CN114228708B - Vehicle control method and system - Google Patents

Vehicle control method and system Download PDF

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Publication number
CN114228708B
CN114228708B CN202111669713.3A CN202111669713A CN114228708B CN 114228708 B CN114228708 B CN 114228708B CN 202111669713 A CN202111669713 A CN 202111669713A CN 114228708 B CN114228708 B CN 114228708B
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reference path
current frame
frame
current
distance
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CN114228708A (en
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黄超
叶玥
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Shanghai Xiantu Intelligent Technology Co Ltd
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Shanghai Xiantu Intelligent Technology Co Ltd
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a vehicle control method and a vehicle control system. The vehicle control method includes: acquiring a current frame reference path and a historical reference path of a vehicle, wherein the historical reference path comprises a reference path of a frame adjacent to the current frame; determining whether a transverse oscillation distance of a current obstacle exists in a current frame reference path according to the current frame reference path and a historical reference path, wherein the transverse oscillation distance is a deviation amount of the current frame reference path compared with a reference path of an adjacent previous frame when a vehicle avoids the current obstacle, which is more than half of the vehicle width; if the current frame reference path has the transverse oscillation distance of the current obstacle, removing the transverse oscillation distance in the current frame reference path to obtain a to-be-filled reference path of the current frame; and updating the reference path to be filled of the current frame according to the reference paths of the adjacent previous frame to obtain an updated reference path of the current frame so as to control the vehicle to run according to the updated reference path of the current frame.

Description

Vehicle control method and system
Technical Field
The present application relates to the field of vehicle communications, and in particular, to a vehicle control method and system.
Background
In an automatic driving system, a sensor of a vehicle uploads acquired perception information to a control center, the vehicle receives map information and perception information issued by the control center, and a reference path of the vehicle is generated in local planning through behavior decision and action planning and is used for guiding the vehicle to run.
The reference path of the vehicle comprises a multi-frame reference path, the multi-frame reference path is divided into a longitudinal direction and a transverse direction, the longitudinal direction is the direction along the lane line, namely the advancing direction, the transverse direction is the distance for shifting the lane center line, and transverse shifting can occur when the vehicle avoids an obstacle. When the vehicle avoids the obstacle, and the deviation of the reference path of the current frame compared with the reference path of the adjacent previous frame is more than half of the vehicle width, the reference path is called as the transverse oscillation distance.
And because the sensor has limited precision, the obstacles suddenly appear and the like, the generated noise information is relatively large, so that the sensing data uploaded to the control center by the sensor is inaccurate, the erroneous judgment of the obstacles is caused, the reference path is misjudged to have a transverse oscillation distance, the vehicle can be emergently driven to turn the steering wheel or park, and the stability of the vehicle is reduced.
Disclosure of Invention
The application provides a vehicle control method and a system, wherein the method improves the stability of a vehicle.
The application provides a vehicle control method, comprising the following steps:
acquiring a current frame reference path and a historical reference path of a vehicle, wherein the historical reference path comprises a reference path of a frame adjacent to the current frame;
Determining whether a transverse oscillation distance of a current obstacle exists in a current frame reference path according to the current frame reference path and a historical reference path, wherein the transverse oscillation distance is that when a vehicle avoids the current obstacle, the offset of the reference path of the current frame compared with the reference path of the adjacent previous frame is greater than half of the vehicle width;
if the current frame reference path has the transverse oscillation distance of the current obstacle, removing the transverse oscillation distance in the current frame reference path to obtain a to-be-filled reference path of the current frame; the method comprises the steps of,
and updating the reference path to be filled of the current frame according to the reference path of the adjacent previous frame to obtain an updated reference path of the current frame so as to control the vehicle to run according to the updated reference path of the current frame.
Further, the updating the reference path to be filled of the current frame according to the reference path of the adjacent previous frame to obtain the updated reference path of the current frame, so as to control the vehicle to travel according to the updated reference path of the current frame, including:
intercepting a reference path shorter than a transverse oscillation distance from a reference path of an adjacent previous frame as a replacement reference path;
and filling the replacement reference path to a position of the reference path to be filled of the current frame, which is removed of the transverse oscillation distance, so as to obtain an updated reference path of the current frame, and controlling the vehicle to run according to the original preset time and the updated reference path of the current frame.
Further, the determining whether the current frame reference path has the transverse oscillation distance of the current obstacle according to the current frame reference path and the historical reference path includes:
determining an oscillation index of the current frame reference path compared with the reference path in the adjacent previous frame before the current frame according to the current frame reference path and the historical reference path, wherein the oscillation index is used for indicating whether the offset of the reference path of the current frame compared with the reference path offset of the adjacent previous frame is greater than half of the vehicle width of the vehicle;
if the oscillation index is larger than a preset threshold value, determining that the transverse oscillation distance of the current obstacle exists in the current frame reference path;
and if the oscillation index is not greater than a preset threshold value, determining that the transverse oscillation distance of the current obstacle does not exist in the current frame reference path.
Further, the history reference path comprises a history reference path of the previous N frames before the current moment, wherein N represents the number of frames, and the value of N is a natural number larger than 1;
the determining the oscillation index of the current frame reference path compared with the reference path in the previous frame adjacent to the current frame according to the current frame reference path and the historical reference path comprises the following steps:
In the same vehicle coordinate system, a first starting point of a reference path of a current frame is obtained, and points of the historical reference path of the previous N frames at the same position as the first starting point are used as the same starting datum point of the historical reference path of the current frame and the reference path of the current frame;
under the same initial datum point, respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame;
determining a first weight of each frame of reference paths in the previous N frames of reference paths according to the distance between the historical moment of the historical reference paths and the current moment;
and determining the oscillation index of the reference path of the current frame compared with the reference path in the adjacent previous frame before the current frame according to the first weight and the first distance.
