WO2023005158A1 - 作业执行 - Google Patents

作业执行 Download PDF

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Publication number
WO2023005158A1
WO2023005158A1 PCT/CN2022/070722 CN2022070722W WO2023005158A1 WO 2023005158 A1 WO2023005158 A1 WO 2023005158A1 CN 2022070722 W CN2022070722 W CN 2022070722W WO 2023005158 A1 WO2023005158 A1 WO 2023005158A1
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WIPO (PCT)
Prior art keywords
target vehicle
target
controlling
straight line
vehicle
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PCT/CN2022/070722
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English (en)
French (fr)
Inventor
黄超
钱彦良
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上海仙途智能科技有限公司
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Publication of WO2023005158A1 publication Critical patent/WO2023005158A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations

Definitions

  • the present application relates to the field of control technology, and in particular to methods, devices, equipment and computer-readable storage media for job execution.
  • the sensors used for positioning in the field of autonomous driving at this stage mainly include Inertial Measurement Unit (IMU for short), Global Navigation Satellite System (Global Navigation Satellite System, GNSS for short), odometer (Odometer), laser radar, camera wait.
  • the mainstream positioning technologies based on these sensors include GNSS/IMU integrated navigation, Lidar Inertial Odometry (Lidar Inertial Odometry, VIO for short), Visual Inertial Odometry (Visual Inertial Odometry, LIO for short), and fusion of various sensors at different levels Comprehensive positioning technology based on data, such as positioning technology based on inertial navigation system (Inertial Navigation System, INS for short) and Odometer.
  • the existing mainstream positioning technology cannot meet the positioning requirements of some precision operations.
  • precision operations such as cleaning close to railings, cleaning corners of buildings, cleaning close to parked vehicles and other cleaning tasks. These cleaning tasks have relatively high requirements for positioning accuracy and stability.
  • the existing mainstream positioning technology cannot meet the positioning requirements of these precision operations.
  • the GNSS-based positioning system will be affected by the antenna signal, and the effect is very limited in areas with more building blocks; the vision-based positioning system is easily affected by light; the lidar-based positioning system is easy Affected by the scene; the INS-based positioning system is easily affected by the IMU zero offset drift, and the convergence speed is slow when the vehicle is in variable speed motion. Therefore, the existing mainstream positioning technology cannot achieve high-precision, high-frequency and high-stability positioning in long-term operation.
  • the present application provides a job execution method, device, device, and computer-readable storage medium, which can realize high-precision, high-frequency, and high-stability positioning when a vehicle performs a job task.
  • the present application provides a job execution method, including: controlling the target vehicle to keep running in a straight line at a constant speed, and controlling the target vehicle to execute the target job after running continuously for a first preset time; or, controlling the target vehicle The vehicle remains completely stationary, and after the vehicle remains stationary for a second preset period of time, the target vehicle is controlled to perform the target operation.
  • the target vehicle before controlling the target vehicle to keep running in a straight line at a constant speed, or before controlling the target vehicle to keep completely stationary, it also includes: judging whether the current working condition of the target vehicle meets the positioning requirements of the target operation; if so, then Directly perform the step of controlling the target vehicle to perform the target operation; if not, perform the step of controlling the target vehicle to keep running in a straight line at a constant speed, or perform the step of controlling the target vehicle to keep completely still.
  • the judging whether the current working condition of the target vehicle satisfies the positioning requirements of the target operation includes: estimating the cumulative position error of the target vehicle within a third preset time period; if the cumulative position error greater than the preset length threshold, it is determined that the current working condition of the target vehicle does not meet the positioning requirements of the target operation; if the cumulative position error is not greater than the preset length threshold, it is determined that the current working condition of the target vehicle meets The positioning requirements of the target job.
  • controlling the target vehicle to keep running in a straight line at a constant speed includes: if it is judged that the target vehicle can perform a straight line at a constant speed, then controlling the target vehicle to run in a straight line at a constant speed; correspondingly, the controlling the target vehicle to keep Being completely stationary includes: controlling the target vehicle to remain completely stationary if it is judged that the target vehicle cannot perform uniform linear motion.
  • controlling the target vehicle to keep running in a straight line at a constant speed includes: controlling the target vehicle to run in a straight line at a constant speed based on a vehicle speed of the target vehicle, wherein the vehicle speed is provided by an odometer on the target vehicle.
  • the present application provides a job execution device, including: a control module, configured to control the target vehicle to keep running in a straight line at a constant speed, and to control the target vehicle to perform the target job after running continuously for a first preset duration; or , controlling the target vehicle to remain completely stationary, and controlling the target vehicle to perform a target operation after remaining stationary for a second preset period of time.
  • the device further includes: a planning module, configured to determine whether the current working condition of the target vehicle satisfies the target before controlling the target vehicle to keep running in a straight line at a constant speed or before controlling the target vehicle to keep completely still The positioning requirement of the job; if so, trigger the control module to control the target vehicle to perform the target job; if not, trigger the control module to control the target vehicle to keep running in a straight line at a constant speed, or control the target vehicle to keep completely still.
