阅读说明：本技术 基于自适应控制的车辆转向控制方法、装置、电子设备 (Vehicle steering control method and device based on self-adaptive control and electronic equipment ) 是由 徐鑫 于 2021-08-20 设计创作，主要内容包括：本公开的实施例公开了基于自适应控制的车辆转向控制方法、装置、电子设备。该方法的一具体实施方式包括：响应于接收到转向指令,获取对应上述转向指令的横拉杆位移信息；将上述横拉杆位移信息输入至预先训练好的自适应转向控制模型中,得到横拉杆转向位移信息；将上述横拉杆转向位移信息发送至自动驾驶车辆的转向控制系统中,以供上述转向控制系统根据上述横拉杆转向位移信息,控制上述自动驾驶车辆的转向横拉杆进行位移。该实施方式提高了转向系统的控制精度,提升了转向系统的响应速度。(The embodiment of the disclosure discloses a vehicle steering control method and device based on adaptive control and an electronic device. One embodiment of the method comprises: in response to receiving a steering command, acquiring tie rod displacement information corresponding to the steering command; inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information; and transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls the tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information. The embodiment improves the control precision of the steering system and the response speed of the steering system.)

1. A vehicle steering control method based on adaptive control is applied to an automatic driving vehicle and comprises the following steps:

in response to receiving a steering command, acquiring tie rod displacement information corresponding to the steering command;

inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information;

and sending the tie rod steering displacement information to a steering control system of the automatic driving vehicle so that the steering control system controls a steering tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information.

2. The method of claim 1, wherein the adaptive steering control model is trained by:

obtaining a steering training sample of the steering control system, wherein the steering training sample comprises steering displacement corresponding to the tie rod;

inputting the steering training sample into an initial adaptive control model to obtain the steering displacement information of a sample tie rod;

sending the sample tie rod steering displacement information to the steering control system to obtain sample steering displacement information of the tie rod;

determining an error value between a steering displacement included in the steering training sample and the sample steering displacement information;

and adjusting the model parameters of the initial adaptive control model in response to the error value not meeting the preset condition.

3. The method of claim 2, wherein the steps further comprise:

determining the initial adaptive control model as the adaptive steering control model in response to the error value satisfying the preset condition.

4. The method of claim 2, wherein the model parameters of the initial adaptive control model comprise: initial steering damping and initial tie rod damping; and

the adjusting of the model parameters of the initial adaptive control model includes:

obtaining motor related information of the autonomous vehicle, wherein the motor related information comprises steering damping and tie rod damping;

adjusting the initial steering damping of the initial adaptive control model to the steering damping included in the motor related information;

and adjusting the initial tie rod damping of the initial adaptive control model to the tie rod damping included in the motor-related information.

5. The method of claim 4, wherein the model parameters of the initial adaptive control model further comprise: the initial motor reduction gear transmission ratio and the initial motor torque constant, the motor related information further includes: the transmission ratio of the motor reducing mechanism and the motor moment constant; and

the adjusting the model parameters of the initial adaptive control model further includes:

adjusting the transmission ratio of the initial motor reducing mechanism of the initial adaptive control model to the transmission ratio of the motor reducing mechanism included in the motor related information;

and adjusting the initial motor moment constant of the initial adaptive control model to be the motor moment constant included in the motor related information.

6. The method of claim 2, wherein the determining an error value between the steering displacement included in the steering training sample and the sample steering displacement information comprises:

carrying out differential processing on the steering displacement included by the steering training sample to generate differential steering displacement;

carrying out differential processing on the sample steering displacement included in the sample steering displacement information to generate differential sample steering displacement;

generating an error value between steering displacement included in the steering training sample and the sample steering displacement information based on the steering displacement, the differential steering displacement, the sample steering displacement, and the differential sample steering displacement.

7. The method of claim 1, wherein the tie rod displacement information includes tie rod position and tie rod steering displacement; and

inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information, and the method comprises the following steps:

and inputting the position of the tie rod and the steering displacement of the tie rod into a pre-trained self-adaptive steering control model to obtain the steering displacement information of the tie rod.

