CN114715189A

CN114715189A - Signal processing method and device and electronic equipment

Info

Publication number: CN114715189A
Application number: CN202210354988.6A
Authority: CN
Inventors: 何俊虎
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2022-07-08

Abstract

The disclosure provides an information processing method, an information processing device and electronic equipment, relates to the field of artificial intelligence, and particularly relates to the technical field of automatic driving. The specific implementation scheme is as follows: acquiring control switching information of M controllers of the vehicle, wherein the control switching information comprises a control switching state used for representing whether the controllers for controlling the vehicle need to be switched or not; determining a first signal duty ratio corresponding to the first controller based on the control switching state; performing convolution operation on the first PWM signal and an output signal of a first controller to obtain a first control signal, wherein the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal; performing convolution operation on the second PWM signal and an output signal of a second controller in the M controllers to obtain a second control signal, wherein the second PWM signal is obtained by inverting based on the first PWM signal; and fusing the first control signal and the second control signal to obtain a first target control signal.

Description

Signal processing method and device and electronic equipment

Technical Field

The present disclosure relates to the field of artificial intelligence, and in particular, to the field of automatic driving technologies, and in particular, to a signal processing method and apparatus, and an electronic device.

Background

In driving scenarios, vehicles such as autonomous vehicles have different performance requirements for the controller in different operating scenarios. For example, in the case of normal straight-line driving, the output of the controller needs to be smooth and stable, and in the case of emergency lane change, the controller needs to have better tracking performance.

Different control parameters or different types of controllers can be used for different working scenes, different algorithms and parameters are used for different controllers, and different control outputs can be calculated for the same vehicle state, so that different controllers are required to be switched with each other under the condition of changing the working scenes.

In the related art, the switching manner of the controllers is usually to directly shut down the output of one controller and start up the other controller, and the output signals of the two controllers are instantly spliced.

Disclosure of Invention

The disclosure provides an information processing method and device and an electronic device.

According to a first aspect of the present disclosure, there is provided an information processing method including:

acquiring control switching information of M controllers of a vehicle, wherein the control switching information comprises a control switching state used for representing whether the controllers for controlling the vehicle need to be switched, and M is an integer greater than 1;

determining a first signal duty ratio corresponding to a first controller based on the control switching state, wherein the first controller is a controller for controlling the vehicle in the M controllers;

performing convolution operation on the generated first PWM signal and an output signal of the first controller to obtain a first control signal, wherein the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal;

performing convolution operation on the generated second PWM signal and an output signal of a second controller in the M controllers to obtain a second control signal, wherein the second PWM signal is obtained by inverting based on the first PWM signal;

and fusing the first control signal and the second control signal to obtain a first target control signal, wherein the first target control signal is used for controlling the vehicle.

According to a second aspect of the present disclosure, there is provided an information processing apparatus comprising:

the system comprises an acquisition module, a switching module and a switching module, wherein the acquisition module is used for acquiring control switching information of M controllers of a vehicle, the control switching information comprises a control switching state used for representing whether the controllers for controlling the vehicle need to be switched, and M is an integer larger than 1;

the first determining module is used for determining a first signal duty ratio corresponding to a first controller based on the control switching state, wherein the first controller is a controller which controls the vehicle in the M controllers;

the first operation module is used for performing convolution operation on the generated first PWM signal and an output signal of the first controller to obtain a first control signal, wherein the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal;

the second operation module is used for performing convolution operation on the generated second PWM signal and an output signal of a second controller in the M controllers to obtain a second control signal, and the second PWM signal is obtained by inverting based on the first PWM signal;

the first fusion module is used for fusing the first control signal and the second control signal to obtain a first target control signal, and the first target control signal is used for controlling the vehicle.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods of the first aspect.

According to a fourth aspect of the present disclosure, there is provided an autonomous vehicle comprising the electronic device of the third aspect.

According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform any one of the methods of the first aspect.

According to a sixth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the methods of the first aspect.

According to the technology disclosed by the invention, the problem of signal jump caused by signal switching of different controllers in the vehicle is solved, the smooth signal switching of the different controllers can be realized, and the vehicle control effect is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a flowchart illustrating an information processing method according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a PWM signal;

FIG. 3 is a schematic diagram of signal processing;

FIG. 4 is a diagram illustrating a relationship between a first PWM signal and a second PWM signal;

FIG. 5 is a signal diagram during signal processing;

FIG. 6 is a flow diagram of a particular example signal processing method;

fig. 7 is a schematic configuration diagram of an information processing apparatus according to a second embodiment of the present disclosure;

FIG. 8 is a schematic block diagram of an example electronic device used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

First embodiment

As shown in fig. 1, the present disclosure provides an information processing method, including the steps of:

step S101: control switching information of M controllers of a vehicle is acquired, and the control switching information comprises a control switching state used for representing whether the controllers for controlling the vehicle need to be switched or not.

Wherein M is an integer greater than 1.

