CN109987097A - A kind of method and apparatus adjusting target vehicle motion state - Google Patents
A kind of method and apparatus adjusting target vehicle motion state Download PDFInfo
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- CN109987097A CN109987097A CN201910188003.5A CN201910188003A CN109987097A CN 109987097 A CN109987097 A CN 109987097A CN 201910188003 A CN201910188003 A CN 201910188003A CN 109987097 A CN109987097 A CN 109987097A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Abstract
The invention discloses a kind of methods and apparatus for adjusting target vehicle motion state, when the coordinate information of each error parameter of the error model to solve determining pilotless automobile existing in the prior art, the low problem of accuracy.The embodiment of the present invention determines the coordinate transform numerical value and Coordinate Conversion Errors numerical value of at least one current vector of target vehicle first, then the coordinate information of at least one state vector in vehicle body coordinate system is determined according to determining coordinate transform numerical value and Coordinate Conversion Errors numerical value, finally according to the motion state of determining coordinate information adjustment target vehicle, since coordinate information of the state vector in vehicle body coordinate system is determined according to coordinate transform numerical value and Coordinate Conversion Errors numerical value, it is thus determined that coordinate information of the state vector in vehicle body coordinate system it is more accurate compared to the coordinate information only determined according to coordinate transform numerical value, so as to improve the accuracy of driving.
Description
Technical field
The present invention relates to field of artificial intelligence, in particular to a kind of method for adjusting target vehicle motion state and set
It is standby.
Background technique
With the continuous development of artificial intelligence, autonomous driving vehicle has been progressed into people's lives, to people's
Life brings great convenience.
Autonomous driving vehicle is one kind of intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving instrument based on calculation machine system realizes the purpose of automatic Pilot.
Autonomous driving vehicle can perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach predeterminated target intelligent automobile.It can use onboard sensor to perceive vehicle-periphery, and according to perception institute
Road, vehicle location and the obstacle information of acquisition, control the steering and speed of vehicle, to enable the vehicle to safe and reliable
Ground travels on road.
After autonomous driving vehicle has planned route automatically, during automatic Pilot, it is possible to not according to preset
Riving condition is travelled, for example, default drive speed is 80km/h (kilometer per hour), and the speed actually driven is
75km/h can carry out speed adjustment according to automobile of the error model to automatic Pilot at this time, make the speed of autonomous driving vehicle
80km/h。
Currently, when determining the coordinate information of each error parameter of the error model of autonomous driving vehicle, by ground coordinate
Coordinate information in system is converted directly into the coordinate information in vehicle body coordinate system, and accuracy is low.
Summary of the invention
The present invention provides a kind of method and apparatus for adjusting target vehicle motion state, exists in the prior art to solve
When determining the coordinate information of each error parameter of the error model of pilotless automobile, the low problem of accuracy.
In a first aspect, the embodiment of the present invention provides a kind of method for adjusting target vehicle motion state, this method comprises:
According to coordinate information and the mesh of at least one the current state vector of target vehicle in earth axes
The coordinate transformation relation of vehicle corresponding vehicle body coordinate system and the earth axes is marked, determines at least one described state vector
Coordinate transform numerical value and at least one state vector Coordinate Conversion Errors numerical value；
It is determined according to the coordinate transform numerical value of at least one state vector and the Coordinate Conversion Errors numerical value
Coordinate information of at least one the described state vector in the vehicle body coordinate system；
The target vehicle is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
Motion state.
The above method, it is first determined the coordinate transform numerical value of at least one current vector of target vehicle and coordinate transform miss
Then difference value determines at least one state vector in vehicle according to determining coordinate transform numerical value and Coordinate Conversion Errors numerical value
Coordinate information in body coordinate system, finally according to the motion state of determining coordinate information adjustment target vehicle, since state is sweared
Measure coordinate information in vehicle body coordinate system be determined according to coordinate transform numerical value and Coordinate Conversion Errors numerical value, it is thus determined that
Coordinate information of the state vector in vehicle body coordinate system more compared to the coordinate information only determined according to coordinate transform numerical value
Accurately, so as to improving the accuracy of driving.
