CN116946152A - Method, device, system, equipment and medium for determining turning radius of vehicle - Google Patents
Method, device, system, equipment and medium for determining turning radius of vehicle Download PDFInfo
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- CN116946152A CN116946152A CN202310896765.7A CN202310896765A CN116946152A CN 116946152 A CN116946152 A CN 116946152A CN 202310896765 A CN202310896765 A CN 202310896765A CN 116946152 A CN116946152 A CN 116946152A
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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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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Abstract
The embodiment of the invention discloses a method, a device, a system, equipment and a medium for determining the turning radius of a vehicle, wherein the method comprises the following steps: acquiring current position related data of a vehicle; determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle; updating the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle; determining the turning radius of the vehicle according to the current radius measurement point coordinates; and planning the running path of the vehicle according to the turning radius. The scheme realizes the automatic determination of the turning radius of the vehicle, and reduces the labor cost; meanwhile, the accuracy of the determined current radius measurement point coordinates is improved, and the accuracy of determining the turning radius of the vehicle according to the current radius measurement point coordinates is further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method, a device, a system, equipment and a medium for determining the turning radius of a vehicle.
Background
Along with the development of society and automobile technology, especially the application and popularization of automatic driving technology, the turning radius of the vehicle is an essential important parameter for path planning and motion control of an automatic driving system, and the turning radius of the vehicle under different working conditions and states is accurately measured, so that the control quality of the automatic driving vehicle is improved.
In the prior art, a path line is usually drawn manually, and the turning radius of the vehicle is measured. However, in the above-described scheme, accuracy is low and labor cost is high.
Disclosure of Invention
The invention provides a method, a device, a system, equipment and a medium for determining the turning radius of a vehicle, which are used for automatically determining the turning radius of the vehicle, improving the accuracy of the determined turning radius of the vehicle and reducing the labor cost.
According to an aspect of the present invention, there is provided a method of determining a turning radius of a vehicle, including:
acquiring current position related data of a vehicle;
determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle;
updating the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle;
determining the turning radius of the vehicle according to the current radius measurement point coordinates;
and planning the running path of the vehicle according to the turning radius.
According to another aspect of the present invention, there is provided a turning radius determining apparatus of a vehicle, including:
the associated data acquisition module is used for acquiring the associated data of the current position of the vehicle;
the current azimuth data determining module is used for determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle;
the measuring point coordinate determining module is used for updating the current direction data according to the current roll angle to obtain the current radius measuring point coordinate of the vehicle;
the turning radius determining module is used for determining the turning radius of the vehicle according to the current radius measuring point coordinates;
and the path planning module is used for planning the running path of the vehicle according to the turning radius.
According to another aspect of the present invention, there is provided a system for determining a turning radius of a vehicle, including: a fusion positioning device and a turning radius determining device, wherein,
the fusion positioning device is in communication connection with the turning radius determining device and is used for acquiring current position related data of the vehicle and determining current azimuth data of the vehicle according to the current position related data;
the turning radius determining device is used for determining the current radius measuring point coordinates of the vehicle according to the current azimuth data and determining the turning radius of the vehicle according to the current radius measuring point coordinates.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining the turning radius of a vehicle according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for determining a turning radius of a vehicle according to any one of the embodiments of the present invention when executed.
According to one aspect of the invention, a turning radius determining scheme of a vehicle is provided, and current position related data of the vehicle is obtained; determining current azimuth data of the vehicle according to the current position associated data; the current azimuth data comprise current roll angle and current direction data of the vehicle; updating the current direction data according to the current roll angle to obtain the current radius measuring point coordinates of the vehicle; determining the turning radius of the vehicle according to the coordinates of the current radius measurement point; and planning the running path of the vehicle according to the turning radius. The scheme realizes the automatic determination of the turning radius of the vehicle, and reduces the labor cost; meanwhile, the current direction data is updated through the current roll angle to obtain the current radius measurement point coordinate of the vehicle, so that the accuracy of the determined current radius measurement point coordinate is improved, and the accuracy of determining the turning radius of the vehicle according to the current radius measurement point coordinate is further improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for determining a turning radius of a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a turning radius of a vehicle according to a second embodiment of the present invention;
fig. 3 is a flowchart of a turning radius determining method of a vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a turning radius determining apparatus for a vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural view of a turning radius determining system for a vehicle according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device for implementing a method for determining a turning radius of a vehicle according to a sixth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a method for determining a turning radius of a vehicle according to an embodiment of the present invention, where the method may be performed by a turning radius determining device of a vehicle, and the device may be implemented in hardware and/or software, and the device may be configured in an electronic device that carries a turning radius determining function of the vehicle.
