CN109572816B - Steering instruction processing method and vehicle - Google Patents
Steering instruction processing method and vehicle Download PDFInfo
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- CN109572816B CN109572816B CN201811639547.0A CN201811639547A CN109572816B CN 109572816 B CN109572816 B CN 109572816B CN 201811639547 A CN201811639547 A CN 201811639547A CN 109572816 B CN109572816 B CN 109572816B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The embodiment of the invention provides a steering instruction processing method and a vehicle, wherein the method comprises the following steps: collecting image data; inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response of a steering wheel to the steering command; transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command. The embodiment of the invention can improve the steering performance of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a steering instruction processing method and a vehicle.
Background
With the rapid development of deep learning technology and the intensive research of artificial intelligence, the current trend of driving vehicles from manual driving to automatic driving changes. Among them, the realization of automatic driving through end-to-end deep learning is a main research direction in the field of automatic driving at present. However, there is currently a time delay from the predicted steering command for the vehicle to the steering wheel responding to the steering command, because the steering command needs to be transmitted to the steering wheel within the vehicle. Thus, the vehicle steering performance is poor.
Disclosure of Invention
The embodiment of the invention provides a steering instruction processing method and a vehicle, and aims to solve the problem that the steering performance of the vehicle is poor.
The embodiment of the invention provides a steering instruction processing method, which is applied to a vehicle and comprises the following steps:
collecting image data;
inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response of a steering wheel to the steering command;
transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command.
Optionally, the steering model is an end-to-end model with an input of image data and an output of steering instructions, and training sample data of the steering model includes:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
Optionally, the sample image data and the sample steering command are selected from a data set, where the data set includes multiple frames of image data, and multiple steering commands, and prediction times of the multiple steering commands are respectively equal to an acquisition time of the multiple frames of image data.
Optionally, the specific duration is equal to a total duration of N image durations, where the response delay is matched with the total duration of the N image durations, the image duration is an inverse of a frequency of the steering model processing image data, and N is an integer greater than or equal to 1.
Optionally, N is equal to an integer obtained by dividing response time delay by time consumed by the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
An embodiment of the present invention further provides a vehicle, including:
the acquisition module is used for acquiring image data;
the processing module is used for inputting the image data into a steering model for processing so as to predict a steering instruction of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering instruction to the response of a steering wheel to the steering instruction;
and the execution module is used for transmitting the steering instruction to the steering wheel so as to enable the steering wheel to respond to the steering instruction.
Optionally, the steering model is an end-to-end model with an input of image data and an output of steering instructions, and training sample data of the steering model includes:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
Optionally, the sample image data and the sample steering command are selected from a data set, where the data set includes multiple frames of image data, and multiple steering commands, and prediction times of the multiple steering commands are respectively equal to an acquisition time of the multiple frames of image data.
Optionally, the specific duration is equal to a total duration of N image durations, where the response delay is matched with the total duration of the N image durations, the image duration is an inverse of a frequency of the steering model processing image data, and N is an integer greater than or equal to 1.
Optionally, N is equal to an integer obtained by dividing response time delay by time consumed by the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
The embodiment of the invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the steering instruction processing method provided by the embodiment of the invention are realized.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the steering instruction processing method provided by the embodiment of the present invention are implemented.
In the embodiment of the invention, image data are collected; inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response of a steering wheel to the steering command; transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command. The influence of the response time delay on the steering command can be reduced by predicting the steering command at the target time, thereby improving the steering performance of the vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of a method for processing steering instructions according to an embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle provided by an embodiment of the present invention;
fig. 3 is a structural diagram of another vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises," "comprising," or any other variation thereof, in the description and claims of this application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, the use of "and/or" in the specification and claims means that at least one of the connected objects, such as a and/or B, means that three cases, a alone, B alone, and both a and B, exist.
In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
Referring to fig. 1, fig. 1 is a flowchart of a steering instruction processing method according to an embodiment of the present invention, where the method is applied to a vehicle, and as shown in fig. 1, the method includes the following steps:
Wherein, the above-mentioned image data vehicle of gathering passes through the image data that the camera of installation on the vehicle gathered, for example: the camera captures video data, and the image data may be a frame of image data in the video data.
In the embodiment of the present invention, the vehicle may be an autonomous vehicle or another vehicle capable of predicting a steering command through image data, and the embodiment of the present invention is not limited thereto.
