CN115027505B - Vehicle track re-planning method, device and system, vehicle and storage medium - Google Patents
Vehicle track re-planning method, device and system, vehicle and storage medium Download PDFInfo
- Publication number
- CN115027505B CN115027505B CN202210901306.9A CN202210901306A CN115027505B CN 115027505 B CN115027505 B CN 115027505B CN 202210901306 A CN202210901306 A CN 202210901306A CN 115027505 B CN115027505 B CN 115027505B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- input information
- control input
- track
- planning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000001133 acceleration Effects 0.000 claims description 15
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 19
- 230000009471 action Effects 0.000 description 12
- 238000004422 calculation algorithm Methods 0.000 description 7
- 230000006399 behavior Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
Abstract
The application provides a vehicle track re-planning method, device and system, a vehicle and a storage medium. The method comprises the following steps: under the condition that the vehicle is in an automatic driving mode, responding to an accelerator pedal opening signal acquired by an accelerator pedal sensor, and determining a target track point closest to the position of the vehicle from a last planned driving track, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal; replacing the first longitudinal control input information of the target track point with the second longitudinal control input information; performing track re-planning according to a target track point comprising first transverse control input information and second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in the re-planned track. The embodiment is beneficial to guaranteeing the continuity of transverse planning and the stability of transverse control.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a system, a vehicle, and a storage medium for re-planning a trajectory of a vehicle.
Background
The automatic driving of the vehicle has wide prospect and high practical value in the fields of public safety, urban traffic, automobile manufacturing and the like. The automatic driving of the vehicle depends on cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system, so that the control system can automatically and safely operate the motor vehicle without active operation of human beings.
In an autopilot scenario, a user may not meet the vehicle speed provided by the autopilot system of the vehicle, but rather accelerate by stepping on the accelerator pedal, during which the steering wheel is still controlled by the autopilot system.
When a user steps on an accelerator pedal, the automatic driving system can conduct re-planning of the driving track. The related art re-planning algorithm is to co-re-plan the transverse direction and the longitudinal direction of the vehicle, and the continuous re-planning process of the transverse direction of the vehicle can cause unstable transverse control and seriously cause steering wheel runaway.
Disclosure of Invention
In view of the above, the present application provides a method, apparatus, system, vehicle and storage medium for re-planning a track of a vehicle.
Specifically, the application is realized by the following technical scheme:
According to a first aspect of an embodiment of the present application, there is provided a trajectory re-planning method for a vehicle, including:
under the condition that a vehicle is in an automatic driving mode, responding to an accelerator pedal opening signal acquired by an accelerator pedal sensor, and determining a target track point closest to the position of the vehicle from a last planned driving track, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal;
replacing the first longitudinal control input information of the target track point with the second longitudinal control input information;
performing track re-planning according to target track points comprising the first transverse control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
Optionally, the replacing the first longitudinal control input information of the target track point with the second longitudinal control input information further includes:
if the transverse distance between the position of the vehicle and the target track point is smaller than a preset distance, replacing the first longitudinal control input information of the target track point with the second longitudinal control input information;
The method further comprises the steps of:
and if the transverse distance between the position of the vehicle and the target track point is greater than or equal to the preset distance, carrying out track re-planning according to the position of the vehicle, the second transverse control input information corresponding to the position of the vehicle and the second longitudinal control input information.
Optionally, the determining, from the last planned driving track, the target track point closest to the position where the vehicle is located, further includes:
if the vehicle is in the track range of the running track, determining a target track point closest to the position of the vehicle from the last planned running track; wherein whether the vehicle is within a track range of the travel track is determined according to a difference between a start point and an end point of the travel track and a position of the vehicle;
the method further comprises the steps of: and if the vehicle is not in the track range of the running track, carrying out track re-planning according to the position of the vehicle, the second transverse control input information corresponding to the position of the vehicle and the second longitudinal control input information.
Optionally, the replacing the first longitudinal control input information of the target track point with the second longitudinal control input information includes:
Replacing the first longitudinal control input information of the target track point with third longitudinal control input information, wherein the third longitudinal control input information is obtained by adjusting the second longitudinal control input information, and the parameters contained in the third longitudinal control input information are smaller than the parameters contained in the second longitudinal control input information and larger than the parameters contained in the first longitudinal control input information;
the track re-planning according to the target track point comprising the first transverse control input information and the second longitudinal control input information further comprises:
and carrying out track re-planning according to the target track points comprising the first transverse control input information and the third longitudinal control input information.
Optionally, the automatic driving system of the vehicle comprises a planning module and a control module, wherein the planning module is used for planning a running track, and the control module is used for controlling the vehicle to run according to the planned running track; the planning frequency of the planning module is smaller than the control frequency of the control module;
the position of the vehicle is obtained by superposing a predicted motion quantity on the current position of the vehicle; wherein the predicted amount of motion is determined based on a time delay between the planning module and the control module, and a kinematic model of the vehicle; the delay between the planning module and the control module is determined based on a difference between the planning frequency and the control frequency.
