CN109827586B - Method, device and equipment for planning speed of automatic driving vehicle - Google Patents
Method, device and equipment for planning speed of automatic driving vehicle Download PDFInfo
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Abstract
The invention provides a method, a device and equipment for planning the speed of an automatic driving vehicle, wherein the method comprises the following steps: planning a plurality of displacement tracks of the vehicle; generating a plurality of speed tracks according to the plurality of displacement tracks; respectively calculating a loss value corresponding to each speed track; and selecting the speed track with the lowest loss value. According to the embodiment of the invention, the comprehensive loss of the automatic driving vehicle during running can be reduced by planning the speed of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method, a device and equipment for planning the speed of an automatic driving vehicle.
Background
With the development of unmanned technology, more and more autonomous vehicles will travel on the road in the future. In the operation of the existing automatic driving vehicle, important measurement indexes such as energy consumption of the vehicle, vehicle hardware loss, body feeling of a driver and the like need to be comprehensively evaluated, so how to comprehensively reduce the comprehensive loss of the unmanned vehicle is an important problem.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, and a device for planning a speed of an autonomous vehicle, so as to solve or alleviate one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides an automatic driving vehicle speed planning method, including:
planning a plurality of displacement tracks of the vehicle;
generating a plurality of speed tracks according to the plurality of displacement tracks;
respectively calculating a loss value corresponding to each speed track;
and selecting the speed track with the lowest loss value.
In one embodiment, the planning of the displacement trajectory of the vehicle comprises:
acquiring boundary data of an intersection area of the vehicle and the obstacle within a period of time in the future according to the current driving route of the vehicle and the predicted track of the obstacle;
acquiring an intersection area of the vehicle and the obstacle and a travelable area of the vehicle according to boundary data of the intersection area of the vehicle and the obstacle;
and planning a displacement track of the vehicle in the travelable area according to the current running state of the vehicle.
In another embodiment, the generating a plurality of velocity trajectories from the displacement trajectory includes:
sampling the displacement track to obtain a plurality of time points;
and obtaining a plurality of speed tracks by using a plurality of speed values corresponding to each time point.
In one embodiment, the calculating the loss value of each velocity trajectory separately includes:
and calculating a loss value of each speed track by using at least one of the acceleration, the first derivative of the acceleration and the second derivative of the acceleration of each speed track.
In one embodiment, the calculating the loss value of each velocity trajectory separately includes:
calculating the acceleration a and the first derivative of the acceleration on each speed track
And second derivative of acceleration
Calculating a composite loss value cost of the velocity trajectory by the following formula:
In a second aspect, an embodiment of the present invention provides an automatic driving vehicle speed planning apparatus, including:
the planning module is used for planning a plurality of displacement tracks of the vehicle;
the generating module is used for generating a plurality of speed tracks according to the plurality of displacement tracks;
the calculating module is used for calculating a loss value corresponding to each speed track;
and the selection module is used for selecting the speed track with the lowest loss value.
In one embodiment, the planning module comprises:
the first obtaining submodule is used for obtaining boundary data of an intersection area of the vehicle and the barrier within a period of time in the future according to the current running route of the vehicle and the predicted track of the barrier;
the second acquisition submodule is used for acquiring the intersection area of the vehicle and the obstacle and the drivable area of the vehicle according to the boundary data of the intersection area of the vehicle and the obstacle;
and the planning submodule is used for planning the displacement track of the vehicle in the drivable area according to the current driving state of the vehicle.
In one embodiment, the generating module comprises:
the sampling submodule is used for sampling the displacement track to obtain a plurality of time points;
and the conversion module is used for obtaining a plurality of speed tracks by using a plurality of speed values corresponding to each time point.
In one embodiment, the calculation module is configured to calculate the loss value of each velocity trajectory using at least one of the acceleration, the first derivative of the acceleration, and the second derivative of the acceleration of each velocity trajectory.
In one embodiment, the calculation module comprises:
a parameter acquisition submodule for calculating the acceleration a and the first derivative of the acceleration on each speed track
And second derivative of acceleration
A calculation submodule for calculating a composite loss value cost of the velocity trajectory by the following formula:
In a third aspect, an embodiment of the present invention provides an autonomous vehicle speed planning apparatus, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle speed planning method of the first aspect described above.
In one possible design, the vehicle speed planning apparatus includes a processor and a memory, the memory is used for storing a program for supporting the vehicle speed planning apparatus to execute the vehicle speed planning method in the first aspect, and the processor is configured to execute the program stored in the memory. The vehicle speed planning device may further comprise a communication interface for the vehicle speed planning device to communicate with other devices or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer readable medium for storing computer software instructions for a vehicle speed planning apparatus, which includes a program for executing the vehicle speed planning method according to the first aspect.