In the embodiment, the information processing method relates to the field of artificial intelligence, in particular to the technical field of automatic driving, and can be widely applied to automatic driving scenes. The information processing method of the embodiment of the present disclosure may be executed by the information processing apparatus of the embodiment of the present disclosure. The information processing apparatus of the embodiment of the present disclosure may be configured in any electronic device to execute the information processing method of the embodiment of the present disclosure. The electronic device may be deployed in a vehicle, such as an autonomous vehicle.

In this step, the vehicle may be any type of vehicle, such as an autonomous vehicle, and the vehicle may include a controller therein for controlling the vehicle to control the travel of the vehicle during the travel of the vehicle, and the number of the controllers is at least two.

For example, in an automatic driving scenario, the vehicle has different performance requirements for the controller under different working scenarios, and normal straight-line driving generally requires smooth and stable output of the controller, while emergency lane changing requires better traceability of the controller, so at least two controllers may be generally included in the automatic driving vehicle to adapt to different working scenarios.

The M controllers may include the same type of controller or different types of controllers, and are not particularly limited herein.

The controllers of the same type may refer to controllers implemented using the same algorithm, for example, controllers implemented using a process control algorithm such as a PID algorithm; for another example, the controllers are all implemented by advanced process control algorithms such as Model Predictive Control (MPC) and other optimization algorithms.

It should be noted that if the two controllers are of the same type, different control parameters are usually used, so that the algorithm calculations of the two controllers are independent of each other.

The different types of controllers may refer to controllers implemented using different algorithms whose algorithms are independent of each other, e.g., one controller implemented using a process control algorithm such as a PID algorithm and another controller implemented using an advanced process control algorithm such as an optimization algorithm such as a model predictive control MPC.

The input of the controller may be a preparation end for calculating data, which outputs state variables and errors required by an algorithm of the controller by acquiring a current state of the vehicle and a trajectory of the vehicle. For example, in the case of automatic driving, for the lateral control of the vehicle, the output of the controller may be the current lateral error, yaw angle error, steering wheel position error, etc. of the vehicle; for the longitudinal control of the vehicle, the output of the controller may be the position error, speed error, current acceleration and deceleration, etc. of the current vehicle. Thus, the normal running of the vehicle can be realized through the control of the output signal of the controller on the vehicle.

In an application scenario, if the vehicle only comprises two controllers, namely a first controller and a second controller, which are respectively in the starting state in the vehicle driving control process, the signal processing device can process the output signals of the two controllers according to an actual working scenario to obtain a control signal capable of controlling the vehicle to run.

In another application scenario, if M is greater than 2, the signal processing device may start all or part of the controllers of the vehicle, acquire the current state of the vehicle and track the vehicle trajectory, or receive the current state of the vehicle and the vehicle trajectory sent by other devices, so as to determine the current working scenario in which the vehicle is located. According to the current working scene, two controllers capable of performing signal processing are selected to perform signal processing on output signals of the two controllers so as to obtain a control signal capable of controlling the vehicle to run.

In another application scenario, if M is greater than 2, the signal processing device may start two controllers capable of performing signal processing according to a current working scenario, so as to perform signal processing on output signals of the two controllers, and obtain a control signal capable of controlling vehicle driving.

In a possible implementation manner, one controller performing signal processing may be a first controller that controls the vehicle in a current working scenario, and another controller performing signal processing, that is, a second controller, may be any one of the M controllers except the first controller, or may be a controller that is commonly used when the vehicle normally runs, and is not limited specifically here.

The control switching information may include only a control switching state for indicating whether a controller controlling the vehicle needs to switch. In an alternative embodiment, in the case that M is greater than 2, in order to identify which controller needs to be switched to, the control switching information may also include both the control switching status and the control switching identification. The control switching identifier is used for representing the identifier of the controller required to be switched by the controller for controlling the vehicle.

The control switch state may include two conditions, a first condition indicating that a controller controlling the vehicle does not need to switch and may be represented by a state value of 0, and a second condition indicating that a controller controlling the vehicle needs to switch and may be represented by a state value of 1.

When the controller for controlling the vehicle, namely the first controller, does not need to be switched, the first controller still works normally, and the running control of the vehicle is realized. When the controller for controlling the vehicle, namely the first controller needs to be switched, the controller indicates that the first controller needs to be switched to the second controller for operation, so that the running control of the vehicle is realized.

It should be noted that, during the switching process from the first controller to the second controller, the state value of the control switching state may be kept at 1 until the second controller is switched to operate normally, and at this time, the state value of the control switching state may be changed to 0.

The control switching information of the M controllers of the vehicle may be acquired in various manners, for example, the signal processing device may monitor the working scene of the vehicle in real time, such as when the vehicle is in a straight line, the vehicle is in an emergency lane change, or the vehicle needs to turn left, and the like, and determine the control switching information based on the monitored working scene. In an application scene, under the condition that the working scene of the vehicle is monitored to have a switching requirement, the controller for controlling the vehicle can be determined to need to be switched.

For another example, the signal processing device may receive control switching information transmitted by another electronic device, or may acquire control switching information of M controllers of the vehicle, which is stored in advance.