Referring to fig. 1, the turning radius determining method of the vehicle includes:
s110, acquiring current position related data of the vehicle.
The current position related data refers to related data used for determining the position of the vehicle at the current moment. It should be noted that, in the embodiment of the present invention, the type of data and/or the number of types of data included in the current location-related data are not particularly limited, and may be set by a technician according to experience. For example, the current position-related data may include current position data of a vehicle acquired by a GPS (Global Positioning System ), point cloud data of the vehicle acquired by a laser radar, wheel rotational speed acquired by a wheel speed sensor, and body posture data and acceleration data acquired by an IMU (Inertial Measurement Unit ) sensor.
In an alternative embodiment, the method further comprises, prior to acquiring the current location-related data of the vehicle: responding to a turning radius measurement starting instruction, controlling the current tire rotation angle of the vehicle to reach the current preset rotation angle, and controlling the current speed of the vehicle to reach the current preset speed; accordingly, determining a turning radius of the vehicle includes: and determining the turning radius of the vehicle at the current preset turning angle and the current preset vehicle speed.
The turning-radius-measurement start instruction is an instruction for instructing the start of the turning-radius measurement of the vehicle. The current tire rotation angle refers to the tire rotation angle of the vehicle at the current time. The current preset rotation angle refers to the tire rotation angle that the vehicle is expected to reach at the current time. The current vehicle speed refers to the vehicle speed of the vehicle at the current time. The current preset vehicle speed refers to a vehicle speed that the vehicle is expected to reach at the current time. The embodiment of the invention does not limit the current preset rotation angle and the current preset vehicle speed, and can be set by technicians according to experience.
It can be understood that by introducing the current preset rotation angle and the current preset vehicle speed, the turning radius is matched with the vehicle rotation angle and the vehicle speed, the turning radius under different rotation angles and vehicle speeds is determined, and the practicability of the turning radius is improved.
S120, determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data includes current roll angle and current direction data of the vehicle.
The current azimuth data refer to position data of the vehicle at the current moment. Specifically, the current heading data may include current roll angle and current direction data of the vehicle. The current roll angle refers to the angle at which the vehicle is rolling at the current time. The current direction data refers to direction data of the vehicle at the current time. Specifically, the current direction data may be the direction coordinates of the vehicle at the current time.
It should be noted that, the embodiment of the present invention does not specifically limit the expression form of the current azimuth data, and may be set by a technician according to experience. The current position data may be (X) i ，Y i ，Ψ i ) Wherein, (X i ，Y i ) Representing current direction data; psi i Representing the current roll angle.
And S130, updating the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle.
The current radius measurement point coordinates refer to coordinates of the radius measurement point in the vehicle at the current moment. The current radius measurement point refers to a point that can be used to make a turning radius measurement of the vehicle. The embodiment of the invention does not particularly limit the position of the current radius measurement point in the vehicle, and can be set by a technician according to experience. For example, the current radius measurement point may be a vehicle rear axle center, and correspondingly, the current radius measurement point coordinates may be coordinates of the vehicle rear axle center.
Specifically, the current direction data is corrected according to the current roll angle, so as to obtain corrected current direction data, namely the coordinates of the current radius measuring point of the vehicle.
In an alternative embodiment, the current direction data includes first current direction data and second current direction data, and the updating of the current direction data according to the current roll angle obtains the current radius measurement point coordinates of the vehicle, including: acquiring a preset height from an inertial sensor IMU in a vehicle to a current radius measurement point; updating the first current direction data according to the preset height and the current roll angle to obtain updated first current direction data; current radius measurement point coordinates including the updated first current direction data and second current direction data are generated.
