CN115303262A - Vehicle control method, device, terminal device and computer readable storage medium - Google Patents
Vehicle control method, device, terminal device and computer readable storage medium Download PDFInfo
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- CN115303262A CN115303262A CN202210956407.6A CN202210956407A CN115303262A CN 115303262 A CN115303262 A CN 115303262A CN 202210956407 A CN202210956407 A CN 202210956407A CN 115303262 A CN115303262 A CN 115303262A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
本申请适用于控制技术领域,提供了一种车辆控制方法、装置、终端设备及计算机可读存储介质,包括:在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径;在车辆泊出所述目标区域的过程中,实时获取所述车辆的泊出位置;根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角;根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。通过上述方法,能够自动控制车辆沿原路返回,提高了自动驾驶的智能化程度。
The present application is applicable to the field of control technology, and provides a vehicle control method, device, terminal device, and computer-readable storage medium, including: during the process of parking the vehicle in the target area, recording the time when the vehicle is parked in the target area. Parking path; in the process of parking the vehicle out of the target area, obtain the parking position of the vehicle in real time; determine the steering wheel angle according to the position deviation between the parking position and the parking path; according to the Steering wheel angle controls the vehicle to park out of the target area along the parking path. Through the above method, the vehicle can be automatically controlled to return along the original road, which improves the intelligence of automatic driving.
Description
技术领域technical field
本申请属于控制技术领域,尤其涉及一种车辆控制方法、装置、终端设备及计算机可读存储介质。The present application belongs to the technical field of control, and in particular relates to a vehicle control method, device, terminal equipment and computer-readable storage medium.
背景技术Background technique
随着智能控制技术的发展,车辆的自动驾驶功能越来越完善,用户对其的应用频率也越来越高。现有的自动驾驶功能,通常是控制车辆按照固定路线行驶,或者在宽广区域自动规划行驶路线。但是当车辆驶入未知的狭窄区域,且无法通过掉头退出时,现有的自动驾驶功能变得无能为力。此种情况下,通常转为人工驾驶模式,由驾驶员操控车辆后退。这种方式极大依赖驾驶人对车辆的操控能力,当驾驶人经验不足或处于精神紧张时,易发生碰撞事故。可见,现有的自动驾驶功能智能化程度较低。With the development of intelligent control technology, the automatic driving function of vehicles is becoming more and more perfect, and the frequency of users' application of it is also increasing. The existing automatic driving function usually controls the vehicle to drive according to a fixed route, or automatically plans a driving route in a wide area. But when the vehicle enters an unknown tight area and cannot exit by making a U-turn, existing autonomous driving functions become powerless. In this case, it is usually switched to manual driving mode, and the driver controls the vehicle to back up. This method relies heavily on the driver's ability to control the vehicle. When the driver is inexperienced or in a state of mental stress, collision accidents are prone to occur. It can be seen that the existing automatic driving function has a low degree of intelligence.
发明内容Contents of the invention
本申请实施例提供了一种车辆控制方法、装置、终端设备及计算机可读存储介质,可以有效提高自动驾驶的智能化程度。Embodiments of the present application provide a vehicle control method, device, terminal equipment, and computer-readable storage medium, which can effectively improve the intelligence level of automatic driving.
第一方面,本申请实施例提供了一种车辆控制方法,包括:In the first aspect, the embodiment of the present application provides a vehicle control method, including:
在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径;During the process of parking the vehicle into the target area, recording the parking path of the vehicle into the target area;
在车辆泊出所述目标区域的过程中,实时获取所述车辆的泊出位置;Acquiring the parking position of the vehicle in real time during the process of the vehicle parking out of the target area;
根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角;determining a steering wheel rotation angle according to a position deviation between the parking out position and the parking in path;
根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
本申请实施例中,由于车辆泊入目标区域的泊入路径是已完成的路径,说明该路径是能够保证通行的,那么记录该路径,相当于保存了一条参考路径。当车辆需要泊出目标区域时,相当于以已记录的泊入路径为参考路径,控制车辆泊入目标区域。当车辆驶入未知的狭窄区域,且无法通过掉头退出时,通过上述方法,能够自动控制车辆沿原路返回,提高了自动驾驶的智能化程度。In the embodiment of the present application, since the parking route of the vehicle into the target area is a completed route, it means that the route can be guaranteed to pass, so recording the route is equivalent to saving a reference route. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park in the target area. When the vehicle enters an unknown narrow area and cannot exit through a U-turn, the above method can automatically control the vehicle to return along the original road, improving the intelligence of automatic driving.
在第一方面的一种可能的实现方式中,所述目标区域包括多个第一位置点,所述在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径,包括:In a possible implementation manner of the first aspect, the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, recording the parking of the vehicle into the target area path, including:
在所述车辆泊入所述目标区域的过程中,每达到一个所述第一位置点,获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标;During the process of the vehicle parking into the target area, each time the vehicle reaches one of the first position points, acquire a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point ;
根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据;calculating pose transformation data of the vehicle between every two adjacent first position points according to the three-dimensional point cloud of a plurality of the first position points;
根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个所述第一位置点的位置坐标生成所述泊入路径。The parking path is generated according to the pose transformation data of the vehicle between every two adjacent first location points and the location coordinates of each of the first location points.
在第一方面的一种可能的实现方式中,所述在车辆泊出所述目标区域的过程中,获取所述车辆的泊出位置,包括:In a possible implementation manner of the first aspect, the acquiring the parking position of the vehicle during the process of parking the vehicle out of the target area includes:
在所述车辆泊出所述目标区域的过程中,实时计算所述车辆的位姿信息;During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
对所述位姿信息进行数据滤波处理,获得所述泊出位置。Data filtering is performed on the pose information to obtain the parked-out position.
在第一方面的一种可能的实现方式中,所述根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角,包括:In a possible implementation manner of the first aspect, the determining the steering wheel angle according to the position deviation between the parking-out position and the parking-in path includes:
获取所述车辆在所述泊出位置对应的档位信息,其中,所述档位信息表示所述车辆泊入所述目标区域的过程中、经过所述泊出位置时的档位;Acquiring gear position information corresponding to the vehicle at the parking position, wherein the gear position information indicates the gear position of the vehicle passing through the parking position during the process of parking into the target area;
若所述档位信息表示前进,则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角,其中,所述预瞄点为所述泊入路径中的位置点;If the gear position information indicates forward movement, then determine the steering wheel angle according to the position deviation between the preview point and the parking position, wherein the preview point is a position point in the parking path;
若所述档位信息表示后退,则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear position information indicates reverse, the steering wheel rotation angle is determined according to the position deviation between the parking-out position and the parking-in path.
在第一方面的一种可能的实现方式中,所述根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角,包括:In a possible implementation manner of the first aspect, the determining the steering wheel angle according to the position deviation between the preview point and the parking position includes:
计算第一横向循迹误差,其中,所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离;calculating a first lateral tracking error, wherein the first lateral tracking error represents a lateral distance from the center of the rear axle of the vehicle at the parking position to the preview point;
根据所述第一横向循迹误差和第一控制律计算第一前轮转角,其中,所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系;calculating a first front wheel angle according to the first lateral tracking error and a first control law, wherein the first control law represents a functional relationship between the first lateral tracking error and the front wheel angle of the vehicle;
根据所述第一前轮转角确定所述方向盘转角。The steering wheel angle is determined according to the first front wheel angle.