Further, the determining the first distances between the previous N frame reference paths and the current frame reference paths respectively includes:
acquiring all points in a reference path of a current frame;
determining second distances from each point to each frame of reference paths in the previous N frames of reference paths, and obtaining all second distances from all points to each frame of reference paths in the previous N frames of reference paths;
determining second weights of all the second distances according to the sizes of all the second distances;
And respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame according to the second weight and the second distance.
Further, the determining the second distance from each point to each frame of reference path in the previous N frames of reference paths, to obtain all the second distances from all points to each frame of reference path in the previous N frames of reference paths, includes:
segmenting the previous N frame reference paths respectively to obtain M segments of sub-paths of each frame of reference path in the previous N frame reference paths; m is a positive integer greater than 1;
and determining the minimum distance from each point to each segment in the M-segment sub-paths, and obtaining all second distances from all points to each frame of reference paths in the N previous frame of reference paths.
Further, after determining whether the current frame reference path has the transverse oscillation distance of the current obstacle according to the current frame reference path and the historical reference path, the method further includes:
and if the current frame reference path part does not have the transverse oscillation distance of the current obstacle, using the current frame reference path to control the vehicle to run according to the current frame reference path.
Further, after updating the reference path to be filled of the current frame according to the reference path of the adjacent previous frame to obtain the updated reference path of the current frame so as to control the vehicle to travel according to the updated reference path of the current frame, the method further comprises:
Determining whether the vehicle is within a safe distance; if the vehicle is within the safe distance, taking the updated reference path of the current frame as the reference path of the next frame after the current frame driven by the vehicle, taking the updated reference path of the current frame as the reference path of the current frame, returning the reference path of the next frame after the current frame driven by the vehicle as the reference path of the current frame, and executing the step of determining whether the current frame reference path has the transverse oscillation distance of the current obstacle or not according to the reference path of the current frame until the accumulated occurrence of the transverse oscillation distance of the current obstacle in the reference path of the current frame is not less than the preset occurrence times, and using the reference path of the current frame to control the vehicle to avoid the current obstacle;
and/or updating the reference path to be filled of the current frame according to the reference path of the adjacent previous frame to obtain an updated reference path of the current frame so as to control the vehicle to run according to the updated reference path of the current frame, wherein the method further comprises: judging whether the accumulated appearance of the transverse oscillation distance of the current obstacle exists in the current frame reference path is smaller than the preset appearance times or not; if the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the current frame reference path is smaller than the preset occurrence times, taking the current frame reference path as an adjacent previous frame reference path, acquiring the reference path of an adjacent next frame after the current frame driven by the vehicle as the current frame reference path, returning to the step of determining whether the transverse oscillation distance of the current obstacle exists in the current frame reference path according to the current frame reference path, and executing until the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the current frame reference path is not smaller than the preset occurrence times, and using the current frame reference path to control the vehicle to avoid the current obstacle.
The application provides a vehicle control system comprising one or more processors for implementing the vehicle control method of any one of the above.
The application provides an electronic device, comprising a processor and a memory;
a memory for storing a computer program;
a processor for implementing the vehicle control method according to any one of the above when executing the program stored in the memory.
The present application provides a readable storage medium having stored thereon a program which, when executed by a processor, implements the vehicle control method as set forth in any one of the above.
In some embodiments of the present application, if the current frame reference path has a lateral oscillation distance of the current obstacle, the lateral oscillation distance in the current frame reference path is removed, which is equivalent to processing the current frame reference path by ignoring the lateral oscillation distance of the current frame reference path when the current frame reference path has the lateral oscillation distance of the current obstacle. And then the vehicle continues to run when the updated reference path of the current frame is used, so that the updated reference path of the current frame can be kept relatively stable within a certain distance, the use of the transverse oscillation distance determined according to the sensor is reduced, the number of times of emergency steering or stopping can be reduced, and the stability of the vehicle is improved.
Drawings
FIG. 1 is a system block diagram of one embodiment of a vehicle control system according to the present application;
FIG. 2 is a flow chart illustrating an embodiment of a method for determining an obstacle according to the present application;
fig. 3 is a schematic flow chart of the step 120 in the method for determining an obstacle shown in fig. 2;
FIG. 4 is a flowchart showing a specific implementation in the step 120 in the method for determining an obstacle shown in FIG. 3;
fig. 5 is a schematic diagram showing an example of the previous 3-frame reference path adjacent to the current-frame reference path in the above step 120 in the obstacle determining method shown in fig. 2;
fig. 6 shows a current reference path T in the obstacle determining method shown in fig. 5 0 Frame 1 reference path T adjacent to the current frame 1 Schematic of the distance between them;
FIG. 7 is a flow chart illustrating another embodiment of the obstacle determination method illustrated in FIG. 2;
FIG. 8 is a schematic diagram illustrating a vehicle control apparatus according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with aspects of one or more embodiments of the present description as detailed in the accompanying claims.
It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, individual steps described in this specification, in other embodiments, may be described as being split into multiple steps; while various steps described in this specification may be combined into a single step in other embodiments.