The preset height may be a distance between the inertial sensor and a current radius measurement point (e.g., a vehicle rear suspension roll center). The first current direction data and the second current direction data may refer to coordinates of the vehicle in a horizontal direction. For example, if the first current direction data is an abscissa of the vehicle in the horizontal direction, the second current direction data is an ordinate of the vehicle in the horizontal direction; if the first current direction data is the ordinate of the vehicle in the horizontal direction, the second current direction data is the abscissa of the vehicle in the horizontal direction.
For example, if the first current direction data is the ordinate of the vehicle in the horizontal direction, the first current direction data may be updated by the following formula:
Y ir ＝Y i -h×tan(ψ i )；
wherein Y is ir Representing updated first current direction data; y is Y i Representing first current direction data before updating; h represents a preset height; ψi represents the current roll angle.
Continuing the previous example, correspondingly, the second current direction data is the abscissa of the vehicle in the horizontal direction, then X ir ＝X i Wherein X is ir Representing updated second current direction data; x is X i Representing second current direction data prior to updating. In summary, when the second current direction data is the abscissa of the vehicle in the horizontal direction, the update of the second current direction data may not be required.
Continuing the former example, generating a current radius measurement point coordinate (X) according to the updated first current direction data and second current direction data ir ，Y ir )。
It can be appreciated that by introducing the preset height, the first current direction data is updated, so that the accuracy of the first current direction data is improved, and the accuracy of the determined current radius measurement point coordinates is further improved.
And S140, determining the turning radius of the vehicle according to the coordinates of the current radius measurement point.
The turning radius refers to the radius of a locus circle when the vehicle turns.
And S150, planning a running path of the vehicle according to the turning radius.
Specifically, the driving path of the vehicle is planned according to the turning radius of the vehicle, so that safety accidents are avoided during turning. Meanwhile, the movement of the vehicle can be controlled according to the turning radius of the vehicle.
According to one aspect of the invention, a turning radius determining scheme of a vehicle is provided, and current position related data of the vehicle is obtained; determining current azimuth data of the vehicle according to the current position associated data; the current azimuth data comprise current roll angle and current direction data of the vehicle; updating the current direction data according to the current roll angle to obtain the current radius measuring point coordinates of the vehicle; determining the turning radius of the vehicle according to the coordinates of the current radius measurement point; and planning the running path of the vehicle according to the turning radius. The scheme realizes the automatic determination of the turning radius of the vehicle, and reduces the labor cost; meanwhile, the current direction data is updated through the current roll angle to obtain the current radius measurement point coordinate of the vehicle, so that the accuracy of the determined current radius measurement point coordinate is improved, and the accuracy of determining the turning radius of the vehicle according to the current radius measurement point coordinate is further improved.
Example two
Fig. 2 is a flowchart of a method for determining a turning radius of a vehicle according to a second embodiment of the present invention, where the present embodiment further performs an operation of "determining a turning radius of a vehicle according to a current radius measurement point coordinate" on the basis of the above embodiments, and refines the operation into "performing a track circle radius fitting on the current radius measurement point coordinate to obtain a current track circle radius; and determining the turning radius of the vehicle according to the current track circle radius so as to perfect a turning radius determining mechanism of the vehicle. In the portions of the embodiments of the present invention that are not described in detail, reference may be made to the descriptions of other embodiments.
Referring to fig. 2, the turning radius determining method of the vehicle includes:
s210, acquiring current position related data of the vehicle.
S220, determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data includes current roll angle and current direction data of the vehicle.
And S230, updating the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle.
S240, performing track circle radius fitting on the current radius measurement point coordinates to obtain the current track circle radius.
The current track circle radius refers to the track circle radius of the current radius measurement point.
In an alternative embodiment, performing track circle radius fitting on the coordinates of the current radius measurement point to obtain the current track circle radius includes: determining track circle parameters in a track circle radius fitting formula by at least three current radius measurement point coordinates based on the track circle radius fitting formula; and determining the radius of the current track circle through the track circle parameters.