在第一方面的一种可能的实现方式中,所述根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角,包括:In a possible implementation manner of the first aspect, the determining the steering wheel angle according to the position deviation between the parking-out position and the parking-in path includes:
计算第二横向循迹误差,其中,所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离;calculating a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path;
计算角度循迹误差,所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差;calculating an angular tracking error representing an angular difference between a heading angle of the vehicle at the parked out position and a heading angle of the vehicle at the second location point;
根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角,其中,所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系;Calculate the second front wheel rotation angle according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error The functional relationship between the track error and the front wheel angle of the vehicle;
根据所述第二前轮转角确定所述方向盘转角。The steering wheel angle is determined according to the second front wheel angle.
在第一方面的一种可能的实现方式中,所述方法还包括:In a possible implementation manner of the first aspect, the method further includes:
在车辆泊出所述目标区域的过程中,若所述车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同,则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of the vehicle parking out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, switch according to the gear information corresponding to the current position of the vehicle The gear of the vehicle.
第二方面,本申请实施例提供了一种车辆控制装置,包括:In a second aspect, the embodiment of the present application provides a vehicle control device, including:
路径记录单元,用于在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径;a path recording unit, configured to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
位置获取单元,用于在车辆泊出所述目标区域的过程中,实时获取所述车辆的泊出位置;a position obtaining unit, configured to obtain the parking position of the vehicle in real time during the process of the vehicle parking out of the target area;
角度计算单元,用于根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角;an angle calculation unit, configured to determine a steering wheel rotation angle according to a position deviation between the parking position and the parking path;
车辆控制单元,用于根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。A vehicle control unit, configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
第三方面,本申请实施例提供了一种终端设备,包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现如上述第一方面中任一项所述的车辆控制方法。In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, The vehicle control method described in any one of the above-mentioned first aspects is realized.
第四方面,本申请实施例提供了一种计算机可读存储介质,本申请实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现如上述第一方面中任一项所述的车辆控制方法。In a fourth aspect, the embodiment of the present application provides a computer-readable storage medium. The embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program is processed The vehicle control method described in any one of the above first aspects is realized when the controller is executed.
第五方面,本申请实施例提供了一种计算机程序产品,当计算机程序产品在终端设备上运行时,使得终端设备执行上述第一方面中任一项所述的车辆控制方法。In a fifth aspect, an embodiment of the present application provides a computer program product, which, when the computer program product is run on a terminal device, causes the terminal device to execute the vehicle control method described in any one of the above first aspects.
可以理解的是,上述第二方面至第五方面的有益效果可以参见上述第一方面中的相关描述,在此不再赘述。It can be understood that, for the beneficial effects of the above-mentioned second aspect to the fifth aspect, reference can be made to the relevant description in the above-mentioned first aspect, and details will not be repeated here.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.
图1是本申请实施例提供的车辆控制系统的组成示意图;FIG. 1 is a schematic diagram of the composition of a vehicle control system provided by an embodiment of the present application;
图2是本申请实施例提供的车辆控制方法的流程示意图;FIG. 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;
图3是本申请实施例提供的后退预瞄跟踪算法的几何示意图;Fig. 3 is a schematic geometrical diagram of the backward preview tracking algorithm provided by the embodiment of the present application;
图4是本申请实施例提供的前进误差反馈跟踪算法的几何示意图;Fig. 4 is a schematic geometric diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application;
图5是本申请实施例提供的应用场景示意图;FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application;
图6是本申请实施例提供的车辆控制装置的结构框图;Fig. 6 is a structural block diagram of a vehicle control device provided by an embodiment of the present application;
图7是本申请实施例提供的终端设备的结构示意图。FIG. 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
具体实施方式Detailed ways
以下描述中,为了说明而不是为了限定,提出了诸如特定系统结构、技术之类的具体细节,以便透彻理解本申请实施例。然而,本领域的技术人员应当清楚,在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中,省略对众所周知的系统、装置、电路以及方法的详细说明,以免不必要的细节妨碍本申请的描述。In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
应当理解,当在本申请说明书和所附权利要求书中使用时,术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在,但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.
还应当理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.
如在本申请说明书和所附权利要求书中所使用的那样,术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地,短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.
另外,在本申请说明书和所附权利要求书的描述中,术语“第一”、“第二”、“第三”等仅用于区分描述,而不能理解为指示或暗示相对重要性。In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此,在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例,而是意味着“一个或多个但不是所有的实施例”,除非是以其他方式另外特别强调。Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise.
首先介绍本申请实施例的应用背景。当车辆进入未知狭窄区域,且无法掉头退出时,如在车库或车位上泊车、驶入胡同、或穿过两车间狭窄间隙等,往往自动驾驶功能变得无能为力。此种情况下,通常转为人工驾驶模式,由驾驶员操控车辆后退。这种方式极大依赖驾驶人对车辆的操控能力,当驾驶人经验不足或存在视觉死角时,易发生碰撞事故。现有的自动驾驶功能智能化程度较低,无法满足未知狭窄区域的行驶需求。Firstly, the application background of the embodiment of the present application is introduced. When the vehicle enters an unknown narrow area and cannot turn around and exit, such as parking in a garage or parking space, driving into an alley, or passing through a narrow gap between two workshops, the automatic driving function often becomes powerless. In this case, it is usually switched to manual driving mode, and the driver controls the vehicle to back up. This method relies heavily on the driver's ability to control the vehicle. When the driver is inexperienced or has blind spots, collision accidents are prone to occur. The existing automatic driving function has a low degree of intelligence and cannot meet the driving needs of unknown narrow areas.
为了解决上述问题,本申请实施例提供了一种车辆控制方法。该方法中,在车辆泊入未知狭窄区域的过程中,记录泊入路径;在车辆需要泊出该未知狭窄区域的过程中,根据泊出位置和已记录的泊入路径之间的位置偏差实时计算方向盘转角,以根据方式盘转角实时控制车辆沿泊入路径使出该未知狭窄区域。上述方法,能够实现复杂路况下的自动驾驶,控制精度较高,有效降低了驾驶人员的驾驶负荷,提高了车辆的智能化程度,且无需增加额外的硬件设备。In order to solve the above problems, an embodiment of the present application provides a vehicle control method. In this method, when the vehicle is parked in an unknown narrow area, the parking path is recorded; when the vehicle needs to park out of the unknown narrow area, according to the position deviation between the parking position and the recorded parking path, real-time Calculate the steering wheel angle to control the vehicle in real time to get out of the unknown narrow area along the parking path according to the steering wheel angle. The above method can realize automatic driving under complex road conditions, has high control precision, effectively reduces the driving load of the driver, improves the intelligence of the vehicle, and does not need to add additional hardware equipment.