  • a planning module configured to determine whether the current working condition of the target vehicle satisfies the target before controlling the target vehicle to keep running in a straight line at a constant speed or before controlling the target vehicle to keep completely still The positioning requirement of the job; if so, trigger the control module to control the target vehicle to perform the target job; if not, trigger the control module to control the target vehicle to keep running in a straight line at a constant speed, or control the target vehicle to keep completely still.
  • the planning module is specifically configured to: estimate the cumulative position error of the target vehicle within a third preset time length; if the cumulative position error is greater than a preset length threshold, then determine the current working position of the target vehicle. The condition does not meet the positioning requirement of the target operation; if the accumulated position error is not greater than the preset length threshold, it is determined that the current working condition of the target vehicle meets the positioning requirement of the target operation.
  • control module is specifically configured to: if it is judged that the target vehicle can perform uniform velocity linear motion, then control the target vehicle to maintain constant velocity linear motion; if it is determined that the target vehicle cannot perform uniform velocity linear motion, then control The target vehicle remains completely stationary.
  • control module is specifically configured to: control the target vehicle to keep running in a straight line at a constant speed based on the vehicle speed of the target vehicle, wherein the vehicle speed is provided by an odometer on the target vehicle.
  • the present application provides an electronic device, including: a processor and a memory; the memory is used to store a computer program; and the processor is used to execute the above job execution method by invoking the computer program.
  • the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above job execution method is implemented.
  • the target vehicle can be controlled to run in a straight line at a constant speed before carrying out the precise operation, that is, the target operation, and the target vehicle can be controlled to perform the target operation after the first preset period of continuous operation, or, by controlling The target vehicle remains completely still, and after being stationary for a second preset period of time, the target vehicle is controlled to perform the target operation.
  • this application can keep the target vehicle in a good working condition by running in a straight line at a constant speed for a short period of time or standing still for a short period of time before performing precision operations, so as to ensure that the algorithms related to the inertial sensors can converge correctly to ensure precision.
  • the high-precision, high-frequency and high-stable positioning requirements of the operation avoid the defects of most positioning algorithms.
  • FIG. 1 is a schematic flow diagram of a job execution method shown in the present application
  • FIG. 2 is a schematic flowchart of another job execution method shown in the present application.
  • Fig. 3 is a schematic composition diagram of a job execution device shown in the present application.
  • Fig. 4 is a schematic composition diagram of another job execution device shown in this application.
  • FIG. 5 is a schematic structural diagram of an electronic device shown in the present application.
  • 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.”
  • the underlying positioning algorithm can be INS+Odometer, LIO, VIO, LVIO and other algorithms.
  • Lidar+IMU+Odometer that is, lidar+inertial measurement unit+odometer
  • Lidar needs to match the offline map through some algorithms. Based on the matching results, it can provide global positioning and pointing heading.
  • Odometer can be used to provide vehicle speed.
  • the IMU can provide roll&pitch, angular velocity and acceleration, and the offset of angular velocity and acceleration through related algorithms; among them, roll is the rotation around the Z axis, also called the roll angle, and pitch is the rotation around the X axis, also called the pitch angle.
  • the IMU has the characteristics of high frequency and high precision, its zero offset drift will have a great impact on its accuracy. estimate.
  • the positioning algorithm has no time to converge, so the vehicle cannot continue to provide high-quality positioning services.
  • the embodiment of the present application provides a method for executing operations, which can actively keep the vehicle in a good working condition before the vehicle performs precision operations, and ensure that the inertial sensors on the vehicle are
  • the algorithm can converge correctly to ensure the high-precision, high-frequency and high-stable positioning requirements of precision operations, so as to avoid the defects of most positioning algorithms.
  • FIG. 1 it is a schematic flowchart of a job execution method provided in the embodiment of the present application.
  • the method includes the following steps S101:
  • S101 Control the target vehicle to keep running in a straight line at a constant speed, and control the target vehicle to perform the target operation after running continuously for the first preset time; or control the target vehicle to keep completely still, and control the target after continuing to stand still for the second preset time The vehicle performs the target job.
  • the vehicle type of the target vehicle is not limited, and the target vehicle can be any vehicle that requires positioning when performing precise operations. Vehicles for cleaning operations.
  • the embodiment of the present application needs to actively let the target vehicle enter a better working condition in advance through planning and control, and wait for the positioning algorithm to converge to determine that it can be within the required time slice (such as 1 minute, 2 minutes, etc.) Minutes, etc.) After providing high-precision and stable services, the target vehicle is then allowed to perform corresponding precise operations.
  • the target vehicle can be controlled to keep running in a straight line at a constant speed, and after running continuously for a first preset time period, the target vehicle can be controlled to perform the target operation. That is to say, to keep the target vehicle moving in a straight line at a constant speed and continue for a first preset time in the state of a straight line at a constant speed, and after running continuously for a first preset time, control the target vehicle to perform the target operation; wherein, the present application
  • the embodiment does not limit the length of the first preset duration, for example, the first preset duration may be 10 seconds or 30 seconds.