The track circle radius fitting formula refers to a track circle formula which can be used for calculating a current radius measurement point. The track circle parameters refer to parameters in a track circle radius fitting formula.
For example, the trajectory circle radius fitting formula may be:
X ir 2 +Y ir 2 +a×X ir +b×Y ir +c＝0；
wherein a, b and c are parameters in the track circle radius fitting formula.
Further, the current track circle radius is determined by the following formula:
wherein R is a Representing the current trajectory circle radius.
It can be appreciated that by introducing the track circle parameter, the accuracy of determining the current track circle radius is improved by determining the current track circle radius from the track circle parameter.
Specifically, fitting a track circle of the current radius measurement point through the current radius measurement point coordinates, and determining track circle parameters according to a track circle radius fitting formula; and determining the radius of the current track circle through the track circle parameters.
S250, determining the turning radius of the vehicle according to the current track circle radius.
In an alternative embodiment, determining the turning radius of the vehicle based on the current track circle radius includes: acquiring vehicle configuration parameters of a vehicle; and determining the turning radius of the vehicle according to the current track circle radius and the vehicle configuration parameters.
Wherein, the vehicle configuration parameters refer to basic parameters of the vehicle. In particular, the vehicle configuration parameters may include a front wheel base of the vehicle and a wheel base of the vehicle.
By way of example, the turning radius of the vehicle may be determined by the following formula:
wherein R is r Representing the turning radius of the vehicle; b represents a front wheel track (or a rear wheel track); l represents the wheelbase.
The front wheel track B refers to the distance between the axles of the front wheel tires of the vehicle, and the rear wheel track B refers to the distance between the axles of the rear wheel tires of the vehicle. It should be noted that the wheel track of the front wheel and the wheel track of the rear wheel of the same vehicle may be the same, and at this time, one of the wheel tracks may be selected at will to determine the turning radius.
Wherein the wheelbase L represents the distance of the axle between the front and rear tires.
And S260, planning the running path of the vehicle according to the turning radius.
The embodiment of the invention provides a turning radius determining scheme of a vehicle, which is characterized in that turning radius operation of the vehicle is determined according to current radius measuring point coordinates, and the turning radius operation is refined to be track circle radius fitting of the current radius measuring point coordinates, so that the current track circle radius is obtained; and the turning radius of the vehicle is determined according to the current track circle radius, so that the turning radius determining mechanism of the vehicle is perfected. According to the scheme, the track circle fitting is carried out on the coordinates of the current radius measuring point, so that the radius of the current track circle is determined, the accuracy of the determined radius of the current track circle is improved, and the operation efficiency is improved.
Example III
Fig. 3 is a flowchart of a turning radius determining method of a vehicle according to a third embodiment of the present invention. In the portions of the embodiments of the present invention that are not described in detail, reference may be made to the descriptions of other embodiments.
Referring to fig. 3, the turning radius determining method of the vehicle includes:
s310, responding to a turning radius measurement starting instruction, controlling the current tire rotation angle of the vehicle to reach the current preset rotation angle, and controlling the current speed of the vehicle to reach the current preset speed.
S320, the vehicle starts to run according to the circular track.
S330, acquiring current position related data of the vehicle.
S340, determining the current roll angle and the current direction data of the vehicle according to the current position related data.
And S350, correcting the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle.
S360, performing track circle radius fitting on the current radius measurement point coordinates through a fitting algorithm to obtain the current track circle radius of the rear axle center point.
S370, determining a preset turning angle and a turning radius under a preset vehicle speed according to the vehicle configuration parameters and the current track radius of the vehicle.
According to the turning radius determining scheme of the vehicle, the turning radius under the combination of different vehicle speeds and different tire turning angles can be determined through the combination of different tire turning angle instructions and different speed changing instructions, and the combination comprehensiveness is improved.
It should be noted that, the mode of storing the turning radius under different preset turning angles and preset vehicle speeds is not limited in the embodiment of the invention, and the mode can be set by a technician according to experience. By way of example, this may be achieved by means of a table.
