WO2023221963A1

WO2023221963A1 - Following error determination method and apparatus, device, and storage medium

Info

Publication number: WO2023221963A1
Application number: PCT/CN2023/094434
Authority: WO
Inventors: 刘梦可; 刘金波; 张建; 高原; 王御; 王宇; 李林润; 姜洪伟
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-05-16
Filing date: 2023-05-16
Publication date: 2023-11-23
Also published as: CN114715196A

Abstract

Provided are a following error determination method and apparatus, a device, and a storage medium. The following error determination method comprises: obtaining a target trajectory and motion parameters of a current vehicle, the motion parameters of the current vehicle comprising a location of the current vehicle, a longitudinal speed of the current vehicle, a heading angle of the current vehicle, and a yaw velocity of the current vehicle (S110); determining a trajectory shape of the target trajectory according to coordinates of points on the target trajectory (S120); and determining a following error according to the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle (S130).

Description

Following error determination method, device, equipment and storage medium

This application claims priority to the Chinese patent application with application number 202210526910.8, which was submitted to the China Patent Office on May 16, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

The present application relates to the field of vehicle technology, for example, to a following error determination method, device, equipment and storage medium.

Background technique

The following problem of autonomous vehicles is the core issue of autonomous driving, and the performance of the controller, that is, the control accuracy of the desired following trajectory, is partly determined by the following error. When the following error accuracy cannot be guaranteed, the performance of the controller cannot be guaranteed. Following error accuracy is usually determined by the desired trajectory shape, sensor signal accuracy, and solution algorithm.

Related technologies often identify all types of trajectories as a single shape, rely on acceleration or angular acceleration sensors for analysis, and introduce relevant sensor noise errors for following control. Since the sensor noise error is not considered and filtered in actual calculations, it may lead to an unreasonable increase in computing power requirements, increase in software and hardware deployment costs, and reduce calculation accuracy.

Contents of the invention

This application provides a following error determination method, device, equipment and storage medium to solve the problem that in actual calculations, sensor noise error is not considered and filtered, which may lead to an unreasonable increase in computing power requirements. Software and hardware To solve the problem of increasing deployment costs and reducing calculation accuracy, by identifying the shape of the target trajectory and selecting the corresponding solution algorithm to reduce computing power requirements, without relying on acceleration or angular acceleration sensors for analysis, it can reduce the cost of software and hardware deployment and provide practical solutions. It provides an important reference basis for the design of vehicle embedded system controller.

According to one aspect of the present application, a following error determination method is provided, including:

Obtain the target trajectory and the motion parameters of the current vehicle, wherein the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle;

Determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory;

The following error is determined based on the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle.

According to another aspect of the present application, a following error determination device is provided, including:

The acquisition module is configured to acquire the target trajectory and the motion parameters of the current vehicle, wherein the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle;

A first determination module configured to determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory;

The second determination module is configured to determine the following error according to the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle.

According to another aspect of the present application, an electronic device is provided, including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Follow the error determination method.

According to another aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. The following error determination method.

Description of the drawings

Figure 1 is a flow chart of a following error determination method in an embodiment of the present application;

Figure 2 is a diagram showing the calculation of lateral offset in the embodiment of the present application;

Figure 3 is a schematic diagram of a straight line corresponding to the target trajectory in the embodiment of the present application;

Figure 4 is a schematic diagram of an arc with a constant curvature radius corresponding to the target trajectory in the embodiment of the present application;

Figure 5 is a diagram showing the linear trajectory following error calculation in the embodiment of the present application;

Figure 6 is a diagram illustrating the calculation of arc following error with a constant curvature radius in the embodiment of the present application;

Figure 7 is a schematic structural diagram of a following error determination device in an embodiment of the present application;

Figure 8 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

The terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

Embodiment 1

Figure 1 is a flow chart of a following error determination method provided by an embodiment of the present application. This embodiment can be applied to the situation of following error determination. This method can be executed by the following error determination device in the embodiment of the present application. The device can It is implemented using software and/or hardware, as shown in Figure 1. The method includes the following steps.

