WO2020192149A1 - 轨迹跟踪控制器的测试方法、装置、介质及设备 - Google Patents

轨迹跟踪控制器的测试方法、装置、介质及设备 Download PDF

Info

Publication number
WO2020192149A1
WO2020192149A1 PCT/CN2019/119889 CN2019119889W WO2020192149A1 WO 2020192149 A1 WO2020192149 A1 WO 2020192149A1 CN 2019119889 W CN2019119889 W CN 2019119889W WO 2020192149 A1 WO2020192149 A1 WO 2020192149A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
track
mobile device
trajectory
test reference
Prior art date
Application number
PCT/CN2019/119889
Other languages
English (en)
French (fr)
Inventor
朱欣
曹晓旭
李鏖
刘春晓
石建萍
Original Assignee
深圳市商汤科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市商汤科技有限公司 filed Critical 深圳市商汤科技有限公司
Priority to JP2021533849A priority Critical patent/JP2022512440A/ja
Priority to KR1020217018199A priority patent/KR20210091263A/ko
Publication of WO2020192149A1 publication Critical patent/WO2020192149A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Definitions

  • the present disclosure relates to trajectory tracking controller technology, and more particularly to a testing method of trajectory tracking controller, testing device of trajectory tracking controller, electronic equipment, computer readable storage medium and computer program.
  • the trajectory tracking controller is an important part of intelligent driving systems and robotic systems. Testing the trajectory tracking controller, and analyzing and evaluating the performance of the trajectory tracking controller based on the test data is beneficial to improve the performance of the trajectory tracking controller.
  • the embodiments of the present disclosure provide a technical solution for testing a trajectory tracking controller.
  • a method for testing a trajectory tracking controller which includes: acquiring a driving state of the first mobile device that is not controlled by the trajectory tracking controller to be tested. Multiple positioning information and multiple motion state information; determine multiple track point information according to the positioning information and motion state information and form a test reference track including the multiple track point information; according to at least part of the test reference track
  • the point information provides input information for the trajectory tracking controller to be tested, so that the trajectory tracking controller to be tested outputs a corresponding automatic driving control instruction to the second mobile device connected to it; acquiring the second mobile device according to the automatic driving control Driving information for commanding driving.
  • a testing device for a trajectory tracking controller including: a first acquisition module for acquiring when the first mobile device is in a driving state not controlled by the trajectory tracking controller to be tested , A plurality of positioning information and a plurality of motion state information of the first mobile device; a first generating module, configured to generate a test reference trajectory including a plurality of trajectory point information according to the positioning information and motion state information; provide input
  • the module is used to provide input information for the track tracking controller to be tested according to at least part of the track point information of the test reference track, so that the track tracking controller to be tested outputs the corresponding automatic driving control instruction to the second mobile device connected to it.
  • the second acquisition module is used to acquire the driving information of the second mobile device according to the automatic driving control instruction.
  • an electronic device including: a memory for storing a computer program; a processor for executing the computer program stored in the memory, and when the computer program is executed, Any method embodiment of the present disclosure.
  • a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, it implements any method embodiment of the present disclosure.
  • a computer program including computer instructions, which, when the computer instructions run in a processor of the device, implement any method implementation of the present disclosure.
  • the present disclosure Based on the testing method and device of the trajectory tracking controller, electronic equipment, computer readable storage medium and computer program provided by the present disclosure, the present disclosure generates trajectory point information by using the positioning information and motion state information of the first mobile device, which can use The tracking of the first mobile device forms a test reference trajectory, thereby helping to reduce the cost of forming a test reference trajectory.
  • the present disclosure provides input information for the trajectory tracking controller provided in the second mobile device based on the trajectory point information in the test reference trajectory, so that the trajectory tracking controller to be tested can be tested in actual application scenarios, thereby helping to avoid A well-tested trajectory tracking controller lacks performance in actual application scenarios.
  • the technical solution provided by the present disclosure is beneficial to reduce the test cost of the trajectory tracking controller, and is beneficial to improve the comprehensiveness and accuracy of the test of the trajectory tracking controller.
  • FIG. 1 is a flowchart of an embodiment of the testing method of the trajectory tracking controller of the present disclosure
  • FIG. 2 is a schematic diagram of an embodiment of the mobile station device of the present disclosure
  • FIG. 3 is a schematic diagram of an embodiment of the curvature of a track point of the present disclosure
  • 4a-4d are schematic diagrams of an implementation manner of multiple track point information in the test reference track of the present disclosure.
  • FIG. 5 is a schematic diagram of an implementation manner of visually displaying test results of a trajectory tracking controller of the present disclosure
  • FIG. 6 is a schematic diagram of another embodiment of the visual display of the test result of the trajectory tracking controller of the present disclosure.
  • FIG. 7 is a schematic diagram of still another embodiment of the visual display of the test result of the trajectory tracking controller of the present disclosure.
  • FIG. 8 is a schematic structural diagram of an embodiment of the testing device of the trajectory tracking controller of the present disclosure.
  • Fig. 9 is a block diagram of an exemplary device for implementing embodiments of the present disclosure.
  • the embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, and servers, which can operate with many other general or special computing system environments or configurations.
  • Examples of well-known terminal devices, computing systems, environments, and/or configurations suitable for use with electronic devices such as terminal devices, computer systems, and servers including but not limited to: personal computer systems, server computer systems, thin clients, thick Client computers, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.
  • Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by the computer system.
  • program modules can include routines, programs, target programs, components, logic, and data structures, etc., which perform specific tasks or implement specific abstract data types.
  • the computer system/server can be implemented in a distributed cloud computing environment. In the distributed cloud computing environment, tasks are executed by remote processing equipment linked through a communication network.
  • program modules may be located on a storage medium of a local or remote computing system including a storage device.
  • Fig. 1 is a flowchart of an embodiment of the testing method of the trajectory tracking controller of the present disclosure. As shown in Figure 1, the method in this embodiment includes: S100, S110, S120, and S130. The steps are described in detail below.
  • the first mobile device in S100 in the present disclosure is a mobile device for forming a test reference trajectory.
  • a mobile device used to form a test reference trajectory refers to a device that can be moved by driving, remote control, or operation.
  • the mobile devices used to form the test reference trajectory include but are not limited to: vehicles, robots, robotic arms, etc., so that the technical solutions provided in the present disclosure can be applied to a variety of application scenarios.
  • the first mobile device is in a driving state not controlled by the trajectory tracking controller to be tested, which means that the first mobile device is in a driving state in a non-autonomous driving mode (such as a driver's driving mode).
  • the reference trajectory is equivalent to recording the driving behavior of the driver.
  • the first mobile device is in a driving state that is not controlled by the trajectory tracking controller to be tested, or the first mobile device is under the control of the controller other than the trajectory tracking controller to be tested. Unmanned driving state, etc.
  • the test reference trajectory in the present disclosure is the trajectory that the trajectory tracking controller to be tested in the second mobile device needs to make the second mobile device track the driving.
  • the vehicle when the first mobile device used to form the test reference trajectory is a vehicle, the vehicle may be a vehicle that can realize automatic driving control; of course, it may also be unable to realize automatic driving control, but only based on the driver Driving behavior while driving a vehicle. That is, the vehicle can use the driver's driving behavior to form a test reference trajectory.
  • the present disclosure forms the test reference trajectory by using the way the driver drives the vehicle. Since the driver can drive the vehicle to form a variety of styles of the test reference trajectory according to the test requirements, the present disclosure is beneficial to improve the convenience and diversity of forming the test reference trajectory. It is also beneficial to provide a test reference trajectory more in line with human driving habits for the test of the trajectory tracking controller.
  • the robot when the first mobile device used to form the test reference trajectory is a robot, the robot may be a robot that provides services to customers.
  • the mobile device used to form the test reference trajectory is a robotic arm
  • the robotic arm may be a robotic arm on a production line or the like.
  • the robot or robotic arm can form a test reference trajectory through manual operation such as manual remote control.
  • the present disclosure forms the test reference trajectory by using manual operation methods such as remote control. Since manual operation can control the robot to form a variety of styles of test reference trajectories according to test requirements, the present disclosure is beneficial to improve the convenience and diversity of forming test reference trajectories. , And help to provide a test reference trajectory that is more in line with human operating habits for the test of the trajectory tracking controller.
  • the first mobile device of the present disclosure may be provided with a positioning device, and positioning signals (such as satellite positioning signals, etc.) are received through the positioning device. In this way, the present disclosure may use the positioning signals received by the positioning device, To get the location information of the first mobile device.
  • the location information of the first mobile device includes but is not limited to: location time (such as a location time stamp) and location information of the first mobile device.
  • the location information of the first mobile device includes but is not limited to: the coordinates of the first mobile device in the real world coordinate system.
  • the real world coordinate system may be a two-dimensional coordinate system.
  • the real world coordinate system includes but is not limited to: UTM (Universal Transverse Mercator, Universal Transverse Mercator projection) coordinate system.
  • the location information of the first mobile device may be: X-axis coordinates and Y-axis coordinates based on the UTM coordinate system.
  • the present disclosure expresses the position of the first mobile device by using the coordinates of the first mobile device in the two-dimensional coordinate system. Under the condition that the accuracy of the test trajectory tracking controller can be satisfied, it is beneficial to simplify the calculation amount in the test process, thereby Conducive to improving the convenience of testing.
  • the positioning device in the present disclosure may include, but is not limited to: a positioning device based on RTK (Real-Time Kinematic) carrier phase difference technology.
  • the positioning device includes but is not limited to: mobile station equipment based on RTK carrier phase difference technology that can communicate with RTK base stations (hereinafter referred to as RTK mobile station equipment for short).
  • RTK mobile station equipment includes but is not limited to: NovAtel mobile station equipment, etc.
  • the RTK base station is usually set near the RTK mobile station equipment, and the erection height and erection position of the RTK base station can be set according to the actual needs of signal transmission.
  • the RTK base station can be installed at a fixed position such as the top of a tall building or the top of a communication tower.
  • the RTK base station can also be set up on movable equipment.
  • the RTK base station can be installed on a vehicle with a certain height (such as a vehicle with a lifting device, etc.).
  • the present disclosure can easily move the RTK base station to a corresponding test site by setting up the RTK base station on a movable device, thereby facilitating the realization of the test of the trajectory tracking controller in the corresponding test site.
  • the erection height of the RTK base station is usually related to the height of signal obstacles such as buildings in the environment where the RTK base station is located.
  • the erection height of the RTK base station is usually higher than the height of each signal obstacle in the environment where it is located.
  • the erection height of the RTK base station can be lower.
  • RTK base stations are usually erected on top of tall buildings.
  • the RTK base station can be set up on a movable device, the location of the RTK base station is fixed during the testing process of the trajectory tracking controller.
  • the mobile station device provided on the first mobile device in the present disclosure can receive satellite positioning signals (such as GPS positioning signals or Beidou positioning signals) from satellites and RTK data from RTK base stations. Based on the satellite positioning signal, the mobile station device can obtain the rough position information of the first mobile device, and the position accuracy of the rough position information is usually on the meter level. The mobile station device can obtain the final position information of the first mobile device according to the received satellite positioning signal and RTK data, and the position positioning accuracy of the position information can reach the centimeter level.
  • the present disclosure can use existing processing methods to process satellite positioning signals and RTK data to obtain high-precision position information of the first mobile device. For example, real-time processing based on epochs, etc., will not be described in detail here.
  • the mobile station device 1 may include: an antenna 11, a receiver 12, and a router 13.
  • the mobile station device 1 performs wireless information transmission with the satellite 2 through the antenna 11.
  • the mobile station device 1 performs wireless information transmission with the RTK base station 3 through the router 13.
  • the RTK base station 3 can perform wireless information transmission with the satellite 2.
  • the antenna 11 includes, but is not limited to, a GPS antenna or a Beidou antenna.
  • the mobile station device 1 can receive the satellite positioning signal from the satellite 2 through the antenna 11.
  • Satellite 2 includes but is not limited to: GPS (Global Positioning System, Global Positioning System) satellites or Beidou satellites, etc.
  • Satellite positioning signals include, but are not limited to: GPS-based positioning signals or Beidou-based positioning signals.
  • the satellite positioning signal in the present disclosure may include, but is not limited to: positioning time (that is, the time corresponding to the position) and position information.
  • the positioning accuracy of the position information in the satellite positioning signal is usually meters.
  • the mobile station device 1 can receive RTK data from the RTK base station 3 through its router 13.
  • RTK data can include not only information used to describe RTK (hereinafter referred to as differential data), but also time corresponding to the differential data. Since the time corresponding to the differential data comes from satellite 2, the time corresponding to the differential data can also be referred to as positioning time.
  • the router 13 includes but is not limited to: Cellular 4G Router (cellular 4G router), etc.
  • the receiver 12 calculates the position information in the corresponding satellite positioning signal received by the antenna 11 and the difference data in the corresponding RTK data received by the router 13 to obtain the centimeter-level position information of the mobile station device 1, thereby
  • the present disclosure can realize precise positioning of the first mobile device.
  • the location information of the first mobile device obtained in S100 includes but is not limited to: location time and location information of the first mobile device.
  • the receiver 12 can obtain precise positioning position information corresponding to the positioning time according to the satellite positioning signal and RTK data having the same positioning time. In the case that there is no satellite positioning signal and RTK data with the same positioning time, the receiver 12 can obtain the positioning time in the satellite positioning signal according to the satellite positioning signal and RTK data that meet the time interval of the positioning time less than the predetermined time interval. Corresponding precise positioning location information.
  • the positioning time in the positioning information obtained in S100 may be the positioning time in the satellite positioning signal.
  • the motion state information of the first mobile device in the present disclosure may include, but is not limited to: pose, time corresponding to velocity and acceleration (hereinafter referred to as velocity time), velocity and acceleration, etc.
  • the pose includes, but is not limited to: the yaw angle of the first mobile device (may also be referred to as the yaw angle in the real world coordinate system, namely Yaw).
  • the pose of the first mobile device may further include: a pitch angle (Pitch), a roll angle (Roll), and a time corresponding to the pose (hereinafter referred to as pose time) of the first mobile device.
  • the present disclosure may obtain the pose of the first mobile device according to data output by an IMU (Inertial Measurement Unit, inertial measurement unit) installed on the first mobile device.
  • IMU Inertial Measurement Unit, inertial measurement unit
  • the positioning time can be used as the pose time
  • the present disclosure can obtain the positioning time, the position information corresponding to the positioning time, and the yaw angle corresponding to the positioning time according to the information output by the mobile station device .
  • the present disclosure can read the speed and acceleration of the first mobile device from the first mobile device.
  • the present disclosure can read the current speed, acceleration, etc. of the first mobile device in real time through the CAN (Controller Area Network) bus of the first mobile device.
  • the value of acceleration can be accompanied by a sign, which can indicate the direction of acceleration. For example, a positive sign indicates that the direction of acceleration is the same as the direction of speed, and a negative sign indicates that the direction of acceleration is opposite to the direction of speed.
  • S100 may be referred to as the original data accumulation stage.
  • the original data accumulated in S100 is used to form multiple track point information.
  • the original data accumulated in S100 is usually redundant, for example, the location information is densely packed, and the location information may be duplicated. In the process of forming multiple track point information, redundant information is usually filtered out, so as to avoid the phenomenon of track point information redundancy.
  • the specific content of the original data accumulated in S100 is usually set according to the input information required by the track tracking controller to be tested.
  • the present disclosure should also obtain other information during the raw data accumulation stage.
  • the original data accumulated in S100 may include three data sets , Namely positioning data collection, pose data collection and speed data collection.
  • the data records in the positioning data set come from the positioning device set on the first mobile device. Any data record in the positioning data set includes at least: positioning time and precise positioning location information.
  • the data records in the pose data set come from the inertial measurement unit set on the first mobile device. Any data record in the pose data set includes at least: the pose time and the yaw angle of the first mobile device.
  • any data record in the pose data set may further include: the pitch angle and the roll angle of the first mobile device.
  • the data records in the speed data set come from the first mobile device itself (such as the CAN bus in the first mobile device, etc.). Any data record in the speed data set includes at least: speed time, speed magnitude, acceleration, etc.
  • the original data accumulated in S100 may include two data sets, namely, positioning And pose data collection and velocity data collection.
  • the data records in the positioning and pose data collection come from the positioning device set on the first mobile device.
  • Any data record in the positioning and pose data set includes at least: positioning time, precise positioning location information, and the yaw angle of the first mobile device.
  • the data records in the speed data set come from the first mobile device itself (such as the CAN bus in the first mobile device, etc.).
  • Any data record in the speed data set includes at least: speed time, speed magnitude, acceleration (acceleration value with sign), etc.
  • S110 Determine multiple track point information according to the positioning information and the motion state information, and form a test reference track including the multiple track point information.
  • the multiple track point information generated by the present disclosure is used to form a test reference track.
  • the test reference trajectory of the present disclosure includes at least: multiple trajectory point information. All track point information can be regarded as a test reference track.
  • any trajectory point information in the present disclosure may include: trajectory point location information, pose of the mobile device corresponding to the trajectory point, velocity magnitude and velocity direction corresponding to the trajectory point, acceleration magnitude and acceleration corresponding to the trajectory point direction.
  • any track point information may further include: positioning time and track curvature corresponding to the track point.
  • the test reference track may be a data set including multiple data records, each data record corresponds to one track point, and one data record is one track point information.
  • the present disclosure when the present disclosure uses original data to form track point information, it is usually necessary to perform redundant processing on the original data to eliminate redundant data such as duplicate data and too dense data in the original data, thereby benefiting Improve the rationality of the track point distribution of the test reference track.
  • the present disclosure may first determine the position information of each trajectory point of the test reference trajectory based on the positioning information obtained above, and then determine other information of each trajectory point based on all the poses and motion state information obtained above.
  • the process of determining the position information of each trajectory point of the test reference trajectory in the present disclosure may be: sampling multiple positioning information according to a preset predetermined distance between adjacent trajectory points, thereby obtaining multiple trajectory point positions information.
  • the present disclosure may first select a piece of positioning information from all the positioning information obtained above, and use the location information in the positioning information selected this time as the location information of the starting track point of the test reference track.
  • the distance calculation can be performed based on the position information and the starting track point position information in other positioning information, and the distance and the reservation from the starting track point position information can be selected from the other positioning information based on the result of the distance calculation and the above predetermined distance Position information with the closest distance, and use the position information in the selected positioning information as the next track point position information of the starting track point, and so on, until the position information of all track points in the test reference track is obtained.