In one possible implementation, the coordinate transform numerical value of the determination state vector and the state
The Coordinate Conversion Errors numerical value of vector, comprising:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector on the ground
Coordinate information in coordinate system, the coordinate transform numerical value of determining at least one state vector and at least one described state
The Coordinate Conversion Errors numerical value of vector；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system,
It is to be determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least
One state vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
The above method, in the coordinate transform numerical value at least one state vector for determining target vehicle and described at least one
When the Coordinate Conversion Errors numerical value of a state vector, according to spin matrix, the symmetrical matrix of angular speed and at least one state
Coordinate transform numerical value of the vector in earth axes determines that rotational transformation matrix here is that earth axes are sat to vehicle body
The rotational transformation matrix for marking system is to determine that angular speed is according to the coordinate conversion relation of vehicle body coordinate system and earth axes
The angular speed of at least one state vector in the earth axes relative to the vehicle body coordinate system.Earth axes have been determined
To the rotational transformation matrix of the vehicle body coordinate system, at least one state vector relative to vehicle body coordinate system in earth axes
In coordinate information in earth axes of angular speed, at least one state vector after, then determine at least one state vector
Coordinate transform numerical value and at least one state vector Coordinate Conversion Errors numerical value, extremely so as to more accurate determination
Few coordinate information of the state vector in vehicle body coordinate system, and then realize more accurate control vehicle drive.
In one possible implementation, the coordinate transform numerical value of at least one state vector described in the determination, packet
It includes:
By the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
Coordinate transform numerical value of the ratio as at least one state vector；And/or
The Coordinate Conversion Errors numerical value of at least one state vector described in the determination, comprising:
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
By the ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes
It is worth the Coordinate Conversion Errors numerical value as at least one state vector.
The above method, give the coordinate transform numerical value for specifically how determining at least one state vector and how
The Coordinate Conversion Errors numerical value for determining at least one state vector, since it is determined the coordinate of at least one state vector becomes
Error value is changed, to keep the coordinate information of at least one state vector in vehicle body coordinate system more accurate.
In one possible implementation, at least one state vector described in the determination is in the vehicle body coordinate system
Coordinate information, comprising:
By the coordinate transform of the coordinate transform numerical value of at least one state vector and at least one state vector
Error value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
The above method, by the coordinate transform numerical value of at least one determining state vector and at least one state vector
Coordinate Conversion Errors numerical value is added, coordinate letter of the addition result as at least one state vector in vehicle body coordinate system
Breath, due to when determining coordinate information of at least one state vector in vehicle body coordinate system, not only used this at least one
The coordinate transform numerical value of state vector, while the Coordinate Conversion Errors numerical value of at least one state vector is also used, thus
Keep the coordinate information of at least one state vector in vehicle body coordinate system more accurate.
In one possible implementation, the current state vector of the target vehicle is the part or complete in following
Portion:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error
Vector.
The above method, the current state vector of target vehicle can be location error vector, velocity error vector, acceleration
Error vector, course angle error vector, front wheel slip angle error vector, wherein the state vector of any one target vehicle all may be used
To determine coordinate information of the state vector in vehicle body coordinate system, to realize more accurate driving.
Second aspect, the embodiment of the present invention provide it is a kind of adjust target vehicle motion state equipment, the equipment include: to
A few processing unit and at least one storage unit, wherein the storage unit is stored with program code, when described program generation
When code is executed by the processing unit, so that the processing unit executes following process:
According to coordinate information and the mesh of at least one the current state vector of target vehicle in earth axes
The coordinate transformation relation of vehicle corresponding vehicle body coordinate system and the earth axes is marked, determines at least one described state vector
Coordinate transform numerical value and at least one state vector Coordinate Conversion Errors numerical value；
It is determined according to the coordinate transform numerical value of at least one state vector and the Coordinate Conversion Errors numerical value
Coordinate information of at least one the described state vector in the vehicle body coordinate system；
The target vehicle is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
Motion state.