8. A vehicle steering control device based on adaptive control is applied to an automatic driving vehicle and comprises the following components:

an acquisition unit configured to acquire tie rod displacement information corresponding to a steering instruction in response to receiving the steering instruction;

a displacement information input unit configured to input the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information;

a transmitting unit configured to transmit the tie rod steering displacement information to a steering control system of the autonomous vehicle for the steering control system to control a tie rod of the autonomous vehicle to displace according to the tie rod steering displacement information.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

10. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-7.

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to a vehicle steering control method and device based on adaptive control and electronic equipment.

Background

In the control layer of the automatic driving vehicle, the steering system control is the key of the transverse motion control of the automatic driving vehicle, and the control precision of the system directly determines the tracking effect of the planned path. At present, the way of improving the control accuracy of the steering system of an autonomous vehicle is generally: and the fuzzy PID, the sliding film control and other algorithms are adopted to realize the parameter identification of the steering system so as to improve the control precision of the steering system of the automatic driving vehicle.

However, the following technical problems generally exist in the above manner: the control method for the single steering system cannot adapt to hardware parameters of different steering systems, and the robustness of the steering system is reduced.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a vehicle steering control method, apparatus, electronic device and computer readable medium based on adaptive control to solve the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a method for controlling steering of a vehicle based on adaptive control, the method including: in response to receiving a steering command, acquiring tie rod displacement information corresponding to the steering command; inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information; and transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls the tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information.

Optionally, the adaptive steering control model is trained by the following steps: obtaining a steering training sample of the steering control system, wherein the steering training sample includes a steering displacement corresponding to the tie rod; inputting the steering training sample into an initial self-adaptive control model to obtain the steering displacement information of the tie rod of the sample; transmitting the sample tie rod steering displacement information to the steering control system to obtain sample steering displacement information of the tie rod; determining an error value between steering displacement included in the steering training sample and the sample steering displacement information; and responding to the error value not meeting the preset condition, and adjusting the model parameters of the initial adaptive control model.

Optionally, the foregoing steps further include: and determining the initial adaptive control model as the adaptive steering control model in response to the error value satisfying the preset condition.

Optionally, the model parameters of the initial adaptive control model include: initial steering damping and initial tie rod damping; and the adjusting of the model parameters of the initial adaptive control model comprises: obtaining motor related information of the autonomous vehicle, wherein the motor related information comprises steering damping and tie rod damping; adjusting the initial steering damping of the initial adaptive control model to the steering damping included in the motor-related information; and adjusting the initial tie rod damping of the initial adaptive control model to the tie rod damping included in the motor-related information.

Optionally, the model parameters of the initial adaptive control model further include: the initial motor reduction gear drive ratio and the initial motor moment constant, the above-mentioned motor relevant information still includes: the transmission ratio of the motor reducing mechanism and the motor moment constant; and the adjusting of the model parameters of the initial adaptive control model further comprises: adjusting the transmission ratio of the initial motor reducing mechanism of the initial adaptive control model to the transmission ratio of the motor reducing mechanism included in the motor related information; and adjusting the initial motor moment constant of the initial adaptive control model to the motor moment constant included in the motor related information.

Optionally, the determining an error value between the steering displacement included in the steering training sample and the steering displacement information of the sample includes: carrying out differential processing on the steering displacement included by the steering training sample to generate differential steering displacement; carrying out differential processing on the sample steering displacement included in the sample steering displacement information to generate differential sample steering displacement; generating an error value between the steering displacement included in the steering training sample and the sample steering displacement information based on the steering displacement, the differential steering displacement, the sample steering displacement, and the differential sample steering displacement.

Optionally, the tie rod displacement information includes a tie rod position and a tie rod steering displacement; and the above-mentioned adaptive steering control model who inputs above-mentioned tie rod displacement information to training in advance obtains tie rod steering displacement information, includes: and inputting the position of the tie rod and the steering displacement of the tie rod into a pre-trained adaptive steering control model to obtain the steering displacement information of the tie rod.

In a second aspect, some embodiments of the present disclosure provide an adaptive control-based vehicle steering control apparatus, the apparatus including: an acquisition unit configured to acquire tie rod displacement information corresponding to a steering instruction in response to receiving the steering instruction; a displacement information input unit configured to input the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information; a transmitting unit configured to transmit the tie rod steering displacement information to a steering control system of an autonomous vehicle, so that the steering control system controls a tie rod of the autonomous vehicle to displace according to the tie rod steering displacement information.