In order to solve the problem of reduced stability of a vehicle, the embodiment of the application provides a vehicle control method, which is characterized in that whether the current frame reference path has a transverse oscillation distance of a current obstacle is determined by acquiring the current frame reference path and the historical reference path, if the current frame reference path has the transverse oscillation distance of the current obstacle, the transverse oscillation distance in the current frame reference path is removed to obtain a to-be-filled reference path of the current frame, and the to-be-filled reference path of the current frame is updated according to the reference path of the adjacent previous frame to obtain an updated reference path of the current frame so as to control the vehicle to run according to the updated reference path of the current frame. Therefore, the transverse oscillation distance of the current obstacle exists in the reference path of the current frame, the transverse oscillation distance in the reference path of the current frame is removed, which is equivalent to neglecting the transverse oscillation distance of the reference path of the current frame, then the vehicle continues to run when the updated reference path of the current frame is used, and the use of the transverse oscillation distance of the sensor is reduced, so that the number of times of emergency steering or parking can be reduced, and the stability of the vehicle is improved.
Fig. 1 is a system configuration diagram of an embodiment of a vehicle control system 10 according to the present application.
As shown in fig. 1, the vehicle control system 10 includes a plurality of vehicles 11 and a vehicle control center 12, and the vehicle control center 12 may be a server that collectively manages the plurality of vehicles 11, and the plurality of vehicles 11 respectively establish communication connection with the vehicle control center 12. The embodiment of the application provides a vehicle control method that can be applied to any vehicle 11 or a plurality of vehicles 11.
Fig. 2 is a flow chart of an embodiment of an obstacle determining method according to the present application.
As shown in fig. 2, the vehicle control method may include the following steps 110 to 140:
step 110, a current frame reference path and a historical reference path of the vehicle are obtained, wherein the historical reference path comprises a reference path of a frame adjacent to the current frame.
The frame refers to a single image frame of the minimum unit in the image animation. The current frame refers to a frame acquired at the current time. The next-to-previous frame of the current frame refers to a frame acquired in a time immediately preceding the current time. The current frame and the current frame refer to two frames which are sequentially adjacent to each other according to time sequence. When the current time becomes the next time to the current time, the current frame also becomes the previous frame, i.e., the current frame is determined as the previous frame. The transverse oscillation distance of the current obstacle of the current frame when the current obstacle appears for the first time can be accurately determined by the reference path of the current frame and the reference path of the adjacent previous frame of the current frame, so that the real-time planning path and the real-time navigation in the running process of the vehicle are facilitated.
The reference path is a vehicle travel path planned within a preset time period or a preset distance, and the vehicle travel path can be used as a reference for vehicle travel. The reference paths are formed by connecting discrete points and can be divided into a plurality of curve segments. The preset time period may be determined according to a safe distance of the vehicle. The preset distance may be determined according to a safety distance of the vehicle. The current frame reference path refers to the reference path planned by the current frame, and the historical reference path refers to the reference path planned by the adjacent previous frame of the current frame.
Step 120, determining whether the current frame reference path has a transverse oscillation distance of the current obstacle according to the current frame reference path and the historical reference path, wherein the transverse oscillation distance is a deviation amount of the reference path of the current frame compared with the reference path of the adjacent previous frame when the vehicle avoids the current obstacle, which is more than half of the vehicle width.
The transverse oscillation distance is used for reflecting the transverse distance between the paths in the distance, so that the fact that the reference path of the current frame deviates from the reference path of the adjacent previous frame is large enough is indicated, the stability of the vehicle is reduced due to the oscillation, and therefore when the transverse oscillation distance of the current obstacle exists in the reference path of the current frame is determined, the transverse oscillation distance can be ignored first, and the vehicle continues to travel forwards.
In some embodiments, the step 120 may further include determining whether the current frame reference path has a lateral oscillation distance when the current obstacle first appears according to the current frame reference path and the historical reference path. If the transverse oscillation distance of the current obstacle detected by the current frame appears for the first time, the transverse oscillation distance can be ignored first, and the vehicle continues to travel forward. If the sensor is actually caused by single-frame false detection, the transverse oscillation distance of the current obstacle is not determined in the process of continuing to travel forwards; in the process of continuing to travel forwards, if the transverse oscillation distance of the current obstacle detected by the current frame appears at least twice, repeating multi-frame detection, and indicating that the data of the sensor are accurate.
In another embodiment, the step 120 may further include determining whether the current frame reference path has a lateral oscillation distance when the cumulative occurrence of the current obstacle is less than the preset occurrence number according to the current frame reference path and the historical reference path. The preset number of occurrences may be 2 or 3 or 4. The number of preset occurrences may be determined according to the safety distance, and the higher the reliability of the sensor, the smaller the safety distance, the smaller the number of preset occurrences, whereas the lower the reliability of the sensor, the larger the safety distance, the larger the number of preset occurrences, which is not limited herein. Here, the preset number of occurrences is described as 3. If the transverse oscillation distance of the current obstacle detected by the current frame appears for the first time, the transverse oscillation distance can be ignored first, and the vehicle continues to travel forward. If the transverse oscillation distance of the current obstacle detected by the current frame appears again, the transverse oscillation distance can still be ignored, and the vehicle continues to travel forwards. In the process of continuing to travel forward, if the transverse oscillation distance of the current obstacle detected by the current frame when the current obstacle appears for the 3 rd time, namely, the transverse oscillation distance when the accumulated appearance of the current obstacle exists in the reference path of the current frame is not less than the preset appearance times, at the moment, the transverse oscillation distance is not ignored, the transverse oscillation distance is used, and the transverse oscillation distance is repeatedly determined for a plurality of times, so that the accurate data of the sensor are indicated.
