A motion control method and device

Abstract

An embodiment of the present invention provides a motion control method and device, the method comprising: after obtaining the planned motion trajectory, determining the corresponding trajectory point in the motion trajectory at the current moment as the starting trajectory point; the device moves according to the trajectory after the starting trajectory point in the motion trajectory; in this way, even if planning the motion trajectory takes a long time, in this solution, the device does not start moving directly from the starting point of the trajectory, but re-determines the starting trajectory point in the trajectory and starts moving from the starting trajectory point, thus reducing invalid movement and improving the rationality of the solution.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a motion control method and device. Background Art

[0002] At present, some devices can automatically control their own movement, such as vehicles that can drive automatically, robots that can move autonomously, drones, etc. The automatic control scheme generally includes: combining scene information and the motion state information of the device to plan the motion trajectory; then controlling the device to move along the motion trajectory from the starting point of the motion trajectory.

[0003] However, planning the motion trajectory generally takes a long time. During this time, the device is still in motion, so the device has left the starting point of the motion trajectory. If the above control scheme is adopted, the device needs to return to the starting point of the motion trajectory, resulting in an invalid motion. The control scheme is unreasonable. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a motion control method and device to reduce invalid motion and improve the rationality of the solution.

[0005] In order to achieve the above object, an embodiment of the present invention provides a motion control method, including:

[0006] Acquire a motion trajectory obtained by planning based on the device state parameters at the first moment, where the motion trajectory is the motion trajectory of the device from the first moment to the second moment;

[0007] Determine a trajectory point corresponding to the motion trajectory at the current moment as a starting trajectory point;

[0008] The device is controlled to move along a trajectory after the starting trajectory point in the motion trajectory.

[0009] Optionally, the acquiring of the motion trajectory planned based on the device state parameter at the first moment includes:

[0010] Obtain the location information, environment information and speed information of the device at the first moment;

[0011] Based on the positioning information, environmental information, and speed information of the device, a motion trajectory of the device from the first moment to the second moment is planned.

[0012] Optionally, the device is a vehicle; the acquiring the positioning information, environmental information, and speed information of the device at the first moment includes:

[0013] Obtain the vehicle's differential GPS information through the vehicle's onboard GPS;

[0014] Acquire the position information of the vehicle through the vehicle-mounted inertial navigation system; acquire the wheel speed information through the vehicle-mounted wheel speed encoder; calculate the speed information of the vehicle based on the wheel speed information and the position information;

[0015] The static environment information is obtained through the on-board map; the dynamic environment information is obtained through the on-board camera and the laser radar; the static environment information is fused with the dynamic environment information to obtain fused environment information.

[0016] Optionally, the acquiring of the motion trajectory planned based on the device state parameter at the first moment includes:

[0017] The motion trajectory information sent by the trajectory planning module is received, wherein the motion trajectory information includes: the motion trajectory from the first moment to the second moment obtained by planning based on the device state parameter at the first moment, the first moment, and the second moment.

[0018] Optionally, the device is a vehicle; and controlling the device to move along a trajectory after the starting trajectory point in the motion trajectory includes:

[0019] The throttle, brake and steering wheel of the vehicle are controlled via the CAN bus to move along the trajectory after the starting trajectory point in the motion trajectory.

[0020] In order to achieve the above object, an embodiment of the present invention further provides a motion control device, comprising:

[0021] A motion control module is used to obtain a motion trajectory planned based on the device state parameters at a first moment, wherein the motion trajectory is the motion trajectory of the device from the first moment to the second moment; determine the corresponding trajectory point in the motion trajectory mapped to the current moment as the starting trajectory point; and control the device to move along the trajectory after the starting trajectory point in the motion trajectory.

[0022] Optionally, the device further comprises:

[0023] A trajectory planning module is used to obtain the positioning information, environmental information and speed information of the device at a first moment; based on the positioning information, environmental information and speed information of the device, plan the motion trajectory of the device from the first moment to the second moment; send the motion trajectory information to the motion control module, and the motion trajectory information includes: the planned motion trajectory, the first moment and the second moment.

[0024] Optionally, the device further comprises:

[0025] A positioning module, used to obtain the positioning information and speed information of the device, and send the positioning information and speed information of the device to the trajectory planning module;

[0026] The environment perception module is used to obtain the environment information of the device and send the environment information to the trajectory planning module.

