CN117433539A - Method and device for planning collaborative trajectory of multiple targets for automobile field test - Google Patents
Method and device for planning collaborative trajectory of multiple targets for automobile field test Download PDFInfo
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Abstract
The invention provides a method and a device for planning a collaborative trajectory of multiple targets for automobile field test, wherein the method comprises the following steps: constructing the outline of the target in the field test and marking out the centroid point of the target and the action point of the target; combining by utilizing the basic elements of the target object running track, and planning the target object running track of the target object; the object moving track basic elements comprise straight line elements, arc line elements, trigger points, track association points and yaw angles; establishing a local coordinate system; based on the local coordinate system, the running tracks of the targets are combined according to the track association points of the targets and the relation between the yaw angle and the origin of the local coordinate system, and the running tracks of the targets are distributed in the local coordinate system. The method solves the problem that the running track of multiple targets cannot be effectively cooperated to cause the test efficiency to be low in the intelligent network-connected automobile field test.
Description
Technical Field
The invention relates to the technical field of intelligent network-connected automobile field test, in particular to a method and a device for planning a multi-object collaborative trajectory of automobile field test.
Background
The multi-objective collaborative trajectory planning is used for realizing multi-objective complex scenes involved in intelligent network-connected automobile field testing. For example, through multi-object collaborative track planning, objects such as a dummy, a scooter and the like required in a preset test can move according to the planned track before the test.
In the conventional multi-object scene track planning, the motion scene planning performed by each object in the scene is generally lack of correlation. In the use process, the mode of each track planning among multiple targets is found, and due to the fact that the overall effective planning among the targets is lacked in the actual target movement process, or the planning systems are respectively formed, the running track and the planning of the targets in the actual movement process have a certain deviation, so that the test success rate is low, the test efficiency is low, and even the situation that collision accidents are frequently caused by the deviation in the multiple target movement process can be caused.
Disclosure of Invention
Aiming at the technical problems pointed out in the background art, the embodiment of the invention provides a method and a device for collaborative trajectory planning of multiple targets for automobile field test.
In order to achieve the purpose of the invention, the technical scheme provided by the invention is as follows:
a method for planning a collaborative trajectory of multiple targets for automobile field test comprises the following steps:
step 1: constructing the outline of the target in the field test and marking out the centroid point of the target and the action point of the target;
step 2: combining by utilizing the basic elements of the target object running track, and planning the target object running track of the target object; the object moving track basic elements comprise straight line elements, arc line elements, trigger points, track association points and yaw angles;
step 3: establishing a local coordinate system;
step 4: based on the local coordinate system, the running tracks of the targets are combined according to the track association points of the targets and the relation between the yaw angle and the origin of the local coordinate system, and the running tracks of the targets are distributed in the local coordinate system.
Wherein, still include step 5: and acquiring simulation data generated by running each object according to the planned object running track through software simulation, and evaluating whether the object track planning is reasonable or not through simulation data analysis.
The step 1 specifically includes:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
marking a geometric center point of a projected area in the overlooking direction of the drawn outline as a mass center point of the target object;
and marking points interacted with other targets in the actual movement process of the targets on the drawn outline as target action points, wherein the target action points are associated with a local coordinate system and are offset points of the mass center points of the targets relative to the mass center points of the targets on the outline of the targets.
The step 3 specifically includes:
controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle of the movement direction of the target object according to the longitude and latitude of the origin, the elevation data and the longitude and latitude of the end point and the elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of a local coordinate system by using the direction of the target object moving from the preset end position of the target object to the preset initial position of the test target along a straight line, and simultaneously, rotating 90 degrees clockwise along the Y3 axis to be an X3 axis of the local coordinate system to complete the establishment of the local coordinate system.
Correspondingly, the device for planning the collaborative trajectory of the multiple targets for the automobile field test comprises a target outline construction unit, a target running trajectory planning unit, a local coordinate system establishment unit and a local coordinate system synchronization unit;
the target outline construction unit is used for constructing the outline of the target in the field test and marking out a target mass center point and a target action point;
the object moving track planning unit is used for planning an object moving track of an object by utilizing the object moving track basic elements to combine; the object moving track basic elements comprise straight line elements, arc line elements, trigger points, track association points and yaw angles;
the local coordinate system establishing unit is used for establishing a local coordinate system;
the local coordinate system synchronization unit is used for combining and distributing the running tracks of all the targets in the local coordinate system according to the track association points of all the targets and the relation between the yaw angle and the origin of the local coordinate system based on the local coordinate system.
