WO2023005156A1

WO2023005156A1 - Parameter update

Info

Publication number: WO2023005156A1
Application number: PCT/CN2022/070568
Authority: WO
Inventors: 黄超; 姚亦玮
Original assignee: 上海仙途智能科技有限公司
Priority date: 2021-07-29
Filing date: 2022-01-06
Publication date: 2023-02-02
Also published as: CN115246410A; CN115246410B

Abstract

A parameter update method, comprising: acquiring historical driving data of a target vehicle within a selected selected historical time period, and acquiring feedforward data corresponding to the target vehicle at the current running moment, the feedforward data comprising vehicle acceleration caused by slope information of the location of the target vehicle, and a calculated underlying hardware response delay time of the target vehicle; then, updating a control parameter of the target vehicle according to the historical driving data and the feedforward data. The present application can solve the problems of underlying vehicle performance changes and road terrain changes. Furthermore, in combination with real-time data for online update of a control parameter of the vehicle, a parameter update period can be shortened and the ability of low noise resistance can be increased, making a control system more reliable and accurate, and thereby achieving an improved control effects. Also provided are a parameter updating apparatus, a device and a computer-readable storage medium.

Description

parameter update

technical field

The present application relates to the technical field of vehicles, in particular to a method, device, device and computer-readable storage medium for updating parameters.

Background technique

At present, in the field of autonomous driving, the control module of the vehicle is responsible for receiving information such as upstream planning and positioning, and generates control commands such as accelerator, brake, and steering wheel according to the planned driving trajectory and required speed, as well as the current position, attitude and speed of the vehicle. .

However, for some types of vehicles such as low-speed commercial vehicles, the underlying hardware system has a large delay, the driving speed is small, the quality of the vehicle is reduced during driving, and the vehicle control model changes, which requires real-time update of the vehicle control parameters.

Existing methods for updating control parameters include but are not limited to methods for updating control parameters based on offline visual analysis of vehicle underlying hardware performance, that is, offline cleaning data, visual analysis of vehicle underlying hardware performance, and updating vehicle control parameters . However, this method is simple and can guarantee the control effect of the vehicle within a certain period of time, but the parameter update cycle is long, the ability to resist noise is weak, and the parameters cannot be automatically corrected, requiring manual intervention, which increases the workload.

Contents of the invention

In view of this, the present application provides a parameter update method, device, device and computer-readable storage medium, which can shorten the parameter update cycle, improve the ability to resist noise, and can automatically update parameters.

Specifically, this application is achieved through the following technical solutions:

A method for updating parameters, comprising: acquiring historical driving data of a target vehicle within a selected historical period; acquiring feed-forward data corresponding to the target vehicle at the current running moment, wherein the feed-forward data includes The vehicle acceleration brought by the slope information of the position and the calculated response delay time of the underlying hardware of the target vehicle; according to the historical driving data and the feed-forward data, the control parameters of the target vehicle are renew.

A parameter updating device, comprising: a historical data acquisition unit, used to acquire historical driving data of a target vehicle within a selected historical period; a feedforward data acquisition unit, used to acquire the feedforward data corresponding to the target vehicle at the current running time data, wherein the feedforward data includes the vehicle acceleration based on the slope information of the target vehicle’s position and the calculated response delay time of the underlying hardware of the target vehicle; the control parameter update unit is used for The control parameters of the target vehicle are updated according to the historical driving data and the feed-forward data.

An electronic device, comprising: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the above parameter update method by invoking the computer program.

A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above parameter update method is implemented.

In the above technical solution provided by the present application, the historical driving data of the target vehicle in the selected historical period is obtained, and the feed-forward data corresponding to the target vehicle at the current running time is obtained, wherein the feed-forward data includes information based on the location of the target vehicle The acceleration of the vehicle brought by the slope information and the calculated response delay time of the underlying hardware of the target vehicle, and then update the control parameters of the target vehicle according to the historical driving data and feed-forward data. It can be seen that this application uses real-time feed-forward data as input, which can solve the problems of vehicle bottom performance changes and road terrain changes, and, combined with real-time data such as historical driving data during the driving process of the target vehicle, online update of vehicle control parameters can be achieved. Shorten the parameter update cycle, improve the ability to resist noise, and make the control system more reliable and accurate, so as to achieve better control effect.