[0027] Optionally, the device is a vehicle;

[0028] The positioning module is specifically used for:

[0029] Acquire the differential GPS information of the vehicle through the vehicle-mounted GPS; acquire the position information of the vehicle through the vehicle-mounted inertial navigation system; acquire the wheel speed information through the vehicle-mounted wheel speed encoder; calculate the speed information of the vehicle based on the wheel speed information and the position information;

[0030] The environmental perception module is specifically used to: obtain static environmental information through the vehicle-mounted map; obtain dynamic environmental information through the vehicle-mounted camera and laser radar; and fuse the static environmental information with the dynamic environmental information to obtain fused environmental information.

[0031] Optionally, the device is a vehicle, the positioning module and the motion control module are arranged in a vehicle-mounted control device, and the trajectory planning module and the environment perception module are arranged in a vehicle-mounted computing device;

[0032] The positioning module is specifically used to: obtain the vehicle's positioning information and speed information; determine the internal time of the vehicle-mounted control device corresponding to the positioning information and speed information, as the first time, and send the vehicle's positioning information, the speed information and the first time to the trajectory planning module.

[0033] In order to achieve the above object, an embodiment of the present invention further provides an electronic device, including a processor and a memory;

[0034] Memory, used to store computer programs;

[0035] The processor is used to implement any one of the above motion control methods when executing the program stored in the memory.

[0036] In order to achieve the above-mentioned purpose, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, any one of the above-mentioned motion control methods is implemented.

[0037] By applying the embodiment shown in the present invention, after obtaining the planned motion trajectory, the corresponding trajectory point in the motion trajectory at the current moment is determined as the starting trajectory point; the device moves along the trajectory after the starting trajectory point in the motion trajectory; in this way, even if planning the motion trajectory takes a long time, in this solution, the device does not start moving directly from the starting point of the trajectory, but redetermines the starting trajectory point in the trajectory and starts moving from the starting trajectory point, thus reducing invalid movement and improving the rationality of the solution.

[0038] Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic flow chart of a motion control method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a scenario for applying an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of a scenario in which the embodiment of the present invention is not applied;

[0043] Figure 4 A schematic diagram of a first structure of a motion control device provided by an embodiment of the present invention;

[0044] Figure 5 A second structural schematic diagram of a motion control device provided by an embodiment of the present invention;

[0045] Figure 6 A third structural schematic diagram of the motion control device provided by an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] To achieve the above objectives, the embodiments of the present invention provide a motion control method and device, which can be applied to various mobile intelligent devices such as vehicles, robots, and drones, without limitation. The motion control method is first described in detail below.

[0049] Figure 1 A flow chart of a motion control method provided by an embodiment of the present invention includes:

[0050] S101: Acquire a motion trajectory planned based on a device state parameter at a first moment, where the motion trajectory is a motion trajectory of the device from the first moment to a second moment.

[0051] For example, the device status parameters may include the positioning information of the device, the environment information where the device is located, the speed information of the device, and so on. The positioning information may be GPS (Global Positioning System) information, or it may be differential GPS (D-GPS: Differential GPS) information, which has a higher accuracy. The environmental information may include static environmental information, such as curbs, guardrails, trees, buildings, or other obstacles perceived through maps, and may also include dynamic environmental information, such as moving vehicles, pedestrians, etc., without specific limitation. The speed information may include moving speed, angular velocity, posture information, and so on. The speed information here can be understood as a more complex vector, not just indicating the speed of the device's movement. If the device is a vehicle, the speed information may include information such as three-axis acceleration, wheel angular velocity, and vehicle posture, without specific limitation.

[0052] There is no limit on the start conditions for the device to perform trajectory planning. For example, in one case, the device can perform trajectory planning when it detects changes in environmental information, such as detecting the presence of pedestrians in the surrounding environment, so as to adjust the trajectory in time to avoid pedestrians. Or, in another case, the device can also start trajectory planning at regular intervals, and the specific interval time period is not limited. Or, in another case, the device can start trajectory planning after obtaining its own state parameters.

[0053] The motion trajectory obtained by device planning may include time information and its corresponding position information. The position information may be coordinates in the world coordinate system, such as longitude and latitude, or coordinates in the northeast sky coordinate system, etc., without specific limitation. The length of the motion trajectory can be understood as the time interval or position distance between the starting point and the end point of the trajectory. The length may be determined according to the specific situation and is not limited in this embodiment. For the convenience of description, the moment of the starting point of the trajectory is called the first moment, and the moment of the end point of the trajectory is called the second moment.