Optionally, the first lateral control input information and the second lateral control input information each comprise at least one of the following parameters: a transverse position error between the position of the vehicle and a target position, a head orientation, a steering wheel angle and/or an angle error between the steering wheel angle and the target angle;
the first longitudinal control input information and the second longitudinal control input information each include at least one of the following parameters: the speed and/or acceleration of the vehicle.
Optionally, the method further comprises:
generating transverse control information and longitudinal control information according to the re-planned running track;
and controlling the steering wheel of the vehicle to rotate by a corresponding angle according to the transverse control information, and controlling the vehicle to accelerate according to the longitudinal control instruction.
According to a second aspect of an embodiment of the present application, there is provided a trajectory re-planning device for a vehicle, including:
the information acquisition unit is used for responding to an accelerator pedal opening signal acquired by an accelerator pedal sensor under the condition that the vehicle is in an automatic driving mode, and determining a target track point closest to the position of the vehicle from a last planned driving track, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal;
A replacing unit configured to replace the first longitudinal control input information of the target track point with the second longitudinal control input information;
a re-planning unit, configured to perform a track re-planning according to a target track point including the first lateral control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
According to a third aspect of an embodiment of the present application, there is provided a vehicle including: an accelerator pedal, an accelerator pedal sensor connected to the accelerator pedal, a processor, a memory, and executable instructions stored on the memory and executable on the processor;
the accelerator pedal sensor is connected with the processor and is used for sending the collected accelerator pedal opening signal to the processor;
the processor, when executing the executable instructions, performs the steps of the method according to any one of the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any of the first aspects.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
in the embodiment of the disclosure, in an automatic driving scene, when a user steps on an accelerator pedal, correspondingly, an accelerator pedal sensor associated with the accelerator pedal acquires an accelerator pedal opening signal, and then the track re-planning flow provided by the embodiment of the application is triggered. The vehicle determines a target track point closest to the position of the vehicle in the last planned driving track, reforms the target track point, re-plans the reformed target track point comprising the first transverse control input information and the second longitudinal control input information as a track starting point, and the reformed target track point uses the first transverse control input information in the last planned track, thereby being beneficial to ensuring the continuity of transverse planning and the stability of transverse control and avoiding or reducing the shake of transverse control of the vehicle; and the first longitudinal control input information of the target track point is replaced by the second longitudinal control input information, so that corresponding longitudinal re-planning is realized according to the action of stepping on the accelerator pedal by the user, and the vehicle can realize acceleration running in response to the action of stepping on the accelerator pedal by the user.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural view of an automatic driving system according to an exemplary embodiment of the present application.
Fig. 2 is a flow chart illustrating a method for re-planning a trajectory of a vehicle according to an exemplary embodiment of the present application.
Fig. 3 is a schematic diagram showing that the vehicle is not within the track range of the last planned travel track according to an exemplary embodiment of the present application.
Fig. 4 is a schematic diagram showing a vehicle in a track range of a last planned travel track according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural view of a trajectory re-planning device for a vehicle according to an exemplary embodiment of the present application.
Fig. 6 is a schematic structural view of a vehicle according to an exemplary 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 implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
When a user steps on an accelerator pedal, the automatic driving system can conduct re-planning of the driving track. The related art re-planning algorithm re-plans the transverse direction and the longitudinal direction of the vehicle, namely re-planning the track according to the current state information (such as position, orientation, steering angle, speed, acceleration and the like) of the vehicle, wherein the state information comprises information related to transverse control and information related to longitudinal control; when a user steps on the accelerator pedal, the re-planning algorithm can re-plan the transverse direction of the vehicle, and in fact, the re-planning process is caused by the action that the user steps on the accelerator pedal, the transverse direction planning process of the vehicle may not have errors, and in such a case, the transverse direction of the vehicle is still continuously re-planned, so that the transverse control is unstable, and the steering wheel is seriously out of control.
Aiming at the problems in the related art, the embodiment of the application provides a vehicle track re-planning method aiming at the situation that a user steps on an accelerator pedal in an automatic driving scene. When a vehicle is in an automatic driving mode, a target track point closest to the position of the vehicle in a last planned driving track can be determined in response to an accelerator pedal opening signal acquired by an accelerator pedal sensor, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal; further replacing the first longitudinal control input information of the target track point with the second longitudinal control input information; finally, carrying out track re-planning according to a target track point comprising the first transverse control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track. The embodiment realizes the change of the starting point of the vehicle on the re-planned track, takes the target track point comprising the first transverse control input information and the second longitudinal control input information as the track starting point to carry out the track re-planning, and uses the first transverse control input information in the track planned last time without changing the track, thereby being beneficial to ensuring the continuity of transverse planning and the stability of transverse control; and the first longitudinal control input information of the target track point is replaced by the second longitudinal control input information, so that when the user steps on the accelerator pedal, the longitudinal direction of the vehicle is re-planned according to the action of the user stepping on the accelerator pedal, and the vehicle can respond to the action of the user stepping on the accelerator pedal to realize acceleration running.