S110. Obtain the target trajectory and the motion parameters of the current vehicle, where the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle.

The method of obtaining the target trajectory can be: obtaining the initial trajectory, selecting a section of the trajectory from the initial trajectory according to the position of the current vehicle and the longitudinal speed of the current vehicle, and determining it as the target trajectory. The method of obtaining the target trajectory may also be: obtaining the initial trajectory; and determining the target trajectory according to the position of the current vehicle, the longitudinal speed of the current vehicle and the initial trajectory. For example, the target trajectory is a distance of 1 second forward. The point on the initial trajectory closest to the current vehicle is determined according to the position of the current vehicle. The point closest to the current vehicle is determined as the starting point of the target trajectory. According to the current vehicle The longitudinal speed of the vehicle determines the current vehicle's driving trajectory within 1 second, and determines the target trajectory based on the starting point of the target trajectory and the current vehicle's driving trajectory within 1 second. The target trajectory is a sufficiently small trajectory selected from the initial trajectory, and the shape of the target trajectory is a straight line or an arc with a constant curvature radius.

S120. Determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory.

The trajectory shape of the target trajectory may be a straight line or an arc with a fixed curvature radius.

Exemplarily, the way to determine the trajectory shape of the target trajectory according to the coordinates of the points on the target trajectory may be to obtain the lateral offset of the points on the target trajectory. If the maximum lateral offset corresponding to the target trajectory is greater than If the maximum lateral offset corresponding to the target trajectory is less than or equal to the lateral offset threshold, then the target trajectory is determined to be a straight line.

S130. According to the trajectory shape of the target trajectory, the target trajectory and the current vehicle The motion parameters determine the following error.

The following error includes: at least one of a lateral following error, a heading angle following error and a yaw angular velocity following error.

Exemplarily, the method of determining the following error based on the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle may be: if the target trajectory is a straight line, then based on the position of the current vehicle, The slope of the target trajectory and the intercept of the target trajectory determine the lateral following error. The method of determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle may also be: if the target trajectory is a straight line, then based on the heading angle of the current vehicle, the The coordinates of the first target point on the target trajectory and the coordinates of the second target point on the target trajectory determine the heading angle following error, wherein the first target point is the point closest to the current vehicle, and the second The target point is the second closest point to the current vehicle. The way of determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle may also be: if the target trajectory is a straight line, determine the yaw angular velocity of the current vehicle as Yaw rate following error. The method of determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle may also be: if the target trajectory is an arc with a constant curvature radius, then based on the center of the circle of the target trajectory , the radius of the target trajectory and the position of the current vehicle determine the lateral following error. The method of determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle may also be: if the target trajectory is an arc with a constant curvature radius, then based on the heading of the current vehicle The heading angle following error is determined by the angle, the coordinates of the first target point on the target trajectory and the coordinates of the second target point on the target trajectory, where the first target point is the point closest to the current vehicle, The second target point is the second closest point to the current vehicle. The method of determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle may also be: if the target trajectory is an arc with a constant curvature radius, then according to the longitudinal direction of the current vehicle The speed, the radius of the target trajectory and the yaw rate of the current vehicle determine the yaw rate following error. The embodiments of the present application do not limit this.

Optional, obtain the target trajectory, including:

Get the initial trajectory;

A target trajectory is determined based on the position of the current vehicle, the longitudinal speed of the current vehicle, and the initial trajectory.

The initial trajectory is a preset following trajectory, and the embodiment of the present application does not limit the acquisition method of the initial trajectory.

For example, according to the position of the current vehicle, the longitudinal speed of the current vehicle and the The initial trajectory can be used to determine the target trajectory by: obtaining the initial trajectory, selecting a segment of the trajectory from the initial trajectory based on the position of the current vehicle and the longitudinal speed of the current vehicle, and determining it as the target trajectory.