[0054] In one implementation, S101 may include: obtaining positioning information, environmental information, and speed information of a device at a first moment; and planning a motion trajectory of the device from the first moment to a second moment based on the positioning information, environmental information, and speed information of the device.

[0055] If the device is a vehicle, the differential GPS information of the vehicle can be obtained through the on-board GPS; the position information of the vehicle can be obtained through the on-board inertial navigation system; the wheel speed information can be obtained through the on-board wheel speed encoder; the speed information of the vehicle can be calculated based on the wheel speed information and the position information; the static environment information can be obtained through the on-board map; the dynamic environment information can be obtained through the on-board camera and lidar; the static environment information can be fused with the dynamic environment information to obtain fused environment information.

[0056] For example, assuming that the precise coordinates of the GPS base station are known to be A, and through satellite positioning, the coordinates of the GPS base station are obtained to be A', and the coordinates of the device are obtained to be B'. Then, based on the deviation between A and A', B' is corrected to obtain the corrected coordinates B of the device. B is the differential GPS information of the device, which has a higher accuracy.

[0057] For example, during the movement of a vehicle, the vehicle's real-time position information can be obtained using the vehicle's inertial navigation device (IMU: Inertial Measurement Unit); the real-time wheel speed information can be obtained through the vehicle's wheel speed encoder; and the real-time position information and the real-time speed information are then fused to obtain more accurate vehicle speed information. The speed information here can be understood as a more complex vector, not just indicating the speed of the device's movement.

[0058] For example, static environment information, such as curbs, guardrails, trees, buildings, or other obstacles, can be obtained through HD-MAP (High Definition Map) software. Dynamic environment information, such as moving vehicles, pedestrians, etc., can be obtained through on-board cameras and lidars, without limitation. Static environment information is then fused with dynamic environment information to obtain fused environment information.

[0059] If the device is a robot, a drone, or other intelligent device, various device status parameters such as positioning information, environmental information, speed information, etc. can be obtained through various sensors set in these devices. The specific sensor types are not listed one by one.

[0060] Trajectory planning based on the acquired positioning information, environmental information, and speed information may include: predicting multiple candidate trajectories of the device based on the speed information and positioning information; judging whether the multiple candidate trajectories collide with objects in the environment based on the environmental information; and selecting a trajectory from the candidate trajectories that have not collided as the planned trajectory.

[0061] For example, based on the current position, attitude angle and other information of the device, the movement trend of the device can be predicted to form multiple candidate trajectories; the position of vehicles, pedestrians or other obstacles can be determined based on the perceived environmental information; for each candidate trajectory, it is determined whether the candidate trajectory collides with the vehicle, pedestrian or other obstacle, and if a collision occurs, the candidate trajectory is discarded; if only one candidate trajectory remains, the remaining candidate trajectory is used as the planned trajectory; if multiple candidate trajectories remain, the optimal trajectory is selected from the remaining candidate trajectories, such as the trajectory farthest from the obstacle, or the trajectory with the smallest required turning angle, etc., without specific limitation.

[0062] In one implementation, S101 may include: receiving motion trajectory information sent by a trajectory planning module, wherein the motion trajectory information includes: a motion trajectory from the first moment to the second moment obtained by planning based on a device state parameter at the first moment, the first moment, and the second moment.

[0063] For example, the device may include a trajectory planning module and a motion control module. The trajectory planning module may perform trajectory planning based on the above-mentioned planning method, and then send the motion trajectory information obtained by the planning to the motion control module, which executes the motion control module. Figure 1 The various steps in the illustrated embodiment.

[0064] Or in other implementations, trajectory planning and motion control may also be performed by the same module, which is not specifically limited.

[0065] S102: Determine the corresponding trajectory point in the motion trajectory mapped to the current moment as the starting trajectory point.

[0066] The current moment is later than the first moment and earlier than the second moment; in other words, the current moment is between the first moment and the second moment.

[0067] As mentioned above, the motion trajectory may include time information and its corresponding position information, for example, time t1 corresponds to position A, time t2 corresponds to position B, and so on. In this way, the current moment can be mapped to the corresponding trajectory point in the motion trajectory. For the convenience of description, this trajectory point is called the starting trajectory point.

[0068] refer to Figure 2 As shown, the motion trajectory includes the position of the device at time t0, the position of the device at time t1, ..., the position of the device at time t6, ..., and the current time is t_now, and the position corresponding to t_now in the motion trajectory is determined as the starting trajectory point.