In one possible implementation, the processing unit is specifically used for:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector on the ground
Coordinate information in coordinate system, the coordinate transform numerical value of determining at least one state vector and at least one described state
The Coordinate Conversion Errors numerical value of vector；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system,
It is to be determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least
One state vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
In one possible implementation, the processing unit is specifically used for:
By the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
Coordinate transform numerical value of the product as at least one state vector；And/or
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
By the ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes
It is worth the Coordinate Conversion Errors numerical value as at least one state vector.
In one possible implementation, the processing unit is specifically used for:
By the coordinate transform of the coordinate transform numerical value of at least one state vector and at least one state vector
Numerical value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
In one possible implementation, the current state vector of the target vehicle is the part or complete in following
Portion:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error
Vector.
The third aspect, the embodiment of the present invention provide a kind of equipment for adjusting target vehicle motion state, which includes:
Numerical value determining module: for the seat according at least one current state vector of target vehicle in earth axes
The coordinate transformation relation for marking information and the target vehicle corresponding vehicle body coordinate system and the earth axes, determines institute
State the coordinate transform numerical value of at least one state vector and the Coordinate Conversion Errors numerical value of at least one state vector；
Coordinate information determining module: for according to the coordinate transform numerical value of at least one state vector and described
Coordinate Conversion Errors numerical value determines the coordinate information of at least one state vector in the vehicle body coordinate system；
Adjust module: for the coordinate information adjustment according at least one described state vector in the vehicle body coordinate system
The motion state of the target vehicle.
In one possible implementation, the numerical value determining module is specifically used for:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector on the ground
Coordinate information in coordinate system, the coordinate transform numerical value of determining at least one state vector and at least one described state
The Coordinate Conversion Errors numerical value of vector；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system,
It is to be determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described extremely
A few state vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
In one possible implementation, the numerical value determining module is specifically used for:
By the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
Coordinate transform numerical value of the ratio as at least one state vector；And/or
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
By the ratio of the coordinate information described in the product at least one described state vector in the earth axes
It is worth the Coordinate Conversion Errors numerical value of at least one state vector.
In one possible implementation, coordinate information determining module is specifically used for:
By the coordinate transform of the coordinate transform numerical value of at least one state vector and at least one state vector
Numerical value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
In one possible implementation, the current state vector of the target vehicle is the part or complete in following
Portion:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error
Vector.
Fourth aspect, the embodiment of the present invention also provide a kind of computer storage medium, are stored thereon with computer program, should
The step of first aspect the method is realized when computer program is executed by processor.
In addition, second aspect technical effect brought by any implementation into fourth aspect can be found in first aspect
Technical effect brought by middle difference implementation, details are not described herein again.
The aspects of the invention or other aspects can more straightforwards in the following description.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of method flow schematic diagram for adjusting target vehicle motion state provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the equipment of the first adjustment target vehicle motion state provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the equipment of second provided in an embodiment of the present invention adjustment target vehicle motion state.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Autonomous driving vehicle can automatic programme path, automatic Pilot condition can also be automatically determined, for example, automatic Pilot
When, speed 80km/h, acceleration 0km/h2, front wheel slip angle is 0 degree, and course angle is 0 degree, will be along road during driving
Lu Zhizheng line traveling.Above-mentioned is all the default riving condition of automatic Pilot, during practical automatic Pilot, it is possible to can not
It drives by default riving condition, therefore, when autonomous driving vehicle is not driven by default riving condition, needs to riving condition
It is adjusted, riving condition infinite approach adjusted is made to preset riving condition or consistent with default riving condition.
When autonomous driving vehicle is not driven by default riving condition, illustrate there are error, error model can be passed through
Existing error is determined, for example, location error, velocity error, acceleration error, course angle error, front wheel slip angle error etc..Accidentally
The determination of difference directly affects the accuracy of automatic Pilot.
When determining error, need error of the autonomous driving vehicle under earth axes being converted to vehicle body coordinate system,
During coordinate conversion, there may be the error of coordinate conversion, so, error is converted into vehicle body by earth axes
It is more accurate in order to convert coordinate when coordinate system, the error that coordinate system is converted can be examined on the basis of coordinate is converted
Including worry.
The application scenarios of description of the embodiment of the present invention are the technical solutions in order to more clearly illustrate the embodiment of the present invention,
The restriction for technical solution provided in an embodiment of the present invention is not constituted, those of ordinary skill in the art are it is found that with newly answering
With the appearance of scene, technical solution provided in an embodiment of the present invention is equally applicable for similar technical problem.