Optionally, the apparatus further comprises: a self-adaptive steering control model training unit; the adaptive steering control model training unit comprises an acquisition subunit, an input subunit, a sending subunit, a determination subunit and an adjustment subunit; the acquisition subunit is configured to: obtaining a steering training sample of the steering control system, wherein the steering training sample includes a steering displacement corresponding to the tie rod; the input subunit is configured to: inputting the steering training sample into an initial self-adaptive control model to obtain the steering displacement information of the tie rod of the sample; the transmitting subunit is configured to: transmitting the sample tie rod steering displacement information to the steering control system to obtain sample steering displacement information of the tie rod; the determining subunit is configured to: determining an error value between steering displacement included in the steering training sample and the sample steering displacement information; the adjustment subunit is configured to: and responding to the error value not meeting the preset condition, and adjusting the model parameters of the initial adaptive control model.

Optionally, the adaptive steering control model training unit further comprises: a model determining subunit configured to determine the initial adaptive control model as the adaptive steering control model in response to the error value satisfying the preset condition.

Optionally, the model parameters of the initial adaptive control model include: initial steering damping and initial tie rod damping.

Optionally, the adjusting subunit is further configured to: obtaining motor related information of the autonomous vehicle, wherein the motor related information comprises steering damping and tie rod damping; adjusting the initial steering damping of the initial adaptive control model to the steering damping included in the motor-related information; and adjusting the initial tie rod damping of the initial adaptive control model to the tie rod damping included in the motor-related information.

Optionally, the model parameters of the initial adaptive control model further include: the initial motor reduction gear drive ratio and the initial motor moment constant, the above-mentioned motor relevant information still includes: the transmission ratio of the motor speed reducing mechanism and the motor torque constant.

Optionally, the adjusting subunit is further configured to: adjusting the transmission ratio of the initial motor reducing mechanism of the initial adaptive control model to the transmission ratio of the motor reducing mechanism included in the motor related information; and adjusting the initial motor moment constant of the initial adaptive control model to the motor moment constant included in the motor related information.

Optionally, the determining subunit is further configured to: carrying out differential processing on the steering displacement included by the steering training sample to generate differential steering displacement; carrying out differential processing on the sample steering displacement included in the sample steering displacement information to generate differential sample steering displacement; generating an error value between the steering displacement included in the steering training sample and the sample steering displacement information based on the steering displacement, the differential steering displacement, the sample steering displacement, and the differential sample steering displacement.

Optionally, the tie rod displacement information includes a tie rod position and a tie rod steering displacement.

Optionally, the displacement information input unit is further configured to: and inputting the position of the tie rod and the steering displacement of the tie rod into a pre-trained adaptive steering control model to obtain the steering displacement information of the tie rod.

In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following advantages: according to the vehicle steering control method based on the adaptive control, hardware parameters of different steering systems can be adapted, and the robustness of the steering systems is improved. Therefore, the control precision of the steering system is improved, and the response speed of the steering system is improved. Specifically, the reason why the robustness of the steering system is reduced is that: the method can not adapt to hardware parameters of different steering systems, and reduces the robustness of the steering system. Based on this, the vehicle steering control method based on adaptive control according to some embodiments of the present disclosure first obtains tie rod displacement information corresponding to a steering command in response to receiving the steering command. Therefore, the steering tie rod is controlled to move conveniently according to the tie rod displacement information, so that the automatic driving vehicle can complete steering. And then, inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain the tie rod steering displacement information. Therefore, relevant information (tie rod steering displacement information) of the steering control system for controlling the steering tie rod to displace can be obtained according to the pre-trained adaptive steering control model, so that the steering control system can control the steering tie rod to steer quickly and accurately according to the tie rod steering displacement information. And finally, transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls a steering tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information. Therefore, the adaptive steering control model can be adapted to hardware parameters of different steering systems, so that the steering control system can quickly and accurately control the steering tie rod to steer according to tie rod steering displacement information, and the steering of the automatic driving vehicle is completed. Thus, the robustness of the steering system is improved. Furthermore, the control precision of the steering system is improved, and the response speed of the steering system is improved.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of one application scenario of an adaptive control based vehicle steering control method of some embodiments of the present disclosure;