  • the distance between any two adjacent track points is usually a predetermined distance or approximately a predetermined distance.
  • the positioning time corresponding to the location information should also be obtained.
  • the predetermined distance in the present disclosure is a constant, and the size of the predetermined distance can be set according to actual requirements.
  • the predetermined distance includes but is not limited to: 20 cm and so on.
  • the present disclosure can eliminate data redundancy by using a predetermined distance to perform sampling processing on positioning information, and can also distribute track points evenly, that is, smooth processing of the test reference trajectory can be realized, thereby helping to improve the rationality of the test reference trajectory.
  • the present disclosure may respectively correspond to the positioning according to the position information of the multiple track points Time, the multiple poses and multiple motion state information are respectively sampled, so as to obtain the pose and motion state information corresponding to each track point.
  • the present disclosure can search for the pose time closest to the positioning time from each data record in the pose data set, and compare the pose time corresponding to the yaw of the first mobile device The angle is used as the yaw angle corresponding to the track point.
  • the present disclosure can also search for at least two pose times that are closest to the positioning time from each data record in the pose data set, and target at least two pose times corresponding to each
  • the yaw angle of the first mobile device is calculated (such as calculating the mean value of the yaw angle, etc.), and the calculation result is used as the yaw angle corresponding to the track point.
  • the positioning time and the pose time are usually not synchronized.
  • the present disclosure uses the positioning time as a reference to sample the pose Processing realizes the time sequence alignment of the positioning time and the pose time, which is beneficial to quickly and accurately obtain the test reference trajectory.
  • the present disclosure can determine the yaw corresponding to each trajectory point while determining the position information of each trajectory point of the test reference trajectory After that, the present disclosure can perform sampling processing on multiple motion state information respectively according to the positioning time corresponding to the location information of the multiple track points, so as to obtain the pose and motion state information corresponding to each track point. For example, for any trajectory point, the present disclosure can search for a velocity time closest to the positioning time from each data record in the velocity data set, and use the velocity and acceleration of the first mobile device corresponding to the velocity time as The speed and acceleration corresponding to the track point.
  • the present disclosure may also search for at least two pose times that are closest to the positioning time from each data record in the velocity data set, and target the at least two pose times corresponding to each of the at least two pose times.
  • the yaw angle of a mobile device is calculated (such as calculating the mean value of the yaw angle, etc.), and the calculation result is used as the yaw angle corresponding to the track point.
  • the positioning time and the speed time are usually not synchronized.
  • the present disclosure uses the positioning time as a reference to sample the motion state information to realize the timing alignment processing of the positioning time and the speed time, which is beneficial to fast and accurate To obtain the test reference trajectory.
  • the present disclosure can determine the speed direction corresponding to the trajectory point according to the slope of the line between the two trajectory points before and after the trajectory point, and the speed direction is combined with
  • the sign of the acceleration value can be used to determine the direction of acceleration.
  • the direction of acceleration is the same as or opposite to the direction of speed.
  • the line connecting the two track points before and after the track point may be: the line connecting the nth track point before the track point and the mth track point after the track point.
  • n and m are both integers greater than or equal to 1
  • the values of n and m can be equal
  • the values of n and m should not be too large, such as not more than 4 or 5, etc., which will help avoid inaccurate speed directions, etc. It is helpful to obtain the test reference track quickly and accurately.
  • the i-th trajectory point in the test reference trajectory if the position information of the n-th trajectory point before the i-th trajectory point is expressed as (x in ,y in ), the i-th trajectory The position information of the m-th trajectory point after the point is expressed as (x i+m ,y i+m ), and the velocity direction ⁇ of the i-th trajectory point can be expressed by the following formula (1):
  • the present disclosure may also use other methods to obtain the velocity direction of the track points.
  • the present disclosure may use multiple track points as discrete points to perform curve fitting. After obtaining the corresponding curve equation, the present disclosure uses The curve equation is used to determine the speed direction of any track point as a discrete point.
  • the curvature of the track corresponding to each track point may also be determined.
  • the present disclosure may determine the curvature of the track corresponding to one of the adjacent track points according to the amount of change in the speed direction of the adjacent track points and the distance between the adjacent track points. For example, for any track point, the present disclosure can use the following formula (2) to express the track curvature k corresponding to the track point:
  • ⁇ represents the amount of change in the velocity direction of adjacent trajectory points.
  • the velocity direction of trajectory point A is ⁇
  • the velocity direction of trajectory point B is ⁇ + ⁇
  • ⁇ is The amount of change between the speed direction of track point A and the speed direction of track point B
  • ⁇ s represents the distance between adjacent track points (such as a straight line distance), for example, in Figure 3, between track point A and track point B the distance.
  • the present disclosure may use the calculated trajectory curvature k as the trajectory curvature of the previous trajectory point in two adjacent trajectory points (the trajectory curvature corresponding to trajectory point A in FIG. 3), or the calculated trajectory curvature k
  • the trajectory curvature k is taken as the trajectory curvature of the latter one of the two adjacent trajectory points (the trajectory curvature corresponding to the trajectory point B in Fig. 3).
  • the present disclosure may also use other methods to obtain the curvature of the track points.
  • the present disclosure may use multiple track points as discrete points to perform curve fitting. After obtaining the corresponding curve equation, the present disclosure uses the Curve equation to determine the curvature of any track point that is used as a discrete point.
  • the multiple trajectory point information in the test reference trajectory of the present disclosure is shown in FIGS. 4a to 4d.
  • the curve in FIG. 4a represents the trajectory formed by the position information of multiple trajectory points in the UTM coordinate system.
  • the abscissa in FIG. 4a represents the X axis (in meters) of the UTM coordinate system, and the ordinate represents the Y axis (in meters) of the UTM coordinate system.
  • the curve in Fig. 4b represents a curve formed by the respective speeds of multiple track points.
  • the abscissa of Fig. 4b represents the distance relative to the starting track point (in meters), and the ordinate represents the speed corresponding to the track point (in meters/second).
  • the abscissa in Figure 4c represents the curve formed by the velocity directions of multiple track points.
  • the abscissa in Figure 4c represents the distance (in meters) relative to the starting track point, and the ordinate represents the speed direction corresponding to the track point (such as ⁇ above).
  • the abscissa in Figure 4d represents the distance (in meters) relative to the starting track point, and the ordinate represents the curvature corresponding to the track point.
  • test reference trajectory in the present disclosure is beneficial to avoid the formation of the test reference trajectory from being restricted by factors such as high-precision maps and lane lines.
  • testers can flexibly set test reference trajectories of various shapes anytime and anywhere according to test requirements, and the process of setting test reference trajectories does not need to consider factors such as weather and light.
  • the test reference trajectory can be set on a country road in the morning or noon or evening.
  • a continuous right-angle turning test reference trajectory can be set
  • an S-shaped test reference trajectory can also be set
  • a figure-eight, O-shaped, or spiral-shaped test reference trajectory can also be set.
  • the present disclosure is not only beneficial to increase the geographic location setting range and time setting range of the test reference trajectory, and is beneficial to reduce the implementation cost of forming the test reference trajectory, but also helps to increase the diversity of the test reference trajectory.
  • the present disclosure can adjust the parameters of the trajectory tracking controller to be tested in a targeted manner based on the performance of the trajectory tracking controller to be tested on various test reference trajectories, thereby helping to improve the performance of the trajectory tracking controller.
  • the parameters of the trajectory tracking controller to be tested in the present disclosure may be: parameters used in the process of forming an automatic driving control instruction by the trajectory tracking controller to be tested according to input information.
  • the test method provided in the present disclosure is applicable to trajectory tracking controllers of various architectures in automatic driving, and optimizes and adjusts the parameters of the controller based on the test results. For example, it is applicable but not limited to PID (proportional P-integral I-derivative D)
  • the trajectory tracking controller of the three-phase architecture adjusts the three-phase parameters; another example is applicable but not limited to the MPC (Model Predictive Control) architecture trajectory tracking controller to adjust the closed-loop optimization control parameters related to errors and control commands ; This improves the control performance of the trajectory tracking controller.
  • S120 Provide input information to the track tracking controller to be tested according to at least part of the track point information of the test reference track.
  • the trajectory tracking controller to be tested in the present disclosure is provided in the second mobile device. Since the trajectory tracking controller to be tested is arranged in the second mobile device, compared with the existing way of using the simulator to test the trajectory tracking controller, the present disclosure is beneficial to avoid the difference between the simulator test environment and the real environment. The inaccurate test result caused by the difference between the two can avoid the waste of time and labor costs caused by the need for further debugging when the trajectory tracking controller is arranged in the actual mobile device.
  • the second mobile device and the first mobile device in S100 may be the same mobile device. If a trajectory tracking controller is installed in a vehicle, the present disclosure needs to test the trajectory tracking controller in the vehicle, that is, the trajectory tracking controller in the vehicle is the trajectory tracking controller to be tested.
  • the present disclosure may first ask the driver to drive the vehicle along a predetermined route (for example, an S-shaped route, a figure-eight route, an O-shaped route, or a spiral route, etc.), and the vehicle is used as the first mobile device.
  • the present disclosure can continuously collect and store raw data during the driving of the vehicle (such as the method recorded in S100).
  • the present disclosure can use the method described in S110 to process the collected and stored raw data during the driving of the vehicle or after the driving of the vehicle, thereby generating multiple trajectory point information, and all trajectory point information forms a test reference Track.
  • the vehicle is set at any position on the predetermined route (such as the starting point of the predetermined route) or near the predetermined route (such as near the starting point of the predetermined route), so that the vehicle is in a driving state controlled by the trajectory tracking controller to be tested , That is, the vehicle is in automatic driving mode, and the vehicle is used as the second mobile device.
  • the second mobile device may also be a mobile device different from the first mobile device in S100.
  • a trajectory tracking controller is installed in a vehicle, the present disclosure needs to test the trajectory tracking controller in the vehicle, that is, the trajectory tracking controller in the vehicle is the trajectory tracking controller to be tested.
  • the present disclosure may first ask the driver to drive another vehicle to follow a predetermined route (such as an S-shaped route, a figure-eight route, an O-shaped route, or a spiral route, etc.), and this other vehicle is used as the first mobile device.
  • the trajectory tracking controller may or may not be installed in the other vehicle.
  • the present disclosure can continuously collect and store raw data while the other vehicle is running.
  • the present disclosure can use the method described in S110 to process the collected and stored raw data during the driving of the other vehicle or after the driving of the other vehicle, thereby generating multiple track point information, all track point information
  • the test reference trajectory is formed.
  • the vehicle with the trajectory tracking controller to be tested is set at any position on the predetermined route (such as the starting point of the predetermined route) or near the predetermined route (such as near the starting point of the predetermined route), so that the vehicle equipped with the trajectory tracking controller to be tested
  • the vehicle is in a driving state controlled by the trajectory tracking controller to be tested, that is, the vehicle equipped with the trajectory tracking controller to be tested is in automatic driving mode, so the vehicle equipped with the trajectory tracking controller to be tested is used as the second mobile device.
  • the second mobile device in the present disclosure is also provided with a positioning device, so that the positioning signal can be received through the positioning device (such as satellite positioning signals, etc.).
  • the positioning device such as satellite positioning signals, etc.
  • the present disclosure can obtain the positioning information of the second mobile device through the positioning signals received by the positioning device.
  • the location information of the second mobile device includes but is not limited to: location time (such as a location timestamp) and location information of the second mobile device.
  • the location information of the second mobile device includes but is not limited to: the coordinates of the second mobile device in a real-world coordinate system (such as a UTM coordinate system).
  • the positioning device provided on the second mobile device may include, but is not limited to: a positioning device based on RTK carrier phase difference technology.
  • the positioning device installed on the second mobile device may be the same as the positioning device installed on the first mobile device. The description will not be repeated here.
  • the present disclosure can intercept a part of the trajectory (also referred to as a segment of trajectory) from the test reference trajectory according to the position of the second mobile device in real time, and the intercepted part of the trajectory can be called a sub-test reference trajectory .
  • the present disclosure can provide corresponding input information for the track tracking controller to be tested based on the track point information contained in the sub-test reference track obtained in real time.
  • each time the present disclosure obtains the sub-test reference trajectory it provides one input information to the trajectory tracking controller to be tested according to the track point information in the sub-test reference trajectory.
  • the present disclosure intercepts the sub-test reference trajectory according to the position of the second mobile device, and uses the sub-test reference trajectory to provide input information for the trajectory tracking controller to be tested, which is beneficial to ensure that proper input information is provided for the trajectory tracking controller to be tested. , So as to facilitate the second mobile device controlled by the track tracking controller to be tested to track the test reference track.
  • the implementation process of providing input information for the track tracking controller to be tested according to the track point information in the present disclosure may include the following steps:
  • Step 1 Obtain current location information of a second mobile device equipped with a track tracking controller to be tested.
  • the present disclosure can obtain the current location information of the second mobile device equipped with the trajectory tracking controller to be tested in real time according to a predetermined frequency (for example, 100 Hz, etc.), that is, the present disclosure every certain time (for example, 0.01 second) Acquire the current location information of the second mobile device once.
  • a predetermined frequency for example, 100 Hz, etc.
  • the present disclosure will obtain the current location information of the second mobile device from the mobile station device set in the second mobile device in real time according to a predetermined frequency.
  • the current location information of the second mobile device acquired by the present disclosure may be centimeter-level location information.
  • the present disclosure can achieve precise positioning of the second mobile device, which is beneficial to improve the sub-test of interception.
  • the accuracy of the reference trajectory is beneficial to improve the testing accuracy of the trajectory tracking controller.
  • Step 2 According to the current position information and the track point information, determine the track point closest to the current position information in the test reference track.
  • the present disclosure can obtain the position information (such as the X coordinate and Y coordinate based on the UTM coordinate system) of all the track points in the test reference trajectory that the second mobile device has not driven, and according to the obtained position information Calculate the current distance between the second mobile device and each track point based on the current location information of the second mobile device (such as the X coordinate and Y coordinate based on the UTM coordinate system), and select the closest track point from it.
  • the test reference trajectory that has not been driven refers to a test reference trajectory located in front of the second mobile device and waiting for the second mobile device to drive.
  • the second mobile device may deviate from the test reference trajectory, and the deviated part of the test reference trajectory usually does not belong to the test reference trajectory that has not been driven.
  • Step 3 According to the nearest track point, intercept the sub-test reference track from the test reference track.
  • the present disclosure may directly use the closest track point as the basis to intercept the sub-test reference track from the test reference track.
  • the present disclosure uses the closest track point as the basis to intercept the sub-test reference track from the test reference track, such as taking the closest track point as the first Trajectory points, cut out j (j is a preset constant value, such as j greater than 30 or 35 or 40, etc.) trajectory points. If the result of the judgment does not meet the predetermined distance requirement (for example, not less than k meters), the present disclosure may not perform the interception operation of the sub-test reference trajectory, so that no input information is provided for the trajectory tracking controller to be tested this time.
  • the predetermined distance requirement for example, less than k meters
  • the present disclosure judges whether the predetermined distance requirement is met for the closest track point and the current position information, which is beneficial to avoid the excessive steering angle that occurs when the second mobile device is far away from the closest track point (such as the steering wheel turning sharply, etc.) caused by potential safety hazards and other phenomena.
  • the sub-test reference trajectories intercepted from the test reference trajectory are usually different each time .
  • all the sub-test reference trajectories intercepted in one test process are usually different from all the sub-test reference trajectories intercepted in the other test process. Therefore, the sub-test reference trajectory in the present disclosure may be referred to as a local test reference trajectory.
  • test reference track used in the testing process of one track tracking controller to be tested is usually the same as the test reference track used in the other test process.
  • the test reference trajectory formed by the disclosure is oriented to multiple trajectory tracking controllers to be tested, that is, the multiple trajectory tracking controllers to be tested all implement testing based on the test reference trajectory. Therefore, the test reference trajectory formed by the present disclosure can be referred to as a global test reference trajectory, and different trajectory tracking controllers can be used for testing.
  • Step 4 According to the track point information in the sub-test reference track, provide input information for the track tracking controller to be tested.
  • the sub-test reference trajectory in the present disclosure usually includes multiple trajectory points.
  • the present disclosure can select a track point from the sub-test reference track, and provide input information for the track tracking controller to be tested according to the track point information of the selected track point. For example, select a trajectory point from the middle or middle and back segments of the sub-test reference trajectory (for example, select the 25th or 30th trajectory point in the sub-test reference trajectory), and track the trajectory to be tested according to the trajectory point information
  • the controller provides input information.
  • the present disclosure can also select multiple trajectory points from the sub-test reference trajectories, and perform calculations on the trajectory point information of the selected multiple trajectory points (such as calculations based on weights, etc.), so as to provide a test result according to the calculation result.
  • the trajectory tracking controller provides input information. For example, select consecutive multiple trajectory points from the middle section or middle and back sections of the sub-test reference trajectory, and perform the calculation on the trajectory point information of the multiple trajectory points according to the respective weights of the selected multiple trajectory points. Calculation, so as to provide input information for the trajectory tracking controller to be tested according to the calculated result.
  • the weight corresponding to each trajectory point can be different or the same (that is, the average value is calculated). In the case where the weights corresponding to the track points are not the same, the weights corresponding to the track points can be set according to the distance between each track point and the second mobile device. For example, the weight corresponding to the track point closer to the second mobile device is greater than the weight corresponding to the track point far from the second mobile device.
  • mapping processing from global-based information to local-based information is required to obtain the local-based information required by the trajectory tracking controller to be tested .
  • mapping processing from global-based information to local-based information is required to obtain the local-based information required by the trajectory tracking controller to be tested .
  • the magnitude of the acceleration and the converted position information, velocity direction and acceleration direction are used as input information and provided to the track tracking controller to be tested set in the second mobile device.
  • the present disclosure can also perform mapping processing from global-based information to local-based information for information such as yaw angle and curvature of track points, and use the mapped yaw angle and curvature as input information. , Provided to the track tracking controller to be tested set in the second mobile device.
  • the coordinate system (such as the UTM coordinate system) of the position information in the track point information in the global test reference trajectory and the coordinate system based on the second mobile device is R
  • the translation matrix is p
  • the present disclosure can use the following formula (3) to convert the position information in the track point information in the global test reference trajectory into the position information based on the second mobile device coordinate system:
  • P v represents the location information of the track point based on the second mobile device coordinate system
  • P w represents the location information in the track point information in the global test reference track
  • Means The inverse of, and R represents the rotation matrix, which is a preset known value
  • p represents the translation matrix, which is a preset known value.
  • the present disclosure may use the following formula (4) to convert the speed direction in the track point information in the global test reference trajectory into a speed direction based on the second mobile device coordinate system:
  • V v R T V w formula (4)
  • V v represents the speed direction based on the second mobile device coordinate system
  • V w represents the speed direction in the track point information in the global test reference trajectory
  • R T represents the transposed matrix of the rotation matrix R.
  • the tracking controller to be tested may use the received speed, acceleration, and converted position information, speed direction, and acceleration direction of the track point as target information, and combine it with the current position information and current speed of the second mobile device.
  • the corresponding automatic driving control command is output, and the automatic driving control command can be provided to the corresponding component in the second mobile device through the CAN bus or the like.
  • the automatic driving control command in the present disclosure includes but is not limited to: at least one of a steering wheel angle control amount, an accelerator control amount, and a brake control amount.
  • Corresponding components in the vehicle execute corresponding operations according to the received automatic driving control instructions, thereby enabling the vehicle to achieve automatic driving.
  • the automatic driving control instruction in the present disclosure includes but is not limited to: at least one of the steering control amount and the action frequency control amount of the robot or the robotic arm.
  • the content specifically included in the automatic driving control command can be set according to actual needs, which is not limited in the present disclosure.
  • the driving information in the present disclosure may include: the actual movement track of the second mobile device, the actual speed and direction of the second mobile device, the actual acceleration and the direction, the actual pose, and the second mobile device At least one of the curvature of the actual movement trajectory, etc.
  • the present disclosure can obtain the positioning time, location information, and pose (such as the actual yaw angle of the second mobile device) of the second mobile device in real time according to the positioning device set on the second mobile device, so as to obtain the second The actual movement trajectory of the mobile device and the actual pose at different positions on the actual movement trajectory.
  • the present disclosure can read the speed time (that is, the speed timestamp), the speed size, and the acceleration (including the acceleration size and the acceleration direction) of the second mobile device from the second mobile device in real time.
  • the speed time, speed magnitude, and acceleration of the second mobile device can be read in real time through the CAN bus of the second mobile device.
  • the present disclosure may use the method shown in S110 to obtain multiple actual track point information of the second mobile device.
  • the multiple actual track point information forms the actual movement track of the second mobile device.
  • the distance between two adjacent actual track points may be the same as the distance between two adjacent track points in the test reference track. The specific process of obtaining the actual track point information will not be repeated here.
  • the present disclosure may compare the actual track point information in the actual movement track of the second mobile device with the track point information in the test reference track, and obtain and output the difference formed by the comparison, which may reflect the track tracking controller Performance.
  • the present disclosure can display the difference formed by comparison in a visual form. For example, it can be displayed online visually during the driving of the second mobile device. For another example, after the second mobile device completes driving, it can be displayed offline visually or form a performance analysis report.
  • the present disclosure can display the global test reference trajectory, the current location of the second mobile device, and the historical actual movement trajectory of the second mobile device in real time during the driving process of the second mobile device, as shown in Figure 5, the figure-eight route That is, the global test reference trajectory, and the rectangle represents the second mobile device.
  • the position of the rectangle is the current position of the second mobile device.
  • the second mobile device starts to drive from the bottom right of FIG. 5, and part of its historical actual movement trajectory does not completely match the test reference trajectory.
  • the sub-test reference trajectory currently obtained by the second mobile device is the white curve part in Fig. 5.
  • the present disclosure can intercept the sub-test reference trajectory that requires the second mobile device to move from the figure-eight route in real time to replace the currently displayed sub-test reference trajectory.
  • the interception can be performed according to the current position of the second mobile device. It can be seen from the above description that the present disclosure can intuitively and clearly show the situation that the second mobile device moves along the track.
  • FIG. 6 an example of the difference formed by the visual display comparison of the present disclosure is shown in FIG. 6.
  • one curve represents the test reference trajectory formed by the position information of multiple trajectory points in the UTM coordinate system
  • the other curve represents the second mobile device moves along the test reference trajectory.
  • the abscissa in the upper left figure represents the X axis of the UTM coordinate system (in meters), and the ordinate represents the Y axis of the UTM coordinate system (in meters).
  • the trajectory tracking controller sends control commands such as accelerator, brake, steering wheel angle, etc. to the second mobile device to control the second mobile device to drive according to the test reference trajectory.
  • information such as speed, direction, curvature and the test reference trajectory are formed According to the difference between the speed, direction, and curvature included in the corresponding track point information of the first mobile device, it can be seen from the figure that it can directly reflect the control of the track tracking controller and the driver of the first mobile device.
  • the difference or closeness between controls or other controller controls can be visually displayed or tested to evaluate the performance of the trajectory tracking controller.
  • FIG. 7 Another example of the difference formed by the visual display comparison of the present disclosure is shown in FIG. 7.
  • the abscissas of the upper, middle and lower graphs in Fig. 7 are all time (in seconds).
  • the curve in the upper figure of Figure 7 shows the error of the second mobile device in the yaw angle over time, that is, the yaw angle of the track point in the test reference trajectory and the yaw angle of the corresponding track point in the actual trajectory The difference.
  • the unit of the ordinate in the upper diagram of Figure 7 is meters.
  • the curve in the graph in Figure 7 shows the error of the second mobile device in the speed direction over time, that is, the difference between the speed direction of the track point in the test reference trajectory and the speed direction of the corresponding track point in the actual trajectory .
  • the ordinate of the graph in Fig. 7 is an angle (in degrees).
  • the curve in the bottom figure of Figure 7 shows the error of the speed of the second mobile device over time, that is, the difference between the speed of the track point in the test reference track and the speed of the corresponding track point in the actual track .
  • the unit of the ordinate in the lower graph of Fig. 7 is speed (in meters/second).
  • the trajectory tracking controller sends control commands such as accelerator, brake or steering wheel angle to the second mobile device to control the second mobile device to drive according to the test reference trajectory, such as yaw angle, speed, speed direction and other information during driving, and test reference trajectory
  • control commands such as accelerator, brake or steering wheel angle
  • the test reference trajectory such as yaw angle, speed, speed direction and other information during driving, and test reference trajectory
  • the difference between the yaw angle, speed size, speed direction and other information included in the corresponding track point information of the first mobile device on which the formation is based can be seen from the figure, which can directly reflect the control of the track tracking controller and the first mobile device
  • the difference or closeness between the driver control or other controller controls can be visually displayed or tested to evaluate the performance of the trajectory tracking controller.
  • FIG. 8 is a schematic structural diagram of an embodiment of the testing device of the trajectory tracking controller of the present disclosure.
  • the device shown in FIG. 8 includes: a first obtaining module 800, a first generating module 810, an input providing module 820, and a second obtaining module 830.
  • the testing device of the trajectory tracking controller may further include at least one of a difference formation module 840, a display module 850, and an adjustment parameter module 860. Each module is described in detail below.
  • the first acquisition module 800 is configured to acquire multiple positioning information and multiple motion state information of the first mobile device when the first mobile device is in a driving state that is not controlled by the track tracking controller to be tested.
  • the first mobile device may be a vehicle, a robot, or a mechanical arm.
  • the first obtaining module 800 may include: a first sub-module and a second sub-module.
  • the first obtaining module 800 may further include at least one of a third sub-module and a fourth sub-module.
  • the first sub-module is used to obtain real-time dynamic carrier phase differential signals and satellite positioning signals.
  • the second sub-module is used to determine the position information of the first mobile device according to the real-time dynamic carrier phase difference signal and the satellite positioning signal.
  • the positioning accuracy of the position information of the first mobile device is higher than the position positioning accuracy of the satellite positioning signal.
  • the second sub-module may obtain the position information of the first mobile device according to the satellite positioning signal with the same positioning time and the real-time dynamic carrier phase difference signal.
  • the second sub-module may obtain the location information of the first mobile device according to the satellite positioning signal and the real-time dynamic carrier phase difference signal whose time interval is less than the predetermined time interval requirement.
  • the positioning information includes: X-axis coordinates and Y-axis coordinates based on UTM coordinate system.
  • the motion state information includes at least one of yaw angle, speed, and acceleration.
  • the third sub-module is used to obtain the speed and acceleration of the first mobile device according to the data read from the CAN bus of the first mobile device.
  • the fourth sub-module is used to obtain the yaw angle of the first mobile device according to the data output by the inertial measurement unit provided in the first mobile device.
  • the trajectory point information includes at least one of the position information of the trajectory point, the magnitude and direction of the velocity corresponding to the trajectory point, the magnitude and direction of acceleration corresponding to the trajectory point, the curvature of the trajectory corresponding to the trajectory point, and the yaw angle corresponding to the trajectory point .
  • the first generating module 810 is configured to generate a test reference trajectory including multiple trajectory point information according to the positioning information and the motion state information.
  • the first generation module 810 may include: a first sampling sub-module and a second sampling sub-module.
  • the first generating module 810 may further include at least one of a direction determining sub-module and a curvature determining sub-module.
  • the first sampling sub-module is used to sample multiple positioning information according to a predetermined distance between adjacent track points to obtain multiple track point position information.
  • the second sampling sub-module is used to sample multiple motion state information according to the positioning time corresponding to the position information of the multiple track points to obtain the motion state information corresponding to the multiple track points.
  • the determining direction sub-module is used to determine the speed direction and acceleration direction corresponding to the track point according to the slope of the line connecting the track point before and after the track point for any track point.
  • the curvature determining submodule is used to determine the curvature of the track corresponding to one of the adjacent track points according to the change in the speed direction of the adjacent track points and the distance between the adjacent track points.
  • the input module 820 is used to provide input information for the trajectory tracking controller to be tested according to at least part of the trajectory point information of the test reference trajectory, so that the trajectory tracking controller to be tested outputs corresponding automatic driving control instructions to the second mobile device connected to it.
  • the second mobile device may be the same mobile device as the first mobile device, or may be two different mobile devices.
  • the input providing module 820 may include: a fifth submodule, a sixth submodule, a seventh submodule, and an eighth submodule.
  • the fifth sub-module is used to obtain current location information of the second mobile device where the track tracking controller to be tested is located.
  • the sixth sub-module is used to determine the track point closest to the current position information in the test reference track based on the current position information and track point information.
  • the seventh sub-module is used to intercept the sub-test reference trajectory from the test reference trajectory according to the closest trajectory point. For example, in the case of determining the closest track point, the seventh sub-module may directly use the closest track point as the basis to intercept the sub-test reference track from the test reference track.
  • the seventh sub-module can also judge the closest track point, and determine whether it is necessary to intercept the sub-test reference track from the test reference track based on the closest track point according to the judgment result. For example, the seventh sub-module determines whether the distance between the closest track point and the current position information meets the predetermined distance requirement. If the result of the judgment is that the predetermined distance requirement is met, the seventh sub-module intercepts the sub-test reference trajectory from the test reference trajectory based on the closest trajectory point. If the judgment result does not meet the predetermined distance requirement, the seventh sub-module may not perform the interception operation of the sub-test reference trajectory, so that the eighth sub-module will not provide input information for the trajectory tracking controller to be tested this time.
  • the eighth sub-module is used to provide input information for the track tracking controller to be tested according to the track point information in the sub-test reference track. For example, the eighth sub-module selects a track point from the sub-test reference track, and determines the input information of the track tracking controller to be tested according to the track point information of the selected track point. For another example, the eighth sub-module selects multiple trajectory points from the sub-test reference trajectory, performs comprehensive processing on the trajectory point information of the selected multiple trajectory points, and determines the input of the trajectory tracking controller to be tested according to the comprehensive processing result information.
  • the eighth sub-module may convert the position information, velocity direction, and acceleration direction in the track point information into position information, velocity direction, and acceleration direction in the second mobile device coordinate system, respectively.
  • the eighth sub-module can also provide the speed, acceleration, and converted position information, speed direction and acceleration direction to the track tracking controller to be tested.
  • the second acquiring module 830 is configured to acquire driving information of the second mobile device driving according to the automatic driving control instruction.
  • the second acquisition module 830 may acquire multiple positioning information and multiple motion state information of the second mobile device during the process of the second mobile device driving according to the automatic driving control instruction. After that, the second acquisition module 830 may generate an actual trajectory including multiple actual trajectory point information according to multiple positioning information and motion state information of the second mobile device.
  • the second acquisition module 830 may acquire multiple positioning information and multiple motion state information of the second mobile device during the process of the second mobile device driving according to the automatic driving control instruction.
  • the second acquisition module 830 may generate an actual trajectory including multiple actual trajectory point information according to multiple positioning information and motion state information of the second mobile device.
  • the difference forming module 840 is used to obtain and/or output the difference between the actual trajectory and the test reference trajectory. For example, acquiring and outputting the position error, the yaw angle error, and the speed error of the track point in the actual track and the track point in the test reference track.
  • the display module 850 is used to visually display the difference between the actual trajectory and the test reference trajectory.
  • the display module 850 can visually display online during the driving of the second mobile device.
  • the display module 850 may perform offline visual display after the second mobile device completes driving.
  • FIG. 5 to FIG. 7 please refer to the description of FIG. 5 to FIG. 7 in the foregoing method implementation, which is not described in detail here.
  • the parameter adjustment module 860 is used to adjust the parameters of the trajectory tracking controller according to the difference between the actual trajectory and the test reference trajectory.
  • the parameter adjustment module 860 can adjust the parameters of the trajectory tracking controller to be tested in a targeted manner, thereby helping to improve the performance of the trajectory tracking controller.
  • the device 900 may be a control system/electronic system configured in a car, a mobile terminal (for example, a smart mobile phone, etc.), a personal computer (PC, for example, a desktop computer). Or notebook computers, etc.), tablets, servers, etc.
  • a mobile terminal for example, a smart mobile phone, etc.
  • PC personal computer
  • notebook computers, etc. tablets, servers, etc.
  • the device 900 includes one or more processors, communication parts, etc., and the one or more processors may be: one or more central processing units (CPU) 901, and/or, one or more accelerators Unit (such as GPU, image processor) 913, etc., the processor can be based on executable instructions stored in a read-only memory (ROM) 902 or executable instructions loaded from the storage part 908 to a random access memory (RAM) 903 Perform various appropriate actions and processing.
  • the communication unit 912 may include but is not limited to a network card, and the network card may include but is not limited to an IB (Infiniband) network card.
  • the processor can communicate with the read-only memory 902 and/or the random access memory 903 to execute executable instructions, and is connected to the communication unit 912 via the bus 904, and communicates with other target devices via the communication unit 912, thereby completing the corresponding in this disclosure. step.
  • RAM 903 can also store various programs and data required for device operations.
  • the CPU 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904.
  • ROM902 is an optional module.
  • the RAM 903 stores executable instructions, or writes executable instructions into the ROM 902 during operation, and the executable instructions cause the central processing unit 901 to execute the steps included in the above-mentioned method.
  • An input/output (I/O) interface 905 is also connected to the bus 904.
  • the communication unit 912 may be integrated, or may be configured to have multiple sub-modules (for example, multiple IB network cards) and be connected to the bus respectively.
  • the following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc. ; And a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet.
  • the drive 910 is also connected to the I/O interface 905 as needed.
  • a removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that the computer program read therefrom is installed in the storage portion 908 as needed.
  • the architecture shown in Figure 9 is only an optional implementation.
  • the number and types of components in Figure 9 can be selected, deleted, added or replaced according to actual needs. ;
  • separate settings or integrated settings can also be used.
  • the acceleration unit 913 and the CPU901 can be set separately, and the acceleration unit 913 can be integrated on the CPU901, and the communication unit can be set separately It can also be integrated on the CPU901 or the acceleration unit 913.
  • the process described below with reference to the flowcharts can be implemented as a computer software program.
  • the embodiments of the present disclosure include a computer program product, which includes a computer program product tangibly contained on a machine-readable medium.
  • the computer program includes program code for executing the steps shown in the flowchart.
  • the program code may include instructions corresponding to the steps in the method provided by the present disclosure.
  • the computer program may be downloaded and installed from the network through the communication part 909, and/or installed from the removable medium 911.
  • the computer program is executed by the central processing unit (CPU) 901, the instructions described in the present disclosure to implement the above-mentioned corresponding steps are executed.
  • the embodiments of the present disclosure also provide a computer program program product for storing computer-readable instructions, which when executed, cause a computer to execute the procedures described in any of the foregoing embodiments. Test method of trajectory tracking controller.
  • the computer program product can be specifically implemented by hardware, software or a combination thereof.
  • the computer program product is specifically embodied as a computer storage medium.
  • the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc. Wait.
  • SDK software development kit
  • the embodiments of the present disclosure also provide another method for testing a trajectory tracking controller and its corresponding device and electronic equipment, computer storage media, computer programs, and computer program products.
  • the method includes: the first device sends a test instruction of the trajectory tracking controller to the second device, the instruction causes the second device to execute the test method of the trajectory tracking controller in any of the above possible embodiments; the first device receives the second device Send the test result of the trajectory tracking controller.
  • the test instruction of the trajectory tracking controller may be specifically a call instruction
  • the first device may instruct the second device to perform the test operation of the trajectory tracking controller by calling, and accordingly, in response to receiving the call instruction ,
  • the second device can execute the steps and/or procedures in any embodiment of the above-mentioned testing method of the trajectory tracking controller.
  • the method and apparatus, electronic equipment, and computer-readable storage medium of the present disclosure may be implemented in many ways.
  • the method and apparatus, electronic equipment, and computer-readable storage medium of the present disclosure can be implemented by software, hardware, firmware or any combination of software, hardware, and firmware.
  • the above-mentioned order of the steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated.
  • the present disclosure can also be implemented as programs recorded in a recording medium, and these programs include machine-readable instructions for implementing the method according to the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Manipulator (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