[0069] S103: Control the device to move along the trajectory after the starting trajectory point in the motion trajectory.

[0070] refer to Figure 2 As shown, the device can move from the actual position at the current moment to the starting trajectory point, and then move along the trajectory after the starting trajectory point in the motion trajectory. Alternatively, in other cases, if the device is exactly at the starting trajectory point at the current moment, the device is controlled to move directly along the trajectory after the starting trajectory point in the motion trajectory.

[0071] If the device is a vehicle, the accelerator, brake and steering wheel of the vehicle can be controlled through a CAN (Controller Area Network) bus to move according to the trajectory after the starting trajectory point in the motion trajectory.

[0072] For example, the control quantities of actuators such as the throttle, brake and steering wheel can be calculated according to the control algorithm, and the control quantities can be sent to the wire-controlled vehicle platform. The wire-controlled vehicle platform can control the vehicle's throttle, brake and steering wheel actuators through the CAN bus, so that the vehicle moves along the trajectory after the starting trajectory point in the motion trajectory.

[0073] If the device is a robot, a drone, or other intelligent device, the motion elements of these devices can be controlled to make the device move along the trajectory after the starting trajectory point described in the motion trajectory. The specific types of motion elements are not listed one by one.

[0074] By applying the embodiment shown in the present invention, after obtaining the planned motion trajectory, the corresponding trajectory point in the motion trajectory at the current moment is determined as the starting trajectory point; the device moves along the trajectory after the starting trajectory point in the motion trajectory; in this way, even if planning the motion trajectory takes a long time, in this solution, the device does not start moving directly from the starting point of the trajectory, but redetermines the starting trajectory point in the trajectory and starts moving from the starting trajectory point, thus reducing invalid movement and improving the rationality of the solution.

[0075] The following comparison Figure 2 and Figure 3 The technical effects of the embodiments of the present invention are introduced as follows:

[0076] The device starts trajectory planning from time t0, and the trajectory is obtained at time t_now (current time). The starting point of the trajectory can be understood as the actual position of the device at time t0.

[0077] Figure 3 It can be understood that the solution of this embodiment is not applied, refer to Figure 3 As shown, the planned motion trajectory includes the position of the device at time t0, the position of the device at time t1 ... the position of the device at time t6 ... After the motion trajectory is obtained at time t_now, the device moves from the actual position at the current time to the starting point of the trajectory, and then moves according to the trajectory.

[0078] Figure 2 It can be understood that the solution adopted in this embodiment is that the current time is t_now, the position corresponding to t_now in the motion trajectory is determined as the starting trajectory point, the device moves from the actual position at the current time to the starting trajectory point, and then moves along the trajectory after the starting trajectory point in the motion trajectory. In other words, the actual position of the device at the current time is used as the new starting trajectory point, and moves along the trajectory after the current time.

[0079] During the time period t0-t_now, the device is always in motion, so at t_now the device has already left the position at t0. Figure 3 If the solution shown in the figure is used, the device needs to return to the position at time t0, or the device performs an invalid motion of moving forward and then backward. This kind of motion control is unreasonable. Figure 2 In the scheme shown, the device does not need to return to the position at time t0, but moves to the position at time t_now in the trajectory. The deviation between the actual position of the device at time t_now and the position at time t_now in the trajectory (starting trajectory point) is small. This deviation is only caused by the accuracy of trajectory planning itself, and will not cause the device to move forward and then backward. Reducing invalid movement improves the rationality of the scheme and can also reduce energy consumption.

[0080] If adopted Figure 3 In the scheme shown, the device moves from the current position to the starting point of the track, assuming that the moving distance is S1, and then moves from the starting point of the track to the position at time t_now in the track, assuming that the moving distance is S2; if the Figure 2 In the solution shown, the device moves from the current position to the starting trajectory point. Assuming the moving distance is S3, S3 is less than S1+S2, use Figure 2The solution shown has a shorter moving distance for the equipment, which reduces energy consumption.

[0081] Corresponding to the above method embodiment, a motion control device is introduced below, which may include:

[0082] A motion control module is used to obtain a motion trajectory planned based on the device state parameters at a first moment, wherein the motion trajectory is the motion trajectory of the device from the first moment to the second moment; determine the corresponding trajectory point in the motion trajectory mapped to the current moment as the starting trajectory point; and control the device to move along the trajectory after the starting trajectory point in the motion trajectory.