Step S102: and determining a first signal duty ratio corresponding to a first controller based on the control switching state, wherein the first controller is a controller for controlling the vehicle in the M controllers.

In this step, when the controller that currently controls the vehicle is the first controller, that is, when the first controller operates normally, the first signal duty ratio corresponding to the first controller may be determined based on the control switching state.

The first signal duty ratio may refer to a ratio of an output signal of the first controller to a control signal for controlling the vehicle after the output signal is subjected to signal processing.

For example, the state value of the control switching state is 0, which indicates that the first controller is working normally, and at this time, after the output signal of the first controller is subjected to signal processing, the proportion of the output signal in the control signal for controlling the vehicle is 100%. Accordingly, the first signal duty may be determined to be 100%.

For another example, the state value for controlling the switching state is 1, which indicates that the first controller needs to be switched to the second controller to operate, and in the switching process from the first controller to the second controller, after the output signal of the first controller is subjected to signal processing, the percentage value of the output signal in the control signal for controlling the vehicle is less than 100%. Accordingly, it may be determined that the first signal duty is less than 100%.

In the case where the state value for controlling the switching state is 1, the determination manner of the duty ratio of the first signal may include various manners, for example, the duty ratio of the first signal may be determined to be a fixed value, for example, 50%, until the state value for controlling the switching state becomes 0.

For another example, the duty cycle of the first signal may be determined based on attenuation information characterizing an attenuation of the output signal of the first controller. In one possible implementation, the first signal duty cycle may be determined according to the number of times of attenuation and/or the attenuation time of the output signal of the first controller, so as to dynamically adjust the first signal duty cycle to gradually attenuate from 100% to 0.

Step S103: and performing convolution operation on the generated first PWM signal and an output signal of the first controller to obtain a first control signal, wherein the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal.

Step S104: and performing convolution operation on the generated second PWM signal and an output signal of a second controller in the M controllers to obtain a second control signal, wherein the second PWM signal is obtained by inverting based on the first PWM signal.

In steps S103 and S104, a first ratio of the output signal of the first controller in the control signal for controlling the vehicle may be adjusted by a Pulse Width Modulation (PWM) signal. And adjusting a second ratio value of the output signal of the second controller in a control signal for controlling the vehicle by the PWM signal. Wherein the sum of the first and second ratio values is 1.

PWM is an analog control method that can modulate the on-time of a signal according to the corresponding output requirement, thereby changing the output of the signal.

Fig. 2 is a schematic diagram of a PWM signal, which, as shown in the left diagram of fig. 2, includes three basic parameters, namely a pulse period, which refers to how many pulses are to be generated within one second, a pulse width, which refers to the duration of a pulse within a period, which is the maximum value, and which can be expressed as a signal duty cycle of the pulse width, and a pulse height, which is the difference between the maximum value and the minimum value of the pulse.

As shown in the right diagram of fig. 2, the PWM signals with different signal duty ratios are respectively, and the larger the signal duty ratio is, the larger the pulse width of the PWM signal is, for different PWM signals with the same pulse period.

Specifically, fig. 3 is a schematic diagram of signal processing, and as shown in fig. 3, in the case that the first signal duty ratio corresponding to the first controller is determined based on the control switching state, the signal processing apparatus may generate the first PWM signal corresponding to the first signal duty ratio through the PWM generator, and specifically may adjust the signal duty ratio of the pulse width of the PWM signal to the first signal duty ratio through the duty ratio adjuster, so that the PWM generator may generate the first PWM signal.

The generation period of the first PWM signal, that is, the pulse period, may be equal to or different from the period of the output signal of the first controller, and is not specifically limited herein, and the periods of the output signals of the controllers in the M controllers may be equal. In addition, the pulse height of the first PWM signal may be 1.

Wherein the duty cycle adjuster is an interface system command to provide the correct value of the signal duty cycle to the PWM generator for generating the corresponding PWM signal in accordance with the value of the signal duty cycle given by the duty cycle adjuster.

Correspondingly, in the case of starting the first controller, the signal processing device may perform convolution operation on the first PWM signal and the output signal of the first controller through the PWM convolver to use the first PWM signal to segment the output signal of the first controller to obtain the first control signal, so that the first ratio of the output signal of the first controller in the control signal for controlling the vehicle may be changed.

The mathematical expression of the convolution operation of the first PWM signal and the output signal of the first controller is as shown in the following equation (1).

f_out1＝∫f_c1(t)δ_PWM(γ,t)dt (1)

f_out1Is a first control signal, f_c1Is the output signal of the first controller, δ_PWMAnd (gamma, t) is a first PWM signal with a signal duty ratio gamma, and the amplitude, i.e. the pulse height, of the first PWM signal may be 1.

Meanwhile, the signal processing device may invert the first PWM signal to obtain a second PWM signal, and perform convolution operation on the second PWM signal and the output signal of the second controller in a case where the second controller is started, so as to segment the output signal of the second controller using the second PWM signal to obtain a second control signal, so that a second ratio of the output signal of the second controller in the control signal for controlling the vehicle may be changed.