And 102, inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response time of a steering wheel to the steering command.
The steering model may be a pre-obtained end-to-end model, for example: a pre-trained end-to-end model with inputs for image data and outputs for steering instructions. Preferably, a corresponding steering command is output for each frame of image data.
The steering command may be a command for controlling steering of the steering wheel.
The steering command at the target time may be a steering command for performing steering at the target time, which is output by the steering model. And the target time may be later than the acquisition time of the image data by a certain time period, and the target time and the acquisition time may have a time offset (offset) of the certain time period.
The time delay from the prediction time of the steering command to the response of the steering wheel to the steering command can also be understood as the time delay from the transmission of the steering command (i.e. the sending of the steering command) from the vehicle to the response of the steering wheel to the steering command, and the response time delay can also be referred to as the lateral response delay time.
In addition, the specific time duration and the response time delay may correspond to each other, and the specific time duration and the response time delay may be the same or similar, where the similarity is understood as that the time difference between the specific time duration and the response time delay is within a specific range.
In addition, the response time delay can be obtained by performing a response test on the vehicle.
And 103, transmitting the steering command to the steering wheel so that the steering wheel responds to the steering command.
Because the steering command of the target time is predicted according to the image data, and the target time is later than the acquisition time of the image data by a specific time length, the steering command of the target time can be responded by the steering wheel at the moment that the target time or the target time is close, namely, the steering command is predicted in advance and sent to the steering wheel in advance, so that the influence of the response time delay is reduced or even eliminated, and the steering performance of the vehicle is improved.
For example: the acquisition time of the image data is t, the specific time length is offset which is 200ms, and the response time delay is 200ms as an example, the target time is t +200ms, that is, a steering command of t +200ms is predicted according to the image data acquired at the time t, and the steering command is transmitted to the steering wheel, so that the steering command of 200ms in the future can be predicted, and the command is transmitted to the steering wheel in advance, thereby reducing or even eliminating the influence of the response time delay.
As an optional implementation manner, the steering model is an end-to-end model with an input of image data and an output of steering instructions, and the training sample data of the steering model includes:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
The sample image data and the sample steering command corresponding to the sample image data may be understood as a pair of training samples [ image _ t, step _ (t + offset) ], where image _ t represents image data acquired at time t, and step _ (t + offset) represents a steering command at time t + offset. The training sample data may include a plurality of pairs of training samples, each pair of training samples satisfying a relationship between the sample image data and the sample steering command.
The steering model may be obtained by training a basic end-to-end model using the training sample data. For example: taking the sample image data as input and the sample steering command as real result, in the training process, a prediction result is obtained from the input end to the output end, the prediction result is compared with the real result to obtain an error, the error can be transmitted (for example, backward propagation) in each layer of the model, each layer can be adjusted according to the error, and the adjustment is not finished until the model converges or reaches the expected effect, so as to obtain the steering model.
It should be noted that, in the embodiment of the present invention, the training process of the model is not limited, and the training process may be performed in a computer. For example: and training the steering model on a computer, and allocating the steering model to the vehicle. Of course, it is not excluded that the intelligent device of the vehicle is trained to obtain the above-mentioned steering model.
In this embodiment, the sample image data and the sample steering command are used as training samples, so that the end-to-end steering model, which is input as image data and output as a steering command, can be accurately trained.
Optionally, the sample image data and the sample steering command are selected from a data set, where the data set includes multiple frames of image data, and multiple steering commands, and prediction times of the multiple steering commands are respectively equal to an acquisition time of the multiple frames of image data.
The data set may be configured by a computer or obtained by testing a test vehicle. For example: the data set includes the following data:
sample data t 0-steering instruction t 0;
sample data t 1-steering instruction t 1;
sample data t 2-steering instruction t 2;
sample data t 3-steering instruction t 3;
the sample data t 0-the steering command t0 represent the image data acquired at the time to and the steering command predicted at the time to, and the sample data t 1-the steering command t1 represent the image data acquired at the time t1 and the steering command predicted at the time t1, which are not listed here.
Taking the specific time length as a time difference between t2 and t0, and the specific time length is equal to the response time delay as an example, the sample image data and the sample steering command include:
sample data t0 and steering instructions t 2;
sample data t1 and steering instructions t 3.
