CN116674594A - Longitudinal control method and device based on path planning - Google Patents
Longitudinal control method and device based on path planning Download PDFInfo
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The application provides a longitudinal control method and a longitudinal control device based on path planning, wherein the method comprises the following steps: collecting environmental information around a target vehicle; path planning is carried out based on the environmental information, and a global optimal planning track is obtained; converting the global optimal planning track into a target planning track under a frenet coordinate system; dividing a target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points; calculating a longitudinal control output of the feed-forward-feedback based on the control target point and the point coordinate information; the target vehicle is longitudinally controlled based on the longitudinal control output. Therefore, the method and the device can carry out longitudinal control based on the longitudinal control output of feedforward-feedback, reduce errors generated in the control process, have low calculation complexity and improve the control response speed.
Description
Technical Field
The application relates to the technical field of whole vehicle control, in particular to a longitudinal control method and device based on path planning.
Background
Currently, in the key technology of an autonomous vehicle, longitudinal planning and control of the vehicle is the basis and focus of the autonomous vehicle, which determines the performance and experience of the autonomous vehicle to a large extent. In the existing longitudinal control method, path planning is usually performed first, and then longitudinal control is performed on planned path points, however, in practice, it is found that errors gradually accumulate and amplify in the existing method, and re-planning is required to perform error elimination, so that the deviation from an expected control target is caused. And because the control interval time is short, the response speed and the calculation complexity of the algorithm are required. As can be seen, the existing control method has errors, so that the control target deviates from the expected control target, and the control calculation is complex, thereby reducing the control response speed.
Disclosure of Invention
The embodiment of the application aims to provide a longitudinal control method and a longitudinal control device based on path planning, which can carry out longitudinal control based on longitudinal control output of feedforward-feedback, reduce errors generated in the control process, have low calculation complexity and improve the control response speed.
The first aspect of the application provides a longitudinal control method based on path planning, which comprises the following steps:
collecting environmental information around a target vehicle;
performing path planning based on the environment information to obtain a global optimal planning track;
converting the global optimal planning track into a target planning track under a frenet coordinate system;
dividing the target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points;
calculating a feed-forward-fed longitudinal control output based on the control target point and the point coordinate information;
and longitudinally controlling the target vehicle based on the longitudinally control output.
In the implementation process, the method can collect the environmental information around the target vehicle; then, path planning is carried out based on the environmental information, and a global optimal planning track is obtained; converting the global optimal planning track into a target planning track under a frenet coordinate system; secondly, dividing a target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points; then, calculating longitudinal control output based on the control target point and the point coordinate information and feedforward-feedback based on the control target point and the point coordinate information; finally, longitudinal control is performed on the target vehicle based on the longitudinal control output. Therefore, the method can perform longitudinal control based on the longitudinal control output of feedforward-feedback, reduces errors generated in the control process, has low calculation complexity, and improves the control response speed.
Further, the path planning based on the environmental information to obtain a global optimal planned track includes:
planning paths based on the environmental information to obtain a plurality of planned paths; the planning path at least comprises one or more of a global coordinate system track, a self-vehicle state of the target vehicle, a target vehicle state, a global planning point, road information and a re-planning mark;
performing collision verification on each planning path to obtain a verification result;
performing cost calculation according to the verification result to obtain a calculation result;
and selecting a global optimal planning track from a plurality of planning paths according to the calculation result.
Further, the calculating a feed-forward-feedback longitudinal control output based on the control target point and the point coordinate information includes:
determining first point coordinate information of a current position point of the target vehicle at the current moment;
calculating the input quantity of a feedback PI controller corresponding to the current moment and the target acceleration corresponding to the current moment according to the control target point, the point coordinate information and the first point coordinate information;
and calculating longitudinal control output corresponding to the current moment according to the input quantity of the feedback PI controller and the target acceleration.