The mathematical expression of the convolution operation of the second PWM signal and the output signal of the second controller is as shown in the following equation (2).

f_out2＝∫f_c2(t)(1-δ_PWM(γ,t))dt (2)

f_out2Is a second control signal, f_c2Is the output signal of the second controller, 1-delta_PWMAnd (gamma, t) is a second PWM signal.

The input end of the controller can be a preparation end for calculating data, and required state variables and errors are input to the first controller and the second controller respectively by acquiring the current state and the vehicle track of the vehicle, so that the controller outputs signals capable of controlling the vehicle.

The output signal of the controller may be an analog signal or a digital signal, and is not particularly limited herein.

The relationship between the first PWM signal and the second PWM signal is shown in fig. 4, the sum of the on-time of the first PWM signal and the second PWM signal is equal to the pulse period of the PWM signal, the sum of the signal duty ratios of the pulse widths of the first PWM signal and the second PWM signal is 1, and the first PWM signal and the second PWM signal are respectively turned on in different time for the same pulse period, so that the PWM signals with different signal duty ratios can be used to coordinate the component ratios of the output signals of the two controllers in the control signal for controlling the vehicle.

Step S105: and fusing the first control signal and the second control signal to obtain a first target control signal, wherein the first target control signal is used for controlling the vehicle.

In this step, as shown in fig. 3, the signal processing apparatus may fuse the first control signal and the second control signal through an output mixer to superimpose different control signals to obtain a first target control signal.

In this case, the mathematical expression for mixing the different control signals is as shown in the following equation (3).

f_out＝f_out1+f_out2 (3)

f_outIs a first target control signal for controlling the vehicle to implement the autopilot function.

The first target control signal may be a control signal obtained by directly mixing the first control signal and the second control signal, or may be a control signal output after mixing the first control signal and the second control signal and filtering a high frequency part by a low pass filter, which is not specifically limited herein.

In an alternative embodiment, as shown in fig. 3, the signal processing device may output the first target control signal after filtering the control signal output by the output mixer through a low-pass filter, so as to filter out high-frequency signal components and stabilize the output of the system. The low-pass bandwidth of the low-pass filter may be set according to practical situations, and is not limited in particular here.

The composition of the first target control signal may include three conditions depending on the determination of the duty cycle of the first signal.

In the first case: when the first controller is operating normally, it may be determined that the duty ratio of the first signal is 100%, and accordingly, the duty ratio of the second PWM signal is 0, and at this time, the on time of the output signal of the second controller is modulated to 0 by the second PWM signal, in which case the first target control signal is mixed with only the output of the first controller to act alone.

The second condition, in the switching process from first controller to second controller, use the PWM signal to do the convolution respectively through the output signal with two controllers and mix after, can coordinate the composition proportion of the output signal of two controllers at first target control signal like this for first target control signal has mixed the output simultaneous action of two controllers, smooth transition when so can realizing the controller switches, realize the smooth switching of vehicle control state, and then can promote vehicle control body and feel.

In the third case, when switching to the normal operation of the second controller, it may be determined that the duty ratio of the first signal is 0, and accordingly, the duty ratio of the first PWM signal is 0, and the on time of the output signal of the first controller is modulated to 0 by the first PWM signal, in which case the first target control signal is mixed with only the output of the second controller to act alone.

Fig. 5 is a signal diagram during signal processing, and as shown in fig. 5, (a) indicates a signal as an output signal of the first controller, and (b) indicates a signal as an output signal of the second controller, during switching from the first controller to the second controller, a convolution operation may be performed between a first PWM signal ((c) indicates a signal) and the output signal of the first controller, where a duty ratio of the first PWM signal is 90%, so as to obtain a first control signal ((a 1)).

The second PWM signal (the signal indicated by (d)) may be used to perform a convolution operation with the output signal of the first controller to obtain the second control signal (the signal indicated by (b 1)), and the first control signal and the second control signal may be mixed to obtain the first target control signal (the signal indicated by (e)).

Comparing the output signal of the first controller with the first target control signal, it can be known that, in the process of switching from the first controller to the second controller, the switching of the two signals is smoother relative to the switching between the output signal of the first controller and the output signal of the second controller, and therefore, the smooth switching of different controllers can be realized.

It should be noted that, in the process of controlling the vehicle by outputting the control signal, the signal processing device may cyclically execute the above steps S101 to S105, and in the case that the first controller is normally operated, cyclically execute the above steps S101 to S105 to control the vehicle by using the first controller.

In the switching process from the first controller to the second controller, the above steps S101 to S105 may be cyclically performed to dynamically adjust the duty ratio of the first signal to gradually decrease from 100% to 0, and accordingly, the signal processing device may mix the outputs of the two controllers to act simultaneously, so that the duty ratio of the output signal of the first controller gradually decreases to 0 in the control process, and the duty ratio of the output signal of the second controller gradually increases to 100 in the control process.

When the second controller is switched to work normally, the steps S101 to S105 can be executed in a loop mode to control the vehicle by using the second controller.