The system further comprises a software simulation unit, wherein the software simulation unit is used for acquiring simulation data generated by running each object according to the planned object running track through software simulation, and evaluating whether the object track planning is reasonable or not through simulation data analysis.
The object outline construction unit is specifically configured to:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
marking a geometric center point of a projected area in the overlooking direction of the drawn outline as a mass center point of the target object;
and marking points interacted with other targets in the actual movement process of the targets on the drawn outline as target action points, wherein the target action points are associated with a local coordinate system and are offset points of the mass center points of the targets relative to the mass center points of the targets on the outline of the targets.
The local coordinate system establishing unit is specifically configured to:
controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle of the movement direction of the target object according to the longitude and latitude of the origin, the elevation data and the longitude and latitude of the end point and the elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of a local coordinate system by using the direction of the target object moving from the preset end position of the target object to the preset initial position of the test target along a straight line, and simultaneously, rotating 90 degrees clockwise along the Y3 axis to be an X3 axis of the local coordinate system to complete the establishment of the local coordinate system.
Compared with the prior art, the method for planning the multi-object collaborative track can solve the problem that the running track of the multi-object is not effectively collaborative in the intelligent network-connected automobile field test to cause the test efficiency to be lower through means of unified coordinate system, multi-object track planning, simulation verification and the like.
Drawings
FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for constructing an outline of a target object according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for planning a moving track of a target object according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for establishing a local coordinate system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a local coordinate system synchronization method according to an embodiment of the present invention;
in the figure, 11, the outline of the object; 12. a target centroid point; 13. a target action point; 14. the target inertial navigation positioning point; 2. a target object running track; 21. a straight line element; 22. an arc element; 23. a trigger point; 24. track association points; 25. yaw angle; 3. a local coordinate system; 31. UTM coordinate system; 32. an intermediate coordinate system; 33. a deflection angle; 34. the travelling direction of the test vehicle; 41. associating points with a local coordinate system; 42. offset points.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the embodiment provides a method for planning a collaborative trajectory of multiple targets for automobile field test, which includes the following steps:
step 1: the outline 11 of the target in the field test is constructed, and the mass center point 12 of the target, the action point 13 of the target and the inertial navigation positioning point 14 of the target are marked, as shown in fig. 2.
Step 2: combining by utilizing the basic elements of the target object running track, and planning a target object running track 2 of the target object; wherein the object moving track basic elements comprise a straight line element 21, an arc line element 22, a trigger point 23, a track association point 24 and a yaw angle 25; as shown in fig. 3.
The target object moving track 2 is formed by selecting and combining a straight line element 21 and an arc line element 22, and simultaneously comprises an acceleration section, a uniform speed section and a deceleration section in actual use.
Step 3: establishing a local coordinate system 3; wherein the position of the current object movement trajectory in the local coordinate system 3 is constrained by the trajectory correlation point 24 and the yaw angle 25. The method comprises the steps of acquiring information such as position coordinates, movement directions and the like of a current test site by equipment, and associating the information with a movement track.
Step 4: based on the local coordinate system 3, the moving track 2 of each object is combined with multiple object tracks according to the relation between the track association point 24 and the yaw angle 25 of each object and the origin of the local coordinate system, and the local coordinates and the yaw angle 25 of the track association point 24 on the moving track of each object are matched and distributed with the local coordinate system 3 in the local coordinate system 3.
Preferably, the method further comprises step 5: and acquiring simulation data generated by running each target object according to the planned target object running track 2 through software simulation, and evaluating whether the track planning of each target object is reasonable or not through simulation data analysis.
Preferably, the method further comprises a step six of issuing each target object track to actual equipment for experiment after the rationality of each target object track planning is evaluated, and comparing and analyzing the acquired actual operation data with the simulation operation data after the experiment is completed.
Preferably, step 1 specifically includes:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
a geometric center point of the projected area in the overlooking direction of the drawn outline is marked as a mass center point 12 of the target object;
and marking points interacted with other targets in the actual movement process of the targets as target action points 13 on the drawn outline, wherein the target action points 13 are related to the local coordinate system 3, and are offset points of the mass center point 12 of the targets relative to the mass center point 12 of the targets on the outline 11 of the targets.