下面介绍本申请实施例涉及到的车辆控制系统。参见图1,是本申请实施例提供的车辆控制系统的组成示意图。如图1所示,车辆控制系统可以包括信息获取层、控制层和执行层。各层之间可以通过CAN总线通信连接。应用过程中,信息获取层将获取到的关于车辆行驶的数据发送给控制层,控制层根据接收到的数据规划行驶路径(如泊入路径和泊出路径)及所需控制量,执行层控制车辆相关装置执行规划好的控制量。The following describes the vehicle control system involved in the embodiment of the present application. Referring to FIG. 1 , it is a schematic composition diagram of a vehicle control system provided by an embodiment of the present application. As shown in Figure 1, the vehicle control system may include an information acquisition layer, a control layer and an execution layer. Each layer can be connected through CAN bus communication. During the application process, the information acquisition layer sends the acquired data about vehicle driving to the control layer, the control layer plans the driving path (such as the parking path and the parking path) and the required control amount according to the received data, and the execution layer controls the vehicle The associated devices execute the programmed control quantities.
其中,信息获取层可以包括各种传感器,如轮速传感器、变速器控制单元、方向盘转角传感器、障碍物检测传感器和视觉传感器等。轮速传感器用于获取车辆两侧非驱动轮转速、取平均值后得到后轴中点速度。变速器控制单元用于获取车辆前进/后退的档位。方向盘转角传感器用于获取方向盘转角。障碍物检测传感器(如摄像头、雷达等)用于检测车辆周围的障碍物。视觉传感器用于获取行车过程中的环境信息(如三维点云、二维图像等)。Among them, the information acquisition layer may include various sensors, such as wheel speed sensors, transmission control units, steering wheel angle sensors, obstacle detection sensors, and visual sensors. The wheel speed sensor is used to obtain the rotational speed of the non-driven wheels on both sides of the vehicle, and obtain the midpoint speed of the rear axle after taking the average value. The transmission control unit is used to obtain the forward/reverse gear of the vehicle. The steering wheel angle sensor is used to obtain the steering wheel angle. Obstacle detection sensors (such as cameras, radars, etc.) are used to detect obstacles around the vehicle. Vision sensors are used to obtain environmental information during driving (such as 3D point clouds, 2D images, etc.).
控制层可以包括定位计算模块、下电存储模块、数据记录模块、人机交互模块、前进控制模块、后退控制模块、执行器握手模块和障碍物报警模块等。定位计算模块用于计算车辆的泊出位置,包括泊入定位单元和泊出定位单位,详细内容见下述实施例。前进控制模块用于计算前进控制策略,如下述实施例中所述的前进误差反馈跟踪策略。后退控制模块用于计算后退控制策略,如下述实施例中所述的后退预瞄跟踪策略。The control layer can include a positioning calculation module, a power-off storage module, a data recording module, a human-computer interaction module, a forward control module, a reverse control module, an actuator handshake module, and an obstacle alarm module. The positioning calculation module is used to calculate the parking position of the vehicle, including the parking positioning unit and the parking positioning unit. See the following embodiments for details. The forward control module is used to calculate the forward control strategy, such as the forward error feedback tracking strategy described in the following embodiments. The retreat control module is used to calculate the retreat control strategy, such as the retreat preview tracking strategy described in the following embodiments.
执行层可以包括转向助力器(EPS,Electric Power Steering)、人机交互界面(HMI,Human Machine Interface)和驾驶操作装置(如档位器、制动装置、节气门等)。The execution layer may include power steering (EPS, Electric Power Steering), human-machine interface (HMI, Human Machine Interface) and driving operation devices (such as gear shifter, brake device, throttle, etc.).
参见图2,是本申请实施例提供的车辆控制方法的流程示意图,作为示例而非限定,所述方法可以包括以下步骤:Referring to FIG. 2 , it is a schematic flowchart of a vehicle control method provided by an embodiment of the present application. As an example but not a limitation, the method may include the following steps:
S101,在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径。S101. During the process of parking the vehicle into the target area, record the parking path of the vehicle into the target area.
本申请实施例中的目标区域可以指代狭窄、且车辆无法掉头的区域。The target area in the embodiment of the present application may refer to a narrow area where the vehicle cannot turn around.
本申请实施例中,可由上述实施例所述的控制层中定位计算模块的泊入定位单元执行。In the embodiment of the present application, it may be executed by the parking positioning unit of the positioning calculation module in the control layer described in the above embodiments.
在一些实施例中,车辆启动后,即可实时记录行驶路径。当存储空间已满,最新的记录覆盖原有的记录。通常车辆的回退路径(即泊出路径)为最新的泊入路径,因此,通过这种方法,既能够保证不丢失行驶数据,又能保证车辆回退时能够调用已记录的泊入路径。In some embodiments, after the vehicle is started, the driving route can be recorded in real time. When the storage space is full, the latest records overwrite the original records. Usually, the vehicle's return route (ie, the parking route) is the latest parking route. Therefore, this method can not only ensure that the driving data is not lost, but also ensure that the recorded parking route can be called when the vehicle returns.
在另一些实施例中,可以由用户通过HMI开启记录功能。例如,用户通过HMI向执行层发送开启指令,执行层将开启指令发送给控制层,控制层中的人机交互模块接收到开启指令后,指示数据记录模块记录从信息获取层接收到的行驶数据。In other embodiments, the recording function can be enabled by the user through the HMI. For example, the user sends an opening instruction to the execution layer through the HMI, and the execution layer sends the opening instruction to the control layer. After receiving the opening instruction, the human-computer interaction module in the control layer instructs the data recording module to record the driving data received from the information acquisition layer. .
当然,上述两种记录方式可以交替。例如,车辆启动后,即实时记录行驶路径;当用户通过HMI关闭记录功能,控制层停止记录行驶路径。再例如,车辆启动后,默认不记录行驶路径;当用户通过HMI开启记录功能,控制层开始记录行驶路径。Of course, the above two recording methods can be alternated. For example, after the vehicle is started, the driving path is recorded in real time; when the user turns off the recording function through the HMI, the control layer stops recording the driving path. For another example, after the vehicle is started, the driving route is not recorded by default; when the user enables the recording function through the HMI, the control layer starts to record the driving route.
在一些实施例中,目标区域包括多个第一位置点。记录泊入路径的方式可以包括:In some embodiments, the target area includes a plurality of first location points. Ways to record the parking path may include:
在所述车辆泊入所述目标区域的过程中,每达到一个第一位置点,获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标;根据所述三维点云计算所述车辆在相邻的每两个第一位置点之间的位姿变换数据;根据所述车辆在相邻的每两个第一位置点之间的位姿变换数据、以及每个第一位置点的位置坐标生成所述泊入路径。During the process of the vehicle parking into the target area, each time a first location point is reached, the three-dimensional point cloud representing the environment where the first location point is located and the location coordinates of the first location point are obtained; according to The three-dimensional point cloud calculates the pose transformation data of the vehicle between every two adjacent first position points; according to the pose transformation data of the vehicle between every two adjacent first position points , and the position coordinates of each first position point to generate the parking path.
设置第一位置点的一种方式为:当车辆的行驶距离每达到预设距离,即达到一个第一位置点。例如,当车辆行驶路程超过10cm时,即达到一个第一位置点,记录该第一位置点的有效位置坐标、和三维点云,同时存储当前的档位信息。One way of setting the first position point is: when the driving distance of the vehicle reaches a preset distance, a first position point is reached. For example, when the vehicle travels more than 10cm, it reaches a first location point, and the effective location coordinates and three-dimensional point cloud of the first location point are recorded, and the current gear information is stored at the same time.