After the step 120, the method further includes: and when the accumulated appearance of the current obstacle in the current frame reference path is not smaller than the transverse oscillation distance when the preset appearance times are determined according to the current frame reference path and the historical reference path, the current frame reference path is used for controlling the vehicle to avoid the current obstacle.
And 130, if the current frame reference path has the transverse oscillation distance of the current obstacle, removing the transverse oscillation distance in the current frame reference path to obtain the reference path to be filled of the current frame.
In some embodiments, the step 130 may further include removing the lateral oscillation distance in the reference path of the current frame if the reference path of the current frame has the lateral oscillation distance when the current obstacle first appears, to obtain the reference path to be filled of the current frame.
In other embodiments, the step 130 may further include removing the lateral oscillation distance in the reference path of the current frame if the current obstacle exists in the reference path of the current frame and the cumulative occurrence of the current obstacle is less than the lateral oscillation distance when the number of occurrences is preset, so as to obtain the reference path to be filled of the current frame.
The reference path to be filled refers to a reference path remaining after the transverse oscillation distance is removed from the reference path of the current frame.
And 140, updating the reference path to be filled of the current frame according to the reference paths of the adjacent previous frame to obtain an updated reference path of the current frame so as to control the vehicle to run according to the updated reference path of the current frame.
In some embodiments, the step 140 may further include: intercepting a reference path shorter than a transverse oscillation distance from a reference path of an adjacent previous frame as a replacement reference path; filling the replacement reference path to a position of the reference path to be filled of the current frame, which is removed of the transverse oscillation distance, so as to obtain an updated reference path of the current frame, and controlling the vehicle to run according to the original preset time and the updated reference path of the current frame, wherein the original preset time can be determined according to the safety distance. The reference path shorter than the transverse oscillation distance is intercepted from the reference path of the adjacent previous frame, the obtained alternative reference path is shorter than the path of the transverse oscillation distance, the updated reference path is shortened, and the vehicle still runs according to the original preset time, so that the vehicle can be forced to slow down, and the safety of the movement of the vehicle can be improved. The present obstacle is described here by taking the distance of the lateral oscillation when it first appears as an example. According to the embodiment of the application, the transverse oscillation distance when the current obstacle detected by the current frame appears for the first time is judged as misjudgment by default, and the transverse oscillation distance can be ignored at the moment, so that the vehicle can continue to run forwards. After the speed of the vehicle is reduced, the next frame or the next frame of the next frame can be effectively obtained in the reduced vehicle running time, so that whether the transverse oscillation distance of the current obstacle exists or not is accurately judged, the data reliability is improved, and the vehicle running safety is improved.
In another embodiment, the step 140 may further include: intercepting a reference path equal to the transverse oscillation distance from the reference path of the adjacent previous frame as a replacement reference path; filling the replacement reference path to a position of the reference path to be filled of the current frame, which is removed of the transverse oscillation distance, so as to obtain an updated reference path of the current frame, and controlling the vehicle to run according to the original preset time and the updated reference path of the current frame.
In some embodiments, after step 140, the method further comprises: judging whether the accumulated appearance of the transverse oscillation distance of the current obstacle in the current frame reference path is smaller than the preset appearance times or not; if the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the current frame reference path is smaller than the preset occurrence times, taking the current frame reference path as the adjacent previous frame reference path, acquiring the reference path of the adjacent next frame after the current frame driven by the vehicle as the current frame reference path, returning to the step of determining whether the transverse oscillation distance of the current obstacle exists in the current frame reference path according to the current frame reference path, executing until the accumulated number of the current frames with the transverse oscillation distance of the current obstacle is not smaller than the preset occurrence times, and using the current frame reference path to control the vehicle to avoid the current obstacle. Therefore, the current frame can be obtained in real time, the accumulated number of the current frame is judged in real time, whether the current frame of the transverse oscillation distance of the current obstacle exists truly or is detected by a sensor in error is determined in time, and the accuracy of determining the transverse oscillation distance of the current obstacle is improved.
In the embodiment of the application, if the current frame reference path has the transverse oscillation distance of the current obstacle, the transverse oscillation distance in the current frame reference path is removed, which is equivalent to the processing of the current frame reference path by neglecting the transverse oscillation distance of the current frame reference path when the current frame reference path has the transverse oscillation distance of the current obstacle. And then the vehicle continues to run when the updated reference path of the current frame is used, so that the updated reference path of the current frame can be kept relatively stable within a certain distance, the use of the transverse oscillation distance determined according to the sensor is reduced, the number of times of emergency steering or stopping can be reduced, and the stability of the vehicle is improved.
Fig. 3 is a schematic flow chart of the step 120 in the method for determining an obstacle shown in fig. 2.
As shown in fig. 3, the step 120 may further include steps 121 to 123:
step 121, determining, according to the current frame reference path and the historical reference path, an oscillation index of the current frame reference path compared with the reference path in the previous frame adjacent to the current frame, where the oscillation index is used to indicate whether the offset of the reference path of the current frame compared with the reference path offset of the previous frame adjacent to the current frame is greater than half of the vehicle width of the vehicle.