一种轨迹跟踪控制器的测试方法和装置、电子设备、计算机可读存储介质以及计算机程序，其中的方法包括：获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，第一移动设备的多个定位信息和多个运动状态信息（S100）；根据定位信息和运动状态信息，确定多个轨迹点信息并形成包括多个轨迹点信息的测试参考轨迹（S110）；根据测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息（S120），使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令；获取第二移动设备根据自动行驶控制指令行驶的行驶信息（S130）。

Description

轨迹跟踪控制器的测试方法、装置、介质及设备
本公开要求在2019年3月28日提交中国专利局、申请号为201910242040.X、发明名称为“轨迹跟踪控制器的测试方法、装置、介质及设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及轨迹跟踪控制器技术，尤其是涉及一种轨迹跟踪控制器的测试方法、轨迹跟踪控制器的测试装置、电子设备、计算机可读存储介质以及计算机程序。
背景技术
轨迹跟踪控制器是智能驾驶系统以及机器人系统等智能系统中的一个重要组成部分。对轨迹跟踪控制器进行测试，并根据测试数据分析和评估轨迹跟踪控制器的性能，有利于提高轨迹跟踪控制器的性能。
发明内容
本公开实施方式提供一种轨迹跟踪控制器的测试技术方案。
根据本公开实施方式其中一个方面，提供一种轨迹跟踪控制器的测试方法，包括：获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息；根据定位信息和运动状态信息，确定多个轨迹点信息并形成包括所述多个轨迹点信息的测试参考轨迹；根据所述测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令；获取所述第二移动设备根据所述自动行驶控制指令行驶的行驶信息。
根据本公开实施方式其中再一个方面，提供一种轨迹跟踪控制器的测试装置，包括：第一获取模块，用于获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息；第一生成模块，用于根据所述定位信息和运动状态信息，生成包括多个轨迹点信息的测试参考轨迹；提供输入模块，用于根据所述测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令；第二获取模块，用于获取第二移动设备根据所述自动行驶控制指令行驶的行驶信息。
根据本公开实施方式再一方面，提供一种电子设备，包括：存储器，用于存储计算机程序；处理器，用于执行所述存储器中存储的计算机程序，且所述计算机程序被执行时，实现本公开任一方法实施方式。
根据本公开实施方式再一个方面，提供一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时，实现本公开任一方法实施方式。
根据本公开实施方式的再一个方面，提供一种计算机程序，包括计算机指令，当所述计算机指令在设备的处理器中运行时，实现本公开任一方法实施方式。
基于本公开提供的轨迹跟踪控制器的测试方法和装置、电子设备、计算机可读存储介质以及计算机程序，本公开通过利用第一移动设备的定位信息以及运动状态信息生成轨迹点信息，可以利用针对第一移动设备的跟踪，形成测试参考轨迹，从而有利于降低形成测试参考轨迹的成本。本公开通过依据测试参考轨迹中的轨迹点信息，为设置于第二移动设备中的轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器可以在实际应用场景中进行测试，从而有利于避免测试情况良好的轨迹跟踪控制器在实际应用场景中表现欠缺的现象。另外，本公开在对轨迹跟踪控制器进行测试时，可以不需要将道路上施画的车道线等作为测试参照物，有利于避免对轨迹跟踪控制器的测试场景的限制，从而可以实现在多种实际环境下进行测试。由此可知，本公开提供的技术方案有利于降低轨迹跟踪控制器的测试成本，并有利于提高轨迹跟踪控制器的测试全面性以及准确性。
下面通过附图和实施方式，对本公开的技术方案做进一步的详细描述。
附图说明
构成说明书的一部分的附图描述了本公开的实施方式，并且连同描述一起用于解释本公开的原理。
参照附图，根据下面的详细描述，可以更加清楚地理解本公开，其中：
图1为本公开的轨迹跟踪控制器的测试方法一个实施方式的流程图；
图2为本公开的移动站设备一个实施方式的示意图；
图3为本公开的轨迹点曲率一个实施方式的示意图；
图4a-图4d为本公开的测试参考轨迹中的多个轨迹点信息一实施方式示意图；
图5为本公开的可视化显示轨迹跟踪控制器测试结果一实施方式示意图；
图6为本公开的可视化显示轨迹跟踪控制器测试结果另一实施方式示意图；
图7为本公开的可视化显示轨迹跟踪控制器测试结果再一实施方式示意图；
图8为本公开的轨迹跟踪控制器的测试装置一个实施方式的结构示意图。
图9为实现本公开实施方式的一示例性设备的框图。
具体实施例
现在将参照附图来详细描述本公开的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法以及设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
应当注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本公开实施例可以应用于终端设备、计算机系统及服务器等电子设备，其可与众多其它通用或者专用的计算系统环境或者配置一起操作。适于与终端设备、计算机系统以及服务器等电子设备一起使用的众所周知的终端设备、计算系统、环境和/或配置的例子，包括但不限于：个人计算机系统、服务器计算机系统、瘦客户机、厚客户机、手持或膝上设备、基于微处理器的系统、机顶盒、可编程消费电子产品、网络个人电脑、小型计算机系统﹑大型计算机系统和包括上述任何系统的分布式云计算技术环境等。
终端设备、计算机系统以及服务器等电子设备可以在由计算机系统执行的计算机系统可执行指令(诸如程序模块)的一般语境下描述。通常，程序模块可以包括例程、程序、目标程序、组件、逻辑以及数据结构等等，它们执行特定的任务或者实现特定的抽象数据类型。计算机系统/服务器可以在分布式云计算环境中实施，分布式云计算环境中，任务是由通过通信网络链接的远程处理设备执行的。在分布式云计算环境中，程序模块可以位于包括存储设备的本地或远程计算系统存储介质上。
示例性实施例
图1为本公开轨迹跟踪控制器的测试方法一个实施例的流程图。如图1所示，该实施例方法包括：S100、S110、S120和S130。下面对各步骤进行详细描述。
S100、获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，第一移动设备的多个定位信息和多个运动状态信息。
在一个可选示例中，本公开中的S100中的第一移动设备为用于形成测试参考轨迹的移动设备。用于形成测试参考轨迹的移动设备是指可以通过驾驶或者遥控或者操作等控制方式，实现移动的设备。用于形成测试参考轨迹的移动设备包括但不限于：车辆、机器人以及机器臂等，从而有利于使本公开提供的技术方案可以适用于多种应用场景中。所述第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态，为所述第一移动设备处于非自动驾驶模式(如驾驶员驾驶模式)的行驶状态，该情形下获得的测试参考轨迹相当于记录了驾驶员的驾驶行为。所述第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态，也可以为所述第一移动设备处于除该待测试的轨迹跟踪控制器控制之外的其他处于控制器控制下无人驾驶的行驶状态，等等。本公开中的测试参考轨迹是第二移动设备中的待测试轨迹跟踪控制器需要使第二移动设备跟踪行驶的轨迹。
可选的，在用于形成测试参考轨迹的第一移动设备为车辆时，该车辆可以是能够实现自动驾驶控制的车辆；当然，也可以是不能够实现自动驾驶控制，而只能基于驾驶员的驾驶行为而行驶的车辆。即该车辆可以通过驾驶员的驾驶行为，来形成测试参考轨迹。本公开通过利用驾驶员驾驶车辆的方式来形成测试参考轨迹，由于驾驶员可以根据测试需求驾驶车辆形成多种样式的测试参考轨迹，因此， 本公开有利于提高形成测试参考轨迹的便捷性以及多样性，且有利于为轨迹跟踪控制器的测试提供更符合人类驾驶习惯的测试参考轨迹。
可选的，在用于形成测试参考轨迹的第一移动设备为机器人时，该机器人可以是为顾客提供服务的机器人等。在用于形成测试参考轨迹的移动设备为机器臂时，该机器臂可以是生产线上的机器臂等。机器人或者机器臂可以通过人工遥控等人工操作方式，来形成测试参考轨迹。本公开通过利用遥控等人工操作方式来形成测试参考轨迹，由于人工操作可以根据测试需求控制机器人形成多种样式的测试参考轨迹，因此，本公开有利于提高形成测试参考轨迹的便捷性以及多样性，且有利于为轨迹跟踪控制器的测试提供更符合人类操作习惯的测试参考轨迹。
需要特别说明的是，在下述实施方式中，有时是以车辆为例，对本公开提供的轨迹跟踪控制器的测试的技术方案进行说明的，然而，这并不表示本公开提供的技术方案仅适用于车辆。
在一个可选示例中，本公开的第一移动设备上可以设置有定位装置，通过定位装置来接收定位信号(如卫星定位信号等)，这样，本公开可以通过定位装置接收到的定位信号，来获得第一移动设备的定位信息。可选的，第一移动设备的定位信息包括但不限于：定位时间(如定位时间戳)以及第一移动设备的位置信息。第一移动设备的位置信息包括但不限于：第一移动设备在真实世界坐标系中的坐标。可选的，真实世界坐标系可以为二维坐标系。例如，真实世界坐标系包括但不限于：UTM(Universal Transverse Mercator，通用横轴墨卡托投影)坐标系。如第一移动设备的位置信息可以为：基于UTM坐标系的X轴坐标和Y轴坐标。本公开通过使用第一移动设备在二维坐标系的坐标来表示第一移动设备的位置，在可以满足测试轨迹跟踪控制器的准确程度的情况下，有利于简化测试过程中的计算量，从而有利于提高测试的便捷性。
在一个可选示例中，本公开中的定位装置可以包括但不限于：基于RTK(Real-Time Kinematic，实时动态)载波相位差分技术的定位装置。例如，该定位装置包括但不限于：可以与RTK基站进行无线通讯的基于RTK载波相位差分技术的移动站设备(下述简称为RTK移动站设备)。RTK移动站设备包括但不限于：NovAtel移动站设备等。可选的，RTK基站通常设置在RTK移动站设备的附近，RTK基站的架设高度以及架设位置等，可以根据信号传输的实际需求设置。可选的，RTK基站可以架设在高楼顶层或者通讯塔塔顶等固定位置处。RTK基站也可以架设在可移动的设备上。例如，RTK基站可以架设在具有一定高度的车辆(如具有升降装置的车辆等)上。可选的，本公开通过将RTK基站架设在可移动的设备上，可以方便的将RTK基站移动到相应的测试场地中，从而有利于在相应的测试场地实现轨迹跟踪控制器的测试。
需要特别说明的是，RTK基站的架设高度，通常与RTK基站所在环境中的建筑物等信号障碍物的高度相关。可选的，RTK基站的架设高度通常高于其所在环境中的各信号障碍物的高度。在较为空旷的环境中，RTK基站的架设高度可以较低。而在高楼林立的城市道路环境中，RTK基站通常架设在高楼顶层等位置。另外，虽然RTK基站可以架设在可移动的设备上，然而，在轨迹跟踪控制器的测试过程中，RTK基站的位置是固定不动的。
在一个可选示例中，本公开中的第一移动设备上设置的移动站设备可以接收到来自卫星的卫星定位信号(如GPS定位信号或者北斗定位信号等)、以及来自RTK基站的RTK数据。基于卫星定位信号，移动站设备可以获得第一移动设备的粗略位置信息，该粗略位置信息的定位精度通常为米级别。移动站设备根据对接收到的卫星定位信号和RTK数据，可以获得第一移动设备的最终位置信息，该位置信息的位置定位精度可以达到厘米级别。本公开可以采用现有处理方式对卫星定位信号和RTK数据进行处理，以获得第一移动设备的高精度位置信息。例如，基于历元的实时处理等，在此不再详细说明。
可选的，本公开中的第一移动设备上设置的移动站设备的一个例子如图2所示。图2中，移动站设备1可包括：天线11、接收器12以及路由器13。移动站设备1通过天线11与卫星2进行无线信息传输。移动站设备1通过路由器13与RTK基站3进行无线信息传输。RTK基站3可以与卫星2进行无线信息传输。天线11包括但不限于：GPS天线或者北斗天线等。移动站设备1可以通过天线11接收到来自卫星2的卫星定位信号。卫星2包括但不限于：GPS(Global Positioning System，全球定位系统)卫星或者北斗卫星等。卫星定位信号包括但不限于：基于GPS的定位信号或者基于北斗的定位信号等。本公开中的卫星定位信号可以包括但不限于：定位时间(即位置对应的时间)和位置信息。卫星定位信号中的位置信息的定位精度通常为米。移动站设备1可以通过其路由器13接收到来自RTK基站3的RTK数据。RTK数据不仅可以包括：用于描述RTK的信息(下述称为差分数据)，还包括：差分数据对应的时间等。由于差分数据对应的时间来自卫星2，因此，差分数据对应的时间也可以称为定位时间。路由器13包括但不限于：Cellular 4G Router(蜂窝4G路由器)等。接收器12通过对天线11接收到的相应的卫星定位信号中的位置信息和路由器13接收到的相应的RTK数据中的差分数据进行计算，可以获得移动 站设备1的厘米级别的位置信息，从而本公开可以实现对第一移动设备的精准定位。
在一个可选示例中，S100所获得的第一移动设备的定位信息包括但不限于：定位时间以及第一移动设备的位置信息。接收器12可以根据具有相同定位时间的卫星定位信号和RTK数据，获得该定位时间对应的精准定位的位置信息。在不存在具有相同定位时间的卫星定位信号和RTK数据的情况下，接收器12可以根据满足定位时间的时间间隔小于预定时间间隔要求的卫星定位信号和RTK数据，获得卫星定位信号中的定位时间对应的精准定位的位置信息。S100所获得的定位信息中的定位时间可以采用卫星定位信号中的定位时间。
在一个可选示例中，本公开中的第一移动设备的运动状态信息可以包括但不限于：位姿、速度和加速度对应的时间(下述称为速度时间)、速度大小以及加速度大小等。其中的位姿包括但不限于：第一移动设备的偏航角(也可以称为真实世界坐标系中的横摆角，即Yaw)。可选的，第一移动设备的位姿还可以包括：第一移动设备的俯仰角(Pitch)、翻滚角(Roll)以及位姿对应的时间(下述称为位姿时间)等。可选的，本公开可以根据第一移动设备上安装的IMU(Inertial Measurement Unit,惯性测量单元)输出的数据，获得第一移动设备的位姿。在移动站设备集成有IMU的情况下，定位时间可以被作为位姿时间，且本公开可以根据移动站设备输出的信息，获得定位时间、定位时间对应的位置信息以及定位时间对应的偏航角。
在一个可选示例中，在第一移动设备具有提供其速度大小和加速度的能力的情况下，本公开可以从第一移动设备中读取出第一移动设备的速度大小和加速度。例如，本公开可以通过第一移动设备的CAN(Controller Area Network，控制器局域网络)总线，实时地读取出第一移动设备当前时刻的速度大小以及加速度等。其中的加速度的数值可以带正负号，该正负号可以表示出加速度的方向。例如，正号表示加速度的方向与速度的方向相同，负号表示加速度的方向与速度的方向相反。
可选的，S100可以称为原始数据积累阶段。S100所积累的原始数据用于形成多个轨迹点信息。S100所积累的原始数据通常是冗余的，例如，位置信息的密集程度较高，且位置信息可能出现重复。在形成多个轨迹点信息过程中，通常会筛除冗余的信息，从而避免出现轨迹点信息冗余的现象。
可选的，S100所积累的原始数据具体包括的内容，通常是根据待测试轨迹跟踪控制器所需的输入信息设置的。在待测试轨迹跟踪器还需要其他信息的情况下，本公开在原始数据积累阶段，还应该获取其他信息。
可选的，在第一移动设备上设置的惯性测量单元与第一移动设备上设置的定位装置(如移动站设备)相互独立设置的情况下，S100所积累的原始数据可以包括三个数据集合，即定位数据集合、位姿数据集合和速度数据集合。定位数据集合中的数据记录来自设置于第一移动设备上的定位装置。定位数据集合中的任一条数据记录至少包括：定位时间以及精准定位的位置信息。位姿数据集合中的数据记录来自设置于第一移动设备上的惯性测量单元。位姿数据集合中的任一条数据记录至少包括：位姿时间及第一移动设备的偏航角。可选的，位姿数据集合中的任一条数据记录还可以包括：第一移动设备的俯仰角和翻滚角。虽然在下述实施方式中，大多是以位姿具体为偏航角为例进行描述的，然而应该知道，下述描述中的位姿具体为偏航角和俯仰角，或者具体为偏航角和翻滚角，或者具体为偏航角、俯仰角和翻滚角，也是完全可行的。速度数据集合中的数据记录来自第一移动设备自身(如第一移动设备中的CAN总线等)。速度数据集合中的任一条数据记录至少包括：速度时间、速度大小以及加速度等。
可选的，在设置于第一移动设备上的定位装置(如移动站设备)具有测量第一移动设备的位姿功能的情况下，S100所积累的原始数据可包括两个数据集合，即定位和位姿数据集合以及速度数据集合。定位和位姿数据集合中的数据记录来自设置于第一移动设备上的定位装置。定位和位姿数据集合中的任一条数据记录至少包括：定位时间、精准定位的位置信息以及第一移动设备的偏航角。速度数据集合中的数据记录来自第一移动设备自身(如第一移动设备中的CAN总线等)。速度数据集合中的任一条数据记录至少包括：速度时间、速度大小以及加速度(带正负号的加速度数值)等。
S110、根据定位信息和运动状态信息，确定多个轨迹点信息，并形成包括多个轨迹点信息的测试参考轨迹。
在一个可选示例中，本公开所生成的多个轨迹点信息用于形成测试参考轨迹。也就是说，本公开的测试参考轨迹至少包括：多个轨迹点信息。所有轨迹点信息可以认为是一条测试参考轨迹。可选的，本公开中的任一轨迹点信息均可以包括：轨迹点位置信息、轨迹点对应的移动设备的位姿、轨迹点对应的速度大小和速度方向、轨迹点对应的加速度大小和加速度方向。可选的，任一轨迹点信息还可包括：定位时间以及轨迹点对应的轨迹曲率等。可选的，测试参考轨迹可以为一个数据集合，该数据集合包括多条数据记录，每一条数据记录对应一个轨迹点，且一条数据记录即为一个轨迹点信息。
在一个可选示例中，本公开在利用原始数据形成轨迹点信息时，通常需要对原始数据进行冗余处理，以消除原始数据中的重复数据、过于密集的数据等冗余数据，从而有利于提高测试参考轨迹的轨迹点分布的合理性。可选的，本公开可以先根据上述获得的定位信息确定测试参考轨迹的各轨迹点位置信息，然后，再根据上述获得的所有位姿以及运动状态信息，确定各轨迹点的其他信息。