In this embodiment, control switching information of M controllers of a vehicle is acquired, where the control switching information includes a control switching state used to represent whether a controller controlling the vehicle needs to be switched; determining a first signal duty ratio corresponding to the first controller based on the control switching state; performing convolution operation on the generated first PWM signal and an output signal of the first controller to obtain a first control signal, wherein the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal; performing convolution operation on the generated second PWM signal and an output signal of a second controller in the M controllers to obtain a second control signal, wherein the second PWM signal is obtained by inverting based on the first PWM signal; and fusing the first control signal and the second control signal to obtain a first target control signal. So, the output simultaneous action that can mix two controllers to smooth transition when can realizing the controller and switch, and then can realize the smooth switching of vehicle control state, promote vehicle control body and feel.

Optionally, the step S102 specifically includes:

determining that the first signal duty cycle is 100% if the control switch state indicates that a controller controlling the vehicle does not need to switch;

and under the condition that the control switching state represents that a controller for controlling the vehicle needs to switch, determining the duty ratio of the first signal based on attenuation information, wherein the attenuation information is used for representing the attenuation condition of the output signal of the first controller.

In this embodiment, when the control switching state indicates that the controller controlling the vehicle does not need to switch, it may be determined that the first controller still normally operates, and at this time, by determining that the duty ratio of the first signal is 100%, the signal occupancy ratio of the second PWM signal is 0, so that the on-time of the output signal of the second controller is modulated to 0 by the second PWM signal, and thus, the first target control signal may only be mixed with the output of the first controller to act alone, and further, the normal driving control of the vehicle may be ensured.

In the case where the control switch state indicates that a controller controlling the vehicle needs to switch, the first signal duty cycle may be determined based on attenuation information characterizing an attenuation of an output signal of the first controller. Therefore, the duty ratio of the first signal can be dynamically adjusted according to the attenuation condition of the output signal of the first controller, and the duty ratio of the first signal is gradually attenuated to 0 from 100%, so that the first target control signal can be mixed with the outputs of the two controllers to act simultaneously, the stable transition of the controllers during switching can be realized, and the stable switching of the vehicle control state can be realized.

Optionally, the determining the first signal duty cycle based on the attenuation information includes at least one of:

determining a first signal duty ratio corresponding to a target attenuation number of an output signal of the first controller based on a first incidence relation between the attenuation number and the signal duty ratio, wherein the attenuation information comprises the target attenuation number;

determining the first signal duty ratio corresponding to a target attenuation time of the output signal of the first controller based on a second correlation between attenuation time and signal duty ratio, wherein the attenuation information comprises the target attenuation time.

In this embodiment, in an optional embodiment, the signal processing apparatus may configure a first association relationship between the number of attenuations and the duty ratio of the signal in advance, for example, when the number of attenuations is 0, the duty ratio of the signal corresponding to the first association relationship is 90%, and when the number of attenuations is 1, the duty ratio of the signal corresponding to the first association relationship is 80%.

The signal processing device may record a target attenuation number of the output signal of the first controller during the switching process from the first controller to the second controller, for example, the target attenuation number of the output signal of the first controller may be determined by monitoring the number of first PWM signals with a signal duty ratio of less than 100% generated by the PWM generator, and when one first PWM signal is generated, the target attenuation number of the output signal of the first controller may be increased by 1. Accordingly, the duty ratio of the first signal may be determined according to the target attenuation times by using the first correlation.

In another alternative embodiment, the signal processing device may pre-configure a second correlation between the decay time and the signal duty ratio, for example, when the decay time is between 0 and 1 second s, the corresponding signal duty ratio in the second correlation is 90%, and when the decay time is between 1s and 2s, the corresponding signal duty ratio in the second correlation is 80%.

In the switching process from the first controller to the second controller, the signal processing device may record the target attenuation time of the output signal of the first controller through a timer, or may obtain the target attenuation time by obtaining the target attenuation times and multiplying the target attenuation times by the generation period of the first PWM signal. Accordingly, the duty cycle of the first signal may be determined using the second correlation based on the target decay time.

In practical applications, attenuation granularity may be preset, where the attenuation granularity is used to represent an interval between two adjacent attenuations of the signal duty ratio of the PWM signal, such as 10%, and correspondingly, the total number N of attenuations of the signal duty ratio from 100% to 0 may be determined, a counter may be used to generate counting signals that are sequentially decreased according to the generation period of the PWM signal, and each time the counter decreases once, an interval difference between the signal duty ratios of the first PWM signal generated in two adjacent times is 10%, such as when the counter counts 9, the first signal duty ratio is 90%, and when the counter counts 8, the first signal duty ratio is 80%.

The timer may also be used to generate sequentially decreasing timing signals according to the generation cycle of the PWM signals, such as the total number of times of attenuation N, the generation cycle of the PWM signals is T, the timer may start to decrease from the time of N × T, and every time the PWM signals decrease by one cycle T, the difference between the signal duty ratios of the first PWM signals generated in two adjacent times is 10%, for example, when the timer times N × T to (N-1) × T, the first signal duty ratio is 90%, and when the timer times (N-1) × T to (N-2) × T, the first signal duty ratio is 80%.