In an exemplary embodiment, referring to fig. 1, fig. 1 is a schematic structural diagram of an autopilot system according to an embodiment of the present application. The autopilot system includes an environment awareness input module 10, a driver input module 20, a planning module 30, a control module 40, a lateral actuator 50, and a longitudinal actuator 60.
The environment sensing input module 10 is configured to receive sensing information of a surrounding environment of a vehicle. Illustratively, the context-aware input module includes at least one sensor for sensing the surrounding environment, such as a camera, lidar, millimeter-wave radar, ultrasonic sensor, or infrared sensor, among others. Illustratively, the perception information includes, but is not limited to, traffic sign information, lane line information, attribute information of obstacles (such as static and dynamic obstacles, etc.), or a distance between a vehicle and an obstacle, etc.
The driver input module 20 is configured to receive motion information for a driver to control the vehicle, including but not limited to, input information for an accelerator pedal, a brake pedal, a steering wheel, a seat belt, a gear, and other controls. The driver input module is connected with an accelerator pedal sensor and is used for receiving accelerator pedal opening information acquired by the accelerator pedal sensor.
The planning module 30 is configured to plan according to the sensing information of the environment sensing input module 10 and the action information of the driver input module 20, and output a planning result to the control module 40; illustratively, the driving track planning includes path planning, behavior planning, driving track planning, speed planning, and the like; the path planning is generalized path planning, namely, the planning of the path from the current position to the destination is completed; the behavior planning is to plan and calculate the behavior actions of the vehicle in a short period of time in the future, such as lane changing, overtaking, curve entering and other behaviors, and plan, calculate and output the behaviors; the driving track planning is local route planning, namely planning the driving track in front of the vehicle; and the speed planning is to carry out target speed planning on each track point on the running track of the vehicle. Of course, planning module 30 may receive other information from other components in the vehicle, such as, but not limited to, vehicle weight, yaw rate, and/or gear, among others, in addition to the perception information from context-aware input module 10 and the motion information from driver input module 20.
The control module 40 is configured to generate a lateral control instruction and a longitudinal control instruction according to the planning result, control a lateral actuator 50 of the vehicle to execute the lateral control instruction and control a longitudinal actuator 60 of the vehicle to execute the longitudinal control instruction, so as to realize automatic driving of the vehicle. Illustratively, the lateral actuator 50 includes a steering mechanism of the vehicle, and the steering mechanism controls the lateral direction of the vehicle, such as controlling the turning angle of the steering wheel of the vehicle, in accordance with the lateral control command. Illustratively, the longitudinal actuator 60 includes a power mechanism of the vehicle, which executes a driving function of the vehicle in accordance with the longitudinal control instruction, and a brake mechanism, which executes a deceleration function of the vehicle in accordance with the longitudinal control instruction.
It may be understood that each module included in the autopilot system may be a software module, a hardware module, or a combination of software and hardware, which is not limited in this embodiment.
In some embodiments, it is not necessary to reprogram the vehicle's travel track for every frame in the execution of the planning algorithm for many times. The reason for this is two-fold: firstly, because of algorithm efficiency, the re-planning of each frame is not only time consuming but also unnecessary, as the environment may not be changed much; secondly, for the control module, the continuous and stable track is more beneficial to the smoothness of the command issued by the control module, and the vehicle is prevented from shaking. However, when the following exemplary situation occurs, then the re-planning of the trajectory with the current position of the vehicle is required: (1) when the automatic driving mode is off; (2) no travel track of the previous frame; (3) When the current position of the vehicle and the position of the target point are excessively different (for example, the transverse error exceeds the preset error by 0.5m, and the longitudinal error exceeds the preset error by 2.5 m); (3) The current time is longer than the final time of the running track of the previous frame; (4) when the user steps on the accelerator pedal. Of course, the actual situation is not limited to the above 4 cases, and other situations may be included.
When a user steps on the accelerator pedal, an automatic driving system in the vehicle needs to respond to the action of stepping on the accelerator pedal by the user to plan the transverse and longitudinal coordination of the vehicle; in fact, the vehicle transverse planning process may not have errors, in which case the vehicle transverse continuous re-planning process may cause unstable transverse control, and the comfort and safety of the transverse control cannot be ensured.
Based on this, referring to fig. 2, an embodiment of the present application provides a track re-planning method for a vehicle, which may be performed by the vehicle, and the method includes:
in step S101, under the condition that the vehicle is in an automatic driving mode, determining a target track point closest to a position where the vehicle is located from a last planned driving track in response to an accelerator pedal opening signal acquired by an accelerator pedal sensor, wherein the target track point comprises first transverse control input information and first longitudinal control input information; and acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal.
In step S102, the first longitudinal control input information of the target trajectory point is replaced with the second longitudinal control input information.