设置第一位置点的另一种方式为:预先设置记录周期,车辆行驶的时间每间隔记录周期,记录一个第一位置点。例如,当车辆行驶速度大于10迈、小于20迈,每间隔10s记录一个第一位置点;当车辆行驶速度大于20迈、小于30迈,每间隔5s记录一个第一位置点;依次类推,对不同车速设置不同的记录周期。Another way of setting the first position point is: setting the recording period in advance, and recording a first position point every interval of the recording period during the driving time of the vehicle. For example, when the vehicle speed is greater than 10 miles and less than 20 miles, record a first position point every 10s; when the vehicle speed is greater than 20 miles and less than 30 miles, record a first position point every 5s; and so on, for Set different recording periods for different vehicle speeds.
本申请实施例中,三维点云可以是通过激光雷达获取的。三维点云还可以通过安装在车辆上的摄像头获取。例如,选取车身上有相交视野的摄像头(或双目摄像头、或深度摄像头),预先对其进行参数标定;行驶过程中,利用标定后的摄像头获取环境的三维点云。每到达一个第一位置点,获取一帧三维点云,即相邻的两帧三维点云对应相邻的两个第一位置点。In the embodiment of the present application, the 3D point cloud may be acquired by lidar. The 3D point cloud can also be acquired by cameras mounted on the vehicle. For example, select a camera (or binocular camera, or depth camera) with an intersecting field of view on the vehicle body, and perform parameter calibration on it in advance; during driving, use the calibrated camera to obtain the 3D point cloud of the environment. Every time a first position point is reached, a frame of three-dimensional point cloud is obtained, that is, two adjacent frames of three-dimensional point cloud correspond to two adjacent first position points.
本申请实施例中,计算相邻的每两个第一位置点之间的位姿变换数据的方式可以为:将相邻的两帧三维点云的ORB特征进行匹配,假设针对这两帧匹配出一组特征点为:利用矩阵分解(如SVD分解)计算P和P′的位姿变换数据P′=R·P+t,R为旋转矩阵,t为位移矩阵。In the embodiment of the present application, the way to calculate the pose transformation data between every two adjacent first position points may be: match the ORB features of two adjacent frames of 3D point clouds, assuming that the two frames match A set of feature points is obtained as: Use matrix decomposition (such as SVD decomposition) to calculate the pose transformation data P'=R·P+t of P and P', where R is the rotation matrix and t is the displacement matrix.
通过上述方法,只要获得一个初始位置的坐标,即可根据依次得到的相邻位置点之间的位姿变换数据,得到泊入轨迹。Through the above method, as long as the coordinates of an initial position are obtained, the parking trajectory can be obtained according to the sequentially obtained pose transformation data between adjacent position points.
需要说明的是,本申请实施例中,记录的泊入路径可以指记录的离散数据,包括多个第一位置点各自的位置坐标、以及相邻的每两个位置点之间的位姿变换数据。记录的泊入路径还可以是一条曲线,该曲线根据多个第一位置点各自的位置坐标、以及相邻的每两个位置点之间的位姿变换数据拟合而成。It should be noted that in the embodiment of the present application, the recorded parking path may refer to the recorded discrete data, including the respective position coordinates of multiple first position points, and the pose transformation between every two adjacent position points data. The recorded parking path may also be a curve, which is fitted according to the respective position coordinates of a plurality of first position points and the pose transformation data between every two adjacent position points.
可选的,在获取每个第一位置点的位姿数据的同时,还可以记录车辆在每个第一位置点的档位信息。如将倒挡记录为-1,将非倒挡记录为1。当然,还可以将不同的前进挡记录为不同的数据,如一档记录为1,二挡记录为2,等等。在此不对档位信息的记录形式做具体限定。记录档位信息是为了后续车辆泊出目标区域的过程中,调整不同的控制策略。Optionally, while acquiring the pose data of each first position point, the gear position information of the vehicle at each first position point can also be recorded. If the reverse gear is recorded as -1, the non-reverse gear is recorded as 1. Of course, different forward gears can also be recorded as different data, such as the first gear is recorded as 1, the second gear is recorded as 2, and so on. The recording form of the gear position information is not specifically limited here. The purpose of recording the gear position information is to adjust different control strategies during the subsequent process of the vehicle parking out of the target area.
S102,在车辆泊出所述目标区域的过程中,实时获取所述车辆的泊出位置。S102. During the process of the vehicle parking out of the target area, acquire the parking position of the vehicle in real time.
本申请实施例中,可由上述实施例所述的控制层中定位计算模块的泊出定位单元执行。In the embodiment of the present application, it may be executed by the parking out positioning unit of the positioning calculation module in the control layer described in the above embodiments.
在一些实施例中,在所述车辆泊出所述目标区域的过程中,实时计算所述车辆的位姿信息,该位姿信息记为车辆的泊出位置。具体方法如下:In some embodiments, during the process of the vehicle parking out of the target area, the pose information of the vehicle is calculated in real time, and the pose information is recorded as the parking position of the vehicle. The specific method is as follows:
(1)首先,车辆运动满足阿克曼转向和刚体圆周运动公式:(1) First, the vehicle motion satisfies the formula of Ackermann steering and rigid body circular motion:
式中:vr为后轴中点速度,ω为横摆角速度,R为转弯半径,δf为前轮转弯半径,L为轴距。其中,ω为未知数据,R和L为车辆已知参数,δf和vr是通过传感器可以获取到的数据。化简上式可计算横摆角速度为:In the formula: v r is the midpoint velocity of the rear axle, ω is the yaw rate, R is the turning radius, δ f is the turning radius of the front wheel, and L is the wheelbase. Among them, ω is unknown data, R and L are known parameters of the vehicle, and δ f and v r are data that can be obtained through sensors. Simplifying the above formula, the yaw rate can be calculated as:
式中:i为方向盘的角传动比。In the formula: i is the angular transmission ratio of the steering wheel.
(2)其次,根据车辆运动几何关系进一步得到后轴中点纵、横坐标如下式(2) Secondly, according to the geometric relationship of vehicle movement, the longitudinal and abscissa coordinates of the midpoint of the rear axle are further obtained as follows:
式中:Ts为离散计算周期(相邻每两个位置点之间的时间间隔),ωk、θk分别为k时刻的横摆角速度和航向角,xk、yk分别为k时刻相对于起始点的纵、横坐标;vl、vr分别为左右非驱动轮轮速。In the formula: T s is the discrete calculation cycle (the time interval between every two adjacent position points), ω k and θ k are the yaw rate and heading angle at time k, respectively, and x k and y k are respectively The vertical and horizontal coordinates relative to the starting point; v l and v r are the wheel speeds of the left and right non-driving wheels respectively.