可选的，本公开确定测试参考轨迹的各轨迹点位置信息的过程可以为：根据预先设置的相邻轨迹点间的预定距离，对多个定位信息进行采样处理，从而获得多个轨迹点位置信息。例如，本公开可以先从上述获得的所有定位信息中选取出一个定位信息，并将本次选取出的该定位信息中的位置信息作为测试参考轨迹的起始轨迹点位置信息，然后，本公开可以根据其他定位信息中的位置信息和起始轨迹点位置信息，进行距离计算，并根据距离计算的结果和上述预定距离，从其他定位信息中选取一个与起始轨迹点位置信息的距离和预定距离最相近的定位信息，并将该选取出的定位信息中的位置信息作为起始轨迹点的下一个轨迹点位置信息，以此类推，直到获得测试参考轨迹中的所有轨迹点的位置信息。在获得的所有轨迹点的位置信息中，任意两个相邻的轨迹点之间的距离通常为预定距离或者大约为预定距离。另外，在获得轨迹点的位置信息时，还应获取该位置信息所对应的定位时间。本公开中的预定距离为一常数，预定距离的大小可以根据实际需求设置，例如，预定距离包括但不限于：20厘米等。
本公开通过利用预定距离对定位信息进行采样处理，可以消除数据冗余现象，还可以使轨迹点均匀分布，即可以实现对测试参考轨迹的平滑处理，从而有利于提高测试参考轨迹的合理性。
在一个可选示例中，在移动站设备输出的数据形成定位数据集合的情况下，本公开在确定了测试参考轨迹的各轨迹点位置信息之后，可以根据多个轨迹点位置信息分别对应的定位时间，对多个位姿以及多个运动状态信息分别进行采样处理，从而获得各轨迹点各自对应的位姿以及运动状态信息。例如，针对任一轨迹点而言，本公开可以从位姿数据集合的各数据记录中查找与定位时间最接近的一位姿时间，并将该位姿时间对应的第一移动设备的偏航角作为该轨迹点对应的偏航角。再例如，针对任一轨迹点而言，本公开也可从位姿数据集合的各数据记录中查找与定位时间最接近的至少两个位姿时间，并针对至少两个位姿时间各自对应的第一移动设备的偏航角进行计算(如计算偏航角的均值等)，并将计算结果作为该轨迹点对应的偏航角。
在一些应用场景中(例如，在移动站设备与惯性测量单元相互独立设置的应用场景中)，定位时间与位姿时间通常并不同步，本公开通过以定位时间为基准，对位姿进行采样处理，实现了定位时间与位姿时间的时序对齐，从而有利于快速准确的获得测试参考轨迹。
在一个可选示例中，在移动站设备输出的数据形成定位和位姿数据集合的情况下，本公开在确定测试参考轨迹的各轨迹点位置信息的同时，可以确定各轨迹点对应的偏航角，之后，本公开可以根据多个轨迹点位置信息分别对应的定位时间，对多个运动状态信息分别进行采样处理，从而获得各轨迹点各自对应的位姿以及运动状态信息。例如，针对任一轨迹点而言，本公开可以从速度数据集合的各数据记录中查找与定位时间最接近的一速度时间，并将该速度时间对应的第一移动设备的速度大小和加速度作为该轨迹点对应的速度大小和加速度。再例如，针对任一轨迹点而言，本公开也可以从速度数据集合的各数据记录中查找与定位时间最接近的至少两个位姿时间，并针对至少两个位姿时间各自对应的第一移动设备的偏航角进行计算(如计算偏航角的均值等)，并将计算结果作为该轨迹点对应的偏航角。
在一些应用场景中，定位时间和速度时间通常并不同步，本公开通过以定位时间为基准，对运动状态信息进行采样处理，实现了定位时间与速度时间的时序对齐处理，从而有利于快速准确的获得测试参考轨迹。
在一个可选示例中，针对任一轨迹点而言，本公开可以根据该轨迹点的前后两个轨迹点之间的连线的斜率，确定出该轨迹点对应的速度方向，该速度方向结合加速度数值的正负号，即可以确定加速度方向，例如，加速度方向与速度方向相同或者与速度方向相反。其中的该轨迹点的前后两个轨迹点的连线可以为：位于该轨迹点之前的第n个轨迹点与位于该轨迹点之后的第m个轨迹点的连线。其中的n和m均为大于等于1的整数，且n和m的数值可以相等，n和m的数值不宜过大，如不宜超过4或5等，有利于避免速度方向不准确等现象，从而有利于快速准确的获得测试参考轨迹。
可选的，针对测试参考轨迹中的第i个轨迹点而言，如果将第i个轨迹点之前的第n个轨迹点的位置信息表示为(x i-n,y i-n)，将第i个轨迹点之后的第m个轨迹点的位置信 息表示为(x i+m,y i+m)，则第i个轨迹点的速度方向θ可以通过下述公式(1)表示：
Figure PCTCN2019119889-appb-000001
在上述公式(1)中，Δx表示x i+m与x i-n之间的差值，即Δx＝x i+m-x i-n；Δy表示y i+m与y i-n之间的差值，即Δy＝y i+m-y i-n。
可选的，本公开也可以采用其他方式来获得轨迹点的速度方向，例如，本公开可以将多个轨迹点作为离散点，进行曲线拟合，在获得了相应的曲线方程后，本公开利用该曲线方程，来确定被作为离散点的任一轨迹点的速度方向。
在一个可选示例中，在确定了测试参考轨迹的各轨迹点位置信息以及速度方向之后，还可以确定各轨迹点各自对应的轨迹曲率。可选的，本公开可以根据相邻轨迹点的速度方向的变化量以及相邻轨迹点之间的距离，确定相邻轨迹点中的一轨迹点对应的轨迹曲率。例如，针对任一轨迹点而言，本公开可以利用下述公式(2)表示该轨迹点对应的轨迹曲率k：
Figure PCTCN2019119889-appb-000002
在上述公式(2)中，Δθ表示相邻轨迹点的速度方向的变化量，例如，图3中，轨迹点A的速度方向为θ，轨迹点B的速度方向为θ+Δθ，Δθ即为轨迹点A的速度方向与轨迹点B的速度方向之间的变化量；Δs表示相邻轨迹点之间的距离(如直线距离)，例如，图3中，轨迹点A和轨迹点B之间的距离。
可选的，本公开可以将计算出的轨迹曲率k作为相邻两轨迹点中的前一轨迹点的轨迹曲率(如图3中的轨迹点A对应的轨迹曲率)，也可以将计算出的轨迹曲率k作为相邻两轨迹点中的后一轨迹点的轨迹曲率(如图3中的轨迹点B对应的轨迹曲率)。
可选的，本公开也可以采用其他方式来获得轨迹点的曲率，例如，本公开可以将多个轨迹点作为离散点，进行曲线拟合，在获得了相应的曲线方程后，本公开利用该曲线方程，来确定被作为离散点的任一轨迹点的曲率。
在一个可选示例中，本公开的测试参考轨迹中的多个轨迹点信息，如图4a-图4d所示。图4a中的曲线表示多个轨迹点位置信息在UTM坐标系中所形成的轨迹线。图4a中的横坐标表示UTM坐标系的X轴(单位为米)，纵坐标表示UTM坐标系的Y轴(单位为米)。图4b中的曲线表示多个轨迹点各自对应的速度大小所形成的曲线。图4b的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示轨迹点对应的速度大小(单位为米/秒)。图4c中的曲线表示多个轨迹点的速度方向所形成的曲线。图4c中的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示轨迹点对应的速度方向(如上述θ)。图4d中的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示轨迹点对应的曲率。
本公开形成测试参考轨迹的方式，有利于避免测试参考轨迹的形成需要受到高精地图以及车道线等因素的限制。这样，测试人员可以根据测试需求随时随地的灵活设置出多种形状的测试参考轨迹，而且设置测试参考轨迹的过程不需要考虑天气以及光线等因素。例如，可以在早晨或者中午或者晚间，在乡间小路上设置测试参考轨迹。再例如，可以设置出连续的直角转弯的测试参考轨迹，也可以设置出S形的测试参考轨迹，还可以设置出8字形或者O形或者螺旋形等形状的测试参考轨迹。由此可知，本公开不仅有利于提高测试参考轨迹的地理位置设置范围和时间设置范围，并有利于降低形成测试参考轨迹的实现成本，还有利于提高测试参考轨迹的多样性，另外，还有利于获得待测试轨迹跟踪控制器在多种测试参考轨迹上的性能表现。进一步的，本公开可以根据待测试轨迹跟踪控制器在多种测试参考轨迹上的性能表现，有针对性的调整待测试轨迹跟踪控制器的参数，从而有利于提高轨迹跟踪控 制器的性能。
可选的，本公开中的待测试轨迹跟踪控制器的参数可以为：在待测试轨迹跟踪控制器根据输入信息形成自动行驶控制指令过程中，所使用到的参数。本公开提供的测试方法可适用于自动驾驶中各种架构的轨迹跟踪控制器，基于测试结果进行控制器参数的优化调整，例如，可适用但不限于PID(比例P-积分I-微分D)三相架构的轨迹跟踪控制器，调整三相参数；又例如，可适用但不限于MPC(Model Predictive Control，模型预测控制)架构轨迹跟踪控制器，调整与误差、控制指令相关的闭环优化控制参数；由此提高轨迹跟踪控制器的控制性能。
S120、根据测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息。
在一个可选示例中，本公开中的待测试轨迹跟踪控制器设置于第二移动设备中。由于待测试轨迹跟踪控制器设置在第二移动设备中，因此，相对于现有的利用模拟器对轨迹跟踪控制器进行测试的方式而言，本公开有利于避免模拟器测试环境与真实环境之间的差异而导致的测试结果不准确的现象，进而可以避免轨迹跟踪控制器被布置在实际的移动设备中时，需要进一步调试而导致的浪费时间成本和人力成本的现象。
在一些应用场景中，第二移动设备与S100中的第一移动设备可以为同一个移动设备。如一车辆中安装有轨迹跟踪控制器，本公开需要对该车辆中的轨迹跟踪控制器进行测试，即该车辆中的轨迹跟踪控制器为待测试轨迹跟踪控制器。本公开可以先请驾驶员驾驶该车辆按照预定路线(例如，S形路线或者8字形路线或者O形路线或者螺旋形路线等)进行行驶，此时该车辆被作为第一移动设备。本公开可以在该车辆行驶过程中持续收集并存储原始数据(如S100所记载的方法)。本公开可以在该车辆行驶过程中或者在该车辆行驶结束后，利用上述S110所记载的方法对收集并存储的原始数据进行处理，从而生成多个轨迹点信息，所有轨迹点信息形成了测试参考轨迹。之后，该车辆被设置在预定路线上的任一位置(如预定路线的起点)或者预定路线附近(如预定路线的起点附近)，使该车辆处于受控于待测试轨迹跟踪控制器的行驶状态，即该车辆处于自动驾驶模式，该车辆被作为第二移动设备。
在一些应用场景中，第二移动设备也可以为与S100中的第一移动设备不同的移动设备。如一车辆中安装有轨迹跟踪控制器，本公开需要对该车辆中的轨迹跟踪控制器进行测试，即该车辆中的轨迹跟踪控制器为待测试轨迹跟踪控制器。本公开可以先请驾驶员驾驶另一车辆按照预定路线(如S形路线或者8字形路线或者O形路线或者螺旋形路线等)进行行驶，此时该另一车辆被作为第一移动设备。该另一车辆中可以安装有轨迹跟踪控制器，也可以未安装有轨迹跟踪控制器。本公开可以在该另一车辆行驶过程中持续收集并存储原始数据。本公开可以在该另一车辆行驶过程中或者在该另一车辆行驶结束后，利用上述S110所记载的方法对收集并存储的原始数据进行处理，从而生成多个轨迹点信息，所有轨迹点信息形成了测试参考轨迹。之后，安装有待测试轨迹跟踪控制器的车辆被设置在预定路线上的任一位置(如预定路线的起点)或者预定路线附近(如预定路线的起点附近)，使装有待测试轨迹跟踪控制器的车辆处于受控于待测试轨迹跟踪控制器的行驶状态，即装有待测试轨迹跟踪控制器的车辆处于自动驾驶模式，从而装有待测试轨迹跟踪控制器的车辆被作为第二移动设备。
可选的，在第一移动设备和第二移动设备为两个不同的移动设备的情况下，本公开中的第二移动设备上同样设置有定位装置，以便于通过定位装置来接收定位信号(如卫星定位信号等)，这样，本公开可以通过该定位装置接收到的定位信号，来获得第二移动设备的定位信息。同样的，第二移动设备的定位信息包括但不限于：定位时间(如定位时间戳)以及第二移动设备的位置信息。第二移动设备的位置信息包括但不限于：第二移动设备在真实世界坐标系(如UTM坐标系)中的坐标。可选的，第二移动设备上设置的定位装置可以包括但不限于：基于RTK载波相位差分技术的定位装置。第二移动设备上安装的该定位装置可以与第一移动设备上安装的定位装置相同。在此不再重复描述。
在一个可选示例中，本公开可以实时的根据第二移动设备的位置，从测试参考轨迹中截取一部分轨迹(也可以称为一段轨迹)，截取出的这一部分轨迹可以称为子测试参考轨迹。本公开可以根据实时获得的子测试参考轨迹所包含的轨迹点信息，为待测试轨迹跟踪控制器提供相应的输入信息。可选的，本公开在每次获得子测试参考轨迹时，根据该子测试参考轨迹中的轨迹点信息为待测试轨迹跟踪控制器提供一次输入信息。
本公开通过根据第二移动设备的位置来截取出子测试参考轨迹，并利用子测试参考轨迹为待测试轨迹跟踪控制器提供输入信息，有利于保证为待测试轨迹跟踪控制器提供恰当的输入信息，从而有利于使受控于待测试轨迹跟踪控制器的第二移动设备跟踪测试参考轨迹行驶。
在一个可选示例中，本公开根据轨迹点信息，为待测试轨迹跟踪控制器提供输入信息的实现过程可以包括如下步骤：
步骤1、获取设置有待测试轨迹跟踪控制器的第二移动设备的当前位置信息。
可选的，本公开可以根据预定频率(例如，100赫兹等)，实时地获取设置有待测试轨迹跟踪控制器的第二移动设备的当前位置信息，即本公开每隔一定时间(如0.01秒)获取一次第二移动设备的当前位置信息。例如，在第二移动设备在测试参考轨迹的起点位置就绪后，本公开会根据预定频率，实时地从第二移动设备中设置的移动站设备处，获取第二移动设备的当前位置信息。
可选的，本公开所获取到的第二移动设备的当前位置信息可以为厘米级别的位置信息，这样，本公开可以实现对第二移动设备的精准定位，从而有利于提高截取出的子测试参考轨迹的准确性，进而有利于提高轨迹跟踪控制器的测试准确性。
步骤2、根据当前位置信息以及轨迹点信息，确定测试参考轨迹中与当前位置信息距离最近的轨迹点。
可选的，本公开可以获取所有位于第二移动设备未行驶过的测试参考轨迹中的轨迹点的位置信息(如基于UTM坐标系的X坐标和Y坐标)，并根据获取到的各位置信息和第二移动设备的当前位置信息(如基于UTM坐标系的X坐标和Y坐标)，计算当前第二移动设备与各轨迹点之间的距离，并从中选取距离最近的轨迹点。其中的未行驶过的测试参考轨迹是指，位于第二移动设备的行驶前方且等待第二移动设备行驶的测试参考轨迹。在一些应用场景中，第二移动设备可能会出现偏离测试参考轨迹行驶的现象，测试参考轨迹中的被偏离的部分通常不属于未行驶过的测试参考轨迹。
步骤3、根据距离最近的轨迹点，从测试参考轨迹中截取子测试参考轨迹。
可选的，在确定出距离最近的轨迹点的情况下，本公开可以直接以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹。本公开也可以对该距离最近的轨迹点进行判断，并根据判断结果来决定是否需要以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹。例如，判断该距离最近的轨迹点与当前位置信息之间的距离是否满足预定距离要求(如是否小于k米，k为非零的正整数，如k＝4或4.5或5米等)。如果判断的结果为满足预定距离要求(如小于k米)，则本公开以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹，如以距离最近的轨迹点为第1个轨迹点，截取出j(j为预设常数值，如j大于30或35或40等)个轨迹点。如果判断的结果不满足预定距离要求(如不小于k米)，则本公开可以不执行子测试参考轨迹的截取操作，从而本次不会为待测试轨迹跟踪控制器提供输入信息。
本公开通过针对距离最近的轨迹点与当前位置信息进行是否满足预定距离要求的判断，有利于避免在第二移动设备与距离最近的轨迹点相距较远的情况下，出现的转向角度过大(如方向盘转向剧烈等)而引发的潜在安全隐患等现象。
可选的，针对一个待测试轨迹跟踪控制器而言，在测试的过程中，在第二移动设备持续移动的情况下，每次从测试参考轨迹中截取出的子测试参考轨迹通常并不相同。针对任意两个不同待测试轨迹跟踪控制器而言，其中一个测试过程所截取出的所有子测试参考轨迹，与另一个测试过程所截取出的所有子测试参考轨迹，通常并不相同。因此，本公开中的子测试参考轨迹可以称为局部测试参考轨迹。
相应的，针对任意两个不同待测试轨迹跟踪控制器而言，其中一个待测试轨迹跟踪控制器的测试过程所使用的测试参考轨迹，与另一个测试过程所使用的测试参考轨迹通常相同，本公开所形成的测试参考轨迹面向多个待测试轨迹跟踪控制器，即多个待测试轨迹跟踪控制器均基于该测试参考轨迹实现测试。因此，本公开所形成的测试参考轨迹可以称为全局测试参考轨迹，可适用不同的轨迹跟踪控制器进行测试。
步骤4、根据子测试参考轨迹中的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。
可选的，本公开中的子测试参考轨迹通常包括多个轨迹点。本公开可以从子测试参考轨迹中选取一个轨迹点，并根据选取出的轨迹点的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。例如，从子测试参考轨迹的中间段或者中后段中选取一个轨迹点(如选取子测试参考轨迹中的第25或者第30个轨迹点)，并根据该轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。本公开也可以从子测试参考轨迹中选取多个轨迹点，并针对选取出的多个轨迹点的轨迹点信息进行计算(如基于权值的计算等)，从而根据计算的结果，为待测试轨迹跟踪控制器提供输入信息。例如，从子测试参考轨迹的中间段或者中后段中选取出连续的多个轨迹点，并根据选取出的多个轨迹点各自对应的权值，针对上述多个轨迹点的轨迹点信息进行计算，从而根据计算的结果，为待测试轨迹跟踪控制器提供输入信息。各轨迹点对应的权值可以不相同，也可以相同(即进行均值计算)。在各轨迹点对应的权值不相同的情况下，各轨迹点对应的权值的大小可以根据各轨迹点与第二移动设备之间的距离大小来设置。例如，距离第二移动设备近的轨迹点所对应的权值大于距离第二移动设备远的轨迹点所对应的权值。
可选的，本公开在为待测试轨迹跟踪控制器提供输入信息时，需要进行从基于全局的信息到基于局部的信息的映射处理，以获得待测试轨迹跟踪控制器所需的基于局部的信息。例如，首先将全局测 试参考轨迹中的轨迹点信息中的位置信息、速度方向以及加速度方向，分别转换为基于第二移动设备坐标系的位置信息、速度方向以及加速度方向；然后，将速度大小、加速度大小以及转换后的位置信息、速度方向和加速度方向作为输入信息，提供给第二移动设备中设置的待测试轨迹跟踪控制器。另外，本公开还可以对偏航角以及轨迹点的曲率等信息也进行从基于全局的信息到基于局部的信息的映射处理，并将映射处理后的偏航角以及曲率等信息也作为输入信息，提供给第二移动设备中设置的待测试轨迹跟踪控制器。
可选的，假定全局测试参考轨迹中的轨迹点信息中的位置信息的坐标系(如UTM坐标系)，与基于第二移动设备坐标系之间的旋转矩阵为R，平移矩阵为p，则本公开可以利用下述公式(3)将全局测试参考轨迹中的轨迹点信息中的位置信息转换为基于第二移动设备坐标系的位置信息：
Figure PCTCN2019119889-appb-000003
在上述公式(3)中，P v表示基于第二移动设备坐标系的轨迹点位置信息；P w表示全局测试参考轨迹中的轨迹点信息中的位置信息；
Figure PCTCN2019119889-appb-000004
表示
Figure PCTCN2019119889-appb-000005
的逆矩阵，且
Figure PCTCN2019119889-appb-000006
R表示旋转矩阵，为预先设置的已知值；p表示平移矩阵，为预先设置的已知值。
可选的，本公开可以利用下述公式(4)将全局测试参考轨迹中的轨迹点信息中的速度方向转换为基于第二移动设备坐标系的速度方向：
V v＝R TV w               公式(4)