Further, the calculating the longitudinal control output corresponding to the current moment according to the input quantity of the feedback PI controller and the target acceleration includes:
determining a second position point corresponding to the current moment, a third position point corresponding to the next moment after the current moment, second point coordinate information of the second position point and third point coordinate information corresponding to the third position point according to the control target point and the point coordinate information;
calculating longitudinal core deviation corresponding to the current moment according to the first point coordinate information and the second point coordinate information;
calculating target acceleration required by the target vehicle from the current position point to the third position point according to a preset uniform acceleration mathematical model, the first point coordinate information, the third point coordinate information and the next moment;
and calculating the input quantity of a feedback PI controller according to the longitudinal core deviation and the longitudinal controller.
Further, after the longitudinal control of the target vehicle based on the longitudinal control output, the method further includes:
at the next moment, judging whether the third position point is the last control target point according to the target planning track and the point coordinate information;
if not, the next moment is determined as the current moment, and the first point coordinate information of the current position point of the target vehicle at the current moment is determined.
The second aspect of the present application provides a longitudinal control device based on path planning, the longitudinal control device based on path planning comprising:
the acquisition unit is used for acquiring environmental information around the target vehicle;
the path planning unit is used for carrying out path planning based on the environment information to obtain a global optimal planning track;
the conversion unit is used for converting the global optimal planning track into a target planning track under a frenet coordinate system;
the dividing unit is used for dividing the target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points;
a calculation unit for calculating a longitudinal control output based on the control target point and the point coordinate information, which calculates a feed-forward-Feedback (FBC) based on the control target point and the point coordinate information;
and a control unit configured to perform longitudinal control of the target vehicle based on the longitudinal control output.
In the implementation process, the device can acquire the environmental information around the target vehicle through the acquisition unit; carrying out path planning based on the environmental information through a path planning unit to obtain a global optimal planning track; converting the global optimal planning track into a target planning track under a frenet coordinate system through a conversion unit; dividing the target planning track according to preset planning time and preset time intervals by a dividing unit to obtain point coordinate information of a plurality of control target points; calculating, by a calculation unit, a longitudinal control output based on the control target point and point coordinate information, the calculation feed-forward-Feedback (FBC); the control unit is used for longitudinally controlling the target vehicle based on the longitudinally control output. Therefore, the device can perform longitudinal control based on the longitudinal control output of feedforward-feedback, reduces errors generated in the control process, has low calculation complexity, and improves the control response speed.
Further, the path planning unit includes:
a planning subunit, configured to perform path planning based on the environmental information, so as to obtain a plurality of planned paths; the planning path at least comprises one or more of a global coordinate system track, a self-vehicle state of the target vehicle, a target vehicle state, a global planning point, road information and a re-planning mark;
the collision verification subunit is used for carrying out collision verification on each planning path to obtain a verification result;
the first calculating subunit is used for performing cost calculation according to the verification result to obtain a calculation result;
and the selecting subunit is used for selecting a global optimal planning track from a plurality of planning paths according to the calculation result.
Further, the computing unit includes:
the determining subunit is used for determining first point coordinate information of a current position point of the target vehicle at the current moment;
the second calculating subunit is used for calculating the input quantity of the feedback PI controller corresponding to the current moment and the target acceleration corresponding to the current moment according to the control target point, the point coordinate information and the first point coordinate information;
and the third calculation subunit is used for calculating the longitudinal control output corresponding to the current moment according to the input quantity of the feedback PI controller and the target acceleration.
Further, the third calculation subunit includes:
the determining module is used for determining a second position point corresponding to the current moment, a third position point corresponding to the next moment after the current moment, second point coordinate information of the second position point and third point coordinate information corresponding to the third position point according to the control target point and the point coordinate information;
the calculating module is used for calculating the longitudinal core deviation corresponding to the current moment according to the first point coordinate information and the second point coordinate information;
the calculation module is further configured to calculate a target acceleration required by the target vehicle from the current position point to the third position point according to a preset uniform acceleration mathematical model, the first point coordinate information, the third point coordinate information and the next moment;
and the calculation module is also used for calculating the input quantity of the feedback PI controller according to the longitudinal core deviation and the longitudinal controller.
Further, the longitudinal control device based on path planning further comprises:
the judging unit is used for judging whether the third position point is the last control target point according to the target planning track and the point coordinate information at the next moment;
and the determining unit is used for determining the next time as the current time when the third position point is not the last control target point, and executing the operation of determining the first point coordinate information of the current position point of the target vehicle at the current time by the determining subunit in the calculating unit.