Description of drawings

FIG. 1 is a schematic flow diagram of a parameter updating method shown in the present application;

Fig. 2 is a schematic diagram of parameter update based on the control system shown in the present application;

Fig. 3 is a schematic diagram of updating parameters based on the longitudinal speed control system shown in the present application;

FIG. 4 is a schematic diagram of the composition of a parameter updating device shown in the present application;

FIG. 5 is a schematic structural diagram of an electronic device shown in the present application.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present application, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

Before introducing the embodiments of the present application, the technical terms involved in the embodiments of the present application are firstly introduced.

MPC: Model Predictive Control, model predictive control, is a control method based on predicting the controlled object.

PID: Abbreviation of Proportional (proportional), Integral (integral), and Differential (differential). In process control, a controller that controls the proportional (P), integral (I) and differential (D) of the deviation.

Referring to FIG. 1 , it is a schematic flowchart of a parameter update method provided by the embodiment of the present application, the method includes the following steps S101-S103:

S101: Obtain historical driving data of the target vehicle within a selected historical period.

In this embodiment of the application, the target vehicle can be any type of self-driving vehicle, which can specifically be a vehicle with a large delay in the underlying hardware system, a small driving speed, a decrease in quality during driving, or a change in the vehicle control model, such as a low-speed vehicle. commercial vehicle.

In the embodiment of the present application, the parameter update method shown in Figure 1 can be implemented by a set of control systems suitable for online identification on the target vehicle, refer to the schematic diagram of parameter update based on the control system shown in Figure 2, in order to To automatically adjust the control parameters of the target vehicle, it is necessary to obtain the data of the target vehicle in the historical driving process first. Due to the underlying delay of the vehicle (including but not limited to the delay from the steering wheel to the underlying wheel steering when controlling the steering wheel, such as brake response delay, accelerator response delay etc.), the input of the control system is the historical driving data of the target vehicle within the selected historical period (the selected historical period may include one or more selected periods before the current moment), that is, the input is a time series The historical driving data, the output is a frame of future control of the target vehicle.

Wherein, the historical driving data may include at least one of vehicle positioning data, path planning data, vehicle underlying data, and vehicle control data of the target vehicle in a period of time. Among them, the vehicle positioning data refers to the position data of the target vehicle during the historical driving process; the underlying vehicle data refers to the braking, steering wheel, manual/automatic driving mode and other data of the target vehicle during the driving process; the path planning data refers to the target vehicle’s Planning route and other data; vehicle control data refers to the data related to the control of the target vehicle during the driving process, including but not limited to steering wheel control volume, accelerator brake control volume, gear control volume, lighting control volume, etc.

It should be noted that, when the historical driving data is damaged or unavailable, the current driving data can be used as the historical driving data input to the control system.

S102: Obtain the feed-forward data corresponding to the target vehicle at the current running moment, wherein the feed-forward data includes the vehicle acceleration based on the slope information of the target vehicle's location and the calculated underlying hardware response delay time of the target vehicle.

In the embodiment of the present application, the feedforward data includes, but is not limited to, the acceleration brought by the road gradient and the calculated response delay time of the underlying hardware, as shown in FIG. 2 .

Wherein, the slope information is historical slope information of the target vehicle; or, the slope information is obtained by real-time positioning of the target vehicle based on a pre-established topographic map of the driving area. Specifically, the current slope information of the target vehicle can be replaced by a stable historical slope information; the topographic map of the vehicle driving area can also be established in advance, and the current slope information of the target vehicle can be obtained based on the topographic map by locating the target vehicle. During the operation of the target vehicle, the slope information of the positioning is received, which is used as the feed-forward data in the control system shown in Fig. 2 .

S103: Update the control parameters of the target vehicle according to the historical driving data and the feed-forward data.

The control parameters of the target vehicle can be updated based on the historical driving data of the target vehicle in the selected historical period and the corresponding feed-forward data of the target vehicle at the current running time.

Specifically, as shown in Figure 2, the control system can be divided into horizontal control strategy and vertical control strategy from the control content, and can also be divided into outer loop control strategy and inner loop control strategy from the control scope. Among them, the horizontal control strategy includes and is not limited to LPR, MPC, the vertical control strategy includes and is not limited to PID, MPC, meter reading, bang-bang control, the outer loop control strategy includes but is not limited to LPR, MPC, and the inner loop control strategy includes and Not limited to adaptive control. Control system parameters are determined by the control strategy, such as MPC control corresponding parameter prediction range, control time domain, loss function, constraint function, etc.