Optionally, determining the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory includes:

If the maximum lateral offset corresponding to the target trajectory is greater than the lateral offset threshold, the target trajectory is determined to be an arc with a constant curvature radius;

If the maximum lateral offset corresponding to the target trajectory is less than or equal to the lateral offset threshold, it is determined that the target trajectory is a straight line.

For example, if the maximum lateral offset corresponding to the target trajectory is greater than the lateral offset threshold, the method of determining that the target trajectory is an arc with a constant curvature radius may be: obtaining the lateral offset of each point on the target trajectory, Compare the lateral offset of each point to obtain the maximum lateral offset. If the maximum lateral offset is greater than the lateral offset threshold, it is determined that the target trajectory is an arc with a constant curvature radius.

For example, if the maximum lateral offset corresponding to the target trajectory is less than or equal to the lateral offset threshold, the method of determining that the target trajectory is a straight line may be: obtaining the lateral offset of each point on the target trajectory, and comparing each point. The maximum lateral offset of the points is obtained. If the maximum lateral offset is less than or equal to the lateral offset threshold, it is determined that the target trajectory is a straight line.

Optionally, determining the following error based on the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle includes:

If the target trajectory is a straight line, determine the lateral following error based on the current vehicle position, the slope of the target trajectory, and the intercept of the target trajectory;

If the target trajectory is a straight line, the heading angle following error is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory, where, The first target point is the point closest to the current vehicle, and the second target point is the second closest point to the current vehicle;

If the target trajectory is a straight line, the yaw angular velocity of the current vehicle is determined as the yaw angular velocity following error.

For example, if the target trajectory is a straight line, the method of determining the lateral following error based on the current vehicle position, the slope of the target trajectory, and the intercept of the target trajectory may be: the straight line equation corresponding to the target trajectory For y=mx+c, the lateral following error is calculated based on the following formula:

Among them, e _lat is the lateral following error, m is the slope corresponding to the target trajectory, c is the intercept corresponding to the target trajectory, (X _v , Y _v ) is the position coordinate of the current vehicle.

For example, if the target trajectory is a straight line, the heading angle following error is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory. The method can be:

The heading angle following error is calculated based on the following formula:
θ _e =θ-θ _R

Among them, θ is the heading angle of the vehicle at this time, θ _e is the heading angle following error, and θ _R is the expected heading angle. The vehicle can be used to reach the closest point (X _m , Y _m ) and the second closest point (X _k , Y _{k )} of the target trajectory through the vehicle. ) can be obtained, for example, by calculating the desired heading angle based on the following formula:

For example, if the target trajectory is a straight line, the way to determine the yaw angular velocity of the current vehicle as the yaw angular velocity following error can be: because the curvature radius of the straight line can be considered infinite, the expected yaw angular velocity is 0, yaw angular velocity following error in, is the yaw angular velocity of the current vehicle.

If the target trajectory is an arc with a constant curvature radius, the lateral following error is determined based on the center of the target trajectory, the radius of the target trajectory and the position of the current vehicle;

If the target trajectory is an arc with a constant curvature radius, the heading angle following error is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory. , wherein the first target point is the point closest to the current vehicle, and the second target point is the second closest point to the current vehicle;

If the target trajectory is an arc with a constant curvature radius, the yaw angular velocity following error is determined based on the longitudinal velocity of the current vehicle, the radius of the target trajectory, and the yaw angular velocity of the current vehicle.

For example, if the target trajectory is an arc with a constant curvature radius, then according to the circular arc of the target trajectory The way to determine the lateral following error based on the center, the radius of the target trajectory and the position of the current vehicle can be:

The lateral trajectory error e _lat is calculated based on the following formula:

Among them, (X _c , Y _c ) are the center coordinates of the target trajectory, (X _v , Y _v ) are the position coordinates of the current vehicle, and R is the radius of the target trajectory.