A third aspect of the present application provides an electronic device comprising a memory for storing a computer program and a processor for running the computer program to cause the electronic device to perform the path planning based longitudinal control method of any one of the first aspects of the present application.
A fourth aspect of the application provides a computer readable storage medium storing computer program instructions which, when read and executed by a processor, perform the path planning based longitudinal control method of any of the first aspects of the application.
The beneficial effects of the application are as follows: the method and the device can carry out longitudinal control based on the longitudinal control output of feedforward-feedback, reduce errors generated in the control process, have low calculation complexity and improve the control response speed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a longitudinal control method based on path planning according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another longitudinal control method based on path planning according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a longitudinal control device based on path planning according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another longitudinal control device based on path planning according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a longitudinal control method based on path planning according to the present embodiment. The longitudinal control method based on path planning comprises the following steps:
s101, collecting environmental information around a target vehicle.
S102, path planning is carried out based on the environment information, and a global optimal planning track is obtained.
S103, converting the global optimal planning track into a target planning track under a frenet coordinate system.
And S104, dividing the target planning track according to the preset planning time and the preset time interval to obtain point coordinate information of a plurality of control target points.
In this embodiment, the method may be to track every t in the planning time S 1 （t 1 For interval time) one point, the planned trajectory is divided into S/t 1 And obtaining (S, D, yaw, curvature, vecity, accel) for each point.
S105, calculating longitudinal control output of feedforward-feedback based on the control target point and the point coordinate information.
And S106, longitudinal control is performed on the target vehicle based on the longitudinal control output.
In this embodiment, the method may perform path planning based on the data collected by the sensor, and plan a plurality of paths. Then, collision verification and cost calculation are carried out on the paths, and the optimal planning path is selected.
And converting the planned path into a path under a frenet coordinate system, and acquiring a control target point according to the time interval.
To speed up control response time and algorithm complexity, feed forward-Feedback (FBC) control is employed herein to track control of desired longitudinal motion target points.
The current time t given in connection with the target point of the time plan 1 Velocity V of (2) target1 And displacement S target1 The acceleration feedforward delta at the next moment is calculated FF Meanwhile, the planned speed displacement at the current moment and the actual speed displacement are subjected to difference, and the difference is taken as the input quantity delta of the feedback PI controller FB The final output was obtained as δ=δ FF+ δ FB 。
In this embodiment, the longitudinal planning of the autonomous vehicle refers to obtaining a desired speed at each point on a travelable longitudinal path through a planning algorithm, and the longitudinal control refers to control in the vehicle driving speed direction, that is, control the vehicle to travel at a given desired speed or a desired inter-vehicle distance. The longitudinal planning control system is a typical hybrid control system that includes not only continuous dynamic processes, but also discrete switching processes. Under different scenarios, an autonomous vehicle must adjust its speed to be the same as the front target vehicle speed while maintaining a certain safe distance from the front vehicle.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the longitudinal control method based on path planning described in the embodiment, longitudinal control can be performed based on the longitudinal control output of feedforward-feedback, so that errors generated in the control process are reduced, the calculation complexity is low, and the control response speed is improved.
Example 2
Referring to fig. 2, fig. 2 is a flow chart of a longitudinal control method based on path planning according to the present embodiment. The longitudinal control method based on path planning comprises the following steps:
s201, collecting environment information around the target vehicle.
S202, path planning is conducted based on environment information, and a plurality of planned paths are obtained.
In this embodiment, the planned path at least includes one or more of a global coordinate system track, a vehicle state of the target vehicle, a target vehicle state, a global planned point, road information, and a re-planned flag.
S203, performing collision verification on each planned path to obtain a verification result.
S204, performing cost calculation according to the verification result to obtain a calculation result.
S205, selecting a global optimal planning track from a plurality of planning paths according to the calculation result.
In this embodiment, the method may collect the surrounding information through the sensing device and generate a plurality of planning tracks. The generated track comprises the following information, a global coordinate system track, states of a vehicle and a target vehicle, global planning points, road information, a re-planning mark and the like.