In the above-mentioned scheme, the embodiment of the invention can reduce the comprehensive loss of the automatic driving vehicle during running by planning the speed of the unmanned vehicle.
In another scheme, the acceleration first derivative and the acceleration second derivative of the automatic driving vehicle in the running process are sequentially and accurately calculated, so that the speed track with the lowest comprehensive vehicle energy consumption, vehicle loss and driver strain can be obtained.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a flow chart of a vehicle speed planning method according to an embodiment of the invention;
FIG. 2 is a flowchart illustrating steps S110 according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating trajectory prediction for a current autonomous vehicle and an obstacle vehicle in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of an intersection area and a travelable area of an embodiment of the present invention;
FIG. 5 is a flowchart illustrating the detailed process of step S120 according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a velocity trajectory according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating the detailed process of step S130 according to an embodiment of the present invention;
FIG. 8 is a block diagram of the connections of a vehicle speed planning apparatus according to an embodiment of the present invention;
FIG. 9 is an internal block diagram of a planning module according to an embodiment of the present invention;
FIG. 10 is an internal block diagram of a generation module according to one embodiment of the invention;
FIG. 11 is an internal block diagram of a computing module according to one embodiment of the invention;
fig. 12 is a block diagram of a vehicle speed planning apparatus according to another embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive. The embodiment of the invention mainly provides a method and a device for planning the speed of a vehicle, and the technical scheme is developed and described through the following embodiments respectively.
The invention provides a vehicle speed planning method and a vehicle speed planning device, and the specific processing flow and principle of the vehicle speed planning method and the vehicle speed planning device in the embodiment of the invention are described in detail below.
Fig. 1 is a flow chart of a vehicle speed planning method according to an embodiment of the present invention. In one embodiment, a vehicle speed planning method of an embodiment of the present invention may include the steps of:
s110: and planning a plurality of displacement tracks of the vehicle.
As shown in fig. 2, in one embodiment, the planning the displacement trajectory of the vehicle in step S110 may include:
s111: and acquiring boundary data of an intersection area of the vehicle and the obstacle in a future period of time according to the current driving route of the vehicle and the predicted track of the obstacle.
As shown in fig. 3, it is a schematic diagram of the trajectory prediction of the current autonomous vehicle and the obstacle vehicle. As can be seen from fig. 3, the current vehicle M is traveling straight on the current lane, and the obstacle vehicle O is located right in front of the current vehicle M. According to the running track of the current vehicle M and the running track of the obstacle vehicle O, the intersection area of the running tracks of the two vehicles at a certain future time point can be calculated.
S112: and acquiring the intersection area of the vehicle and the obstacle and the travelable area of the vehicle according to the boundary data of the intersection area of the vehicle and the obstacle.
In order to visually display the intersection area and the operable area of the current vehicle and the obstacle, the acquired obstacle boundary data can be displayed in a view. For example, the st view is constructed with the displacement s of the vehicle as the vertical axis and the time t as the horizontal axis. And then displaying the intersection area and the travelable area in the st view by using the upper and lower boundary data of the intersection area of the vehicle and the obstacle. As shown in fig. 4, in which the hatched area of fig. 4 is represented as an intersection area of two vehicle trajectories, and a blank portion below the hatching represents an operable area of the current vehicle. Wherein the bottom side of the shaded area represents the lower boundary of the intersection area and the top side of the shaded area represents the upper boundary of said intersection area.
S113: and planning a displacement track of the vehicle in the travelable area according to the current running state of the vehicle. As shown by the curve below the shading in fig. 4, which represents a planned displacement trajectory of the current vehicle. Therefore, a plurality of displacement trajectories can be planned in the travelable region.
S120: and generating a plurality of speed tracks according to the plurality of displacement tracks.
In one embodiment, as shown in fig. 5, when generating a plurality of speed traces in step S120, the method may include:
s121: and sampling the displacement track to obtain a plurality of time points.
Corresponding speed tracks can be obtained according to different displacement tracks, and for the convenience of representing the speed tracks, the displacement tracks can be sampled according to set time points, and speed values on each sampling point are respectively obtained. For example, the samples may be taken every 1 second.
S122: and obtaining a plurality of speed tracks by using a plurality of speed values corresponding to each time point.
As shown in fig. 6, a plurality of velocity trajectories may be generated according to the acquired velocity values. When the speed trajectory is obtained, derivation can be performed according to a function equation corresponding to the displacement trajectory, or corresponding speed values can be sampled and calculated at a plurality of different time points, and then connection is performed according to the obtained speed values to obtain the corresponding speed trajectory.