In step S103, track re-planning is performed according to a target track point including the first lateral control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
In the embodiment, in an automatic driving scene, when a user steps on an accelerator pedal, correspondingly, an accelerator pedal sensor associated with the accelerator pedal acquires an accelerator pedal opening signal, and then the track re-planning flow provided by the embodiment of the application is triggered. The vehicle determines a target track point closest to the position of the vehicle in the last planned driving track, reforms the target track point, reprograms the reformed target track point which comprises the first transverse control input information and the second longitudinal control input information as a track starting point, and the reformed target track point uses the first transverse control input information in the last planned track without modifying the first transverse control input information, thereby being beneficial to ensuring the continuity of transverse planning and the stability of transverse control and avoiding or reducing the shake of transverse control of the vehicle; and the first longitudinal control input information of the target track point is replaced by the second longitudinal control input information, so that corresponding longitudinal re-planning is realized according to the action of stepping on the accelerator pedal by the user, and the vehicle can realize acceleration running in response to the action of stepping on the accelerator pedal by the user.
Illustratively, the first lateral control input information and the second lateral control input information each include at least one of the following parameters: a lateral position error between the position of the vehicle and a target position, a head orientation, a steering wheel angle (or an orientation of a front wheel of the vehicle), and/or an angle error between the steering wheel angle and the target angle; the first longitudinal control input information and the second longitudinal control input information each include at least one of the following parameters: the speed and/or acceleration of the vehicle.
In some embodiments, referring to fig. 1, the automatic driving system of the vehicle includes a planning module 30 and a control module 40, where the planning module 30 is used for planning a driving track, and the control module 40 is used for controlling the vehicle to drive according to the planned driving track. Because the planning process of the planning module is complex, the planning amount is large, and a long time is required to be spent in one planning process, the planning frequency of the planning module is generally smaller than the control frequency of the control module. For example, in one example, the planning frequency of the planning module performs the planning of the driving track every 100ms, and the control frequency of the control module sends the control command every 10 ms. In this way, there is a problem that if the planning module plans the running track according to the current position of the vehicle, because the vehicle is moving synchronously during the planning process, the starting point of the planning module in the running track obtained by planning is different from the position of the vehicle after the synchronous movement, and if the control module still controls the running of the vehicle according to the running track, the control of the vehicle is unstable.
Therefore, in order to improve stability and safety of vehicle control, in the case where the planning frequency of the planning module is smaller than the control frequency of the control module, the vehicle may determine the delay between the planning module and the control module in advance according to the difference between the planning frequency of the planning module and the control frequency of the control module, and further determine the predicted movement amount of the vehicle according to the delay between the planning module and the control module and the kinematic model of the vehicle. The kinematic model of the vehicle researches the motion rule of the vehicle from the geometric angle, including the change of parameters such as pose, speed and the like of the vehicle in space along with time. In the actual planning process, the vehicle position can be compensated according to the time delay between the planning module and the control module, and the vehicle position for track planning is recursively obtained on the basis of the current position of the vehicle; the vehicle is positioned in a position where the predicted motion quantity is superimposed on the current position of the vehicle, and planning and re-planning are performed based on the position where the vehicle is positioned, so that stability and safety of vehicle control are improved.
In some embodiments, in order to improve planning accuracy in an automatic driving scenario, in response to a behavior of a user stepping on an accelerator pedal (i.e., an accelerator pedal opening signal acquired by an accelerator pedal sensor), a vehicle firstly acquires a last planned driving track, and then determines whether the vehicle is in a track range of the driving track according to a difference between a start point and an end point of the driving track and a position of the vehicle; for example, referring to fig. 3, the start point and the end point of the travel track include position information expressed in coordinates in a preset vehicle coordinate system, the ordinate (Y) of the preset vehicle coordinate system indicating the travel direction of the vehicle, and the abscissa (X) indicating the lateral direction of the vehicle; the track range is a range formed by the ordinate of the starting point and the ordinate of the ending point of the running track. In one example, the position of the vehicle is represented by two-dimensional coordinates, referring to fig. 4, if the ordinate of the vehicle is between the ordinate of the start point and the ordinate of the end point of the running track, it may be determined that the vehicle is within the track range of the running track; referring to fig. 3, if the ordinate of the vehicle is not between the ordinate of the start point and the ordinate of the end point of the travel track, it may be determined that the vehicle is not within the track range of the travel track.
Referring to fig. 3, if the vehicle is not within the track range of the driving track, it indicates that the difference between the driving track of the previous frame and the position of the vehicle is large, and the vehicle cannot be used as a reference, the track re-planning is performed according to the re-planning algorithm in the related art, that is, the vehicle performs the track re-planning according to the position of the vehicle, the second lateral control input information corresponding to the position of the vehicle, and the second longitudinal control input information. Referring to fig. 4, if the vehicle is within the track range of the running track, the track planned last time may be used as a reference, and the vehicle may execute step S101, i.e. determine the target track point closest to the current position of the vehicle in the running track planned last time. In the embodiment, under the condition that a user steps on the accelerator pedal, whether the running track planned last time has referenceability is judged first, so that different re-planning modes are adopted according to different judging results, and the planning accuracy is improved.