  • the target vehicle may be controlled to remain completely still, and after remaining stationary for a second preset period of time, the target vehicle may be controlled to perform the target operation. That is to say, the target vehicle should be completely stationary for a short period of time, that is, for a second preset period of time, and after being stationary for a second preset period of time, the target vehicle should be controlled to perform the target operation;
  • the length of the second preset duration is limited, for example, the second preset duration may be 10 seconds or 30 seconds.
  • the time lengths of the first preset duration and the second preset duration may be the same or different, and the first preset duration and the second preset duration may be determined based on the convergence requirements of the positioning algorithm, combined with theory and experience. The same or different time lengths are set so that the positioning algorithm can converge within the first preset time length and the second preset time length.
  • the above-mentioned target operation is a precision operation that needs to be implemented.
  • the target operation may also be other operations that require positioning, which is not limited in this embodiment of the present application.
  • controlling the target vehicle to keep running in a straight line at a constant speed in S101 may include: controlling the target vehicle to keep running in a straight line at a constant speed based on the speed of the target vehicle, wherein the speed is determined by the speed of the target vehicle Odometer provided.
  • the speed of the odometer can be used as feedback, so that the control module controls the target vehicle to keep running at a constant speed and in a straight line.
  • controlling the target vehicle to keep running in a straight line at a constant speed may include: if it is judged that the target vehicle can perform a straight line motion at a constant speed, then controlling the target vehicle to run in a straight line at a constant speed; correspondingly, "Controlling the target vehicle to keep completely still” in S101 may include: if it is judged that the target vehicle cannot perform uniform linear motion, controlling the target vehicle to keep completely still.
  • FIG. 2 it is a schematic flow chart of another job execution method provided by the embodiment of the present application.
  • the method includes the following steps S201:
  • the target vehicle it is necessary to judge in advance whether the current working condition of the target vehicle meets the positioning requirements of the target operation; if so, it means that the positioning algorithm of the target vehicle is in a convergent state, and the target operation can be directly executed, that is, S202 is executed; otherwise , if it is not satisfied, it means that the positioning algorithm of the target vehicle may not be in a convergent state, and it is necessary to execute S203 to make the target vehicle move at a constant speed or be in a stationary state for a short period of time. In this short period of time, wait for the convergence of the positioning algorithm of the target vehicle , after the positioning algorithm converges, the target vehicle can be controlled to perform the target operation, thereby achieving high-precision, high-frequency, and high-stability positioning.
  • "judging whether the current working condition of the target vehicle meets the positioning requirements of the target operation" in S201 may include: estimating the cumulative position error of the target vehicle within the third preset time period; If the cumulative error of the position is greater than the preset length threshold, it is determined that the current working condition of the target vehicle does not meet the positioning requirements of the target operation; if the cumulative error of the position is not greater than the preset length threshold, it is determined that the current working condition of the target vehicle meets the target operation positioning needs.
  • the third preset duration may be the same as or different from the first preset duration and the second preset duration in step S101 or S203, for example, the first preset duration, the second preset duration and the third preset duration
  • the duration is set to be 10 seconds.
  • CTRA Constant Turn Rate and Acceleration Vehicle Model
  • the dead reckoning method is a method of calculating the position at the next time by measuring the distance and azimuth of the movement under the condition of knowing the position at the current time.
  • dr10_std ⁇ 3cm it means that the working condition of the target vehicle is good, its positioning algorithm is in a convergent state, and the target operation can be directly executed, that is, execute S202; otherwise, if dr10_std>3cm, it means that the working condition of the target vehicle is poor , the positioning algorithm may not be in the convergent state, and it is necessary to execute S203 to make the target vehicle move at a constant speed or stay in a stationary state for a short period of time, so as to wait for dr10_std ⁇ 3cm, and start executing the target operation until dr10_std ⁇ 3cm.
  • S203 Control the target vehicle to keep running in a straight line at a constant speed, and control the target vehicle to perform the target operation after running continuously for the first preset time; or control the target vehicle to keep completely still, and control the target after continuing to stand still for the second preset time The vehicle performs the target job.
  • step S203 is the same as the above-mentioned step S101, for related introduction, please refer to S101, which will not be repeated here.
  • the embodiment of the present application provides a positioning scheme combined with the planning control module. Due to the adoption of the combined positioning system, it effectively avoids the impact of the defects of most mainstream positioning algorithms, such as weak GPS signals. , Point cloud feature points are not obvious, and the influence of poor working conditions such as slow attitude convergence under variable speed motion on precision operations.
  • the target vehicle can be controlled to run in a straight line at a constant speed before performing the precise job, that is, the target job, and the target vehicle can be controlled to perform the target job after running for a first preset duration, or, By controlling the target vehicle to remain completely still, and after remaining stationary for a second preset period of time, the target vehicle is controlled to perform the target operation.