实际应用中,考虑到车辆泊出目标区域的过程中,车速并非恒定,且车速和横摆角速度的数据存在一定噪声。如果按照上述计算方式,计算出的泊出位置精度较低。为了提高实时定位的精度,本申请实施例中,对上述计算出的位姿信息进行数据滤波处理,将滤波后的位姿信息记为泊出位置。可选的,可以采用扩展卡尔曼滤波器进行数据滤波处理。具体的,在上述步骤(1)、(2)的基础上,增加步骤(3)的滤波过程,如下:In practical applications, it is considered that the vehicle speed is not constant when the vehicle is parked out of the target area, and the data of vehicle speed and yaw rate have certain noises. If the above calculation method is followed, the calculated berth out position has low accuracy. In order to improve the accuracy of real-time positioning, in the embodiment of the present application, data filtering is performed on the above-mentioned calculated pose information, and the filtered pose information is recorded as the parking position. Optionally, an extended Kalman filter may be used for data filtering processing. Specifically, on the basis of the above steps (1) and (2), add the filtering process of step (3), as follows:
(3)扩展卡尔曼滤波器(3) Extended Kalman filter
式中:vx,k+1、vy,k+1分别为k+1时刻横、纵向车速,ax、ay分别为横、纵向加速度,W、V分别为过程噪声和测量噪声。其中,W为给定数据,V相当于由上述步骤计算出的ω组成的矩阵。In the formula: v x, k+1 , v y, k+1 are the lateral and longitudinal vehicle speeds at k+1 time respectively, a x and a y are the lateral and longitudinal accelerations respectively, W and V are process noise and measurement noise respectively. Among them, W is the given data, and V is equivalent to a matrix composed of ω calculated by the above steps.
通过上述数据滤波处理,能够有效滤除噪声数据,有效提高了定位精度。Through the above data filtering processing, the noise data can be effectively filtered out, and the positioning accuracy can be effectively improved.
S103,根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角。S103. Determine a steering wheel rotation angle according to a position deviation between the parking-out position and the parking-in path.
该步骤中,已记录的泊入路径,可以看作是一条参考路径。可以利用现有的导航方法,计算泊出位置和参考路径之间的位置偏差,以确定方向盘转角,进而实现对车辆的控制。In this step, the recorded parking path can be regarded as a reference path. Existing navigation methods can be used to calculate the position deviation between the parking position and the reference path, so as to determine the steering wheel angle, and then realize the control of the vehicle.
S104,根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。S104. Control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
在一些实施例中,在车辆泊出所述目标区域的过程中,所述车辆控制方法还包括:若车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同,则根据车辆在当前位置对应的档位信息切换所述车辆的档位。In some embodiments, during the process of the vehicle parking out of the target area, the vehicle control method further includes: if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, then according to The gear position information corresponding to the current position of the vehicle switches the gear position of the vehicle.
示例性的,如图5所示,车辆泊入目标区域过程中,由泊入起始点到后退位置之间,车辆前进;由换挡位置到泊入终止点之间,车辆后退。相应的,在车辆泊出目标区域过程中,车辆先前进、再后退。当车辆到达换挡位置时,将车辆档位由前进档位换成后退档位。Exemplarily, as shown in FIG. 5 , during the process of parking the vehicle into the target area, the vehicle moves forward from the starting point of parking to the reverse position; and the vehicle moves backward from the shift position to the end point of parking. Correspondingly, during the process of parking the vehicle out of the target area, the vehicle first advances and then retreats. When the vehicle reaches the shift position, the vehicle gear is changed from the forward gear to the reverse gear.
上述图2所述实施例中,由于车辆泊入目标区域的泊入路径是已完成的路径,说明该路径是能够保证通行的,那么记录该路径,相当于保存了一条参考路径。当车辆需要泊出目标区域时,相当于以已记录的泊入路径为参考路径,控制车辆泊入目标区域。当车辆驶入未知的狭窄区域,且无法通过掉头退出时,通过上述方法,能够自动控制车辆沿原路返回,提高了自动驾驶的智能化程度。In the embodiment described in FIG. 2 above, since the parking route of the vehicle into the target area is a completed route, it means that the route can be guaranteed to pass, so recording the route is equivalent to saving a reference route. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park in the target area. When the vehicle enters an unknown narrow area and cannot exit through a U-turn, the above method can automatically control the vehicle to return along the original road, improving the intelligence of automatic driving.
针对上述步骤S103,在一些实施例中,在车辆泊出目标区域的过程中,无论是前进还是后退,均可以采用相同的算法来计算方向盘转角。For the above step S103, in some embodiments, the same algorithm can be used to calculate the steering wheel angle when the vehicle is parked out of the target area, whether it is moving forward or backward.
但由于车辆前进和后退过程中,车辆与泊入路径之间的几何关系实际是有所不同的,如果按照相同的算法计算方向盘转角,可能导致计算结果的精度较低,进而无法保证车辆精准地沿原路返回。However, due to the fact that the geometric relationship between the vehicle and the parking path is different during the forward and backward process of the vehicle, if the steering wheel angle is calculated according to the same algorithm, the accuracy of the calculation result may be low, and it is impossible to guarantee the accurate positioning of the vehicle. Go back the same way.
为了提高控制精度,在一个实施例中,将泊入路径划分为前进与后退的分段路径,为不同的分段路径设置不同的算法。具体的,S103可以包括以下步骤:In order to improve the control accuracy, in one embodiment, the parking path is divided into forward and reverse segmented paths, and different algorithms are set for different segmented paths. Specifically, S103 may include the following steps:
I、获取所述车辆在所述泊出位置对应的档位信息,其中,所述档位信息表示所述车辆泊入所述目标区域的过程中、经过泊出位置时的档位。I. Obtain gear position information corresponding to the vehicle at the parking position, wherein the gear position information indicates the gear position of the vehicle passing through the parking position during the process of parking into the target area.
如上实施例所述,记录的泊入路径可以指记录的离散数据,还可以是拟合出的一条曲线。当泊入路径指离散数据时,相应的,步骤I中,泊入路径中与泊出位置相匹配的位置点可以是,距离泊出位置最近的某个第一位置点。当泊入路径指拟合出的曲线时,泊入路径中与泊出位置相匹配的位置点可以是,与拟合出的曲线距离最近的某个位置点(该位置点不一定是第一位置点)。As described in the above embodiment, the recorded parking path may refer to the recorded discrete data, or may be a fitted curve. When the park-in path refers to discrete data, correspondingly, in step I, the position point in the park-in path that matches the park-out position may be a first position point closest to the park-out position. When the park-in path refers to the fitted curve, the position point in the park-in path that matches the park-out position can be a position point closest to the fitted curve (the position point is not necessarily the first location point).
当泊入路径中与泊出位置相匹配的位置点为第一位置点时,泊出位置对应的档位信息即为第一位置点的档位信息。当泊入路径中与泊出位置相匹配的位置点不为第一位置点时,可以根据各个第一位置点对应的档位信息,将泊入路径划分为前进子路径和后退子路径,然后判断泊出位置属于前进子路径还是后退子路径,以此判断出泊出位置对应的档位信息。When the location point in the parking path that matches the parking location is the first location point, the gear information corresponding to the parking location is the gear information of the first location point. When the location point matching the parking location in the parking path is not the first location point, the parking path can be divided into a forward sub-path and a backward sub-path according to the gear information corresponding to each first location point, and then It is determined whether the parked out position belongs to the forward sub-path or the reversed sub-path, so as to determine the gear information corresponding to the parked out position.
II、若所述档位信息表示前进,则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角,其中,所述预瞄点为所述泊入路径中的位置点。II. If the gear position information indicates forward movement, then determine the steering wheel angle according to the position deviation between the preview point and the parking position, wherein the preview point is a position point in the parking path .