Fig. 4 is a flowchart showing a specific implementation in the above step 120 in the obstacle determining method shown in fig. 3. As shown in fig. 4, the above step 121 may further include the following steps 1211 to 1215:
the historical reference path comprises a historical reference path of the previous N frames before the current moment, wherein N represents the number of frames, the value of N is a natural number larger than 1, N refers to the total number of frames before the current moment, and N can be set according to the requirement of a user. The current time is the current timestamp. Fig. 5 is a schematic diagram showing an example of the previous 3-frame reference paths adjacent to the current-frame reference path in the above-mentioned step 120 in the obstacle determining method shown in fig. 2. As shown in fig. 5, N may be, but is not limited to, 3. Step 1211, in the same vehicle coordinate system, acquiring a first starting point of the reference path of the current frame, and taking a point at the same position of the historical reference path of the previous N frames as the same starting reference point of the historical reference path of the current frame and the reference path of the current frame. Step 1212, under the same initial reference point, determining the first distances between the previous N frame reference paths and the current frame reference path, respectively, so that under the same initial reference point, the previous N frame reference paths and the current reference path are conveniently compared for shape comparison, which is beneficial to calculating the first distances between the previous N frame reference paths and the current frame reference path, respectively. Step 1213, determining the first weight of each frame reference path in the previous N frames reference paths according to the distance between the historical time of the historical reference path and the current time. The first weight is used for reflecting the distance between the historical moment of the historical reference path and the current moment. In some embodiments, the distance from the current time in the previous N frame reference path may be in positive correlation with the first weight, e.g., the closer the distance from the current time in the previous N frame reference path is, the greater the first weight is; the farther from the current moment in the reference path of the previous N frames, the smaller the first weight. In other embodiments, the distance from the current time in the previous N frame reference path may be inversely related to the first weight, e.g., the farther from the current time in the previous N frame reference path, the greater the first weight; the closer the first weight is to the current moment in the reference path of the previous N frames. In step 1214, the oscillation index of the reference path of the current frame compared to the reference path in the previous frame adjacent to the current frame is determined according to the first weight and the first distance. Therefore, the distance between the historical moment of the historical reference path and the current moment can be reflected through the first weight, so that the previous N frame reference paths closest to the current frame reference path are more favorably utilized, the oscillation index of the current frame reference path compared with the reference paths in the adjacent previous frame before the current frame is more favorably determined, and the timeliness and the accuracy of the oscillation index determination are improved.
In some embodiments, the step 1212 may further comprise: acquiring all points in a reference path of a current frame; determining second distances from each point to each frame of reference paths in the previous N frames of reference paths, and obtaining all second distances from all points to each frame of reference paths in the previous N frames of reference paths; determining second weights of all the second distances according to the sizes of all the second distances; and respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame according to the second weight and the second distance.
Determining the second distance from each point to each frame of reference path in the previous N frames of reference paths to obtain all second distances from all points to each frame of reference path in the previous N frames of reference paths, including: segmenting the previous N frame reference paths respectively to obtain M segments of sub-paths of each frame of reference path in the previous N frame reference paths; m is a positive integer greater than 1; and determining the minimum distance from each point to each segment in the M-segment sub-paths, and obtaining all second distances from all points to each frame of reference paths in the N previous frame of reference paths. Thus, the accuracy of distance determination can be improved through the minimum distance from each point to each segment in the M-segment sub-path. In the case that the reference paths are nonlinear, the first N frame reference paths are respectively segmented, and obtaining M segments of sub-paths of each frame of reference path in the first N frame reference paths further can include respectively segmenting the first N frame reference paths according to the connection points of the two line segments with different slopes as separation points to obtain M segments of sub-paths of each frame of reference path in the first N frame reference paths, so that the minimum distance from each point to each segment in the M segments of sub-paths can be determined, and compared with the distance from each point to the whole reference path, the minimum distance from each point to the whole reference path is more accurate. Determining the minimum distance of each point to each of the M-segment sub-paths, obtaining all second distances of all points to each of the N-frame reference paths may further include calculating, for each frame reference path, a weighted average of the distances of each point of the frame reference path to each of the M-segment sub-paths, such that the minimum distance of each point to each of the M-segment sub-paths may be determined more accurately than the distance of each point to the entire reference path.
Assume that the two frame reference paths are respectively the current reference path T 0 Reference path T of kth frame adjacent to the previous of the current frame k Will T 0 Average n at 1 meter distance 0 Point, ith 0 The individual points are marked asThe line segment between the two points is marked asWill T k Also take n at 1 meter distance as interval k Point, ith k The individual dots are marked +.>The line segment between the two points is marked +.>Definitions->To->Distance of +.>The distance is the nearest distance of the point to the curve segment, while the embodiment of the application defines +.>For->To the reference path T k I.e. the second distance. The shortest distance is determined by the following formula:
then, under the same initial datum point, the following formulas are adopted to respectively determine the current reference paths T 0 Reference path T of kth frame adjacent to the previous of the current frame k First distance D between PD (T 0 ，T k ) Can be defined by the following formula:
wherein T is 0 T for the current reference path k For the reference path of the k frame adjacent to the current frame, n 0 For the current reference path T 0 Taking the number of points according to the distance of 1 meter, discarding if the distance between the last point and the last but one point is less than 1 meter, i 0 For the current reference path T 0 The sequence number of each point is determined,for->To the reference path T k Is (are) shortest distance->Is the ith 0 Distance weight coefficient of each point. The closer to the current vehicle, the weight occupied +.>The higher the->The value of (2) is an arithmetic series or an arithmetic series, and is not limited thereto. Exemplary arithmetic data such as +.>
Substituting k=1 then the current reference path T 0 Frame 1 reference path T adjacent to the current frame 1 The distance between them is shown in fig. 6. Current reference path T 0 Reference path T to frame 1 1 The path distance of (a) is the current reference path T 0 From each point to the 1 st frame reference path T 1 A weighted average of the distances.