在上述公式(4)中，V v表示基于第二移动设备坐标系的速度方向；V w表示全局测试参考轨迹中的轨迹点信息中的速度方向；R T表示旋转矩阵R的转置矩阵。
可选的，待测试跟踪控制器可以将接收到的轨迹点的速度大小、加速度大小以及转换后的位置信息、速度方向和加速度方向作为目标信息，结合第二移动设备的当前位置信息、当前速度以及当前加速度等信息，输出相应的自动行驶控制指令，自动行驶控制指令可以通过CAN总线等提供给第二移动设备中的相应部件。
可选的，在第二移动设备为车辆的情况下，本公开中的自动行驶控制指令包括但不限于：方向盘转角控制量、油门控制量以及刹车控制量中的至少一个。车辆中的相应部件根据接收到的自动行驶控制指令，执行相应的操作，从而使车辆实现自动驾驶。在第二移动设备为机器臂或者机器人等的情况下，本公开中的自动行驶控制指令包括但不限于：机器人或者机器臂的转向控制量以及行动频率控制量中的至少一个。自动行驶控制指令具体包括的内容可以根据实际需求设置，本公开对此不作限制。
S130、获取第二移动设备根据自动行驶控制指令行驶的行驶信息。
在一个可选示例中，本公开中的行驶信息可以包括：第二移动设备的实际移动轨迹、第二移动设备的实际速度大小和方向、实际加速度大小和方向、实际位姿以及第二移动设备的实际移动轨迹的曲率等中的至少一个。
可选的，本公开可以根据第二移动设备上设置的定位装置实时获得第二移动设备的定位时间、位置信息以及位姿(如第二移动设备的实际偏航角)，从而可以获得第二移动设备的实际移动轨迹以及在实际移动轨迹上的不同位置处的实际位姿。本公开可以实时的从第二移动设备中读取出第二移动设备的速度时间(即速度时间戳)、速度大小以及加速度(包括加速度大小和加速度方向)。例如，通过第二移动设备的CAN总线实时读取出第二移动设备的速度时间、速度大小以及加速度。本公开可以利用上述S110所示的方法获得第二移动设备的多个实际轨迹点信息。多个实际轨迹点信息形成第二移动设备的实际移动轨迹。相邻的两个实际轨迹点之间的距离可以与测试参考轨迹中的相邻的两个轨迹点之间的距离相同。获得实际轨迹点信息的具体过程在此不再重复说明。
可选的，本公开可以对比第二移动设备的实际移动轨迹中的实际轨迹点信息与测试参考轨迹中的 轨迹点信息，获取并输出对比所形成的差异，该差异可以反映出轨迹跟踪控制器的性能。本公开可以利用可视化的形式显示对比所形成的差异。如可以在第二移动设备的行驶过程中，在线可视化显示。再例如，可以在第二移动设备行驶完成后，离线可视化显示或形成性能分析报告。
可选的，本公开可以在第二移动设备的行驶过程中，实时的显示全局测试参考轨迹、第二移动设备当前位置以及第二移动设备的历史实际移动轨迹，如图5中，8字形路线即全局测试参考轨迹，长方形表示第二移动设备。长方形所在的位置为第二移动设备的当前位置。第二移动设备从图5的右下方开始行驶，其历史实际移动轨迹的部分轨迹并未与测试参考轨迹完全吻合。第二移动设备当前获得的子测试参考轨迹如图5中的白色曲线部分。随着第二移动设备的移动，本公开可以实时地从8字形路线中截取出需要第二移动设备循轨迹移动的子测试参考轨迹，来替换当前显示的子测试参考轨迹。在截取需要第二移动设备循轨迹移动的子测试参考轨迹时，可以依据第二移动设备的当前位置进行截取。由上述描述可知，本公开可以直观清晰地展现出第二移动设备循轨迹移动的情况。
在一个可选示例中，本公开的可视化显示对比所形成的差异的一个例子如图6所示。图6中的左上图中存在两条曲线，其中一条曲线表示多个轨迹点位置信息在UTM坐标系中所形成的测试参考轨迹，其中另一条曲线表示第二移动设备循测试参考轨迹移动所形成的实际轨迹点位置信息在UTM坐标系中所形成的实际轨迹。由于两条轨迹完全重合，因此，图6的左上图中只显示出了一条曲线。左上图中的横坐标表示UTM坐标系的X轴(单位为米)，纵坐标表示UTM坐标系的Y轴(单位为米)。图6中的右上图中存在两条曲线，其中一条曲线是由测试参考轨迹中的多个轨迹点各自对应的速度大小形成的，其中另一条曲线是由第二移动设备的实际轨迹中的多个实际轨迹点各自对应的速度大小形成的。右上图中的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示速度大小(单位为米/秒)。图6中的左下图中存在两条曲线，其中一条曲线是由测试参考轨迹中的多个轨迹点的速度方向而形成的，另一条曲线是由第二移动设备的实际轨迹中的多个实际轨迹点各自对应的速度方向形成的。图6中的左下图中的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示速度方向(如上述θ)。图6中的右下图包括两条曲线，其中一条曲线是由测试参考轨迹中的多个轨迹点各自对应的曲率形成的，其中另一条曲线是由第二移动设备的实际轨迹中的多个实际轨迹点各自对应的曲率形成的；右下图中的横坐标表示相对于起始轨迹点的距离(单位为米)，纵坐标表示曲率。轨迹跟踪控制器向第二移动设备发送如油门、刹车、方向盘转角等控制指令控制第二移动设备按照测试参考轨迹行驶，行驶过程中如速度大小、速度方向、曲率等信息和测试参考轨迹形成所依据的第一移动设备的相应轨迹点信息中包括的速度大小、速度方向、曲率等信息之间的差异，从图中可见，可直观体现轨迹跟踪控制器的控制与第一移动设备的驾驶员控制或其他控制器控制之间的差异或接近程度，进而可直观显示或测试评估轨迹跟踪控制器的性能。
可选的，本公开可视化显示对比所形成的差异的另一个例子如图7所示。
图7中的上中下三个图的横坐标均为时间(单位为秒)。图7上图中的曲线表示随着时间的变化，第二移动设备在偏航角上的误差，即测试参考轨迹中的轨迹点的偏航角与实际轨迹中的相应轨迹点的偏航角的差值。图7上图的纵坐标的单位为米。图7中图中的曲线表示随着时间的变化，第二移动设备在速度方向上的误差，即测试参考轨迹中的轨迹点的速度方向与实际轨迹中的相应轨迹点的速度方向的差值。图7中图的纵坐标为角度(单位为度)。图7下图中的曲线表示随着时间的变化，第二移动设备在速度大小上的误差，即测试参考轨迹中的轨迹点的速度大小与实际轨迹中的相应轨迹点的速度大小的差值。图7下图纵坐标的单位为速度(单位为米/秒)。轨迹跟踪控制器向第二移动设备发送油门、刹车或方向盘转角等控制指令控制第二移动设备按照测试参考轨迹行驶，行驶过程中如偏航角、速度大小、速度方向等信息，和测试参考轨迹形成所依据的第一移动设备的相应轨迹点信息中包括的偏航角、速度大小、速度方向等信息之间的差异，从图可见，可直观体现轨迹跟踪控制器的控制与第一移动设备的驾驶员控制或其他控制器控制之间的差异或接近程度，进而可直观显示或测试评估轨迹跟踪控制器的性能。
图8为本公开的轨迹跟踪控制器的测试装置一个实施例的结构示意图。图8所示的装置包括：第一获取模块800、第一生成模块810、提供输入模块820以及第二获取模块830。可选的，轨迹跟踪控制器的测试装置还可以包括：形成差异模块840、显示模块850以及调整参数模块860中的至少一个。下面对各模块分别进行详细描述。
第一获取模块800用于获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，第一移动设备的多个定位信息和多个运动状态信息。其中的第一移动设备可以为车辆、机器人或者机械臂。
可选的，第一获取模块800可以包括：第一子模块和第二子模块。第一获取模块800还可以包括第 三子模块和第四子模块中的至少一个。其中的第一子模块用于获取实时动态载波相位差分信号以及卫星定位信号。其中的第二子模块用于根据实时动态载波相位差分信号以及卫星定位信号，确定第一移动设备的位置信息。其中的第一移动设备的位置信息的定位精度高于卫星定位信号的位置定位精度。例如，第二子模块可以根据具有相同定位时间的卫星定位信号和实时动态载波相位差分信号，获取第一移动设备的位置信息。再例如，第二子模块可以根据时间间隔小于预定时间间隔要求的卫星定位信号和实时动态载波相位差分信号，获取第一移动设备的位置信息。其中的定位信息包括：基于UTM坐标系的X轴坐标和Y轴坐标。其中的运动状态信息包括：偏航角、速度以及加速度中的至少一个。其中的第三子模块用于根据从第一移动设备的CAN总线中读取出的数据，获取第一移动设备的速度大小及加速度大小。其中的第四子模块用于根据设置于第一移动设备中的惯性测量单元输出的数据，获取第一移动设备的偏航角。其中的轨迹点信息包括：轨迹点位置信息、轨迹点对应的速度大小和速度方向、轨迹点对应的加速度大小和加速度方向、轨迹点对应的轨迹曲率以及轨迹点对应的偏航角中的至少一个。
第一获取模块800具体执行的操作以及第一获取模块800所包含的各子模块具体执行的操作，可以参见上述方法实施方式中针对S100的相关描述，在此不再详细说明。
第一生成模块810用于根据定位信息和运动状态信息，生成包括多个轨迹点信息的测试参考轨迹。
可选的，第一生成模块810可以包括：第一采样子模块以及第二采样子模块。第一生成模块810还可以包括：确定方向子模块以及确定曲率子模块中的至少一个。其中的第一采样子模块用于根据相邻轨迹点间的预定距离，对多个定位信息进行采样处理，获得多个轨迹点位置信息。其中的第二采样子模块用于根据多个轨迹点位置信息分别对应的定位时间，对多个运动状态信息进行采样处理，获得多个轨迹点各自对应的运动状态信息。其中的确定方向子模块用于针对任一轨迹点，根据轨迹点的前后轨迹点的连线的斜率，确定轨迹点对应的速度方向和加速度方向。确定曲率子模块用于根据相邻轨迹点的速度方向的变化量以及相邻轨迹点之间的距离，确定相邻轨迹点中的一轨迹点对应的轨迹曲率。
第一生成模块810具体执行的操作以及第一生成模块810所包含的各子模块具体执行的操作，可以参见上述方法实施方式中针对S110的相关描述，在此不再详细说明。
提供输入模块820用于根据测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令。其中的第二移动设备可以与第一移动设备是同一个移动设备，也可以是两个不同的移动设备。
可选的，提供输入模块820可以包括：第五子模块、第六子模块、第七子模块以及第八子模块。其中的第五子模块用于获取待测试轨迹跟踪控制器所在的第二移动设备的当前位置信息。其中的第六子模块用于根据当前位置信息以及轨迹点信息，确定测试参考轨迹中与当前位置信息距离最近的轨迹点。其中的第七子模块用于根据距离最近的轨迹点，从测试参考轨迹中截取子测试参考轨迹。例如，在确定出距离最近的轨迹点的情况下，第七子模块可以直接以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹。第七子模块也可以对该距离最近的轨迹点进行判断，并根据判断结果来决定是否需要以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹。例如，第七子模块判断该距离最近的轨迹点与当前位置信息之间的距离是否满足预定距离要求。如果判断的结果为满足预定距离要求，则第七子模块以距离最近的轨迹点为依据，从测试参考轨迹上截取子测试参考轨迹。如果判断的结果不满足预定距离要求，则第七子模块可以不执行子测试参考轨迹的截取操作，从而本次第八子模块不会为待测试轨迹跟踪控制器提供输入信息。其中的第八子模块用于根据子测试参考轨迹中的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。例如，第八子模块从子测试参考轨迹中选取一个轨迹点，根据选取出的轨迹点的轨迹点信息，确定待测试轨迹跟踪控制器的输入信息。再例如，第八子模块从子测试参考轨迹中选取多个轨迹点，针对选取出的多个轨迹点的轨迹点信息进行综合处理，并根据综合处理结果，确定待测试轨迹跟踪控制器的输入信息。可选的，第八子模块可以将轨迹点信息中的位置信息、速度方向以及加速度方向，分别转换为第二移动设备坐标系中的位置信息、速度方向以及加速度方向。第八子模块还可以将速度大小、加速度大小以及转换后的位置信息、速度方向和加速度方向提供给待测试轨迹跟踪控制器。
提供输入模块820具体执行的操作以及提供输入模块820所包含的各子模块具体执行的操作，可以参见上述方法实施方式中针对S120的相关描述，在此不再详细说明。
第二获取模块830用于获取第二移动设备根据自动行驶控制指令行驶的行驶信息。
可选的，第二获取模块830可以在第二移动设备根据所述自动行驶控制指令行驶的过程中，获取第二移动设备的多个定位信息和多个运动状态信息，之后，第二获取模块830可以根据第二移动设备 的多个定位信息和运动状态信息，生成包括多个实际轨迹点信息的实际轨迹。第二获取模块830具体执行的操作，可以参见上述方法实施方式中针对S130的相关描述，在此不再详细说明。
形成差异模块840用于获取和/或输出实际轨迹与所述测试参考轨迹之间的差异。例如，获取并输出实际轨迹中的轨迹点和测试参考轨迹中的轨迹点的位置误差、偏航角误差以及速度大小上的误差等。
显示模块850用于可视化显示实际轨迹与测试参考轨迹之间的差异。例如，显示模块850可以在第二移动设备的行驶过程中，在线可视化显示。再例如，显示模块850可以在第二移动设备行驶完成后，离线可视化显示。具体可以参见上述方法实施方式中针对图5-图7的描述，在此不再详细说明。
调整参数模块860用于根据实际轨迹和测试参考轨迹之间的差异，调整轨迹跟踪控制器的参数。调整参数模块860可以有针对性的调整待测试轨迹跟踪控制器的参数，从而有利于提高轨迹跟踪控制器的性能。
示例性设备
图9示出了适于实现本公开的示例性设备900，设备900可以是汽车中配置的控制系统/电子系统、移动终端(例如，智能移动电话等)、个人计算机(PC，例如，台式计算机或者笔记型计算机等)、平板电脑以及服务器等。图9中，设备900包括一个或者多个处理器、通信部等，所述一个或者多个处理器可以为：一个或者多个中央处理单元(CPU)901，和/或，一个或者多个加速单元(如GPU，图像处理器)913等，处理器可以根据存储在只读存储器(ROM)902中的可执行指令或者从存储部分908加载到随机访问存储器(RAM)903中的可执行指令而执行各种适当的动作和处理。通信部912可以包括但不限于网卡，所述网卡可以包括但不限于IB(Infiniband)网卡。处理器可与只读存储器902和/或随机访问存储器903中通信以执行可执行指令，通过总线904与通信部912相连、并经通信部912与其他目标设备通信，从而完成本公开中的相应步骤。
上述各指令所执行的操作可以参见上述方法实施例中的相关描述，在此不再详细说明。此外，在RAM 903中，还可以存储有装置操作所需的各种程序以及数据。CPU901、ROM902以及RAM903通过总线904彼此相连。
在有RAM903的情况下，ROM902为可选模块。RAM903存储可执行指令，或在运行时向ROM902中写入可执行指令，可执行指令使中央处理单元901执行上述方法所包括的步骤。输入/输出(I/O)接口905也连接至总线904。通信部912可以集成设置，也可以设置为具有多个子模块(例如，多个IB网卡)，并分别与总线连接。
以下部件连接至I/O接口905：包括键盘、鼠标等的输入部分906；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分907；包括硬盘等的存储部分908；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分909。通信部分909经由诸如因特网的网络执行通信处理。驱动器910也根据需要连接至I/O接口905。可拆卸介质911，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器910上，以便于从其上读出的计算机程序根据需要被安装在存储部分908中。
需要特别说明的是，如图9所示的架构仅为一种可选实现方式，在具体实践过程中，可根据实际需要对上述图9的部件数量和类型进行选择、删减、增加或替换；在不同功能部件设置上，也可采用分离设置或集成设置等实现方式，例如，加速单元913和CPU901可分离设置，再如理，可将加速单元913集成在CPU901上，通信部可分离设置，也可集成设置在CPU901或加速单元913上等。这些可替换的实施方式均落入本公开的保护范围。
特别地，根据本公开的实施方式，下文参考流程图描述的过程可以被实现为计算机软件程序，例如，本公开实施方式包括一种计算机程序产品，其包含有形地包含在机器可读介质上的计算机程序，计算机程序包含用于执行流程图所示的步骤的程序代码，程序代码可包括对应执行本公开提供的方法中的步骤对应的指令。
在这样的实施方式中，该计算机程序可以通过通信部分909从网络上被下载及安装，和/或从可拆卸介质911被安装。在该计算机程序被中央处理单元(CPU)901执行时，执行本公开中记载的实现上述相应步骤的指令。
在一个或多个可选实施方式中，本公开实施例还提供了一种计算机程序程序产品，用于存储计算机可读指令，所述指令被执行时使得计算机执行上述任意实施例中所述的轨迹跟踪控制器的测试方法。
该计算机程序产品可以具体通过硬件、软件或其结合的方式实现。在一个可选例子中，所述计算 机程序产品具体体现为计算机存储介质，在另一个可选例子中，所述计算机程序产品具体体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。
在一个或多个可选实施方式中，本公开实施例还提供了另一种轨迹跟踪控制器的测试方法及其对应的装置和电子设备、计算机存储介质、计算机程序以及计算机程序产品，其中的方法包括：第一装置向第二装置发送轨迹跟踪控制器的测试指示，该指示使得第二装置执行上述任一可能的实施例中的轨迹跟踪控制器的测试方法；第一装置接收第二装置发送的轨迹跟踪控制器的测试结果。
在一些实施例中，该轨迹跟踪控制器的测试指示可以具体为调用指令，第一装置可以通过调用的方式指示第二装置执行轨迹跟踪控制器的测试操作，相应地，响应于接收到调用指令，第二装置可以执行上述轨迹跟踪控制器的测试方法中的任意实施例中的步骤和/或流程。
应理解，本公开实施例中的“第一”、“第二”等术语仅仅是为了区分，而不应理解成对本公开实施例的限定。还应理解，在本公开中，“多个”可以指两个或两个以上，“至少一个”可以指一个、两个或两个以上。还应理解，对于本公开中提及的任一部件、数据或结构，在没有明确限定或者在前后文给出相反启示的情况下，一般可以理解为一个或多个。还应理解，本公开对各个实施例的描述着重强调各个实施例之间的不同之处，其相同或相似之处可以相互参考，为了简洁，不再一一赘述。
可能以许多方式来实现本公开的方法和装置、电子设备以及计算机可读存储介质。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法和装置、电子设备以及计算机可读存储介质。用于方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施方式中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
本公开的描述，是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言，是显然的。选择和描述实施方式是为了更好说明本公开的原理以及实际应用，并且使本领域的普通技术人员能够理解本公开实施例可以从而设计适于特定用途的带有各种修改的各种实施方式。