  • the positioning system of the embodiment of the present application is changed from passive convergence to running in a straight line at a constant speed for a short period of time or standing still for a short period of time before performing precise operations, so as to keep the target vehicle in a good working condition and ensure that the inertial sensor
  • the relevant algorithms can converge correctly to ensure the high-precision, high-frequency and high-stable positioning requirements of precision operations, thus avoiding the defects of most positioning algorithms.
  • FIG. 3 it provides a schematic composition diagram of a job execution device according to an embodiment of the present application, including: a control module 310 , configured to control the target vehicle to keep running in a straight line at a constant speed, and to control the The target vehicle executes the target operation; or, the target vehicle is controlled to remain completely stationary, and after being stationary for a second preset period of time, the target vehicle is controlled to execute the target operation.
  • a control module 310 configured to control the target vehicle to keep running in a straight line at a constant speed, and to control the The target vehicle executes the target operation; or, the target vehicle is controlled to remain completely stationary, and after being stationary for a second preset period of time, the target vehicle is controlled to execute the target operation.
  • FIG. 4 it provides a schematic composition diagram of another job execution device according to the embodiment of the present application, including: a planning module 320 , configured to control the target vehicle to keep running in a straight line at a constant speed, or to control the target vehicle to keep completely stationary, Determine whether the current working condition of the target vehicle meets the positioning requirements of the target operation; if so, trigger the control module 310 to control the target vehicle to perform the target operation; if not, trigger the control module 310 to control the target vehicle Keep running in a straight line at a constant speed, or control the target vehicle to keep completely still.
  • a planning module 320 configured to control the target vehicle to keep running in a straight line at a constant speed, or to control the target vehicle to keep completely stationary, Determine whether the current working condition of the target vehicle meets the positioning requirements of the target operation; if so, trigger the control module 310 to control the target vehicle to perform the target operation; if not, trigger the control module 310 to control the target vehicle Keep running in a straight line at a constant speed, or control the target