Step 122, judging whether the oscillation index is greater than a preset threshold, if yes, that is, the oscillation index is greater than the preset threshold, executing step 123; if not, i.e. if the oscillation index is not greater than the preset threshold, step 124 is performed.
Wherein the oscillation index is reflected in distance as the lateral distance between the paths. The preset threshold may be determined for the vehicle width. The value range of the preset threshold value is 0.3 and 0.7. Optionally, the preset threshold is 0.5. Illustratively, when the lateral distance exceeds 0.5 meters, the current reference path may be considered to have a lateral oscillation compared to the previous 3 frame reference path.
Step 123, determining that the current frame reference path has the transverse oscillation distance of the current obstacle.
Step 124, determining that the current frame reference path does not have the lateral oscillation distance of the current obstacle.
In this embodiment, the transverse oscillation distance can be more intuitively reflected through the oscillation index, and the accuracy of determining the transverse oscillation distance is improved by judging whether the oscillation index is greater than a preset threshold.
In some embodiments, the oscillation index may be determined by the following formula: beta=alpha 1 D PD (T 0 ，T 1 )+…+α k D PD (T 0 ，T k )…+α n D PD (T 0 ，T N )，
Wherein, the liquid crystal display device comprises a liquid crystal display device,beta is oscillation index, alpha k D PD (T 0 ，T K ) For the distance between the current reference path and the reference path of the ith frame adjacent to the current frame, k is more than or equal to 1 and less than or equal to N, and N is the total frame number of the reference paths adjacent to the current frame.
Referring to fig. 6 and 7, an exemplary oscillation index calculation formula for N may be, but is not limited to, 3, as follows:
β＝α 1 D PD (T 0 ,T 1 )+α 2 D PD (T 0 ,T 2 )+α 3 D PD (T 0 ，T 3 ). Wherein T is 0 T for the current reference path 1 For the adjacent 1 st frame reference path before the current frame, T 2 For the 2 nd frame reference path adjacent to the current frame, T 3 For the 3 rd frame reference path adjacent to the current frame, D PD (T 0 ，T 1 ) D is the distance between the current reference path and the 1 st frame reference path adjacent to the current frame PD (T 0 ，T 2 ) D is the distance between the current reference path and the 2 nd frame reference path adjacent to the current frame PD (T 0 ，T 3 ) For the distance between the current reference path and the 3 rd frame reference path adjacent to the current frame, according to the experimental test, respectively setting alpha 1 ＝0.5，α 2 ＝0.4，α 3 ＝0.1。
Fig. 7 is a flowchart illustrating another embodiment of the obstacle determining method shown in fig. 2.
The embodiment of fig. 7 is similar to the embodiment of fig. 2 to 6, and in comparison to the embodiment of fig. 2 to 6, in the embodiment of fig. 7, after step 120, the method further comprises: and 150, if the current frame reference path does not have the transverse oscillation distance of the current obstacle, using the current frame reference path to control the vehicle to run according to the current frame reference path. Therefore, the transverse oscillation distance of the current obstacle does not exist, and the vehicle runs normally.
In some embodiments, after step 140, the method further includes determining whether the vehicle is within a safe distance, if the vehicle is within the safe distance, using the updated reference path of the current frame as a reference path of an adjacent previous frame, obtaining a reference path of an adjacent next frame after the current frame traveled by the vehicle as a reference path of the current frame, and returning to continue to execute the step according to the reference path of the current frame, determining whether the reference path of the current frame has a lateral oscillation distance of the current obstacle, until an accumulated occurrence of the lateral oscillation distance of the current obstacle in the reference path of the current frame is not less than a preset occurrence number, and using the reference path of the current frame to control the vehicle to avoid the current obstacle. Therefore, the method can ensure that whether the transverse oscillation distance of the current obstacle exists truly or not in the safety distance range of the vehicle and the obstacle, and further ensure the running safety of the vehicle. The safety distance refers to a safety distance between the vehicle and the obstacle. For example, when the speed of the vehicle exceeds 100 km/h, the distance between the vehicle and the front vehicle of the same lane is kept to be more than 100 meters, and when the speed of the vehicle is lower than 100 km/h, the distance between the vehicle and the front vehicle of the same lane can be properly shortened, but the minimum distance is not less than 50 meters.
Fig. 8 is a schematic structural diagram of an embodiment of a vehicle control device 20 according to the present application.
The present application provides a vehicle control device 20, the vehicle control device 20 including:
an obtaining unit 21, configured to obtain a current frame reference path and a history reference path of the vehicle, where the history reference path includes a reference path of a previous frame adjacent to the current frame;
the first processing unit 22 is configured to determine, according to the current frame reference path and the historical reference path, whether the current frame reference path has a lateral oscillation distance of the current obstacle for the first time, where the lateral oscillation distance is a deviation amount of the reference path of the current frame compared with the reference path of the adjacent previous frame when the vehicle avoids the current obstacle is greater than half of the vehicle width;
a second processing unit 23, configured to remove the lateral oscillation distance in the current frame reference path if the current frame reference path has the lateral oscillation distance of the current obstacle for the first time, so as to obtain a to-be-filled reference path of the current frame;
and the third processing unit 24 is configured to update the reference path to be filled of the current frame according to the reference paths of the adjacent previous frames, so as to obtain an updated reference path of the current frame, so as to control the vehicle to travel according to the updated reference path of the current frame.
