Method and device for controlling vehicle and vehicle

Patent metadata

Field	Value
Publication number	US-12291230-B2
Application number	US-202218023247-A
Country	US
Kind code	B2
Filing date	Aug 8, 2022
Priority date	Jul 20, 2022
Publication date	May 6, 2025
Grant date	May 6, 2025

Abstract

Provided are a method and device for controlling a vehicle and a vehicle, and relates to the technical field of automatic driving. The method for controlling a vehicle includes: obtaining current state information of the vehicle, wherein the state information includes a position information and an attitude information; determining a preview tracking point from a plurality of path points of a target path to be tracked by the vehicle based on a reference information, wherein the reference information includes a preview time; determining a first turning angle and a second turning angle of a front wheel of the vehicle based on the position information and the attitude information, wherein the first turning angle is used for eliminating a distance error between the vehicle and the preview tracking point, and the second turning angle is used for eliminating a heading error between the vehicle and the preview tracking point; and performing a weighting calculation on the first turning angle and the second turning angle to determine a target turning angle for controlling the front wheel, wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path points is a first distance, and at least one parameter of the preview time or a weight corresponding to the first turning angle is positively correlated with the first distance in a case where the first distance is within a preset distance range.

First claim

What is claimed is:

1. A method for controlling a vehicle, comprising:
obtaining current state information of the vehicle, wherein the state information comprises a position information and an attitude information;
determining a preview tracking point from a plurality of path points of a target path to be tracked by the vehicle based on a reference information, wherein the reference information comprises a preview time;
determining a first turning angle and a second turning angle of a front wheel of the vehicle based on the position information and the attitude information, wherein the first turning angle is used for eliminating a distance error between the vehicle and the preview tracking point, and the second turning angle is used for eliminating a heading error between the vehicle and the preview tracking point;
performing a weighting calculation on the first turning angle and the second turning angle to determine a target turning angle for controlling the front wheel; and
controlling the front wheel of the vehicle to rotate at the target turning angle,
wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path points is a first distance, and the preview time and a weight corresponding to the first turning angle are both positively correlated with the first distance in a case where the first distance is within a preset distance range.

2. The method according to claim 1 , wherein a weight corresponding to the second turning angle is negatively correlated with the weight corresponding to the first turning angle.

3. The method according to claim 2 , wherein a sum of the weight corresponding to the second turning angle and the weight corresponding to the first turning angle is equal to 1.

4. The method according to claim 1 , wherein:
each of the at least one parameter changes within a preset parameter range in the case where the first distance is within the preset distance range;
each of the at least one parameter is equal to an upper limit of the preset parameter range in a case where the first distance is greater than or equal to an upper limit of the preset distance range; and
each of the at least one parameter is equal to a lower limit of the preset parameter range in a case where the first distance is smaller than or equal to a lower limit of the preset distance range.

5. The method according to claim 4 , further comprising:
determining a proportional coefficient that changes within a preset coefficient range based on the first distance, wherein each of the at least one parameter is positively correlated with the proportional coefficient,
wherein the proportional coefficient is positively correlated with the first distance in the case where the first distance is within the preset distance range,
the proportional coefficient is equal to an upper limit of the preset coefficient range in the case where the first distance is greater than or equal to the upper limit of the preset distance range, and
the proportional coefficient is equal to a lower limit of the preset coefficient range in the case where the first distance is smaller than or equal to the lower limit of the preset distance range.

6. The method according to claim 5 , wherein the lower limit of the preset coefficient range is 0, and the upper limit of the preset coefficient range is 1.

7. The method according to claim 5 , wherein the proportional coefficient is equal to a ratio of the first distance to the upper limit of the preset distance range in the case where the first distance is within the preset distance range.

8. The method according to claim 1 , wherein each of the at least one parameter is linearly correlated with the first distance in the case where the first distance is within the preset distance range.

9. A method for controlling a vehicle, comprising:
obtaining current state information of the vehicle, wherein the state information comprises a position information and an attitude information;
determining a trend line reflecting change of each candidate path of a plurality of candidate paths;
determining a second distance between the vehicle and the trend line based on the position information;
determining a comprised angle between a traveling direction of the vehicle and an extending direction of the trend line based on the attitude information; and
selecting one candidate path from the plurality of candidate paths as the target path based on the second distance and the comprised angle;
determining a preview tracking point from a plurality of path points of the target path based on a reference information, wherein the reference information comprises a preview time;
determining a target turning angle for controlling a front wheel of the vehicle based on the position information, the attitude information and the preview tracking point; and
controlling the front wheel of the vehicle to rotate at the target turning angle,
wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path points is a first distance, and the preview time is positively correlated with the first distance in a case where the first distance is within a preset distance range.

10. The method according to claim 9 , wherein selecting one candidate path from the plurality of candidate paths as the target path based on the second distance and the comprised angle comprises:
determining a first difference between each candidate path and the vehicle based on the second distance;
determining a second difference between each candidate path and the vehicle based on the comprised angle;
performing a weighting calculation on the first difference and the second difference to obtain a third difference between each candidate path and the vehicle; and
selecting the one candidate path from the plurality of candidate paths as the target path based on the third difference.

11. The method according to claim 10 , wherein determining a first difference between each candidate path and the vehicle based on the second distance comprises:
normalizing the second distance to obtain the first difference.

12. The method according to claim 11 , wherein the first difference is d 2 −w/w, where d 2 is the second distance, and W is a reference distance.

13. The method according to claim 12 , wherein the reference distance is equal to half of a distance between trend lines of two candidate paths in a case where the plurality of candidate paths comprises only the two candidate paths having the trend lines parallel to each other.

14. The method according to claim 12 , wherein:
a path point closest to the vehicle in each candidate path is a first path point; and
the reference distance is a maximum value among a plurality of Euclidean distances between the vehicle and a plurality of first path points of the plurality of candidate paths in a case other than a preset case, wherein the plurality of candidate paths comprises only two candidate paths having trend lines parallel to each other in the preset case.

15. The method according to claim 1 , wherein the reference information further comprises an arranging manner of the plurality of path points, and the arranging manner comprises a first arranging manner or a second arranging manner, wherein:
in the first arranging manner, lengths of straight line segments between adjacent path points among the plurality of path points are the same, and
in the second arranging manner, lengths of line segments along the target path between adjacent path points among the plurality of path points are the same.

16. The method according to

Assignees

• Jiangsu Xcmg Construction Machinery Res Institute Ltd
• Xcmg Agricultural Equipment Tech Co Ltd

Inventors

• Zuo Shuai
• Gao Liang
• Chen Ming
• Liu Chenghao

Classifications

• B62D6/002 Primary

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• B60W2520/06

  Direction of travel · CPC title

• B60W2300/15

  Agricultural vehicles · CPC title

• B60W40/10

  related to vehicle motion · CPC title

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title