  • the planning module 320 is specifically configured to: estimate the cumulative position error of the target vehicle within the third preset time length; if the cumulative position error is greater than a preset length threshold, Then it is determined that the current working condition of the target vehicle does not meet the positioning requirements of the target operation; if the accumulated position error is not greater than the preset length threshold, it is determined that the current working condition of the target vehicle meets the positioning of the target operation need.
  • control module 310 is specifically configured to: if it is determined that the target vehicle can perform uniform speed linear motion, then control the target vehicle to maintain a uniform speed linear motion; If the vehicle cannot perform uniform linear motion, the target vehicle is controlled to remain completely still.
  • control module 310 is specifically configured to: control the target vehicle to keep running in a straight line at a constant speed based on the vehicle speed of the target vehicle, wherein the vehicle speed is controlled by the target vehicle provided by the odometer on the
  • 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 job execution method provided in the implementation.
  • 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 ).
  • MCU Microcontroller Unit, micro control unit
  • CPU Central Process Unit, central processing unit
  • the present application also provides a job execution device, equipment, and a computer-readable storage medium.
  • 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.
  • the steps of a job execution method are also provided.
  • the computer-readable storage medium 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).
  • a device eg, a computer
  • the present application also provides a job execution device, equipment, and a computer-readable storage medium.

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  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种作业执行方法，包括：控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业；或者通过控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。在进行精密作业之前，通过匀速直线运行一小段时间或静止一小段时间，将目标车辆保持在一个良好的工况之中，保证惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求。以及一种作业执行装置、设备及计算机可读存储介质。

Description

作业执行 技术领域
本申请涉及控制技术领域，特别涉及用于作业执行的方法、装置、设备及计算机可读存储介质。
背景技术
目前，现阶段用于自动驾驶领域定位的传感器主要包括惯性测量单元(Inertial Measurement Unit，简称IMU)、全球导航卫星系统(Global Navigation Satellite System，简称GNSS)、里程计(Odometer)、激光雷达、相机等。基于这些传感器的主流定位技术包括GNSS/IMU组合导航、激光雷达惯性里程计(Lidar Inertial Odometry，简称VIO)、视觉惯性里程计(Visual Inertial Odometry，简称LIO)，以及，在不同层面融合各种传感器数据的综合定位技术，比如基于惯性导航系统(Inertial Navigation System，简称INS)和Odometer的定位技术。
但现有的主流定位技术无法满足某些精密作业的定位需求。例如，在自动驾驶清扫领域中，存在一系列精密作业的需求，比如紧贴栏杆清扫、建筑角落清扫、紧贴停泊车辆清扫等清扫任务，这些清扫任务对定位的精度及稳定性的要求比较高,而现有的主流定位技术无法满足这些精密作业的定位需求。
在现有的主流定位技术中，基于GNSS的定位系统会受到天线信号的影响，在建筑遮挡较多的区域效果非常有限；基于视觉的定位系统很容易受光线影响；基于激光雷达的定位系统容易受到场景的影响；基于INS的定位系统容易受IMU零偏漂移影响，在载具处于变速运动时收敛速度较慢。故而，现有的主流定位技术在长期的运营中无法做到高精度高频率高稳定性的定位。
发明内容
有鉴于此，本申请提供了一种作业执行方法、装置、设备及计算机可读存储介质，能够在车辆执行作业任务时，实现高精度高频率高稳定性的定位。
具体地，本申请是通过如下技术方案实现的：
第一方面，本申请提供了一种作业执行方法，包括：控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制所述目标车辆执行目标作业；或者，控制所述目标车辆保持完全静止，并在持续静止第二预设时长后，控制所述目标车辆执行目标作业。