For example, if the target trajectory is an arc with a constant curvature radius, it is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory. The heading angle following error can be calculated as follows: the heading angle following error is calculated based on the following formula:
θ _e =θ-θ _R

The heading angle following error is calculated in the same way when the target trajectory is an arc with a constant curvature radius and when the target trajectory is a straight line.

For example, if the target trajectory is an arc with a constant curvature radius, the yaw angular velocity following error may be determined based on the longitudinal velocity of the current vehicle, the radius of the target trajectory, and the yaw angular velocity of the current vehicle. for:

The yaw angular velocity following error is calculated based on the following formula:

in, is the yaw angular velocity of the current vehicle, v _x is the longitudinal velocity of the current vehicle.

Optional, also includes:

The lateral offset of each point on the target trajectory is calculated based on the following formula:

Among them, (X _i , Y _i ) are the coordinates of the i-th point on the target trajectory, (X ₁ , Y ₁ ) are the coordinates of the starting point of the target trajectory, (X _N , Y _N ) are The coordinates of the end point of the target trajectory, dis, are the lateral offset of the i-th point on the target trajectory.

In an example, as shown in Figure 2, the curve in Figure 2 is the target trajectory. (X ₁ , Y ₁ ) and (X _N , Y _N ) represent the first point and the last point of the target trajectory respectively. Based on the A straight line is obtained by connecting a point to the last point. The angle between _this straight line and the positive _half -axis of the From the 2nd point to the i-1th point, the corresponding lateral offset dis ₂ ,...,dis _i-1 can be found, find the largest value dis _max , and compare it with the threshold dis _threshold . If dis If _max > dis _threshold , the target trajectory is an arc with a fixed curvature radius, otherwise, the target trajectory is a straight line.

Optional, also includes:

Calculate the center point of the target trajectory based on the following formula:

in, (X _c , Y _c ) are the center coordinates of the target trajectory, and N is the target trajectory. The number of points on the target trajectory, (X _i , Y _i ) is the coordinate of the i-th point on the target trajectory;

Calculate the radius of the target trajectory based on the following formula:

In one example, if the target trajectory is a straight line, the least squares method is used for trajectory fitting. If the target trajectory is an arc curve, the trajectory fitting is performed through convex optimization. The two fitting methods are explained below:

Least squares method: As shown in Figure 3, (X ₁ , Y ₁ ) and (X _N , Y _N ) represent the first point and the last point of the target trajectory respectively, y=mx+c, represents all trajectories The straight line with the smallest sum of distances from the point to the straight line is the straight line trajectory after fitting. The equation from the first point to the Nth point can be expressed as:

The above matrix can be expressed as:
T＝Ax

To find x, transform it as follows:
A ^T T＝A ^T Ax
(A ^T A) ^-1 A ^T T＝x

Then the corresponding slope m and intercept c of the straight line can be obtained. Because the target trajectory is a straight line, the radius of curvature is infinite.

Convex optimization fitting: When the shape of the target trajectory is an arc curve, the convex optimization method is used for fitting, as shown in Figure 4, (X ₁ , Y ₁ ),..., (X _N , Y _N ) are the target trajectories The point on, the “preview section” in the picture is the target trajectory. In order to find an arc trajectory with the smallest sum of distances from all points on the target trajectory to the fitted arc trajectory, a convex optimization fitting method is introduced. That is, this method is used to calculate the corresponding curvature radius R and circle center ( X _c ,Y _c ), the algorithm is as follows:

Define the difference between the square of the distance from the i-th point on the trajectory to the center of the fitting circle (X _c , Y _c ) and the square of the fitting radius R as e _i , that is:
e _i (x) = (X _i -X _c ) ² + (Y _i -Y _c ) ² -R ²

Define e _i >0, that is, the calculated R value is too small and conservative (this will cause the centripetal acceleration to be calculated too large, thereby ensuring that the centripetal acceleration threshold will not be exceeded at the same speed)

Define the square error of point i, that is:

The target trajectory fitting loss function can be defined as:

In order to find the extreme value of the trajectory fitting loss function, the gradient method is introduced, namely:

Based on the above formula, the trajectory fitting circle center (X _c , Y _c ) and radius R can be obtained.