The target inertial navigation positioning point 14 is an inertial navigation positioning position point where the target is actually installed, theoretically needs to be overlapped with the target centroid point 12, but a certain deviation exists in the actual use process, so that the deviation between the target inertial navigation positioning point 14 and the target centroid point 12 needs to be corrected through the calculated deviation and biased to the required action point 13.
Preferably, step 3 specifically includes: controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system 3 origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle 25 of the movement direction of the target object by using longitude and latitude of an origin, elevation data and longitude and latitude of a terminal and elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of the local coordinate system 3 by using the direction of the target object moving from the preset terminal position of the target object to the preset initial position of the test target along a straight line, wherein the direction rotating 90 degrees along the Y3 axis is an X3 axis of the local coordinate system 3, so as to complete the establishment of the local coordinate system 3.
It should be noted that, as shown in fig. 4, a local coordinate system establishing method is provided, which includes the following steps:
firstly, a test vehicle is driven to a required origin position A point of coordinates, an origin (0, 0) of a local coordinate system 3 is clicked, a combined inertial navigation on the test vehicle outputs longitude, latitude coordinates and elevation data parameters of the point under a WGS84 coordinate system, the longitude, latitude coordinates and elevation data parameters of the point are converted into coordinates of a UTM coordinate system 31 through a formula, an intermediate coordinate system 32 is established by taking the point as the origin, wherein an X2 axis of the intermediate coordinate system 32 is parallel to an X1 axis of the UTM coordinate system 31, a Y2 axis of the intermediate coordinate system 32 is parallel to a Y1 axis of the UTM coordinate system 31, then the test vehicle moves forwards along a required travelling direction 34 for a certain distance to reach a point B, the Y3 axis of the local coordinate system 3 is set to point B in an inertial direction, the longitude, latitude coordinates and elevation data parameters of the point under the intermediate coordinate system 32 are converted into coordinates under the intermediate coordinate system 32, and a relation between a positive Y3 axis direction of the local coordinate system 3 and a positive Y2 axis of the intermediate coordinate system 32 (a and a positive coordinate system 33 and a negative angle Z direction) is further determined, and a positive angle between the two directions of the two coordinate systems is always and a positive coordinate system is converted to be a positive angle Z (Z and a positive coordinate system is always and a positive angle is 33). Therefore, when the vehicle runs to any point, longitude and latitude coordinates and elevation data output by combined inertial navigation on the vehicle can be converted into coordinates under the local coordinate system 3, so that the establishment of the local coordinate system 3 is completed.
And synchronizing longitude, latitude and elevation parameters of the origin position of coordinates in the established local coordinate system 3 under the WGS84 coordinate system and the deflection angle 33 of the Y3 axis of the local coordinate system 3 to all devices in the current system, thereby completing the synchronization of the local coordinate system 3.
Specifically, as shown in fig. 5, the device 1 is represented as a test vehicle, the device 2 and the device 3 are respectively different targets, and can respectively represent any two targets of walking adult men and women or children men and women, and moving bicycles, electric vehicles, motorcycles, automobiles and the like.
The origin of the local coordinate system 3 is set as a local coordinate system association point 41 in the multi-object track cooperation process, the positions of the local coordinate system association points 41 of different objects can be different, the local coordinate system association points 41 can be overlapped with the local coordinate system association points 41 of the local coordinate system, an offset point 42 can be formed by offsetting the local coordinate system 3, the offset point 42 comprises the position coordinate under the current local coordinate system and the yaw angle 25 of the current equipment, and the yaw angle 25 is defined as the positive direction rotated by 0 degrees in the positive direction and 0 degrees in the anticlockwise direction of the X3 axis of the local coordinate system 3.
Each device in the local coordinate system 3 can locate its own position according to its yaw angle 25 and the associated point 41, and can determine its own starting position according to the trajectory of each device plan, defining that the other devices in the whole system are triggered by the device 1 to perform corresponding actions, so that there is also information of the trigger point 43 in the trajectory plan of the device 1.
So far, the track of the multiple targets is completed cooperatively.
It should be noted that, in the track planning, the physical parameters of the device are associated with the physical parameters of the device actually used, and in the actual use process, corresponding parameter configuration work is required to be performed according to different devices, so that the invention provides a device data parameter custom configuration method for conveniently and rapidly changing parameters.