Fig. 9 is a schematic structural diagram of an electronic device 30 according to an embodiment of the present application. The electronic device 30 may include a processor 31, a memory 33 storing machine executable instructions, and a communication interface 32. The processor 31 and the memory 33 may communicate via a system bus 34. Also, the processor 31 may perform the methods described above by reading and executing machine-executable instructions in the memory 33 corresponding to the data pull or data return logic.
The memory 33 referred to herein may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, or the like. For example, a machine-readable storage medium may be: RAM (Radom Access Memory, random access memory), volatile memory, non-volatile memory, flash memory, a storage drive (e.g., hard drive), a solid state drive, any type of storage disk (e.g., optical disk, dvd, etc.), or a similar storage medium, or a combination thereof.
In some embodiments, there is also provided a machine-readable storage medium, such as memory 33 in fig. 9, having stored thereon machine-executable instructions that when executed by a processor implement the method described above. For example, the machine-readable storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
Embodiments of the present application also provide a computer program stored on a machine readable storage medium, such as memory 33 in fig. 9, and which when executed by a processor causes the processor 31 to perform the method described above.
The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

Claims (14)

1. A vehicle control method characterized by comprising:
Acquiring a current frame reference path and a historical reference path of a vehicle, wherein the historical reference path comprises a reference path of a frame adjacent to the current frame;
determining whether a transverse oscillation distance of a current obstacle exists in a current frame reference path according to the current frame reference path and a historical reference path, wherein the transverse oscillation distance is that when a vehicle avoids the current obstacle, the offset of the reference path of the current frame compared with the reference path of the adjacent previous frame is greater than half of the vehicle width;
if the current frame reference path has the transverse oscillation distance of the current obstacle, removing the transverse oscillation distance in the current frame reference path to obtain a to-be-filled reference path of the current frame; the method comprises the steps of,
intercepting a reference path shorter than a transverse oscillation distance from a reference path of an adjacent previous frame as a replacement reference path; filling the replacement reference path to a position of the reference path to be filled of the current frame, which is removed of the transverse oscillation distance, so as to obtain an updated reference path of the current frame, and controlling the vehicle to run according to the original preset time and the updated reference path of the current frame;
after the vehicle is controlled to travel according to the original preset time and the updated reference path of the current frame, the method further comprises: determining whether the vehicle is within a safe distance; if the vehicle is within the safe distance, taking the updated reference path of the current frame as the reference path of the next frame after the current frame driven by the vehicle, taking the updated reference path of the current frame as the reference path of the current frame, returning the updated reference path of the current frame as the reference path of the next frame, and executing the step of determining whether the transverse oscillation distance of the current obstacle exists in the reference path of the current frame according to the reference path of the current frame until the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the reference path of the current frame is not less than the preset occurrence times, and using the reference path of the current frame to control the vehicle to avoid the current obstacle.
2. The vehicle control method according to claim 1, wherein the determining whether the current frame reference path has the lateral oscillation distance of the current obstacle according to the current frame reference path and the history reference path includes:
determining an oscillation index of the current frame reference path compared with the reference path in the adjacent previous frame before the current frame according to the current frame reference path and the historical reference path, wherein the oscillation index is used for indicating whether the offset of the reference path of the current frame compared with the reference path offset of the adjacent previous frame is greater than half of the vehicle width of the vehicle;
if the oscillation index is larger than a preset threshold value, determining that the transverse oscillation distance of the current obstacle exists in the current frame reference path;
and if the oscillation index is not greater than a preset threshold value, determining that the transverse oscillation distance of the current obstacle does not exist in the current frame reference path.
3. The vehicle control method according to claim 2, wherein the history reference path includes a history reference path of a previous N frames before the current time, where N represents a frame number, and the value of N is a natural number greater than 1;
the determining the oscillation index of the current frame reference path compared with the reference path in the previous frame adjacent to the current frame according to the current frame reference path and the historical reference path comprises the following steps:
In the same vehicle coordinate system, a first starting point of a reference path of a current frame is obtained, and points of the historical reference path of the previous N frames at the same position as the first starting point are used as the same starting datum point of the historical reference path of the current frame and the reference path of the current frame;
under the same initial datum point, respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame;
determining a first weight of each frame of reference paths in the previous N frames of reference paths according to the distance between the historical moment of the historical reference paths and the current moment;
and determining the oscillation index of the reference path of the current frame compared with the reference path in the adjacent previous frame before the current frame according to the first weight and the first distance.
4. The vehicle control method according to claim 3, characterized in that the determining of the first distances between the first N frame reference paths and the current frame reference path, respectively, includes:
acquiring all points in a reference path of a current frame;
determining second distances from each point to each frame of reference paths in the previous N frames of reference paths, and obtaining all second distances from all points to each frame of reference paths in the previous N frames of reference paths;
determining second weights of all the second distances according to the sizes of all the second distances;
And respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame according to the second weight and the second distance.
5. The vehicle control method according to claim 4, wherein the determining the second distances from each point to each of the previous N frame reference paths to obtain all the second distances from all the points to each of the previous N frame reference paths includes:
segmenting the previous N frame reference paths respectively to obtain M segments of sub-paths of each frame of reference path in the previous N frame reference paths; m is a positive integer greater than 1;
and determining the minimum distance from each point to each segment in the M-segment sub-paths, and obtaining all second distances from all points to each frame of reference paths in the N previous frame of reference paths.