Claims (35)

  1. 一种轨迹跟踪控制器的测试方法，其特征在于，包括：
    获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息；
    根据所述定位信息和运动状态信息，确定多个轨迹点信息，并形成包括所述多个轨迹点信息的测试参考轨迹；
    根据所述测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令；
    获取所述第二移动设备根据所述自动行驶控制指令行驶的行驶信息。
  2. 根据权利要求1所述的方法，其特征在于，所述第一移动设备和第二移动设备包括以下至少之一：车辆、机器人以及机械臂；和/或，
    所述第一移动设备和所述第二移动设备相同或者不同。
  3. 根据权利要求1或2所述的方法，其特征在于，所述获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息，包括：
    获取实时动态载波相位差分信号以及卫星定位信号；
    根据所述实时动态载波相位差分信号以及卫星定位信号，确定第一移动设备的位置信息；
    其中，第一移动设备的位置信息的定位精度高于卫星定位信号的位置定位精度。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述实时动态载波相位差分信号以及卫星定位信号，确定第一移动设备的位置信息，包括：
    根据具有相同定位时间的卫星定位信号和实时动态载波相位差分信号，确定第一移动设备的位置信息；或者
    根据时间间隔小于预定时间间隔要求的卫星定位信号和实时动态载波相位差分信号，确定第一移动设备的位置信息。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述定位信息包括：基于通用横轴墨卡托投影UTM坐标系的X轴坐标和Y轴坐标。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述运动状态信息，包括：偏航角、速度以及加速度中的至少一个。
  7. 根据权利要求6所述的方法，其特征在于，所述获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息，包括：
    根据从第一移动设备的控制器局域网络CAN总线中读取出的数据，获取所述第一移动设备的速度大小以及加速度大小；和/或，
    根据设置于第一移动设备中的惯性测量单元输出的数据，获取所述第一移动设备的偏航角。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，所述轨迹点信息包括：轨迹点位置信息、轨迹点对应的速度大小和速度方向、轨迹点对应的加速度大小和加速度方向、轨迹点对应的轨迹曲率以及轨迹点对应的偏航角中的至少一个。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述定位信息和运动状态信息，确定多个轨迹点信息，包括：
    根据相邻轨迹点间的预定距离，对所述多个定位信息进行采样处理，获得多个轨迹点位置信息。
  10. 根据权利要求8或9所述的方法，其特征在于，所述根据所述定位信息和运动状态信息，确定多个轨迹点信息，包括：
    根据多个轨迹点位置信息分别对应的定位时间，对所述多个运动状态信息进行采样处理，获得多个轨迹点各自对应的运动状态信息。
  11. 根据权利要求8至10中任一项所述的方法，其特征在于，所述根据所述定位信息和运动状态信息，确定多个轨迹点信息，包括：
    针对任一轨迹点，根据所述轨迹点的前后轨迹点的连线的斜率，确定所述轨迹点对应的速度方向和加速度方向；和/或
    根据相邻轨迹点的速度方向的变化量以及相邻轨迹点之间的距离，确定相邻轨迹点中的一轨迹点对应的轨迹曲率。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，所述根据所述测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，包括：
    获取所述待测试轨迹跟踪控制器所在的第二移动设备的当前位置信息；
    根据所述当前位置信息以及轨迹点信息，确定所述测试参考轨迹中与所述当前位置信息距离最近的轨迹点；
    根据所述距离最近的轨迹点，从所述测试参考轨迹中截取子测试参考轨迹；
    根据所述子测试参考轨迹中的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。
  13. 根据权利要求12所述的方法，其特征在于，所述根据所述距离最近的轨迹点，从所述测试参考轨迹中截取子测试参考轨迹，包括：
    响应于所述距离最近的轨迹点与当前位置信息之间的距离满足预定距离要求，从所述测试参考轨迹中截取子测试参考轨迹。
  14. 根据权利要求12或13所述的方法，其特征在于，所述根据所述子测试参考轨迹中的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息，包括：
    从所述子测试参考轨迹中选取一个轨迹点，根据选取出的轨迹点的轨迹点信息，确定待测试轨迹跟踪控制器的输入信息；或者
    从所述子测试参考轨迹中选取多个轨迹点，针对所述选取出的多个轨迹点的轨迹点信息进行综合处理，并根据综合处理结果，确定待测试轨迹跟踪控制器的输入信息；
    所述确定待测试轨迹跟踪控制器的输入信息，包括：
    将所述轨迹点信息中的位置信息、速度方向以及加速度方向，分别转换为第二移动设备坐标系中的位置信息、速度方向以及加速度方向；
    将速度大小、加速度大小以及转换后的位置信息、速度方向和加速度方向提供给待测试轨迹跟踪控制器。
  15. 根据权利要求1至14中任一项所述的方法，其特征在于，所述获取所述第二移动设备根据所述自动行驶控制指令行驶的行驶信息，包括：
    在所述第二移动设备根据所述自动行驶控制指令行驶的过程中，获取所述第二移动设备的多个定位信息和多个运动状态信息；
    根据所述第二移动设备的多个定位信息和运动状态信息，生成包括多个实际轨迹点信息的实际轨迹；
    所述方法还包括：
    获取和/或输出所述实际轨迹与所述测试参考轨迹之间的差异。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    可视化显示所述实际轨迹与所述测试参考轨迹之间的差异；和/或，
    根据所述实际轨迹和所述测试参考轨迹之间的差异，调整所述轨迹跟踪控制器的参数。
  17. 一种轨迹跟踪控制器的测试装置，其特征在于，包括：
    第一获取模块，用于获取第一移动设备处于未受控于待测试轨迹跟踪控制器的行驶状态时，所述第一移动设备的多个定位信息和多个运动状态信息；
    第一生成模块，用于根据所述定位信息和运动状态信息，确定多个轨迹点信息，并形成包括所述多个轨迹点信息的测试参考轨迹；
    提供输入模块，用于根据所述测试参考轨迹的至少部分轨迹点信息为待测试轨迹跟踪控制器提供输入信息，使待测试轨迹跟踪控制器向与其控制连接的第二移动设备输出相应的自动行驶控制指令；
    第二获取模块，用于获取所述第二移动设备根据所述自动行驶控制指令行驶的行驶信息。
  18. 根据权利要求17所述的装置，其特征在于，所述第一移动设备和第二移动设备包括以下至少之一：车辆、机器人以及机械臂；和/或，
    所述第一移动设备和所述第二移动设备相同或者不同。
  19. 根据权利要求17或18所述的装置，其特征在于，所述第一获取模块包括：
    第一子模块，用于获取实时动态载波相位差分信号以及卫星定位信号；
    第二子模块，用于根据所述实时动态载波相位差分信号以及卫星定位信号，确定第一移动设备的位置信息；
    其中，第一移动设备的位置信息的定位精度高于卫星定位信号的位置定位精度。
  20. 根据权利要求19所述的装置，其特征在于，所述第二子模块进一步用于：
    根据具有相同定位时间的卫星定位信号和实时动态载波相位差分信号，获取第一移动设备的位置信息；或者
    根据时间间隔小于预定时间间隔要求的卫星定位信号和实时动态载波相位差分信号，获取第一移动设备的位置信息。
  21. 根据权利要求17至20中任一项所述的装置，其特征在于，所述定位信息包括：基于通用横轴墨卡托投影UTM坐标系的X轴坐标和Y轴坐标。
  22. 根据权利要求17至21中任一项所述的装置，其特征在于，所述运动状态信息，包括：偏航角、速度以及加速度中的至少一个。
  23. 根据权利要求22所述的装置，其特征在于，所述第一获取模块包括：
    第三子模块，用于根据从第一移动设备的控制器局域网络CAN总线中读取出的数据，获取所述第一移动设备的速度大小以及加速度大小；和/或，
    第四子模块，用于根据设置于第一移动设备中的惯性测量单元输出的数据，获取所述第一移动设备的偏航角。
  24. 根据权利要求17至23中任一项所述的装置，其特征在于，所述轨迹点信息包括：轨迹点位置信息、轨迹点对应的速度大小和速度方向、轨迹点对应的加速度大小和加速度方向、轨迹点对应的轨迹曲率以及轨迹点对应的偏航角中的至少一个。
  25. 根据权利要求24所述的装置，其特征在于，所述第一生成模块包括：
    第一采样子模块，用于根据相邻轨迹点间的预定距离，对所述多个定位信息进行采样处理，获得多个轨迹点位置信息。
  26. 根据权利要求24或25所述的装置，其特征在于，所述第一生成模块包括：
    第二采样子模块，用于根据多个轨迹点位置信息分别对应的定位时间，对所述多个运动状态信息进行采样处理，获得多个轨迹点各自对应的运动状态信息。
  27. 根据权利要求24至26中任一项所述的装置，其特征在于，所述第一生成模块包括：
    确定方向子模块，用于针对任一轨迹点，根据所述轨迹点的前后轨迹点的连线的斜率，确定所述轨迹点对应的速度方向和加速度方向；和/或
    确定曲率子模块，用于根据相邻轨迹点的速度方向的变化量以及相邻轨迹点之间的距离，确定相邻轨迹点中的一轨迹点对应的轨迹曲率。
  28. 根据权利要求17至27中任一项所述的装置，其特征在于，所述提供输入模块包括：
    第五子模块，用于获取所述待测试轨迹跟踪控制器所在的第二移动设备的当前位置信息；
    第六子模块，用于根据所述当前位置信息以及轨迹点信息，确定所述测试参考轨迹中与所述当前位置信息距离最近的轨迹点；
    第七子模块，用于根据所述距离最近的轨迹点，从所述测试参考轨迹中截取子测试参考轨迹；
    第八子模块，用于根据所述子测试参考轨迹中的轨迹点信息，为待测试轨迹跟踪控制器提供输入信息。
  29. 根据权利要求28所述的装置，其特征在于，所述第七子模块进一步用于：
    响应于所述距离最近的轨迹点与当前位置信息之间的距离满足预定距离要求，从所述测试参考轨迹中截取子测试参考轨迹。
  30. 根据权利要求28或29所述的装置，其特征在于，所述第八子模块进一步用于：
    从所述子测试参考轨迹中选取一个轨迹点，根据选取出的轨迹点的轨迹点信息，确定待测试轨迹跟踪控制器的输入信息；或者
    从所述子测试参考轨迹中选取多个轨迹点，针对所述选取出的多个轨迹点的轨迹点信息进行综合处理，并根据综合处理结果，确定待测试轨迹跟踪控制器的输入信息；
    所述确定待测试轨迹跟踪控制器的输入信息，包括：
    将所述轨迹点信息中的位置信息、速度方向以及加速度方向，分别转换为第二移动设备坐标系中的位置信息、速度方向以及加速度方向；
    将速度大小、加速度大小以及转换后的位置信息、速度方向和加速度方向提供给待测试轨迹跟踪控制器。
  31. 根据权利要求17至30中任一项所述的装置，其特征在于，所述第二获取模块进一步用于：
    在所述第二移动设备根据所述自动行驶控制指令行驶的过程中，获取所述第二移动设备的多个定位信息和多个运动状态信息；
    根据所述第二移动设备的多个定位信息和运动状态信息，生成包括多个实际轨迹点信息的实际轨迹；
    所述装置还包括：
    形成差异模块，用于获取和/或输出所述实际轨迹与所述测试参考轨迹之间的差异。
  32. 根据权利要求31所述的装置，其特征在于，所述装置还包括：
    显示模块，用于可视化显示所述实际轨迹与所述测试参考轨迹之间的差异；和/或，
    调整参数模块，用于根据所述实际轨迹和所述测试参考轨迹之间的差异，调整所述轨迹跟踪控制器的参数。
  33. 一种电子设备，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，且所述计算机程序被执行时，实现上述权利要求1-16中任一项所述的方法。
  34. 一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时，实现上述权利要求1-16中任一项所述的方法。
  35. 一种计算机程序，包括计算机指令，当所述计算机指令在设备的处理器中运行时，实现上述权利要求1-16中任一项所述的方法。
PCT/CN2019/119889 2019-03-28 2019-11-21 轨迹跟踪控制器的测试方法、装置、介质及设备 WO2020192149A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2021533849A JP2022512440A (ja) 2019-03-28 2019-11-21 軌跡追跡コントローラのテスト方法、装置、媒体及び設備
KR1020217018199A KR20210091263A (ko) 2019-03-28 2019-11-21 궤적 추적 제어기의 테스트 방법, 장치, 매체 및 디바이스