S130: and respectively calculating the loss value corresponding to each speed track.
In one embodiment, in calculating the loss value of each velocity track, the step S130 may calculate the loss value of each velocity track by using at least one of the acceleration, the first derivative of the acceleration, and the second derivative of the acceleration of each velocity track.
As shown in fig. 7, in one embodiment, the step S130 may include:
s131: calculating the acceleration a and the first derivative of the acceleration on each speed track
And second derivative of acceleration
In one embodiment, the acceleration a may be obtained by calculating the first derivative of the velocity trajectory, and then calculating the first derivative of the acceleration a
And second derivative
S132: the integrated loss value cost of the velocity trajectory is calculated by the following formula,
wherein a is used as a constraint item of energy consumption and vehicle loss,
as a constraint item for reducing the vehicle loss and enhancing the body feeling,
as a constraint item for reducing vehicle loss and body feeling, the other comprises a safety factor constraint item of the vehicle. The safety factor may include: the distance of the current vehicle from the preceding obstacle, the influence of the current environmental visibility, etc.
The acceleration a corresponds to energy loss and vehicle loss, and the energy loss is larger as the acceleration is larger, and the vehicle loss is larger as the acceleration and deceleration is larger.
First derivative of acceleration
Corresponding to the vehicle loss and the motion sensing item, the larger the first-order derivative of the acceleration is, the larger the hardware loss of the vehicle is, and meanwhile, the state of the vehicle is changed violently, and the motion sensing is not good.
Second derivative of acceleration
The smaller the second derivative of the acceleration, the smaller the vehicle loss.
In one embodiment, when calculating the composite loss value, only any one or more of them may be calculated. For example, when only the acceleration is considered, the total loss value cost is min (a)2+other2)。
In one embodiment, the acceleration a and the first derivative of the acceleration within a set period of time may be selected
And second derivative of acceleration
And then carrying out weighted summation according to the weights of different time points to obtain a comprehensive loss value. The weights of different time points may be adjusted and set according to actual conditions, for example, the weights may be set according to a decreasing time sequence.
S140: and selecting the speed track with the lowest loss value.
After the calculation, the speed track with the minimum comprehensive loss is selected as the speed track of the current vehicle in operation.
According to the embodiment of the invention, the comprehensive loss of the automatic driving vehicle during running can be reduced by planning the speed of the unmanned vehicle. In addition, the acceleration first derivative and the acceleration second derivative of the automatic driving vehicle in the running process are accurately calculated, so that the comprehensive optimal speed track can be obtained.
As shown in fig. 8, in another embodiment, the present invention further provides a vehicle speed planning apparatus, comprising:
and the planning module 110 is used for planning a plurality of displacement tracks of the vehicle.
A generating module 120, configured to generate a plurality of speed trajectories according to the plurality of displacement trajectories.
And the calculating module 130 is configured to calculate a loss value corresponding to each speed trajectory.
And the selecting module 140 is used for selecting the speed track with the lowest loss value.
As shown in fig. 9, in one embodiment, the planning module 110 includes:
the first obtaining submodule 111 is used for obtaining boundary data of an intersection area of the vehicle and the obstacle within a period of time in the future according to the current driving route of the vehicle and the predicted track of the obstacle;
the second obtaining submodule 112 is configured to obtain an intersection area of the vehicle and the obstacle and a travelable area of the vehicle according to boundary data of the intersection area of the vehicle and the obstacle;
and the planning submodule 113 is used for planning the displacement track of the vehicle in the travelable area according to the current running state of the vehicle.
As shown in fig. 10, in one embodiment, the generating module 120 includes:
the sampling submodule 121 is configured to sample the displacement trajectory to obtain a plurality of time points;
and the conversion sub-module 122 is configured to obtain a plurality of speed tracks by using the plurality of speed values corresponding to each time point.
In one embodiment, the calculation module 130 is configured to calculate the loss value of each velocity trajectory by using at least one of the acceleration, the first derivative of the acceleration, and the second derivative of the acceleration of each velocity trajectory.
As shown in fig. 11, in one embodiment, the calculation module 130 includes:
a parameter obtaining submodule 131 for calculating the acceleration a and the first derivative of the acceleration on each velocity track
And second derivative of acceleration
In (1).
A calculation submodule 132 for calculating a composite loss value cost of the speed trajectory by the following formula:
The vehicle speed planning apparatus of the present embodiment is similar to the vehicle speed planning method of the above embodiments in principle, and therefore, the detailed description thereof is omitted.