Example IV
Fig. 4 is a schematic structural view of a turning radius determining apparatus for a vehicle according to a fourth embodiment of the present invention. The present embodiment is applicable to the case of determining the turning radius of a vehicle, and the method may be performed by a turning radius determination device of the vehicle, which may be implemented in hardware and/or software, which may be configured in an electronic device carrying the turning radius determination function of the vehicle.
As shown in fig. 4, the apparatus includes: an associated data acquisition module 410, a current position data determination module 420, a measurement point coordinate determination module 430, a turn radius determination module 440, and a path planning module 450.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
a related data obtaining module 410, configured to obtain current position related data of the vehicle;
a current azimuth data determining module 420, configured to determine current azimuth data of the vehicle according to the current position related data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle;
a measurement point coordinate determining module 430, configured to update the current direction data according to the current roll angle, and obtain a current radius measurement point coordinate of the vehicle;
a turning radius determining module 440, configured to determine a turning radius of the vehicle according to the current radius measurement point coordinates;
and the path planning module 450 is used for planning the running path of the vehicle according to the turning radius.
According to the invention, the turning radius determining scheme of the vehicle is provided, and the current position association data of the vehicle is acquired through the association data acquisition module; determining current azimuth data of the vehicle according to the current position association data through a current azimuth data determining module; the current azimuth data comprise current roll angle and current direction data of the vehicle; updating the current direction data according to the current roll angle by a measuring point coordinate determining module to obtain the current radius measuring point coordinate of the vehicle; determining the turning radius of the vehicle according to the current radius measurement point coordinates by a turning radius determining module; and planning the driving path of the vehicle according to the turning radius through a path planning module. The scheme realizes the automatic determination of the turning radius of the vehicle, and reduces the labor cost; meanwhile, the current direction data is updated through the current roll angle to obtain the current radius measurement point coordinate of the vehicle, so that the accuracy of the determined current radius measurement point coordinate is improved, and the accuracy of determining the turning radius of the vehicle according to the current radius measurement point coordinate is further improved.
Optionally, the turning radius determination module 440 includes:
the current track circle radius determining unit is used for carrying out track circle radius fitting on the current radius measuring point coordinates to obtain the current track circle radius;
and the turning radius determining unit is used for determining the turning radius of the vehicle according to the current track circle radius.
Optionally, the current track circle radius determining unit is specifically configured to:
determining track circle parameters in a track circle radius fitting formula based on the track circle radius fitting formula through at least three current radius measurement point coordinates;
and determining the radius of the current track circle through the track circle parameters.
Optionally, the turning radius determining unit is specifically configured to:
acquiring vehicle configuration parameters of the vehicle;
and determining the turning radius of the vehicle according to the current track circle radius and the vehicle configuration parameters.
Optionally, the current direction data includes first current direction data and second current direction data, and the measuring point coordinate determining module 430 includes:
a preset height acquisition unit, configured to acquire a preset height of an inertial sensor IMU in the vehicle from a current radius measurement point;
the first current direction data updating unit is used for updating the first current direction data according to the preset height and the current roll angle to obtain updated first current direction data;
and the measuring point coordinate determining unit is used for generating current radius measuring point coordinates comprising the updated first current direction data and the second current direction data.
Optionally, before the associating data obtaining module 410, the apparatus further includes:
the starting instruction response module is used for responding to the turning radius measurement starting instruction and controlling the current tire corner of the vehicle to reach the current preset corner and the current speed of the vehicle to reach the current preset speed;
accordingly, the turning radius determination module 440 includes:
and the turning radius determining unit is used for determining the turning radius of the vehicle at the current preset turning angle and the current preset vehicle speed.
The turning radius determining device for the vehicle provided by the embodiment of the invention can execute the turning radius determining method for the vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the turning radius determining method for each vehicle.
In the technical scheme of the invention, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the current position related data, the preset height and the like all accord with the regulations of related laws and regulations, and the related processes do not violate the popular regulations of the public order.