[0083] In one embodiment, reference Figure 4 As shown, the device may include a trajectory planning module 410 and a motion control module 420, wherein:

[0084] The trajectory planning module 410 is used to obtain the positioning information, environmental information and speed information of the device at the first moment; based on the positioning information, environmental information and speed information of the device, plan the motion trajectory of the device from the first moment to the second moment; send the motion trajectory information to the motion control module 420, and the motion trajectory information includes: the planned motion trajectory, the first moment and the second moment;

[0085] The motion control module 420 is used to determine the corresponding trajectory point in the motion trajectory mapped to the current moment as the starting trajectory point; and control the device to move along the trajectory after the starting trajectory point in the motion trajectory.

[0086] In one embodiment, reference Figure 5 As shown, the device may also include:

[0087] The positioning module 430 is used to obtain the positioning information and speed information of the device, and send the positioning information and speed information of the device to the trajectory planning module 410;

[0088] The environment perception module 440 is used to obtain the environment information of the device and send the environment information to the trajectory planning module 410.

[0089] In one embodiment, the device is a vehicle;

[0090] The positioning module 430 can be specifically used to: obtain the differential GPS information of the vehicle through the vehicle-mounted GPS; obtain the position information of the vehicle through the vehicle-mounted inertial navigation system; obtain the wheel speed information through the vehicle-mounted wheel speed encoder; calculate the speed information of the vehicle based on the wheel speed information and the position information;

[0091] The environment perception module 440 can be specifically used to: obtain static environment information through the vehicle map; obtain dynamic environment information through the vehicle camera and lidar; and fuse the static environment information with the dynamic environment information to obtain fused environment information.

[0092] In one embodiment, the device is a vehicle, the positioning module 430 and the motion control module 420 are arranged in the vehicle-mounted control device, and the trajectory planning module 410 and the environment perception module 440 are arranged in the vehicle-mounted computing device.

[0093] In this implementation, the positioning module 430 can be specifically used to: obtain the vehicle's positioning information and speed information; determine the internal time of the vehicle-mounted control device corresponding to the positioning information and speed information, as the first time, and send the vehicle's positioning information, the speed information and the first time to the trajectory planning module.

[0094] For example, the vehicle-mounted control device can be a device with a small memory and weak computing power, and the vehicle-mounted computing device can be a device with a large memory and strong computing power. The trajectory planning module 410 and the environment perception module 440 use more computing resources. Setting these two modules in the vehicle-mounted computing device can improve the operation speed of these two modules. The positioning module 430 and the motion control module 420 use fewer computing resources. Setting these two modules in the vehicle-mounted control device can save costs.

[0095] Or in other implementations, the four modules may also be configured in other hardware, for example, the four modules may be configured in the same chip, or the four modules may be arbitrarily combined and configured in different chips, etc., without specific limitation.

[0096] In this implementation, the positioning module 430 sends the internal time (first time) of the vehicle control device corresponding to the positioning information and speed information to the trajectory planning module 410, and the trajectory planning module 410 can determine the internal time period of the vehicle control device corresponding to the motion trajectory; after the trajectory planning module 410 completes the trajectory planning, it sends the internal time period (first time-second time) of the vehicle control device corresponding to the motion trajectory to the motion control module 420; in this way, the motion control module 420 can determine the current time (in terms of the internal time of the vehicle control device) mapped to the corresponding trajectory point in the motion trajectory as the starting trajectory point, and control the vehicle to move along the trajectory after the starting trajectory point.

[0097] Reference below Figure 6 , introduces a specific implementation method:

[0098] In this embodiment, it is assumed that the device for motion control is a vehicle, or in other words, this embodiment can be understood as an automatic driving system, the positioning module 430 and the motion control module 420 are set in the vehicle control device, the trajectory planning module 410 and the environment perception module 440 are set in the vehicle computing device, and the vehicle control device and the vehicle computing device can communicate via Ethernet. For the convenience of time comparison, the time in the following content shall be based on the internal time of the vehicle control device.

[0099] exist Figure 7 In step ①, when the internal time of the on-board control device is 100ms, the positioning module 430 obtains the vehicle's positioning information and speed information in real time; the positioning module 430 sends the positioning information, the speed information and the internal time 100ms of the on-board control device to the trajectory planning module 410 in the on-board computing device through Ethernet. Assuming that the communication delay of Ethernet for sending positioning information is 8ms, proceed to step ②.

[0100] In step ②, the internal time of the vehicle control device is 108ms, and the trajectory planning module 410 performs trajectory planning based on the received positioning information and speed information, as well as the environmental information perceived in real time by the environmental perception module 440. Assume that the motion trajectory obtained by planning is a motion trajectory within 500ms based on the positioning information and speed information, that is, for the internal time of the vehicle control device, the time period corresponding to the motion trajectory is 100ms-600ms. Assume that the planning time is 90ms, and proceed to step ③.

[0101] In step ③, the internal time of the vehicle control device is 198ms at this time. The trajectory planning module 410 sends the motion trajectory to the motion control module 420 in the vehicle control device via Ethernet. The motion trajectory carries its corresponding time period information "100ms-600ms", which is based on the internal time of the vehicle control device. Assuming that the communication delay of sending the motion trajectory via Ethernet is 11ms, proceed to step ④.

[0102] In step ④, the internal time of the vehicle control device is 209ms. The motion control module 420 receives the motion trajectory. Assuming that a control cycle has not yet been reached, it waits until 250ms to enter a control cycle and enters step ⑤.

[0103] In step ⑤, the internal time of the on-board control device is 250ms at this time, and the motion control module 420 determines the trajectory point corresponding to 250ms in the motion trajectory as the starting trajectory point; in addition, the motion control module 420 obtains the positioning information and speed information of the vehicle at this time from the positioning module 430. The motion control module 420 controls the vehicle to move to the starting trajectory point according to the positioning information and speed information, and then moves according to the trajectory after the starting trajectory point in the motion trajectory, that is, it moves according to the trajectory of the 250ms to 600ms time period in the motion trajectory.

[0104] It can be seen that in this embodiment, when the positioning module 430 sends the positioning information and speed information to the trajectory planning module 410, the internal time of the vehicle control device is sent to the trajectory planning module 410, and the trajectory planning module 410 can determine the internal time of the vehicle control device corresponding to the motion trajectory; after the trajectory planning module 410 completes the trajectory planning, it sends the internal time of the vehicle control device corresponding to the motion trajectory to the motion control module 420; in this way, the motion control module 420 can determine the current moment mapped to the corresponding trajectory point in the motion trajectory as the starting trajectory point, and control the vehicle to move along the trajectory after the starting trajectory point.

[0105] The communication mechanism provided by this embodiment solves the problem of time asynchrony between the trajectory planning module 410 and the motion control module 420 in the autonomous driving system. The mechanism does not require the planning time of the trajectory planning module 410, nor does it require the trajectory planning module to run once per cycle, thereby expanding the selection of trajectory planning algorithms.

[0106] The time synchronization mechanism provided by the present embodiment allows the motion control module 420 and the positioning module 430 to run in the vehicle-mounted control device, while the trajectory planning module 410 and the environment perception module 440 run in the vehicle-mounted computing device. This can achieve a reasonable allocation of computing resources, and devices with stronger computing power can be used for trajectory planning and environment perception, expanding the hardware selection for running the environment perception algorithm and the trajectory planning algorithm. In addition, the present solution can tolerate the uncertainty of the communication time between the vehicle-mounted control device and the vehicle-mounted computing device.

[0107] By applying the time synchronization mechanism provided in this embodiment, no other equipment for time synchronization is added, thus reducing costs.

[0108] The embodiment of the present invention further provides an electronic device, such as Figure 7 As shown, it includes a processor 701 and a memory 702,

[0109] Memory 702, used for storing computer programs;

[0110] The processor 701 is used to implement any one of the above-mentioned motion control methods when executing the program stored in the memory 702.

[0111] The processor mentioned in the above electronic device can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0112] The above-mentioned electronic devices may be various movable intelligent devices such as vehicles, robots, drones, etc., without specific limitation.

[0113] In another embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, any one of the above-mentioned motion control methods is implemented.

[0114] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes any one of the motion control methods in the above embodiments.

[0115] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0116] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0117] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, equipment embodiment, computer-readable storage medium embodiment, and computer program product embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A motion control method, It is characterized in that include: Acquire a motion trajectory planned based on the device state parameter at the first moment, wherein the motion trajectory is a motion trajectory of the device from the first moment to the second moment, and the device is in motion during the process of planning the motion trajectory; Determine a trajectory point corresponding to the motion trajectory mapped to the current moment as a starting trajectory point, wherein the trajectory point corresponding to the motion trajectory mapped to the current moment is a position of the device in the motion trajectory at the current moment, and the current moment is later than the first moment and earlier than the second moment; The device is controlled to move from the actual position at the current moment to the starting trajectory point, and the device is controlled to move according to the trajectory after the starting trajectory point in the motion trajectory.

2. The method according to claim 1, It is characterized in that The obtaining of the motion trajectory planned based on the device state parameter at the first moment includes: Obtain the location information, environment information and speed information of the device at the first moment; Based on the positioning information, environmental information, and speed information of the device, a motion trajectory of the device from the first moment to the second moment is planned.

3. The method according to claim 2, It is characterized in that The device is a vehicle; the obtaining of the positioning information, environmental information, and speed information of the device at the first moment includes: Obtain the vehicle's differential GPS information through the vehicle's onboard GPS; Acquire the position information of the vehicle through the vehicle-mounted inertial navigation system; acquire the wheel speed information through the vehicle-mounted wheel speed encoder; calculate the speed information of the vehicle based on the wheel speed information and the position information; The static environment information is obtained through the on-board map; the dynamic environment information is obtained through the on-board camera and the laser radar; the static environment information is fused with the dynamic environment information to obtain fused environment information.

4. The method according to claim 1, It is characterized in that The obtaining of the motion trajectory planned based on the device state parameter at the first moment includes: The motion trajectory information sent by the trajectory planning module is received, wherein the motion trajectory information includes: the motion trajectory from the first moment to the second moment obtained by planning based on the device state parameter at the first moment, the first moment, and the second moment.

5. The method according to claim 1, It is characterized in that The device is a vehicle; The controlling the device to move according to the trajectory after the starting trajectory point in the motion trajectory includes: The throttle, brake and steering wheel of the vehicle are controlled via the CAN bus to move along the trajectory after the starting trajectory point in the motion trajectory.

6. A motion control device, It is characterized in that include: A motion control module is used to obtain a motion trajectory planned based on the device state parameters at a first moment, wherein the motion trajectory is the motion trajectory of the device from the first moment to the second moment, and the device is in motion during the planning of the motion trajectory; determine a trajectory point corresponding to the motion trajectory at the current moment as a starting trajectory point, wherein the trajectory point corresponding to the motion trajectory mapped to the current moment is the position of the device at the current moment in the motion trajectory, and the current moment is later than the first moment and earlier than the second moment; control the device to move from the actual position at the current moment to the starting trajectory point, and control the device to move according to the trajectory after the starting trajectory point in the motion trajectory.

7. The device according to claim 6, It is characterized in that The device also includes: A trajectory planning module is used to obtain the positioning information, environmental information and speed information of the device at a first moment; based on the positioning information, environmental information and speed information of the device, plan the motion trajectory of the device from the first moment to the second moment; send the motion trajectory information to the motion control module, and the motion trajectory information includes: the planned motion trajectory, the first moment and the second moment.

8. The device according to claim 7, It is characterized in that The device also includes: A positioning module, used to obtain the positioning information and speed information of the device, and send the positioning information and speed information of the device to the trajectory planning module; The environment perception module is used to obtain the environment information of the device and send the environment information to the trajectory planning module.

9. The device according to claim 8, It is characterized in that The device is a vehicle; The positioning module is specifically used for: Acquire the differential GPS information of the vehicle through the vehicle-mounted GPS; acquire the position information of the vehicle through the vehicle-mounted inertial navigation system; acquire the wheel speed information through the vehicle-mounted wheel speed encoder; calculate the speed information of the vehicle based on the wheel speed information and the position information; The environmental perception module is specifically used to: obtain static environmental information through the vehicle-mounted map; obtain dynamic environmental information through the vehicle-mounted camera and laser radar; and fuse the static environmental information with the dynamic environmental information to obtain fused environmental information.

10. The device according to claim 8, It is characterized in that The device is a vehicle, the positioning module and the motion control module are arranged in a vehicle-mounted control device, and the trajectory planning module and the environment perception module are arranged in a vehicle-mounted computing device; The positioning module is specifically used to: obtain the vehicle's positioning information and speed information; determine the internal time of the vehicle-mounted control device corresponding to the positioning information and speed information, as the first time, and send the vehicle's positioning information, the speed information and the first time to the trajectory planning module.

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