FIG. 2 is a flow chart of some embodiments of an adaptive control based vehicle steering control method according to the present disclosure;

FIG. 3 is a flow diagram of some embodiments of generating an adaptive steering control model in an adaptive control based vehicle steering control method according to the present disclosure;

FIG. 4 is a flow chart of further embodiments of adaptive control based vehicle steering control methods according to the present disclosure

FIG. 5 is a schematic block diagram of some embodiments of an adaptive control based vehicle steering control apparatus according to the present disclosure;

FIG. 6 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

FIG. 1 is a schematic diagram of one application scenario of adaptive control based vehicle steering control methods according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 may obtain, in response to receiving a steering command, tie rod displacement information 102 corresponding to the steering command. The computing device 101 may then input the aforementioned tie rod displacement information 102 into a pre-trained adaptive steering control model 103, resulting in tie rod steering displacement information 104. Finally, the computing device 101 may send the tie rod steering displacement information 104 to a steering control system of an autonomous vehicle, so that the steering control system may control the tie rod of the autonomous vehicle to displace according to the tie rod steering displacement information 104.

The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

With continued reference to fig. 2, a flow 200 of some embodiments of an adaptive control based vehicle steering control method according to the present disclosure is shown. The vehicle steering control method based on the adaptive control comprises the following steps:

step 201, in response to receiving a steering command, acquiring tie rod displacement information corresponding to the steering command.

In some embodiments, an executing entity (e.g., computing device 101 shown in fig. 1) of an adaptive control-based vehicle steering control method may obtain tie rod displacement information corresponding to a steering command in response to receiving the steering command. Here, the execution body may refer to an in-vehicle terminal of an autonomous vehicle. Here, the steering command may be command information that is issued by a device such as a radar or a wireless sensor mounted on the autonomous vehicle when sensing/detecting that the autonomous vehicle needs to be steered during autonomous driving of the autonomous vehicle. Here, the steering instructions may include, but are not limited to: vehicle steering angle (steering wheel steering angle). In practice, the executing body may obtain tie rod displacement information corresponding to the steering command from a local database in response to receiving the steering command. Here, the tie rod displacement information may refer to displacement information of a tie rod of the vehicle when the vehicle is controlled to complete steering. For example, the steering command may be: if the vehicle is steered by 5 degrees to the left, the tie rod displacement information corresponding to the steering command can be searched from the local database and is 'the tie rod is transversely displaced by 1 centimeter to the left'.

It is to be understood that the above example is merely a simple example. In steering the autonomous vehicle, the current speed of the vehicle, the length of the curve, the duration of the steering, the length of the lateral displacement of the tie rod corresponding to the duration of the steering per frame, etc. should also be taken into account.

Step 202, inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information.

In some embodiments, the execution body may input the tie rod displacement information into a pre-trained adaptive steering control model to obtain the tie rod steering displacement information. Here, the pre-trained adaptive steering control model may refer to a pre-selected second-order reference model. Here, the adaptive steering control model may be a single-input multiple-output system control model. For example, the adaptive steering control model may be referred to as an MRACS (model reference adaptive control system). In practice, the tie rod displacement information is input to a pre-trained adaptive steering control model, and a parameter (tie rod steering displacement information) related to the lateral displacement of the tie rod for controlling the autonomous vehicle can be obtained. Here, the tie rod steering displacement information may include, but is not limited to: steering angle of the steering wheel, steering speed of the steering wheel (equivalently, displacement speed of the tie rod).

It will be appreciated that the above description of the embodiments is merely a description of the key parameters required for steering the vehicle. During steering of the autonomous vehicle, consideration should also be given to (gear ratio of rack and pinion between tie rods), (moment of inertia of steering wheel, steering column, pinion and motor output shaft equivalent to steering column), (tie rod, link mechanism, equivalent mass of wheels equivalent to tie rod), (damping of steering wheel, steering column, pinion and motor output shaft equivalent to steering column), (damping of steering column equivalent to tie rod), and so on.