Example five
The embodiment of the invention also provides a turning radius determining system of the vehicle, which is used for determining the turning radius of the vehicle. Alternatively, the turning radius determination system of the vehicle may include: the system comprises a fusion positioning device and a turning radius determining device, wherein the fusion positioning device is in communication connection with the turning radius determining device and is used for acquiring current position related data of a vehicle and determining current azimuth data of the vehicle according to the current position related data; the turning radius determining device is used for determining the current radius measuring point coordinates of the vehicle according to the current azimuth data and determining the turning radius of the vehicle according to the current radius measuring point coordinates.
The embodiment of the invention does not limit the way of the traffic connection in particular, and can be set by a technician according to experience.
Fig. 5 is a schematic structural diagram of a turning radius determining system of a vehicle according to a fifth embodiment of the present invention. The fusion positioning device can comprise a GPS antenna, a wheel speed sensor, a laser radar and an IMU sensor. The GPS antenna is arranged at the top of the vehicle, receives satellite positioning signals on the longitudinal central axis of the vehicle, and sends the satellite positioning signals to the GPS resolving module so that the GPS resolving module outputs current position data (namely coordinates) of the vehicle according to a GPS signal resolving algorithm. The wheel speed sensor outputs rotational speed signals of four wheels by detecting the gear positions on the four wheels. The laser radar is arranged at the top of the vehicle, and outputs point cloud data to the turning radius determining device on the longitudinal axis of the vehicle. The IMU sensor is arranged on the central axis of the chassis frame of the vehicle, and outputs acceleration and roll angle in three directions on the connecting line center of the rear wheel. The turning radius determining device is used for responding to a turning radius measurement starting instruction, sending a turning angle instruction to the steer-by-wire device and sending a speed changing instruction to the driving system; and receiving current position related data sent by the GPS, the laser radar, the wheel speed sensor and the IMU sensor. The steer-by-wire device is used for responding to the steering angle instruction and controlling the current tire steering angle of the vehicle to reach the current preset steering angle. The driving system responds to the speed changing instruction and controls the current speed of the vehicle to reach the current preset speed.
In the prior art, a method for testing GPS positioning based on the principle of determining the circle center by three points can be adopted, 3 coordinate points on the circumferential running track of the vehicle are determined by a GPS positioning system, and then the circle center and the diameter of the running track are calculated. However, the above scheme is difficult to select three points for standardized operation, and is inconvenient for measuring turning radius under multiple angles and multiple speeds. The turning radius determining system of the vehicle provided by the embodiment of the invention can be used for rapidly and effectively realizing the turning radius test under different working conditions by utilizing the existing configuration of the automatic driving vehicle, improving the accuracy of the determined turning radius and providing accurate basic data for the dynamic control of the automatic driving vehicle. And by fusing the positioning device, the positioning accuracy and reliability are higher, and the accuracy of the acquired current position associated data is improved.
Example six
Fig. 6 is a schematic structural diagram of an electronic device for implementing a method for determining a turning radius of a vehicle according to a sixth embodiment of the present invention. Electronic device 610 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 610 includes at least one processor 611, and a memory, such as a Read Only Memory (ROM) 612, a Random Access Memory (RAM) 613, etc., communicatively coupled to the at least one processor 611, where the memory stores computer programs executable by the at least one processor, and the processor 611 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 612 or the computer programs loaded from the storage unit 618 into the Random Access Memory (RAM) 613. In the RAM 613, various programs and data required for the operation of the electronic device 610 may also be stored. The processor 611, the ROM 612, and the RAM 613 are connected to each other by a bus 614. An input/output (I/O) interface 615 is also connected to bus 614.
Various components in the electronic device 610 are connected to the I/O interface 615, including: an input unit 616 such as a keyboard, mouse, etc.; an output unit 617 such as various types of displays, speakers, and the like; a storage unit 618, such as a magnetic disk, optical disk, etc.; and a communication unit 619 such as a network card, modem, wireless communication transceiver, etc. The communication unit 619 allows the electronic device 610 to exchange information/data with other devices through computer networks, such as the internet, and/or various telecommunication networks.
Processor 611 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 611 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 611 performs the various methods and processes described above, such as a turning radius determination method of the vehicle.