This training using these sample data makes it possible to obtain a steering command output t2 from the image data of to, so that when the steering command is predicted, the steering command is transmitted to the steering wheel, and the steering wheel can respond to the steering command at t 2.
In this embodiment, it is possible to provide training data based on the offset between the image data acquisition time and the vehicle acceptance control (i.e., the steering wheel response steering command), so that it is possible to more accurately train the end-to-end steering model that is input as image data and output as a steering command.
As an optional implementation manner, the specific duration is equal to a total duration of N image elapsed times, wherein the response delay matches the total duration of the N image elapsed times, the image elapsed time is an inverse of a frequency of processing image data by the steering model, and N is an integer greater than or equal to 1.
In this embodiment, the vehicle may perform a response test to obtain the response delay, for example: for the sensing delay time representation. And determining that the frequency of image data processing by the turning model is p, namely the frequency of turning model prediction, and the image consumption time is 1/p, namely the image consumption time of one frame is 1/p, wherein p can be the number of image data processing in seconds, namely one second, or the number of prediction turning instructions in one second.
And the matching of the response delay with the total time consumed by the N images may include the following steps:
the N is equal to an integer obtained by dividing response time delay by the time consumed by the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
Specifically, N may be understood as the number of the response delay time occupying the image time, where N is equal to an integer obtained by dividing the response delay time by rounding up the image time, and N is equal to an integer obtained by dividing the response delay time by rounding up the image time may be understood as the number of the image time consuming time closest to the response delay time. Taking the response delay as 200ms, the p is in seconds, and the value is 10 for example, then the 1/p is equal to 100ms, that is, the N is equal to 2; the response delay is 190ms, the p is in seconds, the value is 10 for example, if the 1/p is equal to 100ms, the integer is obtained upwards, that is, the N is equal to 2; the response delay is 120ms, p is in seconds, 10 is taken as an example, if 1/p equals 100ms, then the integer is rounded down, i.e. N equals 1.
The above three ways may realize that the total time taken by the N images is understood as the offset of the steering command, for example: for the step _ offset, it is preferable that the step _ offset is a step _ delay _ time/(1/p), where the step _ delay _ time represents the response delay. That is, the steering command of the target time may be understood as a steering command in which the image data is shifted backward by N.
In this embodiment, because the sample steering command corresponding to each sample image data can be obtained by shifting, a sample steering command corresponding to each image data is not required, and the training complexity can be further reduced. For example: taking N equal to 2 as an example, the sample data t0 is offset by 2 steering commands to obtain a steering command t 2.
In the embodiment of the invention, image data are collected; inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response of a steering wheel to the steering command; transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command. The influence of the response time delay on the steering command can be reduced by predicting the steering command at the target time, thereby improving the steering performance of the vehicle.
Referring to fig. 2, fig. 2 is a structural diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 2, a vehicle 200 includes:
an acquisition module 201, configured to acquire image data;
the processing module 202 is configured to input the image data into a steering model for processing so as to predict a steering command at a target time, where the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is a time delay from the prediction time of the steering command to a steering wheel responding to the steering command;
and the execution module 203 is configured to transmit the steering instruction to the steering wheel, so that the steering wheel responds to the steering instruction.
Optionally, the steering model is an end-to-end model with an input of image data and an output of steering instructions, and training sample data of the steering model includes:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
Optionally, the sample image data and the sample steering command are selected from a data set, where the data set includes multiple frames of image data, and multiple steering commands, and prediction times of the multiple steering commands are respectively equal to an acquisition time of the multiple frames of image data.
Optionally, the specific duration is equal to a total duration of N image durations, where the response delay is matched with the total duration of the N image durations, the image duration is an inverse of a frequency of the steering model processing image data, and N is an integer greater than or equal to 1.
Optionally, N is equal to an integer obtained by dividing response time delay by time consumed by the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
The vehicle provided by the embodiment of the invention can realize each process realized by the vehicle in the method embodiment of fig. 1, can achieve the same beneficial effects, and is not repeated here for avoiding repetition.
Referring to fig. 3, fig. 3 is a structural diagram of another vehicle according to an embodiment of the present invention, and as shown in fig. 3, a vehicle 300 includes a processor 301, a memory 302, and a computer program stored in the memory 302 and operable on the processor.
