the current state and the target state of the vehicle under the condition that the curvature variation is smaller than a preset variation; determining a second target steering angle corresponding to the next track point of the vehicle running to the path according to the second deviation parameter, the wheelbase of the vehicle and the current speed of the vehicle; and adjusting the current steering angle of a steering wheel in the vehicle to the second target steering angle so as to enable the vehicle to travel to the next track point.
  6. 6. The vehicle control method according to claim 1, characterized in that the obtaining of the curvature variation amount of the road on which the vehicle is to travel includes: Determining a parking path of the vehicle when the vehicle is in a parking state; And determining the parking path as a path to be driven by the vehicle, and acquiring the curvature variation of the path to be driven by the vehicle.
  7. 7. The vehicle control method according to claim 1, characterized in that the obtaining of the curvature variation amount of the path on which the vehicle is to travel includes: Determining the type of the road where the vehicle is located; And acquiring the curvature variation of a path to be travelled by the vehicle when the type indicates that the road is a curve, wherein the path to be travelled is determined based on the road.
  8. 8. A vehicle comprising a memory and a processor, wherein, The memory is connected with the processor and is used for storing programs; the processor is configured to implement the vehicle control method according to any one of claims 1 to 7 by running a program in the memory.
  9. 9.A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 7.
  10. 10. A computer program product, characterized in that the computer program, when being executed by a processor, implements the vehicle control method according to any one of claims 1-7.

Description

Vehicle control method and related equipment Technical Field The application relates to the technical field of vehicles, in particular to a vehicle control method and related equipment. Background With the development of vehicle technology, an autopilot function has been gradually applied to a vehicle. In the process that the vehicle runs with the automatic driving function, path planning is carried out, the planned path possibly comprises a path of an arc section, and the path of the arc section has the characteristics of large curvature variation and unsmooth transition. In an exemplary technology, in the process of running a vehicle on a path of an arc segment, the steering angle of a steering wheel is controlled to enable the vehicle to finish running the path of the arc segment. However, in the running process, as the curvature change amount of the path of the arc section is large, the steering angle of the steering wheel cannot be timely adjusted, so that the vehicle cannot run according to the planned path, the vehicle is easy to collide, and the running safety of the vehicle is low. Disclosure of Invention Based on the above state of the art, the present application provides a vehicle control method and related apparatus for solving the problem of low driving safety of a vehicle. In order to achieve the technical purpose, the application specifically provides the following technical scheme: In a first aspect, the present application provides a vehicle control method including: acquiring curvature variation of a path to be driven by the vehicle; when the curvature variation is greater than or equal to a preset variation, determining a plurality of first pretightening distances of the vehicle on the path, and determining a cost value corresponding to the first pretightening distances, wherein the cost value is used for indicating the deviation degree between a pretightening point corresponding to the first pretightening distance and a track point on the path; Determining a second pretightening distance from the first pretightening distances according to the cost values, and determining a to-be-driven position of the vehicle on the path according to the second pretightening distance and the current position of the vehicle, wherein the second pretightening distance is used for indicating the first pretightening distance with the cost value smaller than a preset threshold value; And determining a first target steering angle according to the position to be driven, the current pose parameter of the vehicle and the wheelbase of the vehicle, and controlling the current steering angle of a steering wheel in the vehicle to be adjusted to the first target steering angle so as to drive the vehicle to the position to be driven. In some embodiments, the determining the cost value corresponding to the first pretighted distance includes: determining a pretightening point corresponding to the first pretightening distance according to the first pretightening distance and the current position of the vehicle; Determining an actual steering angle of the vehicle to the pre-aiming point, and determining an actual position of the vehicle at the next moment according to the actual steering angle; Determining a first deviation parameter between the pre-aiming point and the actual position; and determining a cost value corresponding to the first pretightening distance according to the first deviation parameter. In some embodiments, the determining the actual steering angle at which the vehicle is traveling to the pre-aiming point comprises: determining a first curvature of the pre-aiming point according to the pre-aiming point and the current pose parameters of the vehicle, and determining a theoretical steering angle corresponding to the first curvature; And determining the actual steering angle required by the vehicle to travel to the pre-aiming point according to the theoretical steering angle and the current steering angle of the steering wheel in the vehicle. In some embodiments, the determining the actual position of the vehicle at the next moment according to the actual steering angle includes: determining a second curvature corresponding to the actual steering angle, and determining the steering radius of the vehicle according to the second curvature; constructing a circle according to the steering radius and the current position of the vehicle; And determining the actual position according to the circle and the next track point of the vehicle on the path. In some embodiments, after the obtaining the curvature change amount of the road on which the vehicle is to travel, the method further includes: Acquiring a second deviation parameter between the current state and the target state of the vehicle under the condition that the curvature variation is smaller than a preset variation; determining a second target steering angle corresponding to the next track point of the vehicle running to the path according to the second