可选的，在控制目标车辆保持匀速直线运行之前、或控制所述目标车辆保持完全静止之前，还包括：判断所述目标车辆的当前工况是否满足所述目标作业的定位需求；若 是，则直接执行控制所述目标车辆执行目标作业的步骤；若否，则执行控制目标车辆保持匀速直线运行的步骤，或执行控制所述目标车辆保持完全静止的步骤。
可选的，所述判断所述目标车辆的当前工况是否满足所述目标作业的定位需求，包括：推算所述目标车辆在第三预设时长内的位置累计误差；若所述位置累计误差大于预设长度阈值，则确定所述目标车辆的当前工况不满足所述目标作业的定位需求；若所述位置累计误差不大于预设长度阈值，则确定所述目标车辆的当前工况满足所述目标作业的定位需求。
可选的，所述控制目标车辆保持匀速直线运行，包括：若判断所述目标车辆能够执行匀速直线运动，则控制所述目标车辆保持匀速直线运行；相应地，所述控制所述目标车辆保持完全静止，包括：若判断所述目标车辆不能执行匀速直线运动，则控制所述目标车辆保持完全静止。
可选的，所述控制目标车辆保持匀速直线运行，包括：基于所述目标车辆的车速，控制所述目标车辆保持匀速直线运行，其中，所述车速由所述目标车辆上的里程计提供。
第二方面，本申请提供了一种作业执行装置，包括：控制模块，用于控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制所述目标车辆执行目标作业；或者，控制所述目标车辆保持完全静止，并在持续静止第二预设时长后，控制所述目标车辆执行目标作业。
可选的，所述装置还包括：规划模块，用于在控制目标车辆保持匀速直线运行之前、或控制所述目标车辆保持完全静止之前，判断所述目标车辆的当前工况是否满足所述目标作业的定位需求；若是，则触发所述控制模块控制所述目标车辆执行目标作业；若否，则触发所述控制模块控制目标车辆保持匀速直线运行、或控制所述目标车辆保持完全静止。
可选的，所述规划模块具体用于：推算所述目标车辆在第三预设时长内的位置累计误差；若所述位置累计误差大于预设长度阈值，则确定所述目标车辆的当前工况不满足所述目标作业的定位需求；若所述位置累计误差不大于预设长度阈值，则确定所述目标车辆的当前工况满足所述目标作业的定位需求。
可选的，所述控制模块，具体用于：若判断所述目标车辆能够执行匀速直线运动，则控制所述目标车辆保持匀速直线运行；若判断所述目标车辆不能执行匀速直线运动，则控制所述目标车辆保持完全静止。
可选的，所述控制模块，具体用于：基于所述目标车辆的车速，控制所述目标车辆保持匀速直线运行，其中，所述车速由所述目标车辆上的里程计提供。
第三方面，本申请提供了一种电子设备，包括：处理器、存储器；所述存储器，用于存储计算机程序；所述处理器，用于通过调用所述计算机程序，执行上述作业执行方法。
第四方面，本申请提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述作业执行方法。
在以上本申请提供的技术方案中，可以在进行精密作业即目标作业之前，控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业，或者，通过控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。可见，本申请可以在进行精密作业之前，通过匀速直线运行一小段时间或静止一小段时间，将目标车辆保持在一个良好的工况之中,保证惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求,从而避开了绝大部分定位算法的缺陷。
附图说明
图1为本申请示出的一种作业执行方法的流程示意图；
图2为本申请示出的另一种作业执行方法的流程示意图；
图3为本申请示出的一种作业执行装置的组成示意图；
图4为本申请示出的另一种作业执行装置的组成示意图；
图5为本申请示出的一种电子设备的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时” 或“当……时”或“响应于确定”。
实际中，为了有效的完成一些精密作业，通常会使用一些定位算法来满足一些精密作业的定位需求，但是，现阶段的主流定位算法都会存在一些各自无法处理的工况。对于一些实施精密作业的车辆，其底层的定位算法可以是INS+Odometer、LIO、VIO、LVIO等算法，这里以Lidar+IMU+Odometer(即激光雷达+惯性测量单元+里程计)的组合算法举例。
对于Lidar+IMU+Odometer的组合方案，Lidar需要通过一些算法与离线地图进行匹配，基于匹配结果，可以提供全局定位与指向heading。Odometer可以用于提供车速。IMU可以通过相关算法提供roll&pitch、角速度和加速度、以及角速度和加速度的偏移量；其中，roll是围绕Z轴旋转，也叫翻滚角，pitch是围绕X轴旋转，也叫做俯仰角。
此外，虽然IMU具备高频高精度的特点，但其零偏漂移会对其精度产生极大影响，为了达到高精度高频率高稳定性的定位效果，必须要对IMU的零偏漂移有一个准确的估计。
对于以上每种算法，在不同的场景下都会存在缺陷，而这种缺陷是无法单纯通过定位融合算法来弥补的。
比如Lidar在速度角速度都很大且环境特征不明显的情况下，会存在精度损失的问题，例如，当车辆处于持续的变速运动状态时，roll&pitch会损失精度，从而影响到角速度和加速度。
因此，在车辆长期处于较差工况之中，并且马上要进行精密作业的情况下，定位算法是来不及收敛的，故而，车辆无法持续提供高质量的定位服务。
为了解决精密作业的定位需求，本申请实施例提供了一种作业执行方法，该方法可以在车辆进行精密作业之前，主动将车辆保持在一个良好的工况之中，保证车辆上与惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求，从而可以避开绝大部分定位算法的缺陷。
参见图1，为本申请实施例提供的一种作业执行方法的流程示意图，该方法包括以下步骤S101：
S101：控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业；或者，控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。
在本申请实施例中，不对目标车辆的车辆类型进行限定，该目标车辆可以是任意一种需要在进行精密作业时有定位需求的车辆，比如，该目标车辆可以是自动驾驶清扫领 域中的用于实施清扫作业的车辆。
为了进行精密作业，本申请实施例需要通过规划和控制，主动让目标车辆提前进入到一个比较好的工况之中，等定位算法收敛，确定能在需要的时间片内(比如1分钟、2分钟等)提供高精度的稳定服务之后，再使目标车辆进行相应的精密作业。
在本申请实施例中，为了使目标车辆提前进入一个较好的工况，可以采用S101中的以下两种方式之一，这两种方式下的工况均可以让惯性传感器相关的算法快速收敛：