In this embodiment, the method may perform collision check on the planned multiple tracks, and then perform cost calculation and sorting to select an optimal global planned track.
Implementing such an embodiment, the vehicle planned trajectory can be output based on the sensors, and then the optimal planned trajectory can be selected by sorting; meanwhile, the lane center line to be tracked by the vehicle can be calculated based on the left lane line and the right lane line perceived by the camera, so that the target to be reached by the vehicle centering control can be determined.
S206, converting the global optimal planning track into a target planning track under a frenet coordinate system.
In this embodiment, the method may perform trajectory planning points based on time.
In this embodiment, the method may be based on a globally optimal planned trajectory, converted into a planned trajectory under the frenet coordinate system.
By implementing the implementation mode, after the vehicle acquires the optimal planning track, the coordinate system is the global coordinate system, if the global coordinate system is directly adopted for control, the coordinate needs to be converted and then controlled, and the output result of control is also converted into the global coordinate system again, so that the coordinate system is converted into the frenet coordinate system again, and the decoupling of longitudinal control and transverse control is facilitated. Because longitudinal control has high time requirements, a time point is adopted to acquire the optimal track point in the frame coordinate system.
S207, dividing the target planning track according to the preset planning time and the preset time interval to obtain point coordinate information of a plurality of control target points.
In this embodiment, the method may be to track every t in the planning time S 1 （t 1 For the current time) one point is divided, and the planned track is divided into S/t 1 And obtaining (S, D, yaw, curvature, vecity, accel) for each point.
S208, determining first point coordinate information of a current position point of the target vehicle at the current moment.
In this embodiment, the current time is t 1 Time of day.
In this embodiment, the first point coordinate information is a point where the own vehicle is located, specifically (S) 1 ，D 1 ，Yaw 1 ，Cur 1 ，Vel 1 ，Acc 1 ). The first coordinate information corresponds to t 1 The actual location at the moment.
S209, calculating the input quantity of the feedback PI controller corresponding to the current moment and the target acceleration corresponding to the current moment according to the control target point, the point coordinate information and the first point coordinate information.
In this embodiment, the PI controller is fed backIs delta FB =K p e x +K i ∫e x 。
In this embodiment, the method may be based on the longitudinal control objective of the time planning point.
In this embodiment, the method may perform longitudinal control on the vehicle after the time planning point is acquired, t 1 At the time point, the point of the own vehicle is (S 1 ，D 1 ，Yaw 1 ，Cur 1 ，Vel 1 ，Acc 1 ) The control target point is the current t 1 Post-planning point (S) target1 ，D target1 ，Yaw target1 ，Cur target1 ，Vel target1 ，Acc target1 ) At this time t 1 Is (S) 1 -S target1 ，Vel 1 -Vel target1 ）。
In this embodiment, the method may be based on feed-forward solution in longitudinal control of feed-forward-Feedback (FBC).
In this embodiment, the method may be combined with t mentioned above 1 The point of the own vehicle at the moment and t 2 The time planning point can calculate the arrival t based on the uniform acceleration mathematical model 2 Acceleration required for time planning point (i.e. target acceleration described above), δ FF =（Vel target2 2 -Vel 1 2 ）/（2*（S target2 -S 1 ））。
In this embodiment, the method may be based on feedback solution in longitudinal control of feed forward-Feedback (FBC).
In the present embodiment, the feedback control is to reduce the deviation of the longitudinal movement of the vehicle during the longitudinal tracking, and simultaneously consider the position and speed errors, realizing the dual tracking of both. Actual t of vehicle 1 Time of day and expected t 1 The error of the time is e x =x ref -x p . And deviation e x Due to the deviation e of the vehicle speed v And distance deviation e s Is commonly determined, so e x =x ref -x p =e v +e s . The error is calculated by a PI controllerδ FB =K p e x +K i ∫e x The method comprises the steps of carrying out a first treatment on the surface of the Wherein delta FB The input quantity of the feedback PI controller is obtained.
S210, determining a second position point corresponding to the current moment, a third position point corresponding to the next moment after the current moment, second point coordinate information of the second position point and third point coordinate information corresponding to the third position point according to the control target point and the point coordinate information.