And step 203, transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls a tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information.

In some embodiments, the actuator may transmit the tie rod steering displacement information to a steering control system of an autonomous vehicle, so that the steering control system controls the tie rod of the autonomous vehicle to displace according to the tie rod steering displacement information. Here, the steering control system may refer to a controller for controlling steering of an autonomous vehicle. In practice, after the execution main body sends the tie rod steering displacement information to the steering control system of the autonomous vehicle, the steering control system may generate a current for controlling the steering wheel of the autonomous vehicle to rotate according to a parameter included in the tie rod steering displacement information, so that the steering column and the steering pinion of the autonomous vehicle may be driven to steer by the rotation of the steering wheel of the autonomous vehicle. Further, the tie rod of the autonomous vehicle is caused to transmit a lateral displacement. Thus, steering of the autonomous vehicle is completed.

The above embodiments of the present disclosure have the following advantages: according to the vehicle steering control method based on the adaptive control, hardware parameters of different steering systems can be adapted, and the robustness of the steering systems is improved. Therefore, the control precision of the steering system is improved, and the response speed of the steering system is improved. Specifically, the reason why the robustness of the steering system is reduced is that: the method can not adapt to hardware parameters of different steering systems, and reduces the robustness of the steering system. Based on this, the vehicle steering control method based on adaptive control according to some embodiments of the present disclosure first obtains tie rod displacement information corresponding to a steering command in response to receiving the steering command. Therefore, the steering tie rod is controlled to move conveniently according to the tie rod displacement information, so that the automatic driving vehicle can complete steering. And then, inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain the tie rod steering displacement information. Therefore, relevant information (tie rod steering displacement information) of the steering control system for controlling the steering tie rod to displace can be obtained according to the pre-trained adaptive steering control model, so that the steering control system can control the steering tie rod to steer quickly and accurately according to the tie rod steering displacement information. And finally, transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls a steering tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information. Therefore, the adaptive steering control model can be adapted to hardware parameters of different steering systems, so that the steering control system can quickly and accurately control the steering tie rod to steer according to tie rod steering displacement information, and the steering of the automatic driving vehicle is completed. Thus, the robustness of the steering system is improved. Furthermore, the control precision of the steering system is improved, and the response speed of the steering system is improved.

With further reference to fig. 3, a flow diagram of some embodiments of generating an adaptive steering control model in an adaptive control based vehicle steering control method according to the present disclosure is shown. The method for generating the adaptive steering control model comprises the following steps:

step 301, obtaining a steering training sample of a steering control system.

In some embodiments, the execution subject (which may be, for example, the computing device 101 shown in fig. 1, or an in-vehicle terminal) of the adaptive control-based vehicle steering control method may obtain the steering training sample of the steering control system through a wired connection or a wireless connection. Here, the steering control system may refer to a steering control system of an autonomous vehicle. Wherein the steering training sample includes a steering displacement corresponding to the tie rod. Here, the steering displacement may refer to a lateral displacement of the tie rod when the autonomous vehicle is steering.

Step 302, inputting the steering training sample into an initial adaptive control model to obtain the steering displacement information of the tie rod of the sample.

In some embodiments, the executive may input the steering training samples into an initial adaptive control model to obtain sample tie rod steering displacement information. Here, the sample tie rod steering displacement information may include, but is not limited to: steering angle of the steering wheel, steering speed of the steering wheel (equivalently, displacement speed of the tie rod). Here, the initial adaptive control model may be a single-input multiple-output system control model (second-order linear system). It will be appreciated that the above description of the embodiments is merely a description of the key parameters required for steering the vehicle. During steering of the autonomous vehicle, consideration should also be given to (gear ratio of rack and pinion between tie rods), (moment of inertia of steering wheel, steering column, pinion and motor output shaft equivalent to steering column), (tie rod, link mechanism, equivalent mass of wheels equivalent to tie rod), (damping of steering wheel, steering column, pinion and motor output shaft equivalent to steering column), (damping of steering column equivalent to tie rod), and so on.

Step 303 is to transmit the sample tie rod steering displacement information to the steering control system to obtain sample steering displacement information of the tie rod.