在第一种方式中，可以控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业。也就是说，要让目标车辆保持在匀速直线运动，并在匀速直线运动的状态下持续第一预设时长，在持续运行第一预设时长后，控制目标车辆执行目标作业；其中，本申请实施例不对第一预设时长的时间长度进行限定，比如，第一预设时长可以是10秒、或30秒等。
在第二种方式中，可以控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。也就是说，要让目标车辆完全静止并持续一小段时间，即持续第二预设时长，并在持续静止第二预设时长后，控制目标车辆执行目标作业；其中，本申请实施例不对第二预设时长的时间长度进行限定，比如，第二预设时长可以是10秒、或30秒等。
需要说明的是，第一预设时长和第二预设时长的时间长度可以相同、也可以不同，可以基于定位算法的收敛需求，结合理论和经验为第一预设时长和第二预设时长设置相同或不同的时间长度，使定位算法能够在第一预设时长和第二预设时长内收敛。此外，上述目标作业为需要实施的精密作业，当然，该目标作业也可以是其它有定位需求的作业，对此本申请实施例不做限制。
在本申请实施例的一种实现方式中，S101中的“控制目标车辆保持匀速直线运行”，可以包括：基于目标车辆的车速，控制目标车辆保持匀速直线运行，其中，车速由目标车辆上的里程计提供。在本实现方式中，可以使用里程计odometer的速度作为反馈，使控制模块控制目标车辆保持匀速直线运行。
在本申请实施例的一种实现方式中，S101中的“控制目标车辆保持匀速直线运行”，可以包括：若判断目标车辆能够执行匀速直线运动，则控制目标车辆保持匀速直线运行；相应地，S101中的“控制目标车辆保持完全静止”，可以包括：若判断目标车辆不能执行匀速直线运动，则控制目标车辆保持完全静止。在本实现方式中，需要提前判断目标车辆当前是否能够执行匀速直线运动，如果通过预判断，确定目标车辆可以执行匀速直线运动，则控制目标车辆保持匀速直线运行；反之，如果确定目标车辆无法执行匀速直线 运动，则控制目标车辆保持完全静止。
参见图2，为本申请实施例提供的另一种作业执行方法的流程示意图，该方法包括以下步骤S201：
S201：判断目标车辆的当前工况是否满足目标作业的定位需求；若是，则执行S202；若否，则执行S203。
在本申请实施例中，需要预先判断目标车辆的当前工况是否满足目标作业的定位需求；如果满足，则说明目标车辆的定位算法处于收敛状态，可以直接执行目标作业，即，执行S202；反之，如果不满足，则说明目标车辆的定位算法可能没有处于收敛状态，需要执行S203使目标车辆进行匀速执行运动或处于静止状态一小段时间，在这一小段时间内，等待目标车辆的定位算法收敛，待定位算法收敛后，便可以控制目标车辆执行目标作业了，从而实现高精度高频率高稳定性的定位。
在本申请实施例的一种实现方式中，S201中的“判断目标车辆的当前工况是否满足目标作业的定位需求”，可以包括：推算目标车辆在第三预设时长内的位置累计误差；若该位置累计误差大于预设长度阈值，则确定目标车辆的当前工况不满足目标作业的定位需求；若该位置累计误差不大于预设长度阈值，则确定目标车辆的当前工况满足目标作业的定位需求。
其中，第三预设时长与步骤S101或S203中的第一预设时长和第二预设时长，可以相同、也可以不同，比如，第一预设时长、第二预设时长和第三预设时长均为10秒。
为便于理解，现举例说明。
以下面的常转速以及加速度车辆模型(Constant Turn Rate and Acceleration Vehicle Model，简称CTRA)为例：
Figure PCTCN2022070722-appb-000001
Figure PCTCN2022070722-appb-000002
对于一种特定的精密作业TaskA，其需要在不考虑全局定位的情况下,保证10秒(该10秒即为第三预设时长)内的航位推算的累计误差不超过3cm(该3cm即为预设长度阈值)。规划模块Planning将收到的定位结果中各项结果的标准差代入CTRA模型，时间取10秒,得到10秒内航位推算的累计标准差dr10_std。其中，航位推算法是在知道当前时刻位置的条件下，通过测量移动的距离和方位，推算下一时刻位置的方法。
如果dr10_std≤3cm，则说明目标车辆的工况较好，其定位算法处于收敛状态，可以直接执行目标作业，即，执行S202；反之，如果dr10_std>3cm，则说明说明目标车辆的工况较差，其定位算法可能没有处于收敛状态，需要执行S203使目标车辆进行匀速执行运动或处于静止状态一小段时间，以等待dr10_std≤3cm，直到dr10_std<3cm，则开始执行目标作业。
S202：控制目标车辆执行目标作业。
S203：控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业；或者，控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。
需要说明的是，本步骤S203与上述步骤S101相同，相关介绍请参见S101，此处不再赘述。
可见，本申请实施例提供了一种与规划控制模块联合的一个定位方案，由于采用了归控联合定位系统，有效避开了绝大部分主流定位算法的缺陷带来的影响，如GPS信号弱、点云特征点不明显、变速运动下姿态收敛慢等较差工况对精密作业的影响。
在本申请实施例提供的作业执行方法中，可以在进行精密作业即目标作业之前，控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制目标车辆执行目标作业，或者，通过控制目标车辆保持完全静止，并在持续静止第二预设时长后，控制目标车辆执行目标作业。可见，本申请实施例的定位系统从被动收敛，改为在进行精密作业之前，通过匀速直线运行一小段时间或静止一小段时间，将目标车辆保持在一个良好的工况之中,保证惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求,从而避开了绝大部分定位算法的缺陷。
参见图3，为本申请实施例提供了一种作业执行装置的组成示意图，包括：控制模块310，用于控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制所述目标车辆执行目标作业；或者，控制所述目标车辆保持完全静止，并在持续静止第二预设时长后，控制所述目标车辆执行目标作业。
参见图4，为本申请实施例提供了另一种作业执行装置的组成示意图，包括：规划模块320，用于在控制目标车辆保持匀速直线运行之前、或控制所述目标车辆保持完全静止之前，判断所述目标车辆的当前工况是否满足所述目标作业的定位需求；若是，则触发所述控制模块310控制所述目标车辆执行目标作业；若否，则触发所述控制模块310控制目标车辆保持匀速直线运行、或控制所述目标车辆保持完全静止。
在本申请实施例的一种实现方式中，所述规划模块320具体用于：推算所述目标车 辆在第三预设时长内的位置累计误差；若所述位置累计误差大于预设长度阈值，则确定所述目标车辆的当前工况不满足所述目标作业的定位需求；若所述位置累计误差不大于预设长度阈值，则确定所述目标车辆的当前工况满足所述目标作业的定位需求。