In order to prove that this optimization method will find the minimum value of the trajectory fitting function E(x), it is necessary to prove that E(x) is a convex function. In order to prove this property, the following two theorems are introduced:

1. If h(x)=f(x)g(x) (abbreviated as h=fg), and satisfy:

2. Let H(x)=h ₁ (x)+…+h _n (x), H(x) be a convex function, if h ₁ (x)…h _n (x) are all convex functions.

Prove the above two theorems below:

Proof of Theorem 1:
h＝fg

but
h′=f′g+fg′
h″=f″g+fg″+2f′g′

Because f and g are both convex functions, then f″≥0 and g″≥0, and because: f≥0 and g≥0, so f″g≥0 and g″f≥0, and we also know that f′ and g ′ has the same sign; then f′g′≥0, so h″=f″g+fg″+2f′g′≥0. It can be proved that h(x) is a convex function

Proof of Theorem 2:

Because h ₁ (x)…h _n (x) are all convex functions, then: h ₁ ″(x)…ph″ _n (x) are all greater than 0, and we also know that H″(x)=h″ ₁ (x) +…+h″ _n (x), then H″(x)≥0. It can be proved that H(x) is a convex function

Prove that E(x) is a convex function:

The first step: first prove that e _i (x) is a convex function,

A known
e _i (x) = (X _i -X _c ) ² + (Y _i -Y _c ) ² -R ²
x=(X _c , Y _c )

have Therefore, e _i (x) is a convex function.

The second step is to prove is a convex function, here we quote Theorem 1:

Among them, f and g are equal and both are convex functions. From the definition of e _i (x), it can be seen that e _i (x) ≥ 0, and f′ and g′ have the same sign, so it can be proved that E _i (x) is a convex function.

The third step is to prove that E(x) is a convex function. Here we quote Theorem 2:

Because E _i (x) is a convex function, then E (x) is a convex function.

Therefore, it can be concluded that E(x) is a convex function. Therefore, the extreme value obtained by the gradient method is the minimum value. The following uses the gradient method to solve the minimum value:

Assuming R is greater than 0,

solvable

because

so

Same as above, the derivation formula is omitted:

Arranging the above equations, (X _c , Y _c ) can be obtained from the following matrix:

in,

When the circle center position (X _c , Y _c ) is determined by the above equation, the radius R is determined based on the following formula:

Since then, the trajectory curvature radius R has been solved in both straight line and curved states.

As shown in Figure 5, the distance from the current vehicle position (X _v , Y _v ) to the fitted straight line is the lateral trajectory error. The straight line equation is y=mx+c, then the lateral following error e _lat is:

The heading angle following error θ _e of the straight line is:
θ _e =θ-θ _R

Among them, θ is the heading angle of the vehicle at this time, θ _R is the expected heading angle, which is calculated through the closest point (X ₁ , Y ₁ ) and the next closest point (X ₂ , Y ₂ ) of the vehicle to the target trajectory, where,

Because the radius of curvature of a straight line can be considered infinite, its expected yaw angular velocity is 0, and the yaw angular velocity follows the error in, is the angular velocity of the vehicle at this time.

When the trajectory is an arc, as shown in Figure 6, the lateral following error e _lat can be expressed as:

Among them, θ is the heading angle of the vehicle at this time, and θ _R is the expected heading angle, which can be calculated from the closest point (X ₁ , Y ₁ ) and the second closest point (X ₂ , Y ₂ ) of the vehicle to the target trajectory.

Because the radius of curvature of the arc can be obtained through the trajectory fitting and radius of curvature calculation modules, the yaw angular velocity following error is:

in, is the angular velocity of the vehicle at this time, v _x is the longitudinal speed of the vehicle at this time. At this point, when the target trajectory is a straight line or an arc, the arc curvature radius, lateral following error, heading angle following error, and yaw angular velocity following error have all been calculated. The above multiple parameters can be passed to the next step of the control module, providing an important basis for the design of the control system.

The technical solution of this embodiment is to obtain the target trajectory and the motion parameters of the current vehicle, where, The motion parameters of the current vehicle include: the current vehicle position, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle; the trajectory shape of the target trajectory is determined according to the coordinates of points on the target trajectory. ; Determine the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle to solve the problem that in the actual calculation, the sensor noise error is not considered and filtered, which may lead to calculation errors. Unreasonable increase in force requirements, increased software and hardware deployment costs, and reduced calculation accuracy. Since it does not rely on acceleration or angular acceleration sensors for analysis, the software and hardware deployment costs can be reduced, and sensor noise errors can be filtered to ensure that Under certain noise conditions, determining the following error provides an important reference for the design of the embedded system controller for real vehicles.

Embodiment 2

FIG. 7 is a schematic structural diagram of a following error determination device provided by an embodiment of the present application. This embodiment can be applied to the situation of following error determination. The device can be implemented in the form of software and/or hardware. The device can be integrated in any device that provides the following error determination function. As shown in Figure 7, the following error The determination device includes: an acquisition module 210, a first determination module 220 and a second determination module 230.

The acquisition module 210 is configured to acquire the target trajectory and the motion parameters of the current vehicle, wherein the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle. ;

The first determination module 220 is configured to determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory;

The second determination module 230 is configured to determine the following error according to the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle.

Optionally, the acquisition module 210 is set to:

Get the initial trajectory;

Optionally, the first determination module 220 is set to:

Optionally, the second determination module 230 is set to:

Optionally, the first determination module 220 is set to:

Optionally, the second determination module 230 is set to:

in, (X _c , Y _c ) are the coordinates of the center of the target trajectory, N is the number of points on the target trajectory, (X _i , Y _i ) are the coordinates of the i-th point on the target trajectory;

Calculate the radius of the target trajectory based on the following formula:

The above-mentioned products can execute the methods provided by any embodiment of this application, and have corresponding functional modules and effects for executing the methods.

The technical solution of this embodiment is to obtain the target trajectory and the motion parameters of the current vehicle, where the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the lateral direction of the current vehicle. Swing angular velocity; determine the trajectory shape of the target trajectory according to the coordinates of the points on the target trajectory; determine the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle to solve the problem of In the actual calculation, the sensor noise error is not considered and filtered, which may lead to an unreasonable increase in computing power requirements, increased software and hardware deployment costs, and reduced calculation accuracy. Since it does not rely on acceleration or angular acceleration sensors, Analysis can reduce the cost of software and hardware deployment, and can filter sensor noise errors to ensure that the following error is determined under certain noise conditions, which provides an important reference for the design of real vehicle embedded system controllers.

Embodiment 3

FIG. 8 shows a schematic structural diagram of an electronic device 10 that can be used to implement embodiments of the present application. Electronic device 10 is intended to represent many forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 10 may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

As shown in Figure 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory Random Access Memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor. The processor 11 can load the computer program into the RAM 13 from the storage unit 18 according to the computer program stored in the ROM 12. Computer programs to perform various appropriate actions and processes. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunications networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a variety of dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, a variety of running machine learning models Algorithm processor, digital signal processor (Digital Signal Processor, DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs a plurality of methods and processes described above, such as following error determination methods.

In some embodiments, the following error determination method may be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the following error determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the following error determination method in any other suitable manner (eg, by means of firmware):

Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Dedicated standard products (Application Specific Standard Parts, ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or combinations thereof accomplish. These various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor The processor, which may be a special purpose or general purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. An output device.

Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. Machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard drives, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM), flash memory, fiber optics , portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. The storage medium may be a non-transitory storage medium.

To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having a display device (e.g., a cathode ray tube (CRT) or liquid crystal) for displaying information to the user. A display (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.

The systems and techniques described herein may be implemented on a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or or a computing system that includes front-end components (e.g., a user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and techniques described herein), or A computing system that includes any combination of such backend components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.

Computing systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. The relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other. The server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.

Steps can be reordered, added, or removed using various forms of the process shown above. For example, multiple steps described in this application can be executed in parallel, sequentially, or in different orders. As long as the desired results of the technical solution of this application can be achieved, there is no limitation here.

Claims

A method for determining following error, including:

Obtain the target trajectory and the motion parameters of the current vehicle, wherein the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle;

Determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory;

The following error is determined based on the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle.
The method according to claim 1, wherein said obtaining the target trajectory includes:

Get the initial trajectory;

The target trajectory is determined based on the position of the current vehicle, the longitudinal speed of the current vehicle, and the initial trajectory.
The method according to claim 1, wherein determining the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory includes:

When the maximum lateral offset corresponding to the target trajectory is greater than the lateral offset threshold, determine that the target trajectory is an arc with a constant curvature radius;

When the maximum lateral offset corresponding to the target trajectory is less than or equal to the lateral offset threshold, it is determined that the target trajectory is a straight line.
The method according to claim 3, wherein determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle includes:

In the case where the target trajectory is a straight line, the lateral following error is determined based on the position of the current vehicle, the slope of the target trajectory, and the intercept of the target trajectory;

When the target trajectory is a straight line, the heading angle following error is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory, where , the first target point is the point closest to the current vehicle, and the second target point is the second closest point to the current vehicle;

When the target trajectory is a straight line, the yaw angular velocity of the current vehicle is determined as the yaw angular velocity following error.
The method according to claim 3, wherein determining the following error according to the trajectory shape of the target trajectory, the target trajectory and the motion parameters of the current vehicle includes:

In the case where the target trajectory is an arc with a constant curvature radius, the lateral following error is determined based on the center of the circle of the target trajectory, the radius of the target trajectory and the position of the current vehicle;

When the target trajectory is an arc with a constant curvature radius, the heading angle is determined based on the heading angle of the current vehicle, the coordinates of the first target point on the target trajectory, and the coordinates of the second target point on the target trajectory. Following error, wherein the first target point is the point closest to the current vehicle, and the second target point is the second closest point to the current vehicle;

In the case where the target trajectory is an arc with a constant curvature radius, the yaw angular velocity following error is determined based on the longitudinal velocity of the current vehicle, the radius of the target trajectory, and the yaw angular velocity of the current vehicle.
The method of claim 3, further comprising:

The lateral offset of each point on the target trajectory is calculated based on the following formula:

Among them, (X i , Y i ) are the coordinates of the i-th point on the target trajectory, (X 1 , Y 1 ) are the coordinates of the starting point of the target trajectory, (X N , Y N ) are The coordinates of the end point of the target trajectory, dis, are the lateral offset of the i-th point on the target trajectory.
The method of claim 5, further comprising:

Calculate the center point of the target trajectory based on the following formula:

in, (X c , Y c ) are the coordinates of the center of the target trajectory, N is the number of points on the target trajectory, (X i , Y i ) are the coordinates of the i-th point on the target trajectory;

Calculate the radius of the target trajectory based on the following formula:
A following error determination device, including:

The acquisition module is configured to acquire the target trajectory and the motion parameters of the current vehicle, wherein the motion parameters of the current vehicle include: the position of the current vehicle, the longitudinal speed of the current vehicle, the heading angle of the current vehicle, and the yaw angular velocity of the current vehicle;

A first determination module configured to determine the trajectory shape of the target trajectory according to the coordinates of points on the target trajectory;

The second determination module is configured to determine the following error according to the trajectory shape of the target trajectory, the target trajectory, and the motion parameters of the current vehicle.
An electronic device including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7 Described following error determination method.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the following error determination method according to any one of claims 1-7 when executed by a processor. .