In this embodiment, the next time is t 2 Time of day.
In this embodiment, the second point coordinate information is a planned point after the current t1 as the control target point. Specifically (S) target1 ，D target1 ，Yaw target1 ，Cur target1 ，Vel target1 ，Acc target1 ). I.e. the planned time t1, the desired position is located.
In this embodiment, when the third point coordinate information is the planned time t2, the position is expected.
S211, calculating the longitudinal core deviation corresponding to the current moment according to the first point coordinate information and the second point coordinate information.
In this embodiment, the longitudinal core deviation of t1 is S 1 -S target1 ，Vel 1 -Vel target1 ）。
S212, calculating the target acceleration required by the target vehicle from the current position point to the third position point according to the preset uniform acceleration mathematical model, the first point coordinate information, the third point coordinate information and the next moment.
In this embodiment, the target acceleration is the acceleration required to reach the planned point at time t2, i.e., δ FF =（Vel target2 2 -Vel 1 2 ）/（2*（S target2 -S 1 ））。
S213, calculating the input quantity of the feedback PI controller according to the longitudinal core deviation and the longitudinal controller.
And S214, longitudinal control is performed on the target vehicle based on the longitudinal control output.
S215, at the next moment, judging whether the third position point is the last control target point according to the target planning track and the point coordinate information, and if so, ending the flow; if not, step S216 is performed.
In this embodiment, the next time is t 2 Time of day.
In the present embodiment, the longitudinal control output of the feed-forward-Feedback (FBC) is δ=δff+δfb= (veltaget 22-Vel 12)/(2× (target 2-S1)) +kpex+ki+_ex.
S216, determining the next time as the current time, and executing step S208.
In this embodiment, the method may wait for the next t 1 At the moment, repeating the steps until the replaytime=0 (i.e. the number of times of re-planning), and re-planning the path. After re-planning, t is now the time since there is no vehicle speed and distance deviation 0 Is controlled solely by feed-forward.
When implementing this embodiment, the control interval is short, the corresponding speed requirement is high, and the algorithm complexity is low. A feed-forward-feedback based control algorithm is employed for specific longitudinal tracking control. The feedforward calculation in the algorithm is mainly calculated through the speed and the position at the next moment, and the feedback control in the algorithm is mainly performed through the speed error and the position error, and if the speed error or the distance error is larger, the reprint is triggered to be re-planned.
In summary, the method can be used for longitudinal control under purely visual, positioning-free vehicle path planning. The method comprises the steps of acquiring lane information of a vehicle, acquiring lane information of the vehicle, and updating an optimal planning path at intervals according to the path planning, wherein the future lane information cannot be acquired, and the path planning has certain performance and dynamic planning requirements, so that continuous longitudinal control is realized.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the longitudinal control method based on path planning described in the embodiment, longitudinal control can be performed based on the longitudinal control output of feedforward-feedback, so that errors generated in the control process are reduced, the calculation complexity is low, and the control response speed is improved.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of a longitudinal control device based on path planning according to the present embodiment. As shown in fig. 3, the longitudinal control device based on path planning includes:
an acquisition unit 310 for acquiring environmental information around the target vehicle;
the path planning unit 320 is configured to perform path planning based on the environmental information to obtain a globally optimal planned trajectory;
a conversion unit 330, configured to convert the global optimal planned trajectory into a target planned trajectory in a frenet coordinate system;
the dividing unit 340 is configured to divide the target planning track according to a preset planning time and a preset time interval, so as to obtain point coordinate information of a plurality of control target points;
a calculation unit 350 for calculating a longitudinal control output of feedforward-feedback based on the control target point and the point coordinate information;
a control unit 360 for longitudinally controlling the target vehicle based on the longitudinally control output.