在本申请实施例的一种实现方式中，所述控制模块310，具体用于：若判断所述目标车辆能够执行匀速直线运动，则控制所述目标车辆保持匀速直线运行；若判断所述目标车辆不能执行匀速直线运动，则控制所述目标车辆保持完全静止。
在本申请实施例的一种实现方式中，所述控制模块310，具体用于：基于所述目标车辆的车速，控制所述目标车辆保持匀速直线运行，其中，所述车速由所述目标车辆上的里程计提供。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本申请方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本申请实施例还提供了一种电子设备，该电子设备的结构示意图如图5所示，该电子设备5000包括至少一个处理器5001、存储器5002和总线5003，至少一个处理器5001均与存储器5002电连接；存储器5002被配置用于存储有至少一个计算机可执行指令，处理器5001被配置用于执行该至少一个计算机可执行指令，从而执行如本申请中任意一个实施例或任意一种可选实施方式提供的任意一种作业执行方法的步骤。
进一步，处理器5001可以是FPGA(Field－Programmable Gate Array，现场可编程门阵列)或者其它具有逻辑处理能力的器件，如MCU(Microcontroller Unit，微控制单元)、CPU(Central Process Unit，中央处理器)。
应用本申请实施例，可以在进行精密作业之前，通过匀速直线运行一小段时间或静止一小段时间，将目标车辆保持在一个良好的工况之中,保证惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求,从而避开了绝大部分定位算法的缺陷。本申请还提供了一种作业执行装置、设备及计算机可读存储介质。
本申请实施例还提供了另一种计算机可读存储介质，存储有计算机程序，该计算机程序用于被处理器执行时实现本申请中任意一个实施例或任意一种可选实施方式提供 的任意一种作业执行方法的步骤。
本申请实施例提供的计算机可读存储介质包括但不限于任何类型的盘(包括软盘、硬盘、光盘、CD-ROM、和磁光盘)、ROM(Read-Only Memory，只读存储器)、RAM(Random Access Memory，随即存储器)、EPROM(Erasable Programmable Read-Only Memory，可擦写可编程只读存储器)、EEPROM(Electrically Erasable Programmable Read-Only Memory，电可擦可编程只读存储器)、闪存、磁性卡片或光线卡片。也就是，可读存储介质包括由设备(例如，计算机)以能够读的形式存储或传输信息的任何介质。
应用本申请实施例，可以在进行精密作业之前，通过匀速直线运行一小段时间或静止一小段时间，将目标车辆保持在一个良好的工况之中,保证惯性传感器相关的算法能够正确收敛，以保障精密作业的高精度高频率高稳定的定位需求,从而避开了绝大部分定位算法的缺陷。本申请还提供了一种作业执行装置、设备及计算机可读存储介质。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (10)

  1. 一种作业执行方法，其特征在于，包括：
    控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制所述目标车辆执行目标作业；或者，
    控制所述目标车辆保持完全静止，并在持续静止第二预设时长后，控制所述目标车辆执行目标作业。
  2. 根据权利要求1所述的方法，其特征在于，在控制目标车辆保持匀速直线运行之前、或控制所述目标车辆保持完全静止之前，还包括：
    判断所述目标车辆的当前工况是否满足所述目标作业的定位需求；
    若是，则直接执行控制所述目标车辆执行目标作业的步骤；
    若否，则执行控制目标车辆保持匀速直线运行的步骤，或执行控制所述目标车辆保持完全静止的步骤。
  3. 根据权利要求2所述的方法，其特征在于，所述判断所述目标车辆的当前工况是否满足所述目标作业的定位需求，包括：
    推算所述目标车辆在第三预设时长内的位置累计误差；
    若所述位置累计误差大于预设长度阈值，则确定所述目标车辆的当前工况不满足所述目标作业的定位需求；
    若所述位置累计误差不大于预设长度阈值，则确定所述目标车辆的当前工况满足所述目标作业的定位需求。
  4. 根据权利要求1所述的方法，其特征在于，
    所述控制目标车辆保持匀速直线运行，包括：
    若判断所述目标车辆能够执行匀速直线运动，则控制所述目标车辆保持匀速直线运行；
    相应地，所述控制所述目标车辆保持完全静止，包括：
    若判断所述目标车辆不能执行匀速直线运动，则控制所述目标车辆保持完全静止。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述控制目标车辆保持匀速直线运行，包括：
    基于所述目标车辆的车速，控制所述目标车辆保持匀速直线运行，其中，所述车速由所述目标车辆上的里程计提供。
  6. 一种作业执行装置，其特征在于，包括：
    控制模块，用于
    控制目标车辆保持匀速直线运行，并在持续运行第一预设时长后，控制所述目标车辆执行目标作业；或者，
    控制所述目标车辆保持完全静止，并在持续静止第二预设时长后，控制所述目标车辆执行目标作业。
  7. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    规划模块，用于
    在控制目标车辆保持匀速直线运行之前、或控制所述目标车辆保持完全静止之前，判断所述目标车辆的当前工况是否满足所述目标作业的定位需求；
    若是，则触发所述控制模块控制所述目标车辆执行目标作业；
    若否，则触发所述控制模块控制目标车辆保持匀速直线运行、或控制所述目标车辆保持完全静止。
  8. 根据权利要求7所述的装置，其特征在于，所述规划模块具体用于：
    推算所述目标车辆在第三预设时长内的位置累计误差；
    若所述位置累计误差大于预设长度阈值，则确定所述目标车辆的当前工况不满足所述目标作业的定位需求；
    若所述位置累计误差不大于预设长度阈值，则确定所述目标车辆的当前工况满足所述目标作业的定位需求。
  9. 一种电子设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于通过调用所述计算机程序，执行如权利要求1-5中任一项所述的作业执行方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1-5任一项所述的作业执行方法。
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