In some embodiments, the execution body may send the sample tie rod steering displacement information to the steering control system to obtain the sample steering displacement information of the tie rod. In practice, after the execution main body sends the sample tie rod steering displacement information to a steering control system of an autonomous vehicle, the steering control system may generate a current for controlling a steering wheel of the autonomous vehicle to rotate according to a parameter included in the sample tie rod steering displacement information, so that the steering wheel of the autonomous vehicle rotates to drive a steering column and a steering pinion of the vehicle to steer. Thus, lateral displacement information (sample steering displacement information) of the tie rod can be obtained.

Step 304, determining an error value between the steering displacement included in the steering training sample and the sample steering displacement information.

In some embodiments, the executing entity may determine the error value between the steering displacement included in the steering training sample and the sample steering displacement information by:

in the first step, the steering displacement included in the steering training sample is subjected to differential processing to generate differential steering displacement. Here, the differentiation processing may mean differentiating the steering displacement (lateral displacement of the tie rod). Here, the differential steering displacement may refer to a velocity.

And a second step of performing differential processing on the sample steering displacement included in the sample steering displacement information to generate a differential sample steering displacement. Here, the differentiation processing may refer to differentiating the sample steering displacement (lateral displacement of the tie rod). Here, the differential sample steering displacement may refer to a velocity.

And thirdly, generating an error value between the steering displacement included in the steering training sample and the sample steering displacement information based on the steering displacement, the differential steering displacement, the sample steering displacement and the differential sample steering displacement.

In practice, the executing entity may generate an error value between the steering displacement included in the steering training sample and the sample steering displacement information by the following formula:

wherein, X_eAn error value is indicated. d represents the steering displacement. d' represents the aboveThe steering displacement is differentiated. d_mIndicating the sample steering displacement described above. d'_mRepresenting the differential sample steering displacement described above.

And 305, responding to the error value not meeting the preset condition, and adjusting the model parameters of the initial adaptive control model.

In some embodiments, the executing entity may adjust the model parameter of the initial adaptive control model in response to the error value not satisfying a predetermined condition. Here, the preset condition may be that "the error value is equal to a preset threshold value (0)". Here, the model parameters of the initial adaptive control model may include: initial steering damping and initial tie rod damping. Here, the model parameters of the initial adaptive control model further include: the transmission ratio of the initial motor speed reducing mechanism and the initial motor torque constant. Here, the initial steering damping may refer to damping equivalent to the steering wheel, the steering column, the pinion, and the motor output shaft arranged in the initial adaptive control model to the steering column. Here, the initial tie rod damping may refer to damping of the tie rods, link mechanisms, and wheels, which are configured in the initial adaptive control model, onto the tie rods. Here, the initial tie rod damping may refer to a transmission ratio of the motor reduction mechanism configured in advance in the initial adaptive control model. Here, the initial motor torque constant may refer to a torque constant of a motor configured in advance in the initial adaptive control model.

In practice, in response to the error value not satisfying the preset condition, the executing entity may adjust the model parameters of the initial adaptive control model by:

first, motor related information of the autonomous vehicle is acquired. Wherein the motor related information includes steering damping and tie rod damping. Here, the execution main body may acquire information (motor-related information) related to the steering control system and the brushless dc motor in the autonomous vehicle by wired connection or wireless connection. The above-mentioned motor-related information further includes: the transmission ratio of the motor speed reducing mechanism and the motor torque constant.

And secondly, adjusting the initial steering damping of the initial adaptive control model to the steering damping included in the motor-related information. In practice, the initial steering damping of the initial adaptive control model may be replaced with the steering damping included in the motor-related information.

And thirdly, adjusting the initial tie rod damping of the initial adaptive control model to the tie rod damping included in the motor-related information. In practice, the initial tie rod damping of the initial adaptive control model may be replaced with the tie rod damping included in the motor-related information.

And fourthly, adjusting the transmission ratio of the initial motor reducing mechanism of the initial adaptive control model to the transmission ratio of the motor reducing mechanism included in the motor related information. In practice, the initial motor speed reduction gear ratio of the initial adaptive control model may be replaced with the motor speed reduction gear ratio included in the motor related information

And fifthly, adjusting the initial motor moment constant of the initial adaptive control model to the motor moment constant included in the motor related information. In practice, the initial motor torque constant of the initial adaptive control model may be replaced with the motor torque constant included in the motor-related information.