该步骤中,档位信息表示前进,换言之,车辆泊入目标区域的过程中,到达当前位置时为前进状态。相应的,车辆泊出目标区域的过程中,车辆到达当前位置时应为后退状态。此种情况下,车辆与泊入路径之间满足转向几何学,利用后退预瞄跟踪算法确定方向盘转角。具体的,步骤II可以包括:In this step, the gear position information indicates forward movement, in other words, the vehicle is in the forward state when it reaches the current position during the process of parking into the target area. Correspondingly, during the process of the vehicle parking out of the target area, the vehicle should be in the backward state when it reaches the current position. In this case, the steering geometry is satisfied between the vehicle and the parking path, and the steering wheel angle is determined by using the reverse preview tracking algorithm. Specifically, step II may include:
计算第一横向循迹误差,其中,所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离;calculating a first lateral tracking error, wherein the first lateral tracking error represents a lateral distance from the center of the rear axle of the vehicle at the parking position to the preview point;
根据所述第一横向循迹误差和第一控制律计算第一前轮转角,其中,所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系;calculating a first front wheel angle according to the first lateral tracking error and a first control law, wherein the first control law represents a functional relationship between the first lateral tracking error and the front wheel angle of the vehicle;
根据所述第一前轮转角确定方向盘转角。The steering wheel angle is determined according to the first front wheel angle.
参见图3,是本申请实施例提供的后退预瞄跟踪算法的几何示意图。如图3所示,从车轮转角与泊入路径中的预瞄点(gx、gy)之间的关系考虑,预瞄点为从车辆后轴中心出发,到泊入路径距离为ld(预设值)的一点。同时定义车辆后轴中心到预瞄点(gx、gy)的横向距离为第一横向循迹误差eld,由三角几何关系有:Referring to FIG. 3 , it is a schematic geometrical diagram of the backward preview tracking algorithm provided by the embodiment of the present application. As shown in Figure 3, considering the relationship between the wheel rotation angle and the preview point (g x , g y ) in the parking path, the preview point starts from the center of the rear axle of the vehicle, and the distance to the parking path is l d (default value). At the same time, the lateral distance from the center of the rear axle of the vehicle to the preview point (g x , g y ) is defined as the first lateral tracking error e ld , and the triangular geometric relationship is:
预瞄距离ld与后轴中点v速度呈正相关:The preview distance l d is positively correlated with the speed of the midpoint v of the rear axle:
ld=k·vl d =k·v
式中:k为标定参数。车辆的前轮转角为:In the formula: k is the calibration parameter. The front wheel rotation angle of the vehicle is:
δ=tan-1(L/R)δ=tan -1 (L/R)
联立以上几式,得到第一控制律为Combining the above equations, the first control law is obtained as
式中:δ1表示车辆的第一前轮转角。In the formula: δ 1 represents the first front wheel angle of the vehicle.
基于上述第一控制律,可以根据第一横向循迹误差和相关数据,实时计算出车辆前轮转角。由于车辆前轮转角与方向盘转角之间存在确定的转换关系,因此,根据计算出的车辆前轮转角即可确定出方向盘转角。Based on the above-mentioned first control law, the front wheel rotation angle of the vehicle can be calculated in real time according to the first lateral tracking error and related data. Since there is a definite conversion relationship between the vehicle front wheel angle and the steering wheel angle, the steering wheel angle can be determined according to the calculated vehicle front wheel angle.
示例性的,信息获取层将实时获取到的后轴中点速度、当前位置的位置坐标和车辆姿态数据发送给控制层;控制层根据接收到的数据实时计算出第一横向循迹误差,再根据第一横向循迹误差和第一控制律、实时计算出第一前轮转角,并转换为方向盘转角,发送给执行层;执行层根据接收到的方向盘转角控制方向盘转动,并根据信息获取层实时反馈的方向盘转角数据判断方向盘是否转动到位。Exemplarily, the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the first lateral tracking error in real time according to the received data, and then According to the first lateral tracking error and the first control law, the first front wheel angle is calculated in real time, and converted into the steering wheel angle, and sent to the execution layer; the execution layer controls the steering wheel rotation according to the received steering wheel angle, and according to the information acquisition layer Real-time feedback of the steering wheel angle data to determine whether the steering wheel is in place.
III、若所述档位信息表示后退,则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。III. If the gear position information indicates reverse, then determine the steering wheel angle according to the position deviation between the parking out position and the parking in path.
该步骤中,档位信息表示后退,换言之,车辆泊入目标区域的过程中,到达当前位置时为后退状态。相应的,车辆泊出目标区域的过程中,车辆到达当前位置时应为前进状态。此种情况下,车辆与泊入路径之间满足理想阿克曼转向关系,利用前进误差反馈跟踪算法确定方向盘转角。具体的,步骤III可以包括:In this step, the gear position information indicates the reverse, in other words, the vehicle is in the reverse state when it reaches the current position during the process of parking into the target area. Correspondingly, when the vehicle is parked out of the target area, the vehicle should be in the forward state when it reaches the current position. In this case, the ideal Ackermann steering relationship is satisfied between the vehicle and the parking path, and the forward error feedback tracking algorithm is used to determine the steering wheel angle. Specifically, step III may include:
计算第二横向循迹误差,其中,所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离;calculating a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path;
计算角度循迹误差,所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差;calculating an angular tracking error representing an angular difference between a heading angle of the vehicle at the parked out position and a heading angle of the vehicle at the second location point;
根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角,其中,所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系;Calculate the second front wheel rotation angle according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error The functional relationship between the track error and the front wheel angle of the vehicle;
根据所述第二前轮转角确定方向盘转角。The steering wheel angle is determined according to the second front wheel angle.
参见图4,是本申请实施例提供的前进误差反馈跟踪算法的几何示意图。如图4所示,车辆与泊入路径之间满足理想阿克曼转向关系tan(δ)=L/R。将车辆前轴中心至期望轨迹的距离定义为第二横向循迹误差ef,汽车前轮处的角度循迹误差可以表示为θe=θ-θc,式中:θ、θc分别为出泊过程中的航向角和入泊路径中记录的航向角,联立上述两式,得到第二控制律:Referring to FIG. 4 , it is a schematic geometric diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application. As shown in FIG. 4 , the ideal Ackermann steering relationship tan(δ)=L/R is satisfied between the vehicle and the parking path. The distance from the center of the front axle of the vehicle to the desired trajectory is defined as the second lateral tracking error e f , and the angular tracking error at the front wheel of the vehicle can be expressed as θ e = θ-θ c , where θ and θ c are respectively The course angle recorded in the berthing path and the course angle recorded in the berthing path are combined with the above two equations to obtain the second control law:
式中,δ2为车辆的第二前轮转角。In the formula, δ2 is the second front wheel angle of the vehicle.
需要说明的是,图4中所示的XY坐标系,可以是基于出泊起始位置点设定的。换言之,后续实时计算出的数据,都是基于出泊起始位置的。例如,θc相当于车辆在当前位置相对于出泊起始位置的航向角变化值。It should be noted that the XY coordinate system shown in FIG. 4 may be set based on the starting position of the mooring. In other words, the subsequent real-time calculated data are all based on the starting position of the mooring. For example, θ c is equivalent to the change value of the heading angle of the vehicle at the current position relative to the initial position of unparking.