6. The vehicle control method according to claim 1, characterized in that after said determining whether or not there is a lateral oscillation distance of a current obstacle in the current frame reference path based on the current frame reference path and the history reference path, the method further comprises:
and if the current frame reference path part does not have the transverse oscillation distance of the current obstacle, using the current frame reference path to control the vehicle to run according to the current frame reference path.
7. A vehicle control method characterized by comprising:
acquiring a current frame reference path and a historical reference path of a vehicle, wherein the historical reference path comprises a reference path of a frame adjacent to the current frame;
determining whether a transverse oscillation distance of a current obstacle exists in a current frame reference path according to the current frame reference path and a historical reference path, wherein the transverse oscillation distance is that when a vehicle avoids the current obstacle, the offset of the reference path of the current frame compared with the reference path of the adjacent previous frame is greater than half of the vehicle width;
if the current frame reference path has the transverse oscillation distance of the current obstacle, removing the transverse oscillation distance in the current frame reference path to obtain a to-be-filled reference path of the current frame; the method comprises the steps of,
intercepting a reference path shorter than a transverse oscillation distance from a reference path of an adjacent previous frame as a replacement reference path; filling the replacement reference path to a position of the reference path to be filled of the current frame, which is removed of the transverse oscillation distance, so as to obtain an updated reference path of the current frame, and controlling the vehicle to run according to the original preset time and the updated reference path of the current frame;
after the vehicle is controlled to travel according to the original preset time and the updated reference path of the current frame, the method further comprises: judging whether the accumulated appearance of the transverse oscillation distance of the current obstacle exists in the current frame reference path is smaller than the preset appearance times or not; if the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the current frame reference path is smaller than the preset occurrence times, taking the current frame reference path as an adjacent previous frame reference path, acquiring the reference path of an adjacent next frame after the current frame driven by the vehicle as the current frame reference path, returning to the step of determining whether the transverse oscillation distance of the current obstacle exists in the current frame reference path according to the current frame reference path, and executing until the accumulated occurrence of the transverse oscillation distance of the current obstacle exists in the current frame reference path is not smaller than the preset occurrence times, and using the current frame reference path to control the vehicle to avoid the current obstacle.
8. The vehicle control method according to claim 7, wherein the determining whether the current frame reference path has the lateral oscillation distance of the current obstacle according to the current frame reference path and the history reference path includes:
determining an oscillation index of the current frame reference path compared with the reference path in the adjacent previous frame before the current frame according to the current frame reference path and the historical reference path, wherein the oscillation index is used for indicating whether the offset of the reference path of the current frame compared with the reference path offset of the adjacent previous frame is greater than half of the vehicle width of the vehicle;
if the oscillation index is larger than a preset threshold value, determining that the transverse oscillation distance of the current obstacle exists in the current frame reference path;
and if the oscillation index is not greater than a preset threshold value, determining that the transverse oscillation distance of the current obstacle does not exist in the current frame reference path.
9. The vehicle control method according to claim 8, wherein the history reference path includes a history reference path of a previous N frames before the current time, where N represents a frame number, and the value of N is a natural number greater than 1;
the determining the oscillation index of the current frame reference path compared with the reference path in the previous frame adjacent to the current frame according to the current frame reference path and the historical reference path comprises the following steps:
In the same vehicle coordinate system, a first starting point of a reference path of a current frame is obtained, and points of the historical reference path of the previous N frames at the same position as the first starting point are used as the same starting datum point of the historical reference path of the current frame and the reference path of the current frame;
under the same initial datum point, respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame;
determining a first weight of each frame of reference paths in the previous N frames of reference paths according to the distance between the historical moment of the historical reference paths and the current moment;
and determining the oscillation index of the reference path of the current frame compared with the reference path in the adjacent previous frame before the current frame according to the first weight and the first distance.
10. The vehicle control method according to claim 9, characterized in that the determining of the first distances between the first N frame reference paths and the current frame reference path, respectively, includes:
acquiring all points in a reference path of a current frame;
determining second distances from each point to each frame of reference paths in the previous N frames of reference paths, and obtaining all second distances from all points to each frame of reference paths in the previous N frames of reference paths;
determining second weights of all the second distances according to the sizes of all the second distances;
And respectively determining a first distance between the reference path of the previous N frames and the reference path of the current frame according to the second weight and the second distance.
11. The vehicle control method according to claim 10, wherein the determining the second distances of each point to each of the previous N frame reference paths, to obtain all the second distances of all the points to each of the previous N frame reference paths, includes:
segmenting the previous N frame reference paths respectively to obtain M segments of sub-paths of each frame of reference path in the previous N frame reference paths; m is a positive integer greater than 1;
and determining the minimum distance from each point to each segment in the M-segment sub-paths, and obtaining all second distances from all points to each frame of reference paths in the N previous frame of reference paths.
12. The vehicle control method according to claim 7, characterized in that after said determining whether or not there is a lateral oscillation distance of a current obstacle in the current frame reference path based on the current frame reference path and the history reference path, the method further comprises:
and if the current frame reference path part does not have the transverse oscillation distance of the current obstacle, using the current frame reference path to control the vehicle to run according to the current frame reference path.
13. A vehicle control system comprising one or more processors configured to implement the vehicle control method of any one of claims 1-6, or the vehicle control method of any one of claims 7-12.
14. An electronic device comprising a processor and a memory;
a memory for storing a computer program;
a processor for implementing the vehicle control method according to any one of claims 1 to 6 or the vehicle control method according to any one of claims 7 to 12 when executing a program stored on a memory.
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