For above-mentioned application scenarios, the embodiment of the invention provides a kind of methods for adjusting target vehicle motion state, such as
Shown in Fig. 1, this method specifically comprises the following steps:
S100, the coordinate information according at least one current state vector of target vehicle in earth axes, and
The coordinate transformation relation of the target vehicle corresponding vehicle body coordinate system and the earth axes determines at least one described shape
The coordinate transform numerical value of state vector and the Coordinate Conversion Errors numerical value of at least one state vector；
The coordinate transform numerical value and the Coordinate Conversion Errors numerical value of S101, at least one state vector according to
Determine the coordinate information of at least one state vector in the vehicle body coordinate system；
S102, the target is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
The motion state of vehicle.
In the embodiment of the present invention, it is first determined the coordinate transform numerical value and coordinate of at least one current vector of target vehicle
Then mapping fault numerical value determines that at least one state is sweared according to determining coordinate transform numerical value and Coordinate Conversion Errors numerical value
The coordinate information in vehicle body coordinate system is measured, the motion state of target vehicle is finally adjusted according to determining coordinate information, due to
Coordinate information of the state vector in vehicle body coordinate system is determined according to coordinate transform numerical value and Coordinate Conversion Errors numerical value, because
This coordinate information of state vector determined in vehicle body coordinate system is believed compared to the coordinate only determined according to coordinate transform numerical value
Cease it is more accurate, so as to improve the accuracy of driving.
At least one current state vector of goal vehicle, can be location error vector, velocity error vector,
Acceleration error vector, can also be front wheel slip angle error vector at course angle error vector.
The state vector current to target vehicle is merely illustrative above, other than the state vector illustrated above,
Its state vector is also suitable the embodiment of the present invention.
The present embodiments relate to the coordinate conversions for having arrived state vector, that is, are converted to the target from earth axes
The corresponding vehicle body coordinate system of vehicle, earth axes are referred to as inertial coodinate system.State vector turns from earth axes
When being changed to the corresponding vehicle body coordinate system of target vehicle, in actual implementation, it is possible to which there are the errors of coordinate conversion, so coordinate
It converts other than considering numerical value conversion of the state vector between coordinate system, it is also necessary to consider to generate during coordinate conversion
Error, in this way, coordinate conversion can be made more accurate.
For a state vector of target vehicle, for example determine the coordinate transform numerical value and state vector of state vector
Coordinate Conversion Errors numerical value, can according to coordinate information of the current state vector of target vehicle in earth axes, with
And the coordinate transformation relation determination of the corresponding vehicle body coordinate system of the target vehicle and earth axes.
For different vehicles, vehicle body coordinate system is different, so target vehicle can correspond to a vehicle body coordinate system.Vehicle
After body coordinate system determines, earth axes are fixed and invariable, therefore the conversion of the coordinate of vehicle body coordinate system and earth axes is closed
System can also determine.
Specifically, when determining the coordinate transform numerical value and Coordinate Conversion Errors numerical value of state vector, it can be according to ground
Coordinate system is to the rotational transformation matrix of vehicle body coordinate system, the skew symmetric matrix of angular speed and the state vector in earth axes
In coordinate information determine, the spin matrix of earth axes to vehicle body coordinate system here can be according to vehicle body coordinate system and ground
The coordinate transformation relation of areal coordinate system determines；Angular speed is the state vector in earth axes in opposite vehicle body coordinate system
Angular speed, after angular speed determines, the skew symmetric matrix of angular speed also be can determine that.
In an implementation, the coordinate of the rotational transformation matrix of above-mentioned determination and state vector in earth axes can be believed
Coordinate transform numerical value of the ratio of breath as the state vector.