Step 306, in response to that the error value satisfies the preset condition, determining the initial adaptive control model as an adaptive steering control model.

In some embodiments, the executing entity may determine the initial adaptive control model as an adaptive steering control model in response to the error value satisfying the preset condition.

As can be seen from fig. 3, the process 300 in some embodiments corresponding to fig. 3 may dynamically adjust parameters in the initial adaptive control model to motor-related parameters of the current autonomous vehicle, so that the initial adaptive control model may adapt to the motor-related parameters of the autonomous vehicle, so as to improve the robustness of the steering system. Therefore, the steering system can accurately control the steering motion of the vehicle, the control precision of the steering system is improved, and the response speed of the steering system is improved.

With further reference to FIG. 4, a flow diagram 400 of further embodiments of adaptive control based vehicle steering control methods according to the present disclosure is shown. The vehicle steering control method based on the adaptive control comprises the following steps:

step 401, in response to receiving a steering command, obtaining tie rod displacement information corresponding to the steering command.

In some embodiments, an executing entity (e.g., computing device 101 shown in fig. 1) of an adaptive control-based vehicle steering control method may obtain tie rod displacement information corresponding to a steering command in response to receiving the steering command. Here, the execution body may refer to an in-vehicle terminal of an autonomous vehicle. Here, the steering command may be command information that is transmitted by a device such as a radar or a wireless sensor mounted on the autonomous vehicle when sensing/detecting that the autonomous vehicle needs to steer during autonomous driving of the autonomous vehicle. Here, the steering instructions may include, but are not limited to: vehicle steering angle (steering wheel steering angle). In practice, the executing body may obtain tie rod displacement information corresponding to the steering command from a local database in response to receiving the steering command. Here, the tie rod displacement information may include a tie rod position and a tie rod steering displacement. Here, the tie rod position may refer to a position coordinate of the tie rod in a coordinate system established with a steering shaft connected to a steering pinion in the above-described autonomous vehicle.

Step 402, inputting the tie rod position and the tie rod steering displacement into a pre-trained adaptive steering control model to obtain tie rod steering displacement information.

In some embodiments, the execution body may input the tie rod position and the tie rod steering displacement into a pre-trained adaptive steering control model to obtain the tie rod steering displacement information. Here, the pre-trained adaptive steering control model may refer to a pre-selected second-order reference model. Here, the adaptive steering control model may be a multiple-input multiple-output system control model. For example, the adaptive steering control model may be referred to as an MRACS (model reference adaptive control system). In practice, the tie rod position and the tie rod steering displacement are input to a pre-trained adaptive steering control model, and a parameter (tie rod steering displacement information) related to the lateral displacement of the tie rod for controlling the autonomous vehicle can be obtained. Here, the tie rod steering displacement information may include, but is not limited to: steering angle of the steering wheel, steering speed of the steering wheel (equivalent to displacement speed of the tie rod), and position of the tie rod after steering.

And step 403, transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls a tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information.

In some embodiments, the specific implementation of step 403 and the technical effect brought by the implementation may refer to step 203 in those embodiments corresponding to fig. 2, which are not described herein again.

As can be seen from fig. 4, compared with the description of some embodiments corresponding to fig. 2, the process 400 in some embodiments corresponding to fig. 4 may adapt hardware parameters of different steering systems through an adaptive steering control model, so that the steering control system can quickly and accurately control a tie rod to steer according to tie rod steering displacement information, so as to complete steering of the autonomous vehicle. Thus, the robustness of the steering system is improved. Furthermore, the control precision of the steering system is improved, and the response speed of the steering system is improved.

With further reference to fig. 5, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of an adaptive control based vehicle steering control apparatus, which correspond to those of the method embodiments illustrated in fig. 2, and which may be particularly applicable in various electronic devices.