基于上述第二控制律,可以根据第二横向循迹误差、角度循迹误差和相关数据,实时计算出第二前轮转角。由于车辆的前轮转角与方向盘转角之间存在确定的转换关系,因此,根据计算出的车辆前轮转角即可确定出方向盘转角。Based on the above second control law, the second front wheel rotation angle can be calculated in real time according to the second lateral tracking error, angular tracking error and related data. Since there is a definite conversion relationship between the front wheel angle of the vehicle and the steering wheel angle, the steering wheel angle can be determined according to the calculated vehicle front wheel angle.
示例性的,信息获取层将实时获取到的后轴中点速度、当前位置的位置坐标和车辆姿态数据发送给控制层;控制层根据接收到的数据实时计算出第二横向循迹误差和角度循迹误差,再根据第二横向循迹误差、角度循迹误差和第一控制律、实时计算出第二前轮转角,并转换为方向盘转角,发送给执行层;执行层根据接收到的方向盘转角控制方向盘转动,并根据信息获取层实时反馈的方向盘转角数据判断方向盘是否转动到位。Exemplarily, the information acquisition layer sends the real-time obtained midpoint speed of the rear axle, the position coordinates of the current position and the vehicle attitude data to the control layer; the control layer calculates the second lateral tracking error and angle in real time according to the received data Tracking error, and then according to the second lateral tracking error, angular tracking error and the first control law, calculate the second front wheel angle in real time, and convert it into steering wheel angle, and send it to the execution layer; The rotation angle controls the rotation of the steering wheel, and judges whether the steering wheel is in place according to the steering wheel rotation angle data fed back in real time by the information acquisition layer.
上述实施例中,根据档位的变化,将入泊路径划划分为前进子路径和后退子路径。通过对不同子路径分段控制,能够更加精确地计算出方向盘转角,实现车辆的精准控制。In the above embodiment, according to the change of the gear position, the parking route is divided into a forward sub-route and a reverse sub-route. Through segmental control of different sub-paths, the steering wheel angle can be calculated more accurately to achieve precise control of the vehicle.
示例性的,参见图5,是本申请实施例提供的应用场景示意图。如图5中的(a)所示的应用场景,该应用场景中,车辆后退泊入目标区域。在车辆泊出目标区域过程中,控制车辆调用前进策略泊出即可。如图5中的(b)所示的应用场景,该应用场景中,车辆泊入目标区域的过程中,先从泊入起始点前进泊入换挡位置,再切换为后退档位、继续从换挡位置后退到达泊入终止点。相应的,车辆泊出过程中,先调用前进策略控制车辆从泊入终止点泊出到换挡位置,在换挡位置将档位切换为后退档位,再调用后退策略控制车辆从换挡位置泊出到泊入起始点。For example, refer to FIG. 5 , which is a schematic diagram of an application scenario provided by an embodiment of the present application. The application scenario shown in (a) in FIG. 5, in this application scenario, the vehicle backs up and parks into the target area. During the process of parking the vehicle out of the target area, it is enough to control the vehicle to call the forward strategy to park out. The application scenario shown in (b) in Figure 5, in this application scenario, in the process of parking into the target area, the vehicle first advances from the starting point of parking into the shift position, then switches to the reverse gear, and continues to move from The shift position is reversed to the park end point. Correspondingly, in the process of parking out of the vehicle, the forward strategy is first called to control the vehicle to park from the parking end point to the shift position, and the gear is switched to the reverse gear at the shift position, and then the reverse strategy is called to control the vehicle from the shift position Park out to the start point of park in.
一些应用情况中,当车辆成功回到泊入起始点,控制系统可以通过HMI提示用户完成泊出,以指示用户切换为人工驾驶模式。In some application situations, when the vehicle successfully returns to the starting point of parking, the control system can prompt the user to complete the parking out through the HMI, so as to instruct the user to switch to the manual driving mode.
本申请实施例中,由于车辆泊入目标区域的泊入路径是已完成的路径,说明该路径是能够保证通行的,那么记录该路径,相当于保存了一条参考路径。当车辆需要泊出目标区域时,相当于以已记录的泊入路径为参考路径,控制车辆泊入目标区域。当车辆驶入未知的狭窄区域,且无法通过掉头退出时,通过上述方法,能够自动控制车辆沿原路返回,提高了自动驾驶的智能化程度。In the embodiment of the present application, since the parking route of the vehicle into the target area is a completed route, it means that the route can be guaranteed to pass, so recording the route is equivalent to saving a reference route. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park in the target area. When the vehicle enters an unknown narrow area and cannot exit through a U-turn, the above method can automatically control the vehicle to return along the original road, improving the intelligence of automatic driving.
进一步的,本申请实施例中,将泊入路径划分为前进与后退的分段路径,为不同的分段路径设置不同的控制算法。有效提高了反向盘转角的计算精度,进而提高了车辆的控制精度。Further, in the embodiment of the present application, the parking path is divided into forward and reverse segmented paths, and different control algorithms are set for different segmented paths. The calculation accuracy of the rotation angle of the reverse disc is effectively improved, thereby improving the control accuracy of the vehicle.
应理解,上述实施例中各步骤的序号的大小并不意味着执行顺序的先后,各过程的执行顺序应以其功能和内在逻辑确定,而不应对本申请实施例的实施过程构成任何限定。It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.
对应于上文实施例所述的车辆控制方法,图6是本申请实施例提供的车辆控制装置的结构框图,为了便于说明,仅示出了与本申请实施例相关的部分。Corresponding to the vehicle control method described in the above embodiments, FIG. 6 is a structural block diagram of a vehicle control device provided by the embodiment of the present application. For convenience of description, only the parts related to the embodiment of the present application are shown.
参照图6,该装置包括:Referring to Figure 6, the device includes:
路径记录单元61,用于在车辆泊入目标区域的过程中,记录所述车辆泊入所述目标区域的泊入路径;a
位置获取单元62,用于在车辆泊出所述目标区域的过程中,实时获取所述车辆的泊出位置;A
角度计算单元63,用于根据所述泊出位置和所述泊入路径之间的位置偏差确定方向盘转角;An
车辆控制单元64,用于根据所述方向盘转角控制所述车辆沿所述泊入路径泊出所述目标区域。The
可选的,所述目标区域包括多个第一位置点,路径记录单元61还用于:Optionally, the target area includes a plurality of first location points, and the
在所述车辆泊入所述目标区域的过程中,每达到一个第一位置点,获取表示所述第一位置点所处环境的三维点云、和所述第一位置点的位置坐标;During the process of the vehicle parking into the target area, each time a first location point is reached, a three-dimensional point cloud representing the environment where the first location point is located and the location coordinates of the first location point are acquired;
根据多个所述第一位置点的所述三维点云计算所述车辆在每相邻的两个第一位置点之间的位姿变换数据;calculating pose transformation data of the vehicle between every two adjacent first position points according to the three-dimensional point cloud of a plurality of the first position points;
根据所述车辆在每相邻的两个第一位置点之间的位姿变换数据、以及每个第一位置点的位置坐标生成所述泊入路径。The parking path is generated according to the pose transformation data of the vehicle between every two adjacent first location points and the location coordinates of each first location point.