In some embodiments, in order to further improve the planning accuracy, after the preliminary determination that the last planned travel track has referenceability, the vehicle may determine, from the last planned travel track, a target track point closest to the position of the vehicle, please refer to fig. 4, and further determine whether the last planned travel track has an error in the vehicle lateral planning process according to the lateral distance between the position of the vehicle and the target track point. For example, if the lateral distance between the position of the vehicle and the target track point is greater than or equal to the preset distance, which indicates that an error occurs in the lateral planning process of the vehicle in the last planned driving track, the track is re-planned according to a re-planning algorithm in the related art, that is, the vehicle performs the track re-planning according to the position of the vehicle, the second lateral control input information corresponding to the position of the vehicle, and the second longitudinal control input information. If the lateral distance between the position of the vehicle and the target track point is smaller than the preset distance, the vehicle indicates that no error exists in the vehicle lateral planning process in the last planned driving track, and in order to improve the smoothness and continuity of lateral planning, the vehicle can replace the first longitudinal control input information of the target track point with the second longitudinal control input information, and then re-plan the track according to the target track point comprising the first lateral control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track. In this embodiment, after the target track point is determined, it is further determined whether the lateral distance between the position where the vehicle is located and the target track point meets the requirement, and different re-planning modes are adopted according to different determination results, so that the planning accuracy is improved.
It can be appreciated that the preset distance may be specifically set according to an actual application scenario, which is not limited in this embodiment. The preset distance is, for example, 0.5 meter or 1 meter, etc.
In some embodiments, it is contemplated that during a user's depression of the accelerator pedal, the speed and/or acceleration of the vehicle may drop rapidly at the moment the user stops depressing the accelerator pedal, thereby causing vehicle jerk. In order to reduce the vehicle shake degree, after acquiring the second longitudinal control input information of the vehicle according to the accelerator pedal opening degree signal, the vehicle may adjust the second longitudinal control input information to obtain third longitudinal control input information, where a parameter (such as a speed and/or an acceleration) included in the third longitudinal control input information is smaller than a parameter included in the second longitudinal control input information and is larger than a parameter included in the first longitudinal control input information; and then replacing the first longitudinal control input information of the target track point with third longitudinal control input information, and finally carrying out track re-planning according to the target track point comprising the first transverse control input information and the third longitudinal control input information. The present embodiment is advantageous in avoiding or reducing vehicle jerk at the moment when the user stops stepping on the accelerator pedal by reducing the speed and acceleration in the second longitudinal control input information.
For example, the speed and/or acceleration in the third longitudinal control input information may be obtained by subtracting a preset value from the speed and/or acceleration included in the second longitudinal control input information. The preset value may be specifically set according to an actual application scenario, and in this embodiment, the preset value and the accelerator pedal opening signal are not limited, for example, the larger the accelerator pedal opening is, the larger the preset value is, but the parameters (such as speed and/or acceleration) included in the third longitudinal control input information are larger than the parameters included in the first longitudinal control input information, so that the vehicle can respond to the action that the user steps on the accelerator pedal to realize acceleration running.
In some embodiments, after the trajectory re-planning, the vehicle may generate lateral control information and longitudinal control information from the re-planned travel trajectory; and controlling the steering wheel of the vehicle to rotate by a corresponding angle according to the transverse control information, and controlling the vehicle to accelerate according to the longitudinal control instruction. In the embodiment, under the automatic driving scene that a user steps on an accelerator pedal and a steering wheel is still controlled by automatic driving, the track re-planning method provided by the embodiment of the application is adopted to carry out track re-planning, and the information obtained by the last planning is used by the transverse control input information so as to ensure the continuity of transverse planning, so that the vehicle is controlled according to the re-planned driving track, and the stability, the comfort and the safety of the transverse control are further facilitated to be ensured.
It will be understood that the solutions described in the above embodiments may be combined without conflict, and are not exemplified in the embodiments of the present disclosure.
Accordingly, referring to fig. 5, the embodiment of the present application further provides a vehicle track re-planning apparatus, including:
an information obtaining unit 201, configured to determine, in response to an accelerator pedal opening signal acquired by an accelerator pedal sensor, a target track point closest to a position where the vehicle is located from a last planned travel track when the vehicle is in an automatic driving mode, where the target track point includes first lateral control input information and first longitudinal control input information; and acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal.
A replacing unit 202, configured to replace the first longitudinal control input information of the target track point with the second longitudinal control input information.
A re-planning unit 203, configured to perform a trajectory re-planning according to a target trajectory point including the first lateral control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
In some embodiments, the replacing unit 202 is further configured to replace the first longitudinal control input information of the target track point with the second longitudinal control input information if a lateral distance between the position of the vehicle and the target track point is smaller than a preset distance. The re-planning unit 203 is further configured to re-plan a track according to the vehicle location, second lateral control input information corresponding to the vehicle location, and the second longitudinal control input information if a lateral distance between the vehicle location and the target track point is greater than or equal to the preset distance.
In some embodiments, the information obtaining unit 201 is further configured to determine, from a last planned driving track, a target track point closest to a position where the vehicle is located, if the vehicle is within a track range of the driving track; wherein whether the vehicle is within the track range of the travel track is determined from a difference between a start point, an end point, and a position of the vehicle of the travel track. The re-planning unit 203 is further configured to re-plan a track according to the position of the vehicle, second lateral control input information corresponding to the position of the vehicle, and the second longitudinal control input information if the vehicle is not within the track range of the driving track.
