Debugging method and device of regulation and control module and electronic equipment

Abstract

The application provides a debugging method and device of a planning and control module and electronic equipment, wherein after the planning module outputs a track, the track is first evaluated for controllability to determine whether the track is controllable, and in the case that the track is controllable, the track is sent to the control module to enable the control module to control an autonomous vehicle to track the track, and the obtained track tracking result directly reflects whether the control algorithm of the control module has a problem, and in the case that the problem exists, the control algorithm is debugged in a targeted manner, and in the case that the track is uncontrollable, it is indicated that the planning algorithm of the planning module has a problem, and then the planning algorithm can be debugged in a targeted manner according to the uncontrollable track report, the above debugging process greatly reduces the number of debugging times, improves the speed of problem positioning and the efficiency of debugging, and alleviates the technical problems of a large number of debugging times, slow problem positioning and low efficiency in the existing debugging process of the planning and control module.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, and electronic device for debugging a control module. Background Technology

[0002] The planning module and control module (referred to as the planning and control module) are important components of autonomous driving. The two are interconnected and require repeