CN110262506A - Confirmation method, vehicle travel control method, device and equipment a little is taken aim in advance - Google Patents
Confirmation method, vehicle travel control method, device and equipment a little is taken aim in advance Download PDFInfo
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- 238000012790 confirmation Methods 0.000 title claims abstract description 31
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the present invention proposes a kind of confirmation method, vehicle travel control method, device and equipment taken aim in advance a little, this method comprises: obtaining preview distance and the corresponding location information of multiple target trajectory points；Two target trajectory points with the running distance of current vehicle position closest to the preview distance are searched in the multiple target trajectory point；According to the location information of two target trajectory points found, executes interpolation arithmetic and obtain the full curve by two found the target trajectory point；The first position point for being equal to the preview distance with the running distance of current vehicle position on the full curve is confirmed as pre- take aim at a little.Implement the embodiment of the present invention, the location information that vehicle can accurately be taken aim at a little in advance according to position is travelled, and sparse degree of the track following effect independent of track improves the precision of track following.
Description
Technical field
The present invention relates to intelligent driving technical fields, more particularly to a kind of confirmation method taken aim in advance a little, vehicle driving control
Method, device and equipment.
Background technique
In the intelligent drivings technical field such as automatic parking, unmanned, path trace problem be always the emphasis studied and
Difficult point.Pure tracking controller is a kind of geometric path tracker with higher robustness and real-time.Pure tracking controller is
The target trajectory point at vehicle front preview distance is determined according to preview distance, i.e., takes aim in advance a little, according to the location information taken aim in advance a little,
Steering wheel angle calculating is carried out, so that car tracing target trajectory is walked.It is certain pre- since target trajectory point is discrete point
Taking aim at might not just be overlapped with target trajectory point under, therefore the prior art generally uses before and after preview distance nearby
Target trajectory point is used as and takes aim at a little in advance.Therefore, it if target trajectory point is sparse, is a little had very greatly according to pre- take aim at of preview distance confirmation
Error.The track following effect of the prior art depends on the sparse degree of target trajectory point, and shortcoming is accurate.
Summary of the invention
The embodiment of the present invention provides a kind of confirmation method, vehicle travel control method, device and equipment taken aim in advance a little, with solution
One or more technical problems certainly in the prior art.
In a first aspect, the embodiment of the invention provides a kind of confirmation methods taken aim in advance a little, comprising:
Obtain preview distance and the corresponding location information of multiple target trajectory points；
It is searched in the multiple target trajectory point with the running distance of current vehicle position closest to the preview distance
Two target trajectory points；
According to the location information of two target trajectory points found, executes interpolation arithmetic and obtain finding by described
The full curve of two target trajectory points；
The first position point of the preview distance will be equal on the full curve with the running distance of current vehicle position
It is confirmed as pre- take aim at a little.
In one embodiment, the location information includes position coordinates, curvature and course angle.
In one embodiment, the interpolation arithmetic is Hermite interpolation three times.
In one embodiment, the location information for two target trajectory points that the basis is found executes interpolation fortune
Calculation obtains specifically including by the full curve of two found the target trajectory point:
According to the position coordinates of two target trajectory points found, course angle and curvature, obtains Hermite three times and insert
Functional value, first derivative and the second dervative of known interpolation knot needed for value and the known interpolation knot；
It is held according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial to row three times.
In one embodiment, it is described searched in the multiple target trajectory point with the driving of current vehicle position away from
From two target trajectory points closest to the preview distance, specifically include:
Determine the second for being equal to the preview distance with the running distance of current vehicle position on estimating planning driving path
It sets a little；Wherein, the planning driving path of estimating is that each adjacent target trajectory point is obtained so that straight line is connected；
Search two target trajectory points before and after the second position point.
Second aspect, the embodiment of the invention provides a kind of vehicle travel control methods, comprising:
Obtain preview distance and the corresponding location information of multiple target trajectory points；
It is searched in the multiple target trajectory point with the running distance of current vehicle position closest to the preview distance
Two target trajectory points；
According to the location information of two target trajectory points found, executes interpolation arithmetic and obtain finding by described
The full curve of two target trajectory points；
The first position point of the preview distance will be equal on the full curve with the running distance of current vehicle position
It is confirmed as pre- take aim at a little；
According to the full curve, the pre- location information taken aim at a little is obtained；
According to the pre- location information taken aim at a little, vehicle driving is controlled using pure tracking controller.
In one embodiment, the location information includes position coordinates, curvature and course angle；
The location information for two target trajectory points that the basis is found executes interpolation arithmetic and obtains by the lookup
The full curve of two target trajectory points arrived, specifically includes:
According to the position coordinates of two target trajectory points found, course angle and curvature, obtains Hermite three times and insert
Functional value, first derivative and the second dervative of known interpolation knot needed for value and the known interpolation knot；
It is held according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial to row three times；
It is described according to the full curve, obtain the pre- location information taken aim at a little, specifically include:
According to the corresponding interpolation polynomial of the full curve, pre- a little corresponding node and the node taken aim at is calculated
Functional value, first derivative and second dervative；
According to the functional value of the node and the node, first derivative and second dervative, the pre- position taken aim at a little is obtained
Set coordinate, course angle and curvature.
The third aspect, the embodiment of the invention provides a kind of confirmation devices taken aim in advance a little, comprising:
Module is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module, it is closest with the running distance of current vehicle position for being searched in the multiple target trajectory point
Two target trajectory points of the preview distance；
Interpolating module, for according to the location information of two target trajectory points found, execute interpolation arithmetic obtain through
Cross the full curve of two target trajectory points found；
Confirmation module, for the preview distance will to be equal to the driving of current vehicle position displacement on the full curve
First position point be confirmed as pre- take aim at a little.
Fourth aspect, the embodiment of the invention provides a kind of controlling device for vehicle running, comprising:
Module is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module, it is closest with the running distance of current vehicle position for being searched in the multiple target trajectory point
Two target trajectory points of the preview distance；
Interpolating module, for according to the location information of two target trajectory points found, execute interpolation arithmetic obtain through
Cross the full curve of two target trajectory points found；
Confirmation module, for the preview distance will to be equal to the driving of current vehicle position displacement on the full curve
First position point be confirmed as pre- take aim at a little；
Locating module, for obtaining the pre- location information taken aim at a little according to the full curve；
Control module, for controlling vehicle driving using pure tracking controller according to the pre- location information taken aim at a little.
5th aspect, the embodiment of the invention provides a kind of equipment, comprising:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of places
It manages device and realizes the method that any embodiment of that present invention provides.
6th aspect, the embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program,
The method that any embodiment of that present invention provides is realized when the program is executed by processor.
The following advantage of above-mentioned technical proposal or the utility model has the advantages that
The embodiment of the present invention passes through two tracing points to the running distance with current vehicle position closest to preview distance
Interpolation is done, the full curve of point-to-point transmission is obtained, so as to find the running distance with current vehicle position according to full curve
Equal to the location point of preview distance.The point is confirmed as the pre- position taken aim at and take aim at vehicle accurately in advance according to position a little
Confidence breath is travelled, and sparse degree of the track following effect independent of track improves the precision of track following.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the pre- flow chart for taking aim at confirmation method a little provided in an embodiment of the present invention.
Fig. 2 is the structural block diagram of the pre- confirmation device taken aim at a little provided in an embodiment of the present invention.
Fig. 3 is the flow chart of vehicle travel control method provided in an embodiment of the present invention.
Fig. 4 is the structural block diagram of controlling device for vehicle running provided in an embodiment of the present invention.
Fig. 5 is the structural block diagram of equipment provided in an embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
During automatic Pilot, according to the traveling target (such as mooring into garage, along lanes etc.) and vehicle of vehicle
The information such as position, road conditions can cook up target trajectory, and the target trajectory planned is made of a series of target trajectory points,
These target trajectory points have the corresponding location information on target trajectory, may include position coordinates, also may include position appearance
State information, such as curvature, course angle on target trajectory etc..Trace tracking method includes geometry method for tracing and model prediction
Method.And pure tracing algorithm is a kind of common geometry method for tracing.Pure tracing algorithm determines vehicle front according to preview distance
Target trajectory point at preview distance is taken aim at a little in advance, according to the location information taken aim in advance a little, carries out steering wheel angle calculating, thus
So that car tracing target trajectory is walked.
Fig. 1 shows the pre- flow chart for taking aim at confirmation method a little provided according to embodiments of the present invention.This method is applicable to
Confirm during automatic Pilot and take aim at a little in advance, such as before carrying out the calculating of steering wheel for vehicle corner using pure tracing algorithm, uses
The pre- confirmation method confirmation taken aim at a little provided in an embodiment of the present invention is taken aim at a little to obtain the pre- location information taken aim at a little in advance.As shown in Figure 1,
This method comprises the following steps 110 to 140:
Step 110 obtains preview distance and the corresponding location information of multiple target trajectory points.
Wherein, target trajectory point is the series of discrete point cooked up during automatic Pilot, the line of target trajectory point
It can be considered the target trajectory of vehicle driving.
In one embodiment, location information may include position coordinates, curvature and course angle etc., in trajectory planning mistake
Cheng Zhonghui obtains the corresponding location information of target trajectory point.Its mean curvature can be song of the target trajectory point on target trajectory
Rate, course angle can be course heading when moving along target trajectory at target trajectory point.
Step 120 is searched with the running distance of current vehicle position in the multiple target trajectory point described in
Two target trajectory points of preview distance.
By predicted vehicle from current location, the location of when running distance reaches preview distance, this can be found
Former and later two target trajectory points of position, then the two target trajectory points are exactly with the running distance of current vehicle position closest to institute
State two target trajectory points of preview distance.Wherein, since target trajectory point is discrete point, it is contemplated that the running distance of vehicle can be with
It is realized by estimation.For example, adjacent target trajectory point can be connected to form a rough target trajectory with straight line, with vehicle
The running distance of vehicle is calculated in the mobile distance of the target trajectory, is also possible to directly calculate with the distance of vehicle front
The running distance of vehicle.
The location information for two target trajectory points that step 130, basis are found executes interpolation arithmetic and obtains by described
The full curve of two target trajectory points found.
Interpolation refers to interpolation full curve function or multinomial on the basis of known discrete data, so that this company
The discrete data point that continuous curve negotiating all gives.By carrying out interpolation to two known target tracing points, process can be obtained
The full curve of the two target trajectory points, then can be in the hope of the location information of any point on curve.The prior art provides
A variety of interpolation methods, such as spline interpolation, Hermite (Hermite) interpolation and Lagrangian (Lagrange) interpolation etc..
Step 140 will be equal to the of the preview distance with the running distance of current vehicle position on the full curve
One location point is confirmed as pre- take aim at a little.
By interpolation, the location information of any point on full curve can be obtained, therefore, available and vehicle present bit
The running distance set is equal to the first position point of preview distance, is confirmed as pre- take aim at a little.And the prior art is to use to expect
Running distance be equal to the target trajectory point near the position of preview distance as taking aim at a little in advance, in contrast, step 140 confirmation
In advance take aim at it is a little more accurate, even if target trajectory point is sparse, according to the above method can also accurately confirm current vehicle travel to join
That examines pre- takes aim at a little.
In conclusion the pre- confirmation method taken aim at a little provided in an embodiment of the present invention passes through to the driving with current vehicle position
Two tracing points of distance closest to preview distance do interpolation, obtain the full curve of point-to-point transmission, so as to according to continuous bent
Line finds the location point for being equal to preview distance with the running distance of current vehicle position.By the point be confirmed as it is pre- take aim at a little so that vehicle
The location information that can be accurately taken aim in advance according to position a little is travelled, sparse journey of the track following effect independent of track
Degree, improves the precision of track following.
In the specific implementation, the location information of target trajectory point can there are many, such as the location information of target point includes
Position coordinates, course angle and curvature.Step 130 can carry out a variety of location informations of target trajectory point there are many embodiment
Interpolation.Such as interpolation is separately carried out to different location informations, after determining pre- take aim at a little, accordingly based upon different interpolating functions
Or multinomial seeks different location informations.
The embodiment of the present invention provides a kind of preferred embodiment of step 130, specifically, Hermite three times can be used
Interpolation.
Hermite interpolation is using unknown function f (x) in interpolation knot x0And x1On functional value and derivative value construct
Interpolation polynomial.This kind of interpolation not only requires the functional value of interpolation polynomial identical as original function value at given node.Together
When also require at node, the single order of interpolation polynomial until specified rank derivative value, also to the corresponding order derivative of being inserted function
It is worth equal.
Specifically, interpolation knot x known to Hermite interpolation three times0And x1On functional value and derivative be respectively yi=f
(xi), mi=f ' (xi), (i=0,1), it is desirable that a number is no more than 3 multinomial H3(x), make to meet H3(x)=yi, H '3=
mi, (i=0,1).Claim H3It (x) is cubic Hamiltonian symmetrical systems multinomial.
Hermite interpolation requires functional value, first derivative and second dervative of the interpolation polynomial at known node three times
It is all equal with the known function value of known node, first derivative and second dervative.And it is used for the target trajectory point of automatic Pilot, it is main
Three kinds of location informations being considered, it is related with the functional value of geometrical curve, first derivative and second dervative respectively.For example, position
Coordinate generally comprises the coordinate (x of two axis of x, y of plane right-angle coordinate0, y0), if being sought using interpolation arithmetic straight in the plane
The full curve of angular coordinate system, then x0For node, y0For functional value；The triangular angular α of course angle and curve has corresponding relationship,
Tan α is equal to node x0Tangent slope k on curve；Curvature then can be by node x0First derivative and second dervative calculate
It arrives.Therefore, using Hermite interpolation three times, the full curve for obtaining interpolation is in known two target trajectory sections
The position coordinates at point place are identical as trajectory planning position coordinates obtained are passed through, course angle and curvature also with trajectory planning institute
The course angle of acquisition is identical with curvature.Therefore, it is taken aim at a little in advance using the determination of Hermite interpolation three times, this can be sought and pre- take aim at a standard
True position coordinates, course angle and curvature, can be improved track following progress.
It should be noted that may relate to different coordinate systems during automatic Pilot, and therefore, position coordinates, course
The functional value of angle and curvature and interpolation polynomial, first derivative and second dervative, it may be desirable to be obtained by conversion.
Illustratively, the location information for two target trajectory points that step 130, basis are found, executes interpolation arithmetic and obtains
To the full curve of two target trajectory points found described in process, may include:
According to the position coordinates of two target trajectory points found, course angle and curvature, obtains Hermite three times and insert
Functional value, first derivative and the second dervative of known interpolation knot needed for value and the known interpolation knot；
It is held according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial to row three times.
In one embodiment, step 120, search and the row of current vehicle position in the multiple target trajectory point
Vehicle distance is specifically included closest to two target trajectory points of the preview distance:
Determine the second for being equal to the preview distance with the running distance of current vehicle position on estimating planning driving path
It sets a little；Wherein, the planning driving path of estimating is that each adjacent target trajectory point is obtained so that straight line is connected；
Search two target trajectory points before and after the second position point.
In each adjacent target trajectory point with the connected obtained running distance for estimating lookup vehicle in planning driving path of straight line
It can more precisely compared to the location point is searched on the straight line path of vehicle front equal to the second position point of preview distance
Find two target trajectory points.
Fig. 2 shows the flow chart of the pre- confirmation device taken aim at a little provided in an embodiment of the present invention, which includes:
Module 210 is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module 220, for being searched in the multiple target trajectory point with the running distance of current vehicle position most
Close to two target trajectory points of the preview distance；
Interpolating module 230 executes interpolation arithmetic and obtains for the location information according to two target trajectory points found
By the full curve of two found the target trajectory point；
Confirmation module 240, for described pre- take aim at will to be equal to the driving of current vehicle position displacement on the full curve
The first position point of distance is confirmed as pre- take aim at a little.
In one embodiment, the location information includes position coordinates, curvature and course angle.
In one embodiment, the interpolation arithmetic is Hermite interpolation three times.
In one embodiment, interpolating module 230 specifically include:
Given information obtaining unit, for position coordinates, course angle and the song according to two target trajectory points found
Functional value, the single order of rate, known interpolation knot needed for obtaining Hermite interpolation three times and the known interpolation knot are led
Several and second dervative；
Arithmetic element, for being led according to functional value, the single order of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding continuous song of the interpolation polynomial to the execution of several and second dervative three times
Line.
In one embodiment, the searching module 220 includes:
Determination unit is equal to described pre- take aim at the running distance of current vehicle position on estimating planning driving path for determining
The second position point of distance；Wherein, the planning driving path of estimating is that each adjacent target trajectory point is obtained so that straight line is connected；
Searching unit, for searching two target trajectory points before and after the second position point.
The function of each module in each pre- confirmation device taken aim at a little of the embodiment of the present invention may refer to above-mentioned pre- take aim at a little really
Corresponding description in verifying method, details are not described herein.
Fig. 3 shows the flow chart of vehicle driving method provided in an embodiment of the present invention, this method comprises:
Step 310 obtains preview distance and the corresponding location information of multiple target trajectory points；
Step 320 is searched with the running distance of current vehicle position in the multiple target trajectory point described in
Two target trajectory points of preview distance；
The location information for two target trajectory points that step 330, basis are found executes interpolation arithmetic and obtains by described
The full curve of two target trajectory points found；
Step 340 will be equal to the of the preview distance with the running distance of current vehicle position on the full curve
One location point is confirmed as pre- take aim at a little；
Step 350, according to the full curve, obtain the pre- location information taken aim at a little；
Step 360, according to the pre- location information taken aim at a little, vehicle driving is controlled using pure tracking controller.
Vehicle driving method provided in an embodiment of the present invention, wherein step 310 to step 340 above-mentioned pre- take aim at a little can be used
Confirmation method any embodiment implement, have corresponding beneficial effect.
Correspondingly, in the vehicle travel control method of the embodiment of the present invention, the location information also may include that position is sat
Mark, curvature and course angle.
Preferably, the location information for two target trajectory points that step 330, basis are found, executes and inserts
Value operation obtains specifically including by the full curve of two found the target trajectory point:
According to the position coordinates of two target trajectory points found, course angle and curvature, obtains Hermite three times and insert
Functional value, first derivative and the second dervative of known interpolation knot needed for value and the known interpolation knot；
It is held according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial to row three times.
Correspondingly, step 350, according to the full curve, obtain the pre- location information taken aim at a little, specifically include:
According to the corresponding interpolation polynomial of the full curve, pre- a little corresponding node and the node taken aim at is calculated
Functional value, first derivative and second dervative；
According to the functional value of the node and the node, first derivative and second dervative, the pre- position taken aim at a little is obtained
Set coordinate, course angle and curvature.
Vehicle travel control method provided in an embodiment of the present invention, by most being connect to the running distance with current vehicle position
Two tracing points of nearly preview distance do interpolation, obtain the full curve of point-to-point transmission, so as to according to full curve find with
The running distance of current vehicle position is equal to the location point of preview distance.By the point be confirmed as it is pre- take aim at a little, allow vehicle root
The location information accurately taken aim in advance according to position a little is travelled, sparse degree of the track following effect independent of track, is improved
The precision of track following.
Fig. 4 shows the structural block diagram of controlling device for vehicle running according to an embodiment of the present invention.Include:
Module 410 is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module 420, for being searched in the multiple target trajectory point with the running distance of current vehicle position most
Close to two target trajectory points of the preview distance；
Interpolating module 430 executes interpolation arithmetic and obtains for the location information according to two target trajectory points found
By the full curve of two found the target trajectory point；
Confirmation module 440, for described pre- take aim at will to be equal to the driving of current vehicle position displacement on the full curve
The first position point of distance is confirmed as pre- take aim at a little；
Locating module 450, for obtaining the pre- location information taken aim at a little according to the full curve；
Control module 460, for controlling vehicle row using pure tracking controller according to the pre- location information taken aim at a little
It sails.
Correspondingly, the controlling device for vehicle running of the embodiment of the present invention, the location information being related to also may include position
Set coordinate, curvature and course angle.
In one embodiment, interpolating module 430 includes:
Given information obtaining unit, for position coordinates, course angle and the song according to two target trajectory points found
Functional value, the single order of rate, known interpolation knot needed for obtaining Hermite interpolation three times and the known interpolation knot are led
Several and second dervative；
Arithmetic element, for being led according to functional value, the single order of the known interpolation knot and the known interpolation knot
Hermite interpolation obtains interpolation polynomial and the corresponding continuous song of the interpolation polynomial to the execution of several and second dervative three times
Line.
Correspondingly, locating module 450 specifically includes:
Computing unit described pre- takes aim at a little corresponding section for calculating according to the corresponding interpolation polynomial of the full curve
Functional value, first derivative and the second dervative of point and the node；
Location information obtaining unit, for being led according to the functional value of the node and the node, first derivative and second order
Number obtains the pre- position coordinates taken aim at a little, course angle and curvature.
The function of each module in the vehicle driving device of the embodiment of the present invention may refer to above-mentioned vehicle driving controlling party
Corresponding description in method, details are not described herein.
Fig. 5 shows the structural block diagram of equipment provided in an embodiment of the present invention.As shown in figure 5, the equipment includes: memory
910 and processor 920, the computer program that can be run on processor 920 is stored in memory 910.The processor 920
The pre- confirmation method or vehicle travel control method taken aim at a little in above-described embodiment is realized when executing the computer program.It is described
The quantity of memory 910 and processor 920 can be one or more.
The equipment further include:
Communication interface 930 carries out data interaction for being communicated with external device.
Memory 910 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 910, processor 920 and the independent realization of communication interface 930, memory 910,920 and of processor
Communication interface 930 can be connected with each other by bus and complete mutual communication.The bus can be Industry Standard Architecture
Structure (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
ComponentInterconnect) bus or extended industry-standard architecture (EISA, Extended Industry
StandardArchitecture) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, Fig. 5, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 910, processor 920 and communication interface 930 are integrated in one piece of core
On piece, then memory 910, processor 920 and communication interface 930 can complete mutual communication by internal interface.
The embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, the program quilt
Processor realizes any method in above-described embodiment when executing.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (11)
1. a kind of confirmation method taken aim in advance a little characterized by comprising
Obtain preview distance and the corresponding location information of multiple target trajectory points；
It is searched in the multiple target trajectory point with the running distance of current vehicle position closest to the two of the preview distance
A target trajectory point；
According to the location information of two target trajectory points found, executes interpolation arithmetic and obtain by two found
The full curve of target trajectory point；
The first position point for being equal to the preview distance on the full curve with the running distance of current vehicle position is confirmed
To take aim in advance a little.
2. the pre- confirmation method taken aim at a little according to claim 1, which is characterized in that the location information includes that position is sat
Mark, curvature and course angle.
3. the pre- confirmation method taken aim at a little according to claim 2, which is characterized in that the interpolation arithmetic is Ai Er meter three times
Special interpolation.
4. the pre- confirmation method taken aim at a little according to claim 3, which is characterized in that two targets that the basis is found
The location information of tracing point executes interpolation arithmetic and obtains the full curve by two found the target trajectory point, has
Body includes:
According to the position coordinates of two target trajectory points found, course angle and curvature, Hermite interpolation institute three times is obtained
Functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot that need；
Three are executed according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Secondary Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial.
5. the pre- confirmation method taken aim at a little according to any one of claims 1 to 4, which is characterized in that described the multiple
Two target trajectory points with the running distance of current vehicle position closest to the preview distance, tool are searched in target trajectory point
Body includes:
Determine the second position point for being equal to the preview distance with the running distance of current vehicle position on estimating planning driving path；
Wherein, the planning driving path of estimating is that each adjacent target trajectory point is obtained so that straight line is connected；
Search two target trajectory points before and after the second position point.
6. a kind of vehicle travel control method characterized by comprising
Obtain preview distance and the corresponding location information of multiple target trajectory points；
It is searched in the multiple target trajectory point with the running distance of current vehicle position closest to the two of the preview distance
A target trajectory point；
According to the location information of two target trajectory points found, executes interpolation arithmetic and obtain by two found
The full curve of target trajectory point；
The first position point for being equal to the preview distance on the full curve with the running distance of current vehicle position is confirmed
To take aim in advance a little；
According to the full curve, the pre- location information taken aim at a little is obtained；
According to the pre- location information taken aim at a little, vehicle driving is controlled using pure tracking controller.
7. vehicle travel control method according to claim 6, which is characterized in that the location information includes that position is sat
Mark, curvature and course angle；
The location informations of two target trajectory points that the basis is found executes interpolation arithmetic and obtains finding by described
The full curve of two target trajectory points, specifically includes:
According to the position coordinates of two target trajectory points found, course angle and curvature, Hermite interpolation institute three times is obtained
Functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot that need；
Three are executed according to functional value, first derivative and the second dervative of the known interpolation knot and the known interpolation knot
Secondary Hermite interpolation obtains interpolation polynomial and the corresponding full curve of the interpolation polynomial；
It is described according to the full curve, obtain the pre- location information taken aim at a little, specifically include:
According to the corresponding interpolation polynomial of the full curve, calculates and described pre- take aim at a little function of corresponding node and the node
Value, first derivative and second dervative；
According to the functional value of the node and the node, first derivative and second dervative, obtains the pre- position taken aim at a little and sit
Mark, course angle and curvature.
8. a kind of confirmation device taken aim in advance a little characterized by comprising
Module is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module, for being searched in the multiple target trajectory point with the running distance of current vehicle position described in
Two target trajectory points of preview distance；
Interpolating module executes interpolation arithmetic and obtains by institute for the location information according to two target trajectory points found
State the full curve of two target trajectory points found；
Confirmation module, for the driving displacement on the full curve with current vehicle position to be equal to the of the preview distance
One location point is confirmed as pre- take aim at a little.
9. a kind of controlling device for vehicle running characterized by comprising
Module is obtained, for obtaining preview distance and the corresponding location information of multiple target trajectory points；
Searching module, for being searched in the multiple target trajectory point with the running distance of current vehicle position described in
Two target trajectory points of preview distance；
Interpolating module executes interpolation arithmetic and obtains by institute for the location information according to two target trajectory points found
State the full curve of two target trajectory points found；
Confirmation module, for the driving displacement on the full curve with current vehicle position to be equal to the of the preview distance
One location point is confirmed as pre- take aim at a little；
Locating module, for obtaining the pre- location information taken aim at a little according to the full curve；
Control module, for controlling vehicle driving using pure tracking controller according to the pre- location information taken aim at a little.
10. a kind of equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any one of claims 1 to 7.
11. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any one of claims 1 to 7 is realized when row.
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