In another embodiment, the present invention also provides a vehicle speed planning apparatus, as shown in fig. 12, including: a memory 510 and a processor 520, the memory 510 having stored therein computer programs that are executable on the processor 520. The processor 520, when executing the computer program, implements the vehicle speed planning method in the above-described embodiment. The number of the memory 510 and the processor 520 may be one or more.
The apparatus further comprises:
the communication interface 530 is used for communicating with an external device to perform data interactive transmission.
If the memory 510, the processor 520, and the communication interface 530 are implemented independently, the memory 510, the processor 520, and the communication interface 530 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 12, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 510, the processor 520, and the communication interface 530 are integrated on a chip, the memory 510, the processor 520, and the communication interface 530 may complete communication with each other through an internal interface.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
The computer readable medium described in embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In embodiments of the present invention, a computer readable signal medium may comprise 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, input method, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the preceding.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for automatically planning the speed of a driven vehicle, comprising:
planning a plurality of displacement tracks of the vehicle in a travelable area; the travelable area is obtained according to boundary data of an intersection area of the vehicle and an obstacle, and the boundary data of the intersection area of the vehicle and the obstacle is obtained according to a current traveling route of the vehicle and a predicted track of the obstacle;
generating a plurality of speed tracks according to the plurality of displacement tracks; the plurality of speed tracks comprise speed values corresponding to each time point; the plurality of speed tracks are obtained by derivation according to function equations corresponding to the plurality of displacement tracks;
respectively calculating loss values corresponding to the plurality of speed tracks; the loss value comprises a vehicle energy consumption value, a vehicle loss value and a driver strain value;
and selecting the speed track with the lowest loss value.
2. The method of claim 1, wherein planning a plurality of displacement trajectories of the vehicle in the travelable region comprises:
and planning a displacement track of the vehicle in the travelable area according to the current running state of the vehicle.
3. The method of claim 1, wherein said separately calculating loss values for said plurality of velocity traces comprises:
and calculating loss values of the plurality of speed tracks by using at least one of the acceleration, the first derivative of the acceleration and the second derivative of the acceleration of the plurality of speed tracks.
4. The method of claim 3, wherein said separately calculating loss values for said plurality of velocity traces comprises:
calculating the acceleration a and the first derivative of the acceleration on the plurality of speed tracks
And second derivative of acceleration
Calculating a loss value cost of the velocity trajectory by the following formula:
5. An autonomous vehicle speed planning apparatus, comprising:
the planning module is used for planning a plurality of displacement tracks of the vehicle in the drivable area; the travelable area is obtained according to boundary data of an intersection area of the vehicle and an obstacle, and the boundary data of the intersection area of the vehicle and the obstacle is obtained according to a current traveling route of the vehicle and a predicted track of the obstacle;
the generating module is used for generating a plurality of speed tracks according to the plurality of displacement tracks; the plurality of speed tracks comprise speed values corresponding to each time point; the plurality of speed tracks are obtained by derivation according to function equations corresponding to the plurality of displacement tracks;
the calculating module is used for respectively calculating loss values corresponding to the plurality of speed tracks; the loss value comprises a vehicle energy consumption value, a vehicle loss value and a driver strain value;
and the selection module is used for selecting the speed track with the lowest loss value.
6. The apparatus of claim 5, wherein the planning module is configured to plan a displacement trajectory of the vehicle in the drivable region according to a current driving state of the vehicle.
7. The apparatus of claim 6, wherein the calculation module is configured to calculate the loss values for the plurality of velocity tracks using at least one of the acceleration, a first derivative of acceleration, and a second derivative of acceleration for the plurality of velocity tracks.
8. The apparatus of claim 7, wherein the computing module comprises:
a parameter acquisition submodule for calculating the acceleration a and the first derivative of the acceleration on the plurality of speed tracks
And second derivative of acceleration
A calculation submodule for calculating a loss value cost of the speed trajectory by the following formula:
9. An autonomous vehicle speed planning apparatus, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autonomous vehicle speed planning method of any of claims 1-4.
10. A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out the method for planning the speed of an autonomous vehicle as claimed in any one of claims 1 to 4.
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| CN112525210B (en) * | 2020-11-24 | 2022-09-16 | 同济大学 | Energy-saving-oriented global path and speed joint optimization method for electric automobile |
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| CN115320589B (en) * | 2022-10-13 | 2023-02-10 | 青岛慧拓智能机器有限公司 | Following speed planning method, device, chip, terminal, electronic equipment and medium |
| CN115320592B (en) * | 2022-10-13 | 2023-02-10 | 青岛慧拓智能机器有限公司 | Vehicle speed planning method, device, chip, terminal, computer equipment and medium |
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