As shown in fig. 5, a vehicle steering control apparatus 500 based on adaptive control according to some embodiments includes: an acquisition unit 501, a displacement information input unit 502, and a transmission unit 503. The obtaining unit 501 is configured to obtain tie rod displacement information corresponding to a steering instruction in response to receiving the steering instruction; the displacement information input unit 502 is configured to input the tie rod displacement information into a pre-trained adaptive steering control model, to obtain tie rod steering displacement information; the transmitting unit 503 is configured to transmit the tie rod steering displacement information to a steering control system of an autonomous vehicle, so that the steering control system controls a tie rod of the autonomous vehicle to displace according to the tie rod steering displacement information.

Optionally, the apparatus further comprises: a self-adaptive steering control model training unit; the adaptive steering control model training unit comprises an acquisition subunit, an input subunit, a sending subunit, a determination subunit and an adjustment subunit; the acquisition subunit is configured to: obtaining a steering training sample of the steering control system, wherein the steering training sample includes a steering displacement corresponding to the tie rod; the input subunit is configured to: inputting the steering training sample into an initial self-adaptive control model to obtain the steering displacement information of the tie rod of the sample; the transmitting subunit is configured to: transmitting the sample tie rod steering displacement information to the steering control system to obtain sample steering displacement information of the tie rod; the determining subunit is configured to: determining an error value between steering displacement included in the steering training sample and the sample steering displacement information; the adjustment subunit is configured to: and responding to the error value not meeting the preset condition, and adjusting the model parameters of the initial adaptive control model.

Optionally, the adaptive steering control model training unit further comprises: a model determining subunit configured to determine the initial adaptive control model as the adaptive steering control model in response to the error value satisfying the preset condition.

Optionally, the model parameters of the initial adaptive control model include: initial steering damping and initial tie rod damping.

Optionally, the adjusting subunit is further configured to: obtaining motor related information of the autonomous vehicle, wherein the motor related information comprises steering damping and tie rod damping; adjusting the initial steering damping of the initial adaptive control model to the steering damping included in the motor-related information; and adjusting the initial tie rod damping of the initial adaptive control model to the tie rod damping included in the motor-related information.

Optionally, the model parameters of the initial adaptive control model further include: the initial motor reduction gear drive ratio and the initial motor moment constant, the above-mentioned motor relevant information still includes: the transmission ratio of the motor speed reducing mechanism and the motor torque constant.

Optionally, the adjusting subunit is further configured to: adjusting the transmission ratio of the initial motor reducing mechanism of the initial adaptive control model to the transmission ratio of the motor reducing mechanism included in the motor related information; and adjusting the initial motor moment constant of the initial adaptive control model to the motor moment constant included in the motor related information.

Optionally, the determining subunit is further configured to: carrying out differential processing on the steering displacement included by the steering training sample to generate differential steering displacement; carrying out differential processing on the sample steering displacement included in the sample steering displacement information to generate differential sample steering displacement; generating an error value between the steering displacement included in the steering training sample and the sample steering displacement information based on the steering displacement, the differential steering displacement, the sample steering displacement, and the differential sample steering displacement.

Optionally, the tie rod displacement information includes a tie rod position and a tie rod steering displacement.

Optionally, the displacement information input unit 502 is further configured to: and inputting the position of the tie rod and the steering displacement of the tie rod into a pre-trained adaptive steering control model to obtain the steering displacement information of the tie rod.

It will be understood that the elements described in the apparatus 500 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 500 and the units included therein, and are not described herein again.

Referring now to FIG. 6, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1)600 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic devices in some embodiments of the present disclosure may include, but are not limited to, mobile terminals such as notebook computers, in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 6, electronic device 600 may include a processing means (e.g., central processing unit, graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device 600 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: in response to receiving a steering command, acquiring tie rod displacement information corresponding to the steering command; inputting the tie rod displacement information into a pre-trained adaptive steering control model to obtain tie rod steering displacement information; and transmitting the tie rod steering displacement information to a steering control system of the automatic driving vehicle, so that the steering control system controls the tie rod of the automatic driving vehicle to displace according to the tie rod steering displacement information.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit, a displacement information input unit, and a transmission unit. The names of these units do not, in some cases, constitute a limitation on the unit itself, and for example, the acquisition unit may also be described as a "unit that receives tie rod displacement information corresponding to a steering command described above in response to receiving the steering command".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.