Wherein the computer program when executed by the processor 301 implements the steps of:
collecting image data;
inputting the image data into a steering model for processing so as to predict a steering command of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, and the response time delay is the time delay from the prediction time of the steering command to the response of a steering wheel to the steering command;
transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command.
It should be noted that the above-mentioned image data acquisition executed by the processor 301 may be image data acquisition by a camera of the vehicle controlled by the processor 301.
Optionally, the steering model is an end-to-end model with an input of image data and an output of steering instructions, and training sample data of the steering model includes:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
Optionally, the sample image data and the sample steering command are selected from a data set, where the data set includes multiple frames of image data, and multiple steering commands, and prediction times of the multiple steering commands are respectively equal to an acquisition time of the multiple frames of image data.
Optionally, the specific duration is equal to a total duration of N image durations, where the response delay is matched with the total duration of the N image durations, the image duration is an inverse of a frequency of the steering model processing image data, and N is an integer greater than or equal to 1.
Optionally, N is equal to an integer obtained by dividing response time delay by time consumed by the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
The vehicle provided by the embodiment of the invention can realize each process realized by the vehicle in the method embodiment of fig. 1, can achieve the same beneficial effects, and is not repeated here for avoiding repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the steering instruction processing method provided by the embodiment of the present invention are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A steering instruction processing method is applied to a vehicle, and is characterized by comprising the following steps:
collecting image data;
inputting the image data into a steering model for processing so as to predict a steering instruction of a target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to a response time delay, the response time delay is the time delay from the prediction time of the steering instruction to the response of a steering wheel to the steering instruction, and the steering model is an end-to-end model with the input of the image data as the steering instruction and the output of the image data as the steering instruction;
transmitting the steering command to the steering wheel to cause the steering wheel to respond to the steering command.
2. The method of claim 1, wherein training sample data for the steering model comprises:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
3. The method of claim 2, wherein the sample image data and the sample steering command are selected from a data set comprising a plurality of frames of image data, and a plurality of steering commands, wherein a prediction time of each of the plurality of steering commands is equal to an acquisition time of the plurality of frames of image data.
4. The method of any of claims 1 to 3, wherein the particular duration is equal to a total duration of N image elapsed times, wherein the response time delay matches the total duration of the N image elapsed times, the image elapsed times being inverse of a frequency with which the steering model processes image data, and wherein N is an integer greater than or equal to 1.
5. The method of claim 4, wherein N is equal to an integer resulting from dividing a response time delay by a time taken for the image; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
6. A vehicle, characterized by comprising:
the acquisition module is used for acquiring image data;
the processing module is used for inputting the image data into a steering model for processing so as to predict a steering instruction of target time, wherein the target time is later than the acquisition time of the image data by a specific time length, the specific time length corresponds to response time delay, the response time delay is the time delay from the prediction time of the steering instruction to the response of a steering wheel to the steering instruction, and the steering model is an end-to-end model with the input of the image data as the steering instruction and the output of the image data as the steering instruction;
and the execution module is used for transmitting the steering instruction to the steering wheel so as to enable the steering wheel to respond to the steering instruction.
7. The vehicle of claim 6, wherein training sample data for the steering model comprises:
sample image data and a sample steering command corresponding to the sample image data, wherein the prediction time of the sample steering command is later than the acquisition time of the sample image data by the specific time length.
8. The vehicle of claim 7, wherein the sample image data and the sample steering command are selected from a data set comprising a plurality of frames of image data, and a plurality of steering commands having predicted times respectively equal to acquisition times of the plurality of frames of image data.
9. The vehicle of any of claims 6-8, wherein the particular duration is equal to a total duration of N image elapsed times, wherein the response time delay matches the total duration of the N image elapsed times, the image elapsed times being an inverse of a frequency with which the steering model processes image data, and N being an integer greater than or equal to 1.
10. The vehicle of claim 9, wherein N is equal to an integer resulting from dividing a response time delay by the elapsed image time; or
The N is equal to an integer obtained by dividing the response time delay by the time consumption of the image and rounding up; or
And N is equal to the response time delay divided by an integer obtained by rounding down the time consumed by the image.
11. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the steering instruction processing method according to any one of claims 1 to 5.
12. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, realizes the steps of the steering instruction processing method according to any one of claims 1 to 5.
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