In some embodiments, the vehicle turn radius determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 618. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 610 via the ROM 612 and/or the communication unit 619. When the computer program is loaded into RAM 613 and executed by processor 611, one or more steps of the turning radius determination method of the vehicle described above may be performed. Alternatively, in other embodiments, the processor 611 may be configured to perform the turning radius determination method of the vehicle in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A turning radius determining method of a vehicle, characterized by comprising:
acquiring current position related data of a vehicle;
determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle;
updating the current direction data according to the current roll angle to obtain the current radius measurement point coordinates of the vehicle;
determining the turning radius of the vehicle according to the current radius measurement point coordinates;
and planning the running path of the vehicle according to the turning radius.
2. The method of claim 1, wherein said determining the turning radius of the vehicle from the current radius measurement point coordinates comprises:
performing track circle radius fitting on the current radius measurement point coordinates to obtain a current track circle radius;
and determining the turning radius of the vehicle according to the current track circle radius.
3. The method according to claim 2, wherein said performing a track circle radius fit on the current radius measurement point coordinates to obtain a current track circle radius comprises:
determining track circle parameters in a track circle radius fitting formula based on the track circle radius fitting formula through at least three current radius measurement point coordinates;
and determining the radius of the current track circle through the track circle parameters.
4. The method of claim 2, wherein said determining the turning radius of the vehicle from the current trajectory circle radius comprises:
acquiring vehicle configuration parameters of the vehicle;
and determining the turning radius of the vehicle according to the current track circle radius and the vehicle configuration parameters.
5. The method according to claim 1, wherein the current direction data includes first current direction data and second current direction data, and the updating the current direction data according to the current roll angle to obtain current radius measurement point coordinates of the vehicle includes:
acquiring a preset height from an inertial sensor IMU in the vehicle to a current radius measurement point;
updating the first current direction data according to the preset height and the current roll angle to obtain updated first current direction data;
and generating current radius measurement point coordinates comprising the updated first current direction data and the second current direction data.
6. The method according to any one of claims 1-5, wherein prior to said obtaining current location related data of the vehicle, the method further comprises:
responding to a turning radius measurement starting instruction, controlling the current tire rotation angle of the vehicle to reach the current preset rotation angle, and controlling the current speed of the vehicle to reach the current preset speed;
accordingly, the determining the turning radius of the vehicle includes:
and determining the turning radius of the vehicle at the current preset turning angle and the current preset vehicle speed.
7. A turning radius determining apparatus of a vehicle, characterized by comprising:
the associated data acquisition module is used for acquiring the associated data of the current position of the vehicle;
the current azimuth data determining module is used for determining current azimuth data of the vehicle according to the current position associated data; wherein the current azimuth data comprises current roll angle and current direction data of the vehicle;
the measuring point coordinate determining module is used for updating the current direction data according to the current roll angle to obtain the current radius measuring point coordinate of the vehicle;
the turning radius determining module is used for determining the turning radius of the vehicle according to the current radius measuring point coordinates;
and the path planning module is used for planning the running path of the vehicle according to the turning radius.
8. A turning radius determination system of a vehicle, characterized by comprising: a fusion positioning device and a turning radius determining device, wherein,
the fusion positioning device is in communication connection with the turning radius determining device and is used for acquiring current position related data of the vehicle and determining current azimuth data of the vehicle according to the current position related data;
the turning radius determining device is used for determining the current radius measuring point coordinates of the vehicle according to the current azimuth data and determining the turning radius of the vehicle according to the current radius measuring point coordinates.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method of turning radius determination of a vehicle of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a method for determining a turning radius of a vehicle according to any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310896765.7A CN116946152A (en) | 2023-07-20 | 2023-07-20 | Method, device, system, equipment and medium for determining turning radius of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310896765.7A CN116946152A (en) | 2023-07-20 | 2023-07-20 | Method, device, system, equipment and medium for determining turning radius of vehicle |
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| CN116946152A true CN116946152A (en) | 2023-10-27 |
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| CN202310896765.7A Pending CN116946152A (en) | 2023-07-20 | 2023-07-20 | Method, device, system, equipment and medium for determining turning radius of vehicle |
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| CN (1) | CN116946152A (en) |
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- 2023-07-20 CN CN202310896765.7A patent/CN116946152A/en active Pending
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