For example, rotational transformation matrix is usedIt indicates, wherein a indicates that earth axes, b indicate vehicle body coordinate system, thenTable
Show earth axes to target vehicle vehicle body coordinate system spin matrix；Coordinate information of the state vector in earth axes
Use raIt indicates, then when state vector being converted to earth axes by vehicle body coordinate system, coordinate transform numerical value is
It in an implementation, can be oblique by the corresponding angular speed of the angular speed of the rotational transformation matrix of above-mentioned determination and above-mentioned determination
The product of symmetrical matrix is as product numerical value, then by determining product numerical value and seat of the state vector in earth axes
Mark Coordinate Conversion Errors numerical value of the ratio of information as the state vector.
For example, rotational transformation matrix is usedIt indicates, wherein a indicates that earth axes, b indicate vehicle body coordinate system, thenTable
Show earth axes to target vehicle vehicle body coordinate system spin matrix；The skew symmetric matrix of angular speed is usedIt indicates, then
Product numerical value isCoordinate information r of the state vector in earth axesaIt indicates, then state vector is sat by vehicle body
When mark system is converted to earth axes, Coordinate Conversion Errors numerical value is
After coordinate transform numerical value and Coordinate Conversion Errors numerical value that the state vector of target vehicle has been determined, according to the state
The coordinate transform numerical value and Coordinate Conversion Errors numerical value of vector determine the state vector of target vehicle in the fit coordinate system
Coordinate information.The state of target vehicle is determined in the coordinate transform numerical value and Coordinate Conversion Errors numerical value according to the state vector
When coordinate information of the vector in the fit coordinate system, specifically, can by the coordinate transform numerical value of the state vector with should
The Coordinate Conversion Errors numerical value of state vector is added, seat of the result being added as the state vector in earth axes
Mark information.
For example, using raIt indicates coordinate information of the state vector r in earth axes, uses rbIndicate that state vector r is sat in vehicle body
Coordinate information in mark system when the state vector is coordinately transformed, is used by the above methodIndicate the seat of state vector r
Mark transformation numerical value, is usedIndicate the Coordinate Conversion Errors numerical value of state vector r, then
The method provided according to embodiments of the present invention determine state vector after the coordinate information in the vehicle body coordinate system,
According to the motion state of coordinate information adjustment target vehicle of the determining state vector in vehicle body coordinate system.
For example, state vector is velocity error vector, the corresponding speed of coordinate information of determining velocity error vector is
70km/h, pre-set velocity 80km/h make the speed of automatic Pilot reach default speed so needing speed increasing 10km/h
Degree.
It is merely illustrative above, specific state vector might have multiple, and the embodiment of the present invention is without limitation.
Based on the same inventive concept, a kind of setting for motion state for adjusting target vehicle is additionally provided in the embodiment of the present invention
It is standby, it is the corresponding equipment of method of adjustment target vehicle to be determined in the embodiment of the present invention, and this sets since the equipment is corresponding
The standby principle solved the problems, such as is similar to this method, therefore the implementation of the equipment may refer to the implementation of method, repeats place no longer
It repeats.
As shown in Fig. 2, for the equipment of the first adjustment target vehicle motion state provided in an embodiment of the present invention, the equipment
It include: at least one processing unit 200 and at least one storage unit 201, wherein the storage unit 201 is stored with program
Code, when said program code is executed by the processing unit 200, so that the processing unit 200 executes following process:
According to coordinate information and the mesh of at least one the current state vector of target vehicle in earth axes
The coordinate transformation relation of vehicle corresponding vehicle body coordinate system and the earth axes is marked, determines at least one described state vector
Coordinate transform numerical value and at least one state vector Coordinate Conversion Errors numerical value；
It is determined according to the coordinate transform numerical value of at least one state vector and the Coordinate Conversion Errors numerical value
Coordinate information of at least one the described state vector in the vehicle body coordinate system；
The target vehicle is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
Motion state.
Optionally, the processing unit 200 is specifically used for:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector on the ground
Coordinate information in coordinate system, the coordinate transform numerical value of determining at least one state vector and at least one described state
The Coordinate Conversion Errors numerical value of vector；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system,
It is to be determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least
One state vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
Optionally, the processing unit 200 is specifically used for:
By the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
Coordinate transform numerical value of the ratio as at least one state vector；And/or
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
By the ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes
It is worth the Coordinate Conversion Errors numerical value as at least one state vector.