Taking a timer as an example, fig. 6 is a schematic flow chart of a specific exemplary signal processing method, and as shown in fig. 6, the flow of the signal processing method is as follows:

collecting the vehicle state and accurately inputting the vehicle state by a controller;

starting a first controller and a second controller;

determining the duty ratio of the first signal according to the requirement of a working scene through a timer, wherein if the first controller works normally, the timer does not start timing, namely timing is 0, the duty ratio of the first signal can be determined to be 100%, and if the first controller is switched to a second controller, the timer starts to count down, and the duty ratio of the first signal is determined by utilizing the second association relation;

generating a first PWM signal and a second PWM signal according to the duty ratio of the first signal;

performing convolution operation on the first PWM signal and an output signal of the first controller, and performing convolution operation on the second PWM signal and an output signal of the second controller;

mixing the control signals after the convolution operation;

and filtering the high-frequency part by using a low-pass filter to perform output control, and circularly executing the process.

In this embodiment, in the switching process from the first controller to the second controller, the determination of the duty ratio of the first signal may be implemented.

Optionally, the determining the first signal duty cycle corresponding to the target decay time of the output signal of the first controller based on the second association relationship between the decay time and the signal duty cycle includes:

determining the first signal duty cycle corresponding to the target attenuation time of the output signal of the first controller based on a first-order attenuation function of the attenuation time and the signal duty cycle, wherein the first-order attenuation function is used for representing a second correlation relationship between the attenuation time and the signal duty cycle;

the first-order attenuation function is gamma-e-at/| e |. 100%, gamma represents the signal duty ratio of the PWM signal, t represents the attenuation time, e is a natural constant, and a is an attenuation coefficient larger than 0.

In this embodiment, the first signal duty cycle may be determined using a first order decay function, and it is understood that the signal duty cycle gradually decays from 100% to 0 as the decay time increases, and thus the decay of the output signal of the first controller may be easily achieved.

Optionally, the determining the duty cycle of the first signal based on the attenuation information includes:

and determining the first signal duty ratio according to the attenuation granularity of the signal duty ratio of the PWM signal based on the attenuation information, wherein the attenuation granularity is used for representing the interval of two adjacent attenuations of the signal duty ratio of the PWM signal.

In the present embodiment, the duty ratio of the first signal is attenuated according to an attenuation granularity, which may be preset, for example, set to 10%, or determined based on the driving state parameter of the vehicle associated with the first target controller.

Even if the attenuation information is the same and the attenuation granularities are different, the determined duty ratios of the first signals are different, for example, when the target attenuation times is 1 and the attenuation granularity is 10%, the duty ratio of the first signal is 80%, and when the attenuation granularity is 20%, the duty ratio of the first signal is 60%. The smaller the attenuation granularity is, the smoother the signal switching of different controllers during the switching from the first controller to the second controller.

The determination of the first signal duty cycle may be achieved by determining the first signal duty cycle in accordance with a granularity of attenuation of the signal duty cycle of the PWM signal based on the attenuation information.

Optionally, the method further includes:

determining the attenuation granularity based on a driving state parameter of the vehicle associated with a first target controller when the control switch state indicates that a controller controlling the vehicle needs to switch;

wherein the first target controller comprises at least one of the first controller and a second controller.

In this embodiment, the attenuation granularity is determined by the driving state parameter of the vehicle associated with the first controller and/or the second controller, and the attenuation granularity can be flexibly adjusted according to the driving state parameter of the vehicle, so that smoothness when signals of different required controllers are switched is selected, and driving experience of automatic driving of the vehicle is further improved. The driving state parameters may include a driving speed, a driving acceleration, a driving yaw angle, and the like.

For example, when the running speed is high, the smoothness required at the time of switching is larger to realize smooth control of the vehicle, and at this time, the attenuation granularity may be reduced, for example, from 10% to 50% to improve the smoothness at the time of signal switching of the different controllers.

Optionally, the fusing the first control signal and the second control signal to obtain a first target control signal includes:

fusing the first control signal and the second control signal to obtain a third control signal;

and filtering the third control signal through a low-pass filter to obtain a first target control signal.

In this embodiment, since the output signal of the controller may generate a high frequency component after being convolved with the PWM signal, the first control signal and the second control signal are fused to obtain a third control signal; the third control signal is filtered by a low-pass filter, so that high-frequency signal components can be filtered out, and the output of the system is stabilized.