During the driving process of the target vehicle, through the analysis and calculation of online data, the control parameters of the control system can be updated in real time, and the control parameters include but are not limited to at least one of the steering wheel offset, the response delay time of the underlying hardware, and the position of the center of mass parameter. By updating the control system parameters, a better control effect is achieved.

Wherein, the position of the center of mass of the target vehicle is obtained based on the water level information of the water tank of the target vehicle. Therefore, the position of the center of mass of the vehicle can be updated in real time in combination with the water level information of the water tank of the target vehicle.

In an implementation manner of the embodiment of the present application, "updating the control parameters of the target vehicle" in S103 may include: updating the control parameters of the target vehicle in combination with kinematics formulas. That is to say, the parameters of the control model can be updated in combination with the kinematic formula.

As shown in Figure 2, after the update of the control parameters is completed, some control quantities can be output based on the current updated control parameters. These control quantities include but are not limited to steering wheel control quantities, accelerator and brake control quantities, and gear control quantities. , light control amount, etc. These control amounts will directly affect the speed and pose of the target vehicle during operation. In addition, the positioning, vehicle and other information obtained by the target vehicle in response to these control quantities will enter the control system as the feedback quantity of the new cycle, that is, the response results of the target vehicle to the control quantities will be used to update the existing historical driving data, so that According to the historical driving data updated in real time, the control parameters of the target vehicle are updated in real time.

In order to facilitate the understanding of the parameter update method provided by the embodiment of the present application, an example is now used to illustrate it, referring to the schematic diagram of parameter update based on the longitudinal speed control system shown in FIG. 3 .

In Figure 3, the planned speed is the input of the speed controller and also the target speed of the target vehicle; the speed controller can be an MPC controller or a PID controller. When using MPC+meter reading, the target vehicle When performing speed control, the current speed and historical speed sequence of the target vehicle, and the pose information of the target vehicle can also be used as the input of the speed controller. In addition, the feed-forward data is also input into the speed controller. The feed-forward data includes but is not limited to the acceleration caused by the slope, the response delay time of the underlying hardware, etc., wherein the "acceleration caused by the slope" is obtained based on the real-time update of the slope information. The "bottom hardware response delay time" is based on the subscribed "historical driving data of the target vehicle in the selected historical period" (ie step S101), calculated by displacement method, and used to update the delay in the speed controller online parameter. In this way, based on the planned speed of the target vehicle, the historical speed sequence and current speed of the target vehicle, combined with the feed-forward data, the acceleration control amount in the control time domain can be obtained, and the final acceleration control amount is determined by the response delay time, and then combined with P (acc|cmd, velo) meter reading to get the final throttle, brake control, etc. It should be noted that inside the speed controller, online speed, acceleration, and control data collection, cleaning, and machine learning can update the P(acc|cmd,velo) form in real time, making the meter reading more accurate.

In the parameter update method provided by the above embodiments of the present application, the historical driving data of the target vehicle in the selected historical period is obtained, and the feed-forward data corresponding to the target vehicle at the current running moment is obtained, wherein the feed-forward data includes The vehicle acceleration brought by the slope information of the location and the calculated response delay time of the underlying hardware of the target vehicle, and then update the control parameters of the target vehicle according to the historical driving data and feed-forward data. It can be seen that the embodiment of the present application uses real-time feed-forward data as input, which can solve the problems of vehicle bottom performance changes and road terrain changes, and, combined with real-time data such as historical driving data during the driving process of the target vehicle, update the control parameters of the vehicle online , can shorten the parameter update cycle, improve the ability to resist noise, and make the control system more reliable and accurate, so as to achieve better control effect.

Referring to FIG. 4 , it is a schematic diagram of the composition of a parameter update device provided by an embodiment of the present application, the device includes: a historical data acquisition unit 410 for acquiring historical driving data of the target vehicle within a selected historical period; feedforward data acquisition Unit 420, configured to acquire feedforward data corresponding to the target vehicle at the current running moment, wherein the feedforward data includes vehicle acceleration brought about based on the slope information of the location of the target vehicle, and the calculated The underlying hardware response delay time of the target vehicle; the control parameter update unit 430, configured to update the control parameters of the target vehicle according to the historical driving data and the feed-forward data.

In an implementation manner of the embodiment of the present application, the historical driving data includes at least one of vehicle positioning data, route planning data, vehicle underlying data, and vehicle control data.