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910242040.XA CN111752254A (zh) 2019-03-28 2019-03-28 轨迹跟踪控制器的测试方法、装置、介质及设备
CN201910242040.X 2019-03-28

Publications (1)

Publication Number Publication Date
WO2020192149A1 true WO2020192149A1 (zh) 2020-10-01

Family

ID=72611291

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/119889 WO2020192149A1 (zh) 2019-03-28 2019-11-21 轨迹跟踪控制器的测试方法、装置、介质及设备

Country Status (4)

Country Link
JP (1) JP2022512440A (zh)
KR (1) KR20210091263A (zh)
CN (1) CN111752254A (zh)
WO (1) WO2020192149A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112596514A (zh) * 2020-11-18 2021-04-02 广州文远知行科技有限公司 控制操作调整方法、装置、可移动载体及存储介质
CN113327264A (zh) * 2021-06-01 2021-08-31 星觅(上海)科技有限公司 轨迹拟合方法、装置、设备及存储介质
CN113587945A (zh) * 2021-06-28 2021-11-02 深圳市跨越新科技有限公司 路网数据缺失情况下的车辆行驶路线校正方法及系统
CN113666271A (zh) * 2021-07-07 2021-11-19 中联重科股份有限公司 用于吊臂的检测方法及装置、控制器和工程机械
CN113866535A (zh) * 2021-08-26 2021-12-31 深圳市研控自动化科技有限公司 驱动回零测试方法、装置、设备、介质及计算机程序产品
CN114578808A (zh) * 2022-01-10 2022-06-03 美的集团(上海)有限公司 路径规划方法、电子设备、计算机程序产品及存储介质
CN115510263A (zh) * 2022-11-22 2022-12-23 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) 一种循迹轨迹生成方法、系统、终端设备以及存储介质
CN112596514B (zh) * 2020-11-18 2024-05-31 广州文远知行科技有限公司 控制操作调整方法、装置、可移动载体及存储介质

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113159105B (zh) * 2021-02-26 2023-08-08 北京科技大学 一种驾驶行为无监督模式识别方法及数据采集监控系统
CN112985460A (zh) * 2021-03-08 2021-06-18 武汉小安科技有限公司 智能中控定位精度测试方法、装置、电子设备和存储介质
CN113342628A (zh) * 2021-05-31 2021-09-03 中国工商银行股份有限公司 基于移动端app性能数据的自动获取方法及装置
CN113820965A (zh) * 2021-09-26 2021-12-21 上汽通用五菱汽车股份有限公司 Imu信号仿真方法、系统、设备和计算机可读存储介质
CN114298225A (zh) * 2021-12-29 2022-04-08 上海商汤临港智能科技有限公司 轨迹点筛选及轨迹生成方法、装置、电子设备、存储介质
CN114485625A (zh) * 2022-01-27 2022-05-13 北京理工大学前沿技术研究院 一种轨迹定位测距装置、方法和无人驾驶系统
CN115042787A (zh) * 2022-06-08 2022-09-13 合众新能源汽车有限公司 一种无车道线下确定跟踪轨迹的方法及装置
CN116449291B (zh) * 2023-06-12 2023-08-25 中国人民解放军国防科技大学 基于定位误差分析的被动全向声呐浮标补投方法和装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011209988A (ja) * 2010-03-30 2011-10-20 Nippon Telegr & Teleph Corp <Ntt> 軌道追従制御装置、方法及びプログラム
CN107092266A (zh) * 2017-06-26 2017-08-25 东北大学 一种移动车轨迹跟踪控制方法
CN108762260A (zh) * 2018-05-16 2018-11-06 南京理工大学 基于差分gps的履带式自主导航机器人及其导航方法
US20190033892A1 (en) * 2017-07-27 2019-01-31 Intel Corporation Trajectory tracking controllers for rotorcraft unmanned aerial vehicles (uavs)
CN109291989A (zh) * 2018-10-24 2019-02-01 山东农业大学 一种用于农业机械的电动方向盘及自动驾驶方法

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3540106B2 (ja) * 1996-11-11 2004-07-07 三菱電機株式会社 移動体用ナビゲーション装置、及びその現在位置決定方法、並びに現在位置決定用プログラムを記憶した媒体
JP3483855B2 (ja) * 2001-01-16 2004-01-06 川崎重工業株式会社 車両系の走行制御方法及び装置
JP4950494B2 (ja) * 2006-01-17 2012-06-13 アルパイン株式会社 走行車線推定装置及び走行車線推定方法
JP5087885B2 (ja) * 2006-08-16 2012-12-05 日産自動車株式会社 駐車支援装置、及び駐車支援方法
JP2008249555A (ja) * 2007-03-30 2008-10-16 Mitsubishi Electric Corp 位置特定装置、位置特定方法および位置特定プログラム
CN102707300B (zh) * 2012-06-05 2014-10-15 大唐移动通信设备有限公司 一种gps轨迹优化方法、装置及系统
CN102831191B (zh) * 2012-08-03 2015-08-26 戴大蒙 一种基于网络数据源的公交到站信息轨迹生成方法
CN102929273B (zh) * 2012-11-05 2015-02-25 中国船舶重工集团公司第七二四研究所 雷达目标定位跟踪系统的闭环验证方法
JP6012523B2 (ja) * 2013-03-25 2016-10-25 日立建機株式会社 建設車両
CN105589875B (zh) * 2014-10-22 2019-10-25 方正国际软件(北京)有限公司 一种多轨迹绘制的方法及装置
JP2016133451A (ja) * 2015-01-21 2016-07-25 株式会社デンソー 車載制御装置、携帯端末、プログラム
CN104596507B (zh) * 2015-02-09 2017-10-03 成都小步创想畅联科技有限公司 一种移动终端出行轨迹的确定方法
JP6376059B2 (ja) * 2015-07-06 2018-08-22 トヨタ自動車株式会社 自動運転車両の制御装置
JP6259797B2 (ja) * 2015-10-22 2018-01-10 本田技研工業株式会社 車両走行制御装置
CN105679018B (zh) * 2016-01-28 2018-08-24 福建省枢建通信技术有限公司 一种基于车辆行驶轨迹对车辆进行跟踪的系统
CN105716617B (zh) * 2016-01-29 2019-03-15 大连楼兰科技股份有限公司 基于车辆数据绘制驾驶轨迹的系统及方法
JP2017165156A (ja) * 2016-03-14 2017-09-21 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
CN108133611A (zh) * 2016-12-01 2018-06-08 中兴通讯股份有限公司 车辆行驶轨迹监测方法及系统
JP6803241B2 (ja) * 2017-01-13 2020-12-23 アズビル株式会社 時系列データ処理装置および処理方法
JP6805000B2 (ja) * 2017-01-20 2020-12-23 株式会社クボタ 作業車
JP2018155894A (ja) * 2017-03-17 2018-10-04 パナソニックＩｐマネジメント株式会社 車両制御システム、データ処理装置、及び制御プログラム
FR3064351B1 (fr) * 2017-03-21 2020-10-02 Thales Sa Procede d'ajustement de trajectoire de rejointe pour aeronef
US10725470B2 (en) * 2017-06-13 2020-07-28 GM Global Technology Operations LLC Autonomous vehicle driving systems and methods for critical conditions
CN107481284A (zh) * 2017-08-25 2017-12-15 京东方科技集团股份有限公司 目标物跟踪轨迹精度测量的方法、装置、终端及系统
CN107479537A (zh) * 2017-09-01 2017-12-15 上海贝乐文化传播有限公司 用于机器人控制器设计的控制性能评估系统及其使用流程
CN109154821B (zh) * 2017-11-30 2022-07-15 深圳市大疆创新科技有限公司 轨迹生成方法、装置和无人驾驶地面车辆
CN108107871B (zh) * 2017-12-26 2020-03-27 中科新松有限公司 优化的机器人性能测试方法及装置
CN108334055B (zh) * 2018-01-30 2021-10-15 赵兴华 车辆自动驾驶算法的检验方法、装置、设备及存储介质
CN108296687B (zh) * 2018-03-05 2019-08-27 北京华航唯实机器人科技股份有限公司 轨迹调整方法及装置
CN108765922B (zh) * 2018-04-18 2021-03-26 上海城市交通设计院有限公司 一种公交车辆行驶轨迹的分段方法
CN109241138A (zh) * 2018-08-30 2019-01-18 跨越速运集团有限公司 一种移动轨迹构建方法及装置
CN109445425B (zh) * 2019-01-02 2021-08-31 奇瑞汽车股份有限公司 自动驾驶系统的性能检测方法、装置及存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011209988A (ja) * 2010-03-30 2011-10-20 Nippon Telegr & Teleph Corp <Ntt> 軌道追従制御装置、方法及びプログラム
CN107092266A (zh) * 2017-06-26 2017-08-25 东北大学 一种移动车轨迹跟踪控制方法
US20190033892A1 (en) * 2017-07-27 2019-01-31 Intel Corporation Trajectory tracking controllers for rotorcraft unmanned aerial vehicles (uavs)
CN108762260A (zh) * 2018-05-16 2018-11-06 南京理工大学 基于差分gps的履带式自主导航机器人及其导航方法
CN109291989A (zh) * 2018-10-24 2019-02-01 山东农业大学 一种用于农业机械的电动方向盘及自动驾驶方法

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112596514A (zh) * 2020-11-18 2021-04-02 广州文远知行科技有限公司 控制操作调整方法、装置、可移动载体及存储介质
CN112596514B (zh) * 2020-11-18 2024-05-31 广州文远知行科技有限公司 控制操作调整方法、装置、可移动载体及存储介质
CN113327264A (zh) * 2021-06-01 2021-08-31 星觅(上海)科技有限公司 轨迹拟合方法、装置、设备及存储介质
CN113327264B (zh) * 2021-06-01 2023-01-13 星觅(上海)科技有限公司 轨迹拟合方法、装置、设备及存储介质
CN113587945A (zh) * 2021-06-28 2021-11-02 深圳市跨越新科技有限公司 路网数据缺失情况下的车辆行驶路线校正方法及系统
CN113587945B (zh) * 2021-06-28 2024-04-30 深圳市跨越新科技有限公司 路网数据缺失情况下的车辆行驶路线校正方法及系统
CN113666271A (zh) * 2021-07-07 2021-11-19 中联重科股份有限公司 用于吊臂的检测方法及装置、控制器和工程机械
CN113866535A (zh) * 2021-08-26 2021-12-31 深圳市研控自动化科技有限公司 驱动回零测试方法、装置、设备、介质及计算机程序产品
CN114578808A (zh) * 2022-01-10 2022-06-03 美的集团(上海)有限公司 路径规划方法、电子设备、计算机程序产品及存储介质
CN115510263A (zh) * 2022-11-22 2022-12-23 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) 一种循迹轨迹生成方法、系统、终端设备以及存储介质

Also Published As

Publication number Publication date
CN111752254A (zh) 2020-10-09
KR20210091263A (ko) 2021-07-21
JP2022512440A (ja) 2022-02-03

Similar Documents

Publication Publication Date Title
WO2020192149A1 (zh) 轨迹跟踪控制器的测试方法、装置、介质及设备
US11353589B2 (en) Iterative closest point process based on lidar with integrated motion estimation for high definition maps
US11503428B2 (en) Systems and methods for co-localization of multiple devices
CN105806345B (zh) 一种用于变电站巡检机器人激光导航的初始化定位方法
CN110398969A (zh) 自动驾驶车辆自适应预测时域转向控制方法及装置
WO2019104188A1 (en) Improving accuracy of global navigation satellite system based positioning using high definition map based localization
CN111174799A (zh) 地图构建方法及装置、计算机可读介质、终端设备
WO2019126950A1 (zh) 一种定位方法、云端服务器、终端、系统、电子设备及计算机程序产品
US11619724B2 (en) Calibration of multiple lidars mounted on a vehicle using localization based on a high definition map
CN111427370A (zh) 一种基于稀疏位姿调整的移动机器人的Gmapping建图方法
CN110889808A (zh) 一种定位的方法、装置、设备及存储介质
WO2023004956A1 (zh) 一种在高动态环境下的激光slam方法、系统设备及存储介质
US20230341228A1 (en) Global position and orientation correction method
CN114387319A (zh) 点云配准方法、装置、设备以及存储介质
Lu et al. Robot indoor location modeling and simulation based on Kalman filtering
CN114506343A (zh) 轨迹规划方法、装置、设备、存储介质及自动驾驶车辆
CN112762935B (zh) 一种基于船体姿态监测的定位方法及系统
CN115792985A (zh) 一种车辆定位方法、装置、电子设备、存储介质及车辆
CN112578363B (zh) 激光雷达运动轨迹获取方法及装置、介质
US20210348938A1 (en) Sensor calibration for space translation
CN114625122A (zh) 一种基于uwb与激光雷达的机器人跟随和避障方法及系统
Chai et al. Tourist Street View Navigation and Tourist Positioning Based on Multimodal Wireless Virtual Reality
CN117289294B (zh) 一种基于多分辨率贝叶斯网格的融合定位方法
CN116455440B (zh) 一种姿态感知赋能高效波束对准方法与对准系统
KR20220039324A (ko) 지상설비 좌표 측정 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19920736

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021533849

Country of ref document: JP

Kind code of ref document: A

Ref document number: 20217018199

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 25.01.2022)

122 Ep: pct application non-entry in european phase

Ref document number: 19920736

Country of ref document: EP

Kind code of ref document: A1