Optionally, M is an integer greater than 2, the control switching information further includes a control switching identifier, and the control switching identifier is used to represent an identifier of a controller that needs to be switched by a controller that controls the vehicle; after the first control signal and the second control signal are fused to obtain the first target control signal, the method further includes:

determining a second signal duty ratio corresponding to a second target controller under the condition that the control switching state represents that a controller for controlling the vehicle needs to be switched and the control switching identifier represents that the controller is switched to a third controller of the M controllers, wherein the second target controller is the first controller or the second controller and is determined based on the first signal duty ratio;

performing convolution operation on the generated third PWM signal and the output signal of the second target controller to obtain a fourth control signal, wherein the third PWM signal is a PWM signal corresponding to the duty ratio of the second signal;

performing convolution operation on the generated fourth PWM signal and an output signal of the third controller to obtain a fifth control signal, wherein the fourth PWM signal is obtained by inverting based on the third PWM signal;

and fusing the fourth control signal and the fifth control signal to obtain a second target control signal, wherein the second target control signal is used for controlling the vehicle.

In the present embodiment, in the case where the vehicle includes a plurality of controllers, in some application scenarios, it may be necessary to switch from the first controller to the third controller for operation, or to switch from the second controller to the third controller for operation.

In order to identify which controller needs to be switched to operate, the control switching information may further include a control switching identifier to identify which controller needs to be switched to operate.

In the case that the control switching identifier indicates that switching to the third controller is required, it may be determined which controller is to be switched to the third controller according to the duty cycle of the first signal, and when the duty cycle of the first signal is 100%, that is, the first controller is currently in normal operation, accordingly, the second target controller is the first controller, that is, the first controller is switched to the third controller.

At this time, the PWM generator still acts on the first controller, i.e., the signal duty cycle of the PWM signal generated by the PWM generator represents the ratio of the output signal of the first controller in the control signal for controlling the vehicle. And the PWM signal obtained by inverting the PWM signal generated by the PWM generator is applied to the third controller.

When the duty ratio of the first signal is 0, namely the second controller is currently in normal operation, correspondingly, the second target controller is the second controller, namely the second controller is switched to the third controller.

In this case, the PWM generator acts on the second controller, i.e. the signal duty cycle of the PWM signal generated by the PWM generator is indicative of the ratio of the output signal of the second controller in the control signal for controlling the vehicle. And the PWM signal obtained by inverting the PWM signal generated by the PWM generator is applied to the third controller.

When the first signal duty ratio is between 0 and 100%, a threshold value such as 50% may be set, and when the first signal duty ratio is greater than the threshold value, the output signal representing the first controller is more in proportion to the ratio of the control signal for controlling the vehicle, and it may be determined that the second target controller is the first controller, and when the first signal duty ratio is less than or equal to the threshold value, the output signal representing the first controller is less in proportion to the ratio of the control signal for controlling the vehicle, and it may be determined that the second target controller is the second controller.

In the case of determining the second target controller, a process of switching from the second target controller to the third controller may be similar to a process of switching from the first controller to the second controller, and will not be described herein again.

In the embodiment, under the condition that the vehicle comprises a plurality of controllers, the stable signal switching between any two controllers can be realized according to the actual scene requirement.

Optionally, a generation period of the first PWM signal is equal to a period of the output signal of the first controller.

In this embodiment, the period of the first PWM signal is set to be equal to the period of the output signal of the first controller, so that the convolution operation of the two signals can be simplified, the calculation process can be simplified, and the output signals of the two controllers can be accurately split.

Second embodiment

As shown in fig. 7, the present disclosure provides an information processing apparatus 700 including:

an obtaining module 701, configured to obtain control switching information of M controllers of a vehicle, where the control switching information includes a control switching state used to represent whether a controller controlling the vehicle needs to be switched, and M is an integer greater than 1;

a first determining module 702, configured to determine, based on the control switching state, a first signal duty ratio corresponding to a first controller, where the first controller is a controller that controls the vehicle, from among the M controllers;

a first operation module 703, configured to perform convolution operation on the generated first PWM signal and the output signal of the first controller to obtain a first control signal, where the first PWM signal is a PWM signal corresponding to the duty ratio of the first signal;

a second operation module 704, configured to perform convolution operation on the generated second PWM signal and an output signal of a second controller of the M controllers to obtain a second control signal, where the second PWM signal is obtained by inverting based on the first PWM signal;

a first fusion module 705, configured to fuse the first control signal and the second control signal to obtain a first target control signal, where the first target control signal is used to control the vehicle.

Optionally, the first determining module 702 includes:

a first determining submodule, configured to determine that a duty ratio of the first signal is 100% when the control switching state indicates that a controller controlling the vehicle does not need to switch;

and the second determining submodule is used for determining the duty ratio of the first signal based on attenuation information under the condition that the control switching state indicates that a controller for controlling the vehicle needs to be switched, wherein the attenuation information is used for indicating the attenuation condition of the output signal of the first controller.

Optionally, the second determining sub-module includes:

a first determining unit, configured to determine, based on a first correlation between attenuation times and a signal duty ratio, the first signal duty ratio corresponding to a target attenuation time of an output signal of the first controller, where the attenuation information includes the target attenuation time;

a second determining unit, configured to determine, based on a second correlation between a decay time and a signal duty cycle, the first signal duty cycle corresponding to a target decay time of the output signal of the first controller, where the decay information includes the target decay time.

Optionally, the second determining unit is specifically configured to:

wherein the first order decay function is γ ═ e^-atI e 100%, y represents the signal duty ratio of the PWM signal, t represents the decay time, e is a natural constant, and a is a decay coefficient greater than 0.

Optionally, the second determining sub-module includes:

and the third determining unit is used for determining the first signal duty ratio according to the attenuation granularity of the signal duty ratio of the PWM signal based on the attenuation information, wherein the attenuation granularity is used for representing the interval of two adjacent attenuations of the signal duty ratio of the PWM signal.

Optionally, the method further includes:

a second determination module, configured to determine the attenuation granularity based on a driving state parameter of the vehicle associated with a first target controller if the control switching state indicates that a controller controlling the vehicle needs to be switched;

Optionally, the first fusion module 705 is specifically configured to:

Optionally, M is an integer greater than 2, the control switching information further includes a control switching identifier, and the control switching identifier is used to represent an identifier of a controller that needs to be switched by a controller that controls the vehicle; the device further comprises:

a third determining module, configured to determine a second signal duty cycle corresponding to a second target controller when the control switching state indicates that a controller controlling the vehicle needs to be switched and the control switching identifier indicates to be switched to a third controller of the M controllers, where the second target controller is the first controller or the second controller, and the second target controller is determined based on the first signal duty cycle;

the third operation module is used for performing convolution operation on the generated third PWM signal and the output signal of the second target controller to obtain a fourth control signal, wherein the third PWM signal is a PWM signal corresponding to the duty ratio of the second signal;

the fourth operation module is used for performing convolution operation on the generated fourth PWM signal and the output signal of the third controller to obtain a fifth control signal, and the fourth PWM signal is obtained based on the inversion of the third PWM signal;

and the second fusion module is used for fusing the fourth control signal and the fifth control signal to obtain a second target control signal, and the second target control signal is used for controlling the vehicle.

The information processing apparatus 700 provided in the present disclosure can implement each process implemented by the information processing method embodiment, and can achieve the same beneficial effects, and for avoiding repetition, the details are not repeated here.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, an autonomous vehicle, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 8 shows a schematic block diagram of an example electronic device that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic apparatus 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the electronic device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as an information processing method. For example, in some embodiments, the information processing method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM 802 and/or communications unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the information processing method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the information processing method by any other suitable means (e.g., by means of firmware).

Additionally, the present disclosure provides an autonomous vehicle that may include an electronic device as shown in fig. 8 that may implement the various methods and processes described above, such as an information processing method, to implement control of the autonomous vehicle.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A signal processing method, comprising:

2. The method of claim 1, wherein the determining a first signal duty cycle for a first controller based on the control switching state comprises:

3. The method of claim 2, wherein the determining the first signal duty cycle based on attenuation information comprises at least one of:

4. The method of claim 3, wherein determining the first signal duty cycle corresponding to a target decay time of the output signal of the first controller based on a second correlation of decay time to signal duty cycle comprises:

5. The method of claim 2, wherein the determining the first signal duty cycle based on attenuation information comprises:

6. The method of claim 5, further comprising:

7. The method of claim 1, wherein said fusing the first control signal and the second control signal to obtain the first target control signal comprises:

8. The method of claim 1, wherein M is an integer greater than 2, the control switching information further comprising a control switching indicator characterizing an indicator of a controller that is required to switch a controller that controls the vehicle; after the first control signal and the second control signal are fused to obtain the first target control signal, the method further includes:

9. The method of claim 1, wherein a generation period of the first PWM signal is equal to a period of an output signal of the first controller.

10. An information processing apparatus comprising:

a first determining module, configured to determine, based on the control switching state, a first signal duty ratio corresponding to a first controller, where the first controller is a controller that controls the vehicle, from among the M controllers;

11. The apparatus of claim 10, wherein the first determining means comprises:

a first determining submodule, configured to determine that a duty cycle of the first signal is 100% if the control switching state indicates that a controller controlling the vehicle does not need to switch;

12. The apparatus of claim 11, wherein the second determination submodule comprises:

a second determining unit, configured to determine, based on a second correlation between a decay time and a signal duty, the first signal duty corresponding to a target decay time of an output signal of the first controller, where the decay information includes the target decay time.

13. The apparatus according to claim 12, wherein the second determining unit is specifically configured to:

14. The apparatus of claim 11, wherein the second determination submodule comprises:

and the third determining unit is used for determining the first signal duty ratio according to the attenuation granularity of the signal duty ratio of the PWM signal based on the attenuation information, and the attenuation granularity is used for representing the interval of two adjacent attenuations of the signal duty ratio of the PWM signal.

15. The apparatus of claim 14, further comprising:

16. The apparatus according to claim 10, wherein the first fusion module is specifically configured to:

17. The apparatus of claim 10, wherein M is an integer greater than 2, the control switching information further comprising a control switching flag characterizing a flag of a controller that is required to switch a controller that controls the vehicle; the device further comprises:

18. The apparatus of claim 10, wherein a generation period of the first PWM signal is equal to a period of an output signal of the first controller.

19. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. An autonomous vehicle comprising the electronic device of claim 19.

21. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

22. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.