In an implementation manner of the embodiment of the present application, the slope information is the historical slope information of the target vehicle; or, the slope information is based on the pre-established topographic map of the driving area, by real-time positioning of the target vehicle vehicle gets.

In an implementation manner of the embodiment of the present application, the control parameters include at least one parameter among steering wheel offset, underlying hardware response delay time, and center of mass position.

In an implementation manner of the embodiment of the present application, the centroid position is obtained based on water level information of a water tank of the target vehicle.

In an implementation manner of the embodiment of the present application, the control parameter update unit 430 is specifically configured to update the control parameters of the target vehicle in combination with a kinematics formula.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. It can be understood and implemented by those skilled in the art without creative effort.

The embodiment of the present application also provides an electronic device, the structural diagram of which is shown in Figure 5, the electronic device 5000 includes at least one processor 5001, a memory 5002 and a bus 5003, at least one processor 5001 is connected to the memory 5002 Electrically connected; the memory 5002 is configured to store at least one computer-executable instruction, and the processor 5001 is configured to execute the at least one computer-executable instruction, thereby performing any one of the embodiments or any optional one in the present application. Steps of any parameter updating method provided in the implementation manner.

Further, the processor 5001 can be FPGA (Field-Programmable Gate Array, Field Programmable Gate Array) or other devices with logic processing capabilities, such as MCU (Microcontroller Unit, micro control unit), CPU (Central Process Unit, central processing unit ).

Applying the embodiment of the present application, using real-time feedforward data as input, can solve the problems of changes in vehicle bottom performance and road topography, and, combined with real-time data such as historical driving data during the driving process of the target vehicle, update the control parameters of the vehicle online , can shorten the parameter update cycle, improve the ability to resist noise, and make the control system more reliable and accurate, so as to achieve better control effect.

The embodiment of the present application also provides another computer-readable storage medium, which stores a computer program, and the computer program is used to realize any of the functions provided by any embodiment or any optional implementation mode in the present application when executed by a processor. Steps of a parameter update method.

The computer-readable storage medium provided by the embodiment of the present application includes but is not limited to any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory, read-only memory), RAM ( Random Access Memory, Random Access Memory), EPROM (Erasable Programmable Read-Only Memory, Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or ray card. That is, a readable storage medium includes any medium that stores or transmits information in a form readable by a device (eg, a computer).

The above is only a preferred embodiment of the application, and is not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application should be included in the application. within the scope of protection.

Claims

A parameter updating method, characterized in that, comprising:

Obtain the historical driving data of the target vehicle within the selected historical period;

Acquiring the feed-forward data corresponding to the target vehicle at the current running moment, wherein the feed-forward data includes the vehicle acceleration brought about based on the slope information of the position of the target vehicle and the calculated The underlying hardware response latency;

The control parameters of the target vehicle are updated according to the historical driving data and the feed-forward data.
The method according to claim 1, wherein the historical driving data includes at least one of vehicle positioning data, route planning data, vehicle underlying data, and vehicle control data.
The method according to claim 1, wherein the slope information is historical slope information of the target vehicle; or, the slope information is based on a pre-established topographic map of the driving area, by real-time locating the obtained by the target vehicle.
The method according to claim 1, wherein the control parameters include at least one parameter among steering wheel offset, underlying hardware response delay time, and center of mass position.
The method according to claim 4, wherein the centroid position is obtained based on water level information of a water tank of the target vehicle.
The method according to any one of claims 1-5, wherein the updating the control parameters of the target vehicle comprises:

Combining with the kinematics formula, the control parameters of the target vehicle are updated.
A parameter updating device, characterized in that it comprises:

A historical data acquisition unit, configured to acquire historical driving data of the target vehicle within a selected historical period;

A feed-forward data acquisition unit, configured to acquire feed-forward data corresponding to the target vehicle at the current running moment, wherein the feed-forward data includes vehicle acceleration based on slope information at the position of the target vehicle, and The calculated underlying hardware response delay time of the target vehicle;

A control parameter update unit, configured to update the control parameters of the target vehicle according to the historical driving data and the feedforward data.
The device according to claim 7, wherein the slope information is historical slope information of the target vehicle; or, the slope information is based on a pre-established topographic map of the driving area, by real-time positioning of the obtained by the target vehicle.
An electronic device, characterized in that it includes: a processor, a memory;

The memory is used to store computer programs;

The processor is configured to execute the parameter updating method according to any one of claims 1-6 by invoking the computer program.
A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the parameter update method described in any one of claims 1-6 is implemented.