The data consists of two stages, namely a transmission stage and an analysis stage.
During the data transmission stage, the acquisition equipment transmits data to the upper computer software receiving end in a data packet mode, wherein the data packet format is shown in the following table 1:
TABLE 1
And in the data analysis stage, the upper computer software receiving end receives the data packet, intercepts the data packet according to the length of the data packet, checks the integrity of the data packet by using a data packet check code, discards the data of the packet if the data integrity fails to pass the check, and retains the current data of the packet after the data integrity check is passed. The analysis rule of the reserved data is to analyze the data according to the data rule edited in the upper computer software, and the analysis rule is as shown in the following table 2:
TABLE 2
Distinguishing the analysis rule to be followed by the current data packet according to the command identification; the message type mark is used for distinguishing whether the sending type of the data packet is a periodic message or an aperiodic message; the message type is used for distinguishing the type of the data in the current data packet; the start byte and the end byte indicate the position of the data to be analyzed in the current data packet; bit right shifting is used for analyzing bit class data, and if the bit class data is not bit class data, a null state is used; the AND operation is also used for using in the bit class data, and if the bit class data is not used, the null state is used; the data types comprise bit class data, byte class data, double word class data, floating point type data and double precision floating point type data; the units, decimal points and Chinese and English names are used for displaying the patterns of the analyzed data; the offset is used for carrying out unified offset use on the basis of the current data; the parameter type defines whether the current data is numeric class data or state class data.
In addition, the data of the equipment after the movement process according to the planned track can be used for evaluating the excellent movement state of the current equipment or evaluating whether the current track is reasonably designed, and the following historical data analysis method can be adopted:
after the test is completed and the data is stored, the data to be analyzed is firstly required to be classified and set, then whether the data is in a required threshold range, the requirement of the data at a key time or not and the like can be checked in a graphical mode, and meanwhile, the calculation result of the relevant parameters at the moment of time can be calculated through a calculation script written in advance.
Correspondingly, the device for planning the collaborative trajectory of the multiple targets for the automobile field test comprises a target outline construction unit, a target running trajectory 2 planning unit, a local coordinate system 3 establishment unit and a local coordinate system 3 synchronization unit;
the target outline construction unit is used for constructing an outline 11 of a target in a field test and marking a target mass center point 12 and a target action point 13;
the target object running track 2 planning unit is used for planning a target object running track 2 of a target object by utilizing the combination of basic elements of the target object running track 2; wherein, the basic elements of the target object moving track 2 comprise a straight line element 21, an arc line element 22, a trigger point 23, a track association point 24 and a yaw angle 25;
the local coordinate system 3 establishing unit is used for establishing a local coordinate system 3;
the local coordinate system 3 synchronization unit is configured to combine and distribute the moving tracks 2 of each object in the local coordinate system 3 according to the track association points 24 and yaw angles 25 of each object and the relation between the origins of the local coordinate system 3 based on the local coordinate system 3.
The system further comprises a software simulation unit, wherein the software simulation unit is used for acquiring simulation data generated by running each object according to the planned object running track 2 through software simulation, and evaluating whether the track planning of each object is reasonable or not through simulation data analysis.
The object outline construction unit is specifically configured to:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
a geometric center point of the projected area in the overlooking direction of the drawn outline is marked as a mass center point 12 of the target object;
and marking points interacted with other targets in the actual movement process of the targets as target action points 13 on the drawn outline, wherein the target action points 13 are related to the local coordinate system 3, and are offset points of the mass center point 12 of the targets relative to the mass center point 12 of the targets on the outline 11 of the targets.
The local coordinate system 3 building unit is specifically configured to:
controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system 3 origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle 25 of the movement direction of the target object by using longitude and latitude of an origin, elevation data and longitude and latitude of a terminal and elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of the local coordinate system 3 by using the direction of the target object moving from the preset terminal position of the target object to the preset initial position of the test target along a straight line, wherein the direction rotating 90 degrees along the Y3 axis is an X3 axis of the local coordinate system 3, so as to complete the establishment of the local coordinate system 3.
Finally, it should be noted that: the above-described embodiments are provided for illustration and description of the present invention only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which fall within the scope of the claimed invention.