Optionally, the processing unit 200 is specifically used for:
By the coordinate transform of the coordinate transform numerical value of at least one state vector and at least one state vector
Numerical value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
Optionally, the current state vector of the target vehicle be it is following in some or all of:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error
Vector.
Based on the same inventive concept, a kind of setting for motion state for adjusting target vehicle is additionally provided in the embodiment of the present invention
It is standby, it is the corresponding equipment of method of adjustment target vehicle to be determined in the embodiment of the present invention, and this sets since the equipment is corresponding
The standby principle solved the problems, such as is similar to this method, therefore the implementation of the equipment may refer to the implementation of method, repeats place no longer
It repeats.
As shown in figure 3, for the equipment of second provided in an embodiment of the present invention adjustment target vehicle motion state, the equipment
It include: numerical value determining module 300, coordinate information determining module 301, adjustment module 302.
Numerical value determining module 300: for according at least one current state vector of target vehicle in earth axes
Coordinate information and the target vehicle corresponding vehicle body coordinate system and the earth axes coordinate transformation relation, really
The fixed coordinate transform numerical value of at least one state vector and the Coordinate Conversion Errors number of at least one state vector
Value；
Coordinate information determining module 301: for according to the coordinate transform numerical value of at least one state vector and
The Coordinate Conversion Errors numerical value determines the coordinate information of at least one state vector in the vehicle body coordinate system；
Adjust module 302: for according to the coordinate information tune of at least one state vector in vehicle body mark system
The motion state of the whole target vehicle.
Optionally, the numerical value determining module 300 is specifically used for:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector on the ground
Coordinate information in coordinate system, the coordinate transform numerical value of determining at least one state vector and at least one described state
The Coordinate Conversion Errors numerical value of vector；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system,
It is to be determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least
One state vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
Optionally, the numerical value determining module 300 is specifically used for:
By the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
Coordinate transform numerical value of the ratio as at least one state vector；And/or
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
By the ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes
It is worth the Coordinate Conversion Errors numerical value as at least one state vector.
Optionally, coordinate information determining module 301 is specifically used for:
By the coordinate transform of the coordinate transform numerical value of at least one state vector and at least one state vector
Numerical value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
Optionally, the current state vector of the target vehicle be it is following in some or all of:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error
Vector.
The embodiment of the invention also provides a kind of readable storage medium storing program for executing of motion state for adjusting target vehicle, including program
Code, when said program code is run on the computing device, said program code is true for executing the computer equipment
The step of determining the method for information.
Above by reference to showing according to the method, apparatus (system) of the embodiment of the present application and/or the frame of computer program product
Figure and/or flow chart describe the application.It should be understood that can realize that block diagram and or flow chart is shown by computer program instructions
The combination of the block of a block and block diagram and or flow chart diagram for figure.These computer program instructions can be supplied to logical
With computer, the processor of special purpose computer and/or other programmable data processing units, to generate machine, so that via meter
The instruction that calculation machine processor and/or other programmable data processing units execute creates for realizing block diagram and or flow chart block
In specified function action method.
Correspondingly, the application can also be implemented with hardware and/or software (including firmware, resident software, microcode etc.).More
Further, the application can take computer usable or the shape of the computer program product on computer readable storage medium
Formula has the computer realized in the medium usable or computer readable program code, to be made by instruction execution system
It is used with or in conjunction with instruction execution system.In the present context, computer can be used or computer-readable medium can be with
It is arbitrary medium, may include, stores, communicates, transmits or transmit program, is made by instruction execution system, device or equipment
With, or instruction execution system, device or equipment is combined to use.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method for adjusting target vehicle motion state, which is characterized in that this method comprises:
According to coordinate information and the target carriage of at least one the current state vector of target vehicle in earth axes
The coordinate transformation relation of corresponding vehicle body coordinate system and the earth axes determines the seat of at least one state vector
The Coordinate Conversion Errors numerical value of mark transformation numerical value and at least one state vector；
According to the coordinate transform numerical value of at least one state vector and Coordinate Conversion Errors numerical value determination
Coordinate information of at least one state vector in the vehicle body coordinate system；
The fortune of the target vehicle is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
Dynamic state.