可选的,位置获取单元62还用于:Optionally, the
在所述车辆泊出所述目标区域的过程中,实时计算所述车辆的位姿信息;During the process of the vehicle parking out of the target area, calculate the pose information of the vehicle in real time;
对所述位姿信息进行数据滤波处理,获得所述泊出位置。Data filtering is performed on the pose information to obtain the parked-out position.
可选的,角度计算单元63还用于:Optionally, the
获取所述车辆在所述泊出位置对应的档位信息,其中,所述档位信息表示所述车辆泊入所述目标区域的过程中、经过所述泊出位置时的档位;Acquiring gear position information corresponding to the vehicle at the parking position, wherein the gear position information indicates the gear position of the vehicle passing through the parking position during the process of parking into the target area;
若所述档位信息表示前进,则根据预瞄点与所述泊出位置之间的位置偏差确定所述方向盘转角,其中,所述预瞄点为所述泊入路径中的位置点;If the gear position information indicates forward movement, then determine the steering wheel angle according to the position deviation between the preview point and the parking position, wherein the preview point is a position point in the parking path;
若所述档位信息表示后退,则根据所述泊出位置与所述泊入路径之间的位置偏差确定所述方向盘转角。If the gear position information indicates reverse, the steering wheel rotation angle is determined according to the position deviation between the parking-out position and the parking-in path.
可选的,角度计算单元63还用于:Optionally, the
计算第一横向循迹误差,其中,所述第一横向循迹误差表示所述车辆在所述泊出位置的后轴中心到所述预瞄点的横向距离;calculating a first lateral tracking error, wherein the first lateral tracking error represents a lateral distance from the center of the rear axle of the vehicle at the parking position to the preview point;
根据所述第一横向循迹误差和第一控制律计算第一前轮转角,其中,所述第一控制律表示所述第一横向循迹误差和车辆的前轮转角之间的函数关系;calculating a first front wheel angle according to the first lateral tracking error and a first control law, wherein the first control law represents a functional relationship between the first lateral tracking error and the front wheel angle of the vehicle;
根据所述第一前轮转角确定方向盘转角。The steering wheel angle is determined according to the first front wheel angle.
可选的,角度计算单元63还用于:Optionally, the
计算第二横向循迹误差,其中,所述第二横向循迹误差表示所述车辆在所述泊出位置的前轴中心到所述泊入路径的距离;calculating a second lateral tracking error, wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path;
计算角度循迹误差,所述角度循迹误差表示所述车辆在所述泊出位置的航向角与所述车辆在所述第二位置点的航向角之间的角度差;calculating an angular tracking error representing an angular difference between a heading angle of the vehicle at the parked out position and a heading angle of the vehicle at the second location point;
根据所述第二横向循迹误差、所述角度循迹误差和第二控制律计算第二前轮转角,其中,所述第二控制律表示所述第二横向循迹误差、所述角度循迹误差和车辆的前轮转角之间的函数关系;Calculate the second front wheel rotation angle according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error The functional relationship between the track error and the front wheel angle of the vehicle;
根据所述第二前轮转角确定方向盘转角。The steering wheel angle is determined according to the second front wheel angle.
可选的,车辆控制单元64还用于:Optionally, the
在车辆泊出所述目标区域的过程中,若所述车辆在当前位置对应的档位信息和在上一位置对应的档位信息不同,则根据所述车辆在当前位置对应的档位信息切换所述车辆的档位。During the process of the vehicle parking out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, switch according to the gear information corresponding to the current position of the vehicle The gear of the vehicle.
需要说明的是,上述装置/单元之间的信息交互、执行过程等内容,由于与本申请方法实施例基于同一构思,其具体功能及带来的技术效果,具体可参见方法实施例部分,此处不再赘述。It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.
另外,图6所示的车辆控制装置可以是内置于现有的终端设备内的软件单元、硬件单元、或软硬结合的单元,也可以作为独立的挂件集成到所述终端设备中,还可以作为独立的终端设备存在。In addition, the vehicle control device shown in FIG. 6 may be a software unit, a hardware unit, or a combination of software and hardware built into an existing terminal device, or it may be integrated into the terminal device as an independent pendant, or it may be Exists as an independent terminal device.
所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,仅以上述各功能单元、模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能单元、模块完成,即将所述装置的内部结构划分成不同的功能单元或模块,以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中,上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。另外,各功能单元、模块的具体名称也只是为了便于相互区分,并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.
图7是本申请实施例提供的终端设备的结构示意图。如图7所示,该实施例的终端设备7包括:至少一个处理器70(图7中仅示出一个)处理器、存储器71以及存储在所述存储器71中并可在所述至少一个处理器70上运行的计算机程序72,所述处理器70执行所述计算机程序72时实现上述任意各个车辆控制方法实施例中的步骤。FIG. 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. As shown in FIG. 7, the
所述终端设备可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。该终端设备可包括,但不仅限于,处理器、存储器。本领域技术人员可以理解,图7仅仅是终端设备7的举例,并不构成对终端设备7的限定,可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件,例如还可以包括输入输出设备、网络接入设备等。The terminal device may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal device may include, but not limited to, a processor and a memory. Those skilled in the art can understand that FIG. 7 is only an example of the
所称处理器70可以是中央处理单元(Central Processing Unit,CPU),该处理器70还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The so-called
所述存储器71在一些实施例中可以是所述终端设备7的内部存储单元,例如终端设备7的硬盘或内存。所述存储器71在另一些实施例中也可以是所述终端设备7的外部存储设备,例如所述终端设备7上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。进一步地,所述存储器71还可以既包括所述终端设备7的内部存储单元也包括外部存储设备。所述存储器71用于存储操作系统、应用程序、引导装载程序(Boot Loader)、数据以及其他程序等,例如所述计算机程序的程序代码等。所述存储器71还可以用于暂时地存储已经输出或者将要输出的数据。The
本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现可实现上述各个方法实施例中的步骤。The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.
本申请实施例提供了一种计算机程序产品,当计算机程序产品在终端设备上运行时,使得终端设备执行时实现可实现上述各个方法实施例中的步骤。An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the foregoing method embodiments when executed.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请实现上述实施例方法中的全部或部分流程,可以通过计算机程序来指令相关的硬件来完成,所述的计算机程序可存储于一计算机可读存储介质中,该计算机程序在被处理器执行时,可实现上述各个方法实施例的步骤。其中,所述计算机程序包括计算机程序代码,所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括:能够将计算机程序代码携带到装置/终端设备的任何实体或装置、记录介质、计算机存储器、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random AccessMemory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。在某些司法管辖区,根据立法和专利实践,计算机可读介质不可以是电载波信号和电信信号。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to a device/terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory ( RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.
在上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述或记载的部分,可以参见其它实施例的相关描述。In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.
在本申请所提供的实施例中,应该理解到,所揭露的装置/终端设备和方法,可以通过其它的方式实现。例如,以上所描述的装置/终端设备实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口,装置或单元的间接耦合或通讯连接,可以是电性,机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the device/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
以上所述实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围,均应包含在本申请的保护范围之内。The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.
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