In this embodiment, the explanation of the longitudinal control device based on path planning may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, the longitudinal control device based on path planning described in the embodiment can perform longitudinal control based on the longitudinal control output of feedforward-feedback, reduces errors generated in the control process, has low calculation complexity, and improves the control response speed.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of a longitudinal control device based on path planning according to the present embodiment. As shown in fig. 4, the longitudinal control device based on path planning includes:
an acquisition unit 310 for acquiring environmental information around the target vehicle;
the path planning unit 320 is configured to perform path planning based on the environmental information to obtain a globally optimal planned trajectory;
a conversion unit 330, configured to convert the global optimal planned trajectory into a target planned trajectory in a frenet coordinate system;
the dividing unit 340 is configured to divide the target planning track according to a preset planning time and a preset time interval, so as to obtain point coordinate information of a plurality of control target points;
a calculation unit 350 for calculating a longitudinal control output of feedforward-feedback based on the control target point and the point coordinate information;
a control unit 360 for longitudinally controlling the target vehicle based on the longitudinally control output.
As an alternative embodiment, the path planning unit 320 includes:
a planning subunit 321, configured to perform path planning based on the environmental information, so as to obtain a plurality of planned paths; the planned path at least comprises one or more of a global coordinate system track, a self-vehicle state of a target vehicle, a target vehicle state, a global planning point, road information and a re-planning mark;
a collision checking subunit 322, configured to perform collision checking on each planned path to obtain a checking result;
a first calculation subunit 323, configured to perform cost calculation according to the verification result, so as to obtain a calculation result;
a selection subunit 324 is configured to select a globally optimal planned trajectory from the plurality of planned paths according to the calculation result.
As an alternative embodiment, the computing unit 350 includes:
a determining subunit 351, configured to determine first point coordinate information of a current location point where the target vehicle is located at a current moment;
a second calculating subunit 352, configured to calculate, according to the control target point, the point coordinate information, and the first point coordinate information, an input amount of the feedback PI controller corresponding to the current time and a target acceleration corresponding to the current time;
and the third calculating subunit 353 is configured to calculate, according to the input amount and the target acceleration of the feedback PI controller, a longitudinal control output corresponding to the current moment.
As an alternative embodiment, the third calculation subunit 353 includes:
the determining module is used for determining a second position point corresponding to the current moment, a third position point corresponding to the next moment after the current moment, second point coordinate information of the second position point and third point coordinate information corresponding to the third position point according to the control target point and the point coordinate information;
the calculating module is used for calculating the longitudinal core deviation corresponding to the current moment according to the first point coordinate information and the second point coordinate information;
the calculation module is also used for calculating the target acceleration required by the target vehicle from the current position point to the third position point according to the preset uniform acceleration mathematical model, the first point coordinate information, the third point coordinate information and the next moment;
and the calculation module is also used for calculating the input quantity of the feedback PI controller according to the longitudinal core deviation and the longitudinal controller.
As an alternative embodiment, the longitudinal control device based on path planning further comprises:
a judging unit 370, configured to judge whether the third position point is the last control target point according to the target planned trajectory and the point coordinate information at the next moment;
and a determining unit 380 for determining the next time as the current time when the third position point is not the last control target point, and performing an operation of determining the first point coordinate information of the current position point of the target vehicle at the current time by the determining subunit in the calculating unit.
In this embodiment, the explanation of the longitudinal control device based on path planning may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, the longitudinal control device based on path planning described in the embodiment can perform longitudinal control based on the longitudinal control output of feedforward-feedback, reduces errors generated in the control process, has low calculation complexity, and improves the control response speed.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to cause the electronic device to execute a longitudinal control method based on path planning in embodiment 1 or embodiment 2 of the present application.
An embodiment of the present application provides a computer readable storage medium storing computer program instructions that, when read and executed by a processor, perform the longitudinal control method based on path planning in embodiment 1 or embodiment 2 of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A longitudinal control method based on path planning, comprising:
collecting environmental information around a target vehicle;
performing path planning based on the environment information to obtain a global optimal planning track;
converting the global optimal planning track into a target planning track under a frenet coordinate system;
dividing the target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points;
calculating a feed-forward-fed longitudinal control output based on the control target point and the point coordinate information;
and longitudinally controlling the target vehicle based on the longitudinally control output.
2. The longitudinal control method based on path planning according to claim 1, wherein the performing path planning based on the environmental information to obtain a globally optimal planned trajectory comprises:
planning paths based on the environmental information to obtain a plurality of planned paths; the planning path at least comprises one or more of a global coordinate system track, a self-vehicle state of the target vehicle, a target vehicle state, a global planning point, road information and a re-planning mark;
performing collision verification on each planning path to obtain a verification result;
performing cost calculation according to the verification result to obtain a calculation result;
and selecting a global optimal planning track from a plurality of planning paths according to the calculation result.
3. The path planning-based longitudinal control method according to claim 1, wherein the calculating a feed-forward-feedback longitudinal control output based on the control target point and the point coordinate information comprises:
determining first point coordinate information of a current position point of the target vehicle at the current moment;
calculating the input quantity of a feedback PI controller corresponding to the current moment and the target acceleration corresponding to the current moment according to the control target point, the point coordinate information and the first point coordinate information;
and calculating longitudinal control output corresponding to the current moment according to the input quantity of the feedback PI controller and the target acceleration.
4. A longitudinal control method based on path planning according to claim 3, wherein calculating the longitudinal control output corresponding to the current time according to the input quantity of the feedback PI controller and the target acceleration comprises:
determining a second position point corresponding to the current moment, a third position point corresponding to the next moment after the current moment, second point coordinate information of the second position point and third point coordinate information corresponding to the third position point according to the control target point and the point coordinate information;
calculating longitudinal core deviation corresponding to the current moment according to the first point coordinate information and the second point coordinate information;
calculating target acceleration required by the target vehicle from the current position point to the third position point according to a preset uniform acceleration mathematical model, the first point coordinate information, the third point coordinate information and the next moment;
and calculating the input quantity of a feedback PI controller according to the longitudinal core deviation and the longitudinal controller.
5. The longitudinal control method based on path planning according to claim 4, characterized in that after the longitudinal control of the target vehicle based on the longitudinal control output, the method further comprises:
at the next moment, judging whether the third position point is the last control target point according to the target planning track and the point coordinate information;
if not, the next moment is determined as the current moment, and the first point coordinate information of the current position point of the target vehicle at the current moment is determined.
6. A path planning-based longitudinal control device, characterized in that the path planning-based longitudinal control device comprises:
the acquisition unit is used for acquiring environmental information around the target vehicle;
the path planning unit is used for carrying out path planning based on the environment information to obtain a global optimal planning track;
the conversion unit is used for converting the global optimal planning track into a target planning track under a frenet coordinate system;
the dividing unit is used for dividing the target planning track according to preset planning time and preset time intervals to obtain point coordinate information of a plurality of control target points;
a calculation unit for calculating a longitudinal control output of feedforward-feedback based on the control target point and the point coordinate information;
and a control unit configured to perform longitudinal control of the target vehicle based on the longitudinal control output.
7. The path planning based longitudinal control device of claim 6, wherein the path planning unit comprises:
a planning subunit, configured to perform path planning based on the environmental information, so as to obtain a plurality of planned paths; the planning path at least comprises one or more of a global coordinate system track, a self-vehicle state of the target vehicle, a target vehicle state, a global planning point, road information and a re-planning mark;
the collision verification subunit is used for carrying out collision verification on each planning path to obtain a verification result;
the first calculating subunit is used for performing cost calculation according to the verification result to obtain a calculation result;
and the selecting subunit is used for selecting a global optimal planning track from a plurality of planning paths according to the calculation result.
8. The path planning based longitudinal control device of claim 6, wherein the computing unit comprises:
the determining subunit is used for determining first point coordinate information of a current position point of the target vehicle at the current moment;
the second calculating subunit is used for calculating the input quantity of the feedback PI controller corresponding to the current moment and the target acceleration corresponding to the current moment according to the control target point, the point coordinate information and the first point coordinate information;
and the third calculation subunit is used for calculating the longitudinal control output corresponding to the current moment according to the input quantity of the feedback PI controller and the target acceleration.
9. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the path planning based longitudinal control method of any one of claims 1 to 5.
10. A readable storage medium, characterized in that the readable storage medium has stored therein computer program instructions, which when read and executed by a processor, perform the longitudinal control method based on path planning according to any one of claims 1 to 5.
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