2. the method as described in claim 1, which is characterized in that the coordinate transform numerical value of the determination state vector and
The Coordinate Conversion Errors numerical value of the state vector, comprising:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector in the ground coordinate
Coordinate information in system, the coordinate transform numerical value of determining at least one state vector and at least one described state vector
Coordinate Conversion Errors numerical value；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system, is root
It is determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least one
State vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
3. method according to claim 2, which is characterized in that the coordinate transform of at least one state vector described in the determination
Numerical value, comprising:
By the ratio of the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
It is worth the coordinate transform numerical value as at least one state vector；And/or
The Coordinate Conversion Errors numerical value of at least one state vector described in the determination, comprising:
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
The ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes is made
For the Coordinate Conversion Errors numerical value of at least one state vector.
4. method as claimed in claim 3, which is characterized in that at least one state vector is in the vehicle body described in the determination
Coordinate information in coordinate system, comprising:
By the Coordinate Conversion Errors of the coordinate transform numerical value of at least one state vector and at least one state vector
Numerical value is added, and obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
5. the method as described in Claims 1 to 4 is any, which is characterized in that under the current state vector of the target vehicle is
Some or all of in column:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error vector.
6. a kind of equipment for the motion state for adjusting target vehicle, which is characterized in that the equipment includes: at least one processing unit
And at least one storage unit, wherein the storage unit is stored with program code, when said program code is single by the processing
When member executes, so that the processing unit executes following process:
According to coordinate information and the target carriage of at least one the current state vector of target vehicle in earth axes
The coordinate transformation relation of corresponding vehicle body coordinate system and the earth axes determines the seat of at least one state vector
The Coordinate Conversion Errors numerical value of mark transformation numerical value and at least one state vector；
According to the coordinate transform numerical value of at least one state vector and Coordinate Conversion Errors numerical value determination
Coordinate information of at least one state vector in the vehicle body coordinate system；
The fortune of the target vehicle is adjusted according to coordinate information of at least one the described state vector in the vehicle body coordinate system
Dynamic state.
7. equipment as claimed in claim 6, which is characterized in that the processing unit is specifically used for:
According to rotational transformation matrix, the skew symmetric matrix of angular speed and at least one described state vector in the ground coordinate
Coordinate information in system, the coordinate transform numerical value of determining at least one state vector and at least one described state vector
Coordinate Conversion Errors numerical value；
Wherein, the rotational transformation matrix is rotational transformation matrix of the earth axes to the vehicle body coordinate system, is root
It is determined according to the coordinate transformation relation of the vehicle body coordinate system and the earth axes；The angular speed be it is described at least one
State vector is in the earth axes relative to the angular speed in the vehicle body coordinate system.
8. equipment as claimed in claim 7, which is characterized in that the processing unit is specifically used for:
By the ratio of the coordinate information of the rotational transformation matrix and at least one described state vector in the earth axes
It is worth the coordinate transform numerical value as at least one state vector；And/or
Using the product of the rotational transformation matrix and the skew symmetric matrix of the angular speed as product numerical value；
The ratio of the product numerical value and coordinate information of at least one the described state vector in the earth axes is made
For the Coordinate Conversion Errors numerical value of at least one state vector.
9. equipment as claimed in claim 8, which is characterized in that the processing unit is specifically used for:
By the coordinate transform numerical value of the coordinate transform numerical value of at least one state vector and at least one state vector
It is added, obtains the coordinate information of at least one state vector in the vehicle body coordinate system.
10. the equipment as described in claim 6~9 is any, which is characterized in that under the current state vector of the target vehicle is
Some or all of in column:
Location error vector, velocity error vector, acceleration error vector, course angle error vector, front wheel slip angle error vector.
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Effective date of registration: 20210811 Address after: 277300 No. 3859, Changbaishan Road, Zaozhuang high tech Industrial Development Zone, Zaozhuang City, Shandong Province Patentee after: Shandong automatic driving Research Institute Co.,Ltd. Address before: Unit 1001, 369 Weining Road, Changning District, Shanghai, 200336 (9th floor of actual floor) Patentee before: DEEPBLUE TECHNOLOGY (SHANGHAI) Co.,Ltd. |