Claims (8)
1. The method for planning the collaborative trajectory of the multiple targets for the automobile field test is characterized by comprising the following steps of:
step 1: constructing the outline of the target in the field test and marking out the centroid point of the target and the action point of the target;
step 2: combining by utilizing the basic elements of the target object running track, and planning the target object running track of the target object; the object moving track basic elements comprise straight line elements, arc line elements, trigger points, track association points and yaw angles;
step 3: establishing a local coordinate system;
step 4: based on the local coordinate system, the running tracks of the targets are combined according to the track association points of the targets and the relation between the yaw angle and the origin of the local coordinate system, and the running tracks of the targets are distributed in the local coordinate system.
2. The method for collaborative trajectory planning for automotive venue testing of claim 1, further comprising step 5: and acquiring simulation data generated by running each object according to the planned object running track through software simulation, and evaluating whether the object track planning is reasonable or not through simulation data analysis.
3. The method for collaborative trajectory planning for automotive field testing according to claim 1, wherein step 1 comprises:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
marking a geometric center point of a projected area in the overlooking direction of the drawn outline as a mass center point of the target object;
and marking points interacted with other targets in the actual movement process of the targets on the drawn outline as target action points, wherein the target action points are associated with a local coordinate system and are offset points of the mass center points of the targets relative to the mass center points of the targets on the outline of the targets.
4. The method for collaborative trajectory planning for automotive field testing according to claim 1, wherein step 3 comprises:
controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle of the movement direction of the target object according to the longitude and latitude of the origin, the elevation data and the longitude and latitude of the end point and the elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of a local coordinate system by using the direction of the target object moving from the preset end position of the target object to the preset initial position of the test target along a straight line, and simultaneously, rotating 90 degrees clockwise along the Y3 axis to be an X3 axis of the local coordinate system to complete the establishment of the local coordinate system.
5. The device for planning the collaborative trajectory of the multiple targets for the automobile field test is characterized by comprising a target outline construction unit, a target running trajectory planning unit, a local coordinate system construction unit and a local coordinate system synchronization unit;
the target outline construction unit is used for constructing the outline of the target in the field test and marking out a target mass center point and a target action point;
the object moving track planning unit is used for planning an object moving track of an object by utilizing the object moving track basic elements to combine; the object moving track basic elements comprise straight line elements, arc line elements, trigger points, track association points and yaw angles;
the local coordinate system establishing unit is used for establishing a local coordinate system;
the local coordinate system synchronization unit is used for combining and distributing the running tracks of all the targets in the local coordinate system according to the track association points of all the targets and the relation between the yaw angle and the origin of the local coordinate system based on the local coordinate system.
6. The device for collaborative trajectory planning for automotive field test according to claim 5, further comprising a software simulation unit configured to collect simulation data generated by running each object according to a planned object running trajectory through software simulation, and evaluate whether trajectory planning of each object is reasonable through analysis of the simulation data.
7. The device for collaborative trajectory planning for automotive field testing according to claim 5, wherein the object outline construction unit is specifically configured to:
drawing a projection contour line of the actual appearance of the target object in the overlooking direction as an appearance contour;
marking a geometric center point of a projected area in the overlooking direction of the drawn outline as a mass center point of the target object;
and marking points interacted with other targets in the actual movement process of the targets on the drawn outline as target action points, wherein the target action points are associated with a local coordinate system and are offset points of the mass center points of the targets relative to the mass center points of the targets on the outline of the targets.
8. The device for collaborative trajectory planning for automotive venue testing according to claim 5, wherein the local coordinate system creation unit is configured to:
controlling the target object to move to a preset initial position of a test target, establishing a local coordinate system origin used for the test, and sampling longitude, latitude and elevation data of the origin;
controlling the target object to linearly run towards the direction of a preset test target end point position, and sampling longitude, latitude and elevation data of the end point after the target object reaches the preset test target end point position;
and calculating a yaw angle of the movement direction of the target object according to the longitude and latitude of the origin, the elevation data and the longitude and latitude of the end point and the elevation data, taking a preset initial position of the test target as the origin, and establishing a Y3 axis of a local coordinate system by using the direction of the target object moving from the preset end position of the target object to the preset initial position of the test target along a straight line, and simultaneously, rotating 90 degrees clockwise along the Y3 axis to be an X3 axis of the local coordinate system to complete the establishment of the local coordinate system.
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