In some embodiments, the replacing unit 202 is further configured to replace the first longitudinal control input information of the target track point with third longitudinal control input information, where the third longitudinal control input information is obtained by adjusting the second longitudinal control input information, and a parameter included in the third longitudinal control input information is smaller than a parameter included in the second longitudinal control input information and greater than a parameter included in the first longitudinal control input information. The re-planning unit 203 is further configured to perform a trajectory re-planning according to a target trajectory point including the first lateral control input information and the third longitudinal control input information.
In some embodiments, the automatic driving system of the vehicle comprises a planning module and a control module, wherein the planning module is used for planning a running track, and the control module is used for controlling the vehicle to run according to the planned running track; the planning frequency of the planning module is smaller than the control frequency of the control module; the position of the vehicle is obtained by superposing a predicted motion quantity on the current position of the vehicle; wherein the predicted amount of motion is determined based on a time delay between the planning module and the control module, and a kinematic model of the vehicle; the delay between the planning module and the control module is determined based on a difference between the planning frequency and the control frequency.
In some embodiments, the first lateral control input information and the second lateral control input information each include at least one of the following parameters: a transverse position error between the position of the vehicle and a target position, a head orientation, a steering wheel angle and/or an angle error between the steering wheel angle and the target angle; the first longitudinal control input information and the second longitudinal control input information each include at least one of the following parameters: the speed and/or acceleration of the vehicle.
In some embodiments, the apparatus further comprises a vehicle driving control unit for generating lateral control information and longitudinal control information according to the re-planned driving trajectory; and controlling the steering wheel of the vehicle to rotate by a corresponding angle according to the transverse control information, and controlling the vehicle to accelerate according to the longitudinal control instruction.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present application without undue burden.
Accordingly, referring to fig. 6, an embodiment of the present application further provides a vehicle, including: an accelerator pedal 11, an accelerator pedal sensor 12 connected to the accelerator pedal, a processor 13, a memory 14, and executable instructions stored on the memory 14 and executable on the processor;
the accelerator pedal sensor 12 is connected with the processor 13 and is used for sending the collected accelerator pedal opening signal to the processor 13;
the processor 13, when executing the executable instructions, implements the steps of any of the methods described above.
The processor 13 executes executable instructions included in the memory 14. The processor 13 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 14 stores executable instructions of a track re-planning method, and the memory 14 may include at least one type of storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Also, the vehicle may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory 14 may be an internal storage unit of the vehicle, such as a hard disk or a memory of the vehicle. The memory 14 may also be an external storage vehicle of the vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the vehicle. Further, the memory 14 may also include both internal storage units of the vehicle and external storage vehicles. The memory 14 is used to store executable instructions as well as other programs and data required by the vehicle. The memory 14 may also be used to temporarily store data that has been output or is to be output.
Of course, the vehicle also includes other components, such as the vehicle typically includes a chassis, a body, an engine, and electrical equipment. The engine is a power device of the vehicle for generating power; the chassis is used for supporting the transmitter and the vehicle body, and the chassis can drive the vehicle to move according to the power generated by the engine; the vehicle body is arranged on a frame of the chassis and is used for taking or loading goods for drivers and passengers; the electrical equipment includes a power source including a battery and a generator, and a consumer including a starting train of an engine or other electrical device, for example. Optionally, the vehicle further comprises an on-board sensor (such as a camera, a laser radar, a millimeter wave radar, an RGBD camera, etc.) for sensing environmental information of the surrounding environment of the vehicle. Optionally, the vehicle further comprises an automatic driving system for assisting the driver in driving.
The implementation process of the functions and roles of each unit in the above-mentioned device is specifically detailed in the implementation process of the corresponding steps in the above-mentioned method, and will not be described herein again.
Accordingly, an embodiment of the present application also provides a computer program product, including a computer program, where the computer program is executed by a processor to implement the above-mentioned image processing method.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as a memory, comprising instructions executable by a processor of an apparatus to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
A non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the above-described method.
Embodiments of the subject matter and the functional operations described in this specification can be implemented in: digital electronic circuitry, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and structural equivalents thereof, or a combination of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by, or to control the operation of, data processing apparatus. Alternatively or additionally, the program instructions may be encoded on a manually-generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode and transmit information to suitable receiver apparatus for execution by data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.
The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit). Furthermore, the computer may be embedded in another device, such as a vehicle, a Global Positioning System (GPS) receiver, or a portable storage device, such as a Universal Serial Bus (USB) flash drive, to name a few.
While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features of specific embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. On the other hand, the various features described in the individual embodiments may also be implemented separately in the various embodiments or in any suitable subcombination. Furthermore, although features may be acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
Similarly, although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.
Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Furthermore, the processes depicted in the accompanying drawings are not necessarily required to be in the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (10)
1. A method of trajectory re-planning for a vehicle, comprising:
under the condition that a vehicle is in an automatic driving mode, responding to an accelerator pedal opening signal acquired by an accelerator pedal sensor, and determining a target track point closest to the position of the vehicle from a last planned driving track, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal;
replacing the first longitudinal control input information of the target track point with the second longitudinal control input information;
performing track re-planning according to target track points comprising the first transverse control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
2. The method of claim 1, wherein the replacing the first longitudinal control input information of the target trajectory point with the second longitudinal control input information further comprises:
if the transverse distance between the position of the vehicle and the target track point is smaller than a preset distance, replacing the first longitudinal control input information of the target track point with the second longitudinal control input information;
The method further comprises the steps of:
and if the transverse distance between the position of the vehicle and the target track point is greater than or equal to the preset distance, carrying out track re-planning according to the position of the vehicle, the second transverse control input information corresponding to the position of the vehicle and the second longitudinal control input information.
3. The method of claim 1, wherein determining the target track point closest to the vehicle location from the last planned travel track further comprises:
if the vehicle is in the track range of the running track, determining a target track point closest to the position of the vehicle from the last planned running track; wherein whether the vehicle is within a track range of the travel track is determined according to a difference between a start point and an end point of the travel track and a position of the vehicle;
the method further comprises the steps of: and if the vehicle is not in the track range of the running track, carrying out track re-planning according to the position of the vehicle, the second transverse control input information corresponding to the position of the vehicle and the second longitudinal control input information.
4. The method of claim 1, wherein said replacing the first longitudinal control input information of the target trajectory point with the second longitudinal control input information comprises:
replacing the first longitudinal control input information of the target track point with third longitudinal control input information, wherein the third longitudinal control input information is obtained by adjusting the second longitudinal control input information, and the parameters contained in the third longitudinal control input information are smaller than the parameters contained in the second longitudinal control input information and larger than the parameters contained in the first longitudinal control input information;
the track re-planning according to the target track point comprising the first transverse control input information and the second longitudinal control input information further comprises:
and carrying out track re-planning according to the target track points comprising the first transverse control input information and the third longitudinal control input information.
5. The method according to any one of claims 1 to 4, wherein the automatic driving system of the vehicle comprises a planning module and a control module, the planning module is used for planning a driving track, and the control module is used for controlling the vehicle to drive according to the planned driving track; the planning frequency of the planning module is smaller than the control frequency of the control module;
The position of the vehicle is obtained by superposing a predicted motion quantity on the current position of the vehicle; wherein the predicted amount of motion is determined based on a time delay between the planning module and the control module and a kinematic model of the vehicle; the delay between the planning module and the control module is determined based on a difference between the planning frequency and the control frequency.
6. A method according to claim 2 or 3, characterized in that the first lateral control input information and the second lateral control input information each comprise at least one of the following parameters: a transverse position error between the position of the vehicle and a target position, a head orientation, a steering wheel angle and/or an angle error between the steering wheel angle and the target angle;
the first longitudinal control input information and the second longitudinal control input information each include at least one of the following parameters: the speed and/or acceleration of the vehicle.
7. The method according to any one of claims 1 to 4, further comprising:
generating transverse control information and longitudinal control information according to the re-planned running track;
and controlling the steering wheel of the vehicle to rotate by a corresponding angle according to the transverse control information, and controlling the vehicle to accelerate according to the longitudinal control instruction.
8. A trajectory re-planning device of a vehicle, characterized by comprising:
the information acquisition unit is used for responding to an accelerator pedal opening signal acquired by an accelerator pedal sensor under the condition that the vehicle is in an automatic driving mode, and determining a target track point closest to the position of the vehicle from a last planned driving track, wherein the target track point comprises first transverse control input information and first longitudinal control input information; acquiring second longitudinal control input information of the vehicle according to the accelerator pedal opening signal;
a replacing unit configured to replace the first longitudinal control input information of the target track point with the second longitudinal control input information;
a re-planning unit, configured to perform a track re-planning according to a target track point including the first lateral control input information and the second longitudinal control input information; wherein the target track point indicates a starting point of the vehicle in a re-planned track.
9. A vehicle, characterized by comprising: an accelerator pedal, an accelerator pedal sensor connected to the accelerator pedal, a processor, a memory, and executable instructions stored on the memory and executable on the processor;
The accelerator pedal sensor is connected with the processor and is used for sending the collected accelerator pedal opening signal to the processor;
the processor, when executing the executable instructions, performs the steps of the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210901306.9A CN115027505B (en) | 2022-07-28 | 2022-07-28 | Vehicle track re-planning method, device and system, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210901306.9A CN115027505B (en) | 2022-07-28 | 2022-07-28 | Vehicle track re-planning method, device and system, vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115027505A CN115027505A (en) | 2022-09-09 |
| CN115027505B true CN115027505B (en) | 2023-10-31 |
Family
ID=83130778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210901306.9A Active CN115027505B (en) | 2022-07-28 | 2022-07-28 | Vehicle track re-planning method, device and system, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115027505B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116653963B (en) * | 2023-07-31 | 2023-10-20 | 福思(杭州)智能科技有限公司 | Vehicle lane change control method, system and intelligent driving domain controller |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647773A (en) * | 2017-02-10 | 2017-05-10 | 北京理工大学 | Unmanned vehicle horizontal-and-vertical direction cooperation control method |
| CN110126837A (en) * | 2018-02-09 | 2019-08-16 | 通用汽车环球科技运作有限责任公司 | System and method for autonomous vehicle motion planning |
| CN111033422A (en) * | 2018-05-18 | 2020-04-17 | 百度时代网络技术（北京）有限公司 | Drift correction between planning and control phases of operating an autonomous vehicle |
| CN111123906A (en) * | 2018-10-15 | 2020-05-08 | 百度（美国）有限责任公司 | Optimal longitudinal trajectory generation under different lateral acceleration constraints |
| WO2021197729A1 (en) * | 2020-03-31 | 2021-10-07 | Daimler Ag | Method for planning a target trajectory |
| CN113665589A (en) * | 2021-09-18 | 2021-11-19 | 广州小鹏自动驾驶科技有限公司 | Vehicle longitudinal control method and device, vehicle-mounted terminal and storage medium |
| CN114475652A (en) * | 2021-12-22 | 2022-05-13 | 广州文远知行科技有限公司 | Vehicle motion planning method, device, equipment and medium |
| CN114787015A (en) * | 2021-06-15 | 2022-07-22 | 华为技术有限公司 | Calibration method and device for automatic driving vehicle |
-
2022
- 2022-07-28 CN CN202210901306.9A patent/CN115027505B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647773A (en) * | 2017-02-10 | 2017-05-10 | 北京理工大学 | Unmanned vehicle horizontal-and-vertical direction cooperation control method |
| CN110126837A (en) * | 2018-02-09 | 2019-08-16 | 通用汽车环球科技运作有限责任公司 | System and method for autonomous vehicle motion planning |
| CN111033422A (en) * | 2018-05-18 | 2020-04-17 | 百度时代网络技术（北京）有限公司 | Drift correction between planning and control phases of operating an autonomous vehicle |
| CN111123906A (en) * | 2018-10-15 | 2020-05-08 | 百度（美国）有限责任公司 | Optimal longitudinal trajectory generation under different lateral acceleration constraints |
| WO2021197729A1 (en) * | 2020-03-31 | 2021-10-07 | Daimler Ag | Method for planning a target trajectory |
| CN114787015A (en) * | 2021-06-15 | 2022-07-22 | 华为技术有限公司 | Calibration method and device for automatic driving vehicle |
| CN113665589A (en) * | 2021-09-18 | 2021-11-19 | 广州小鹏自动驾驶科技有限公司 | Vehicle longitudinal control method and device, vehicle-mounted terminal and storage medium |
| CN114475652A (en) * | 2021-12-22 | 2022-05-13 | 广州文远知行科技有限公司 | Vehicle motion planning method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115027505A (en) | 2022-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113128326B (en) | Vehicle trajectory prediction model with semantic map and LSTM | |
| US20200211394A1 (en) | Collision avoidance system | |
| CN109421742A (en) | Method and apparatus for monitoring autonomous vehicle | |
| CN109017785B (en) | Vehicle lane-changing driving method | |
| EP3895062A1 (en) | Collision avoidance system with trajectory validation | |
| Liu et al. | The role of the hercules autonomous vehicle during the covid-19 pandemic: An autonomous logistic vehicle for contactless goods transportation | |
| CN109715453A (en) | For controlling the method and apparatus and vehicle motion control system of the movement of vehicle | |
| CN111833597B (en) | Autonomous decision making in traffic situations with planning control | |
| CN113165648A (en) | Control system and control method for planning possible trajectories of a motor vehicle on the basis of sampling | |
| US11815891B2 (en) | End dynamics and constraints relaxation algorithm on optimizing an open space trajectory | |
| CN116209611B (en) | Method and system for using other road user's responses to self-vehicle behavior in autopilot | |
| US20190066406A1 (en) | Method and apparatus for monitoring a vehicle | |
| US11372417B2 (en) | Method for predicting exiting intersection of moving obstacles for autonomous driving vehicles | |
| JP2018203017A (en) | Vehicle control device, vehicle control method and program | |
| US11340623B2 (en) | Driver-centric model predictive controller | |
| EP3885238A1 (en) | An incremental lateral control system using feedbacks for autonomous driving vehicles | |
| CN115027505B (en) | Vehicle track re-planning method, device and system, vehicle and storage medium | |
| WO2023010043A1 (en) | Complementary control system for an autonomous vehicle | |
| JPWO2018211645A1 (en) | Driving support method and driving support device | |
| US20220055659A1 (en) | Mode selection according to system conditions | |
| CN116691688B (en) | Vehicle lane change track stitching method, device and domain controller | |
| CN116653964B (en) | Lane changing longitudinal speed planning method, apparatus and vehicle-mounted device | |
| US20230391356A1 (en) | Dynamic scenario parameters for an autonomous driving vehicle | |
| WO2023076343A1 (en) | Autonomous vehicle trajectory determination based on state transition model | |
| CN115675466A (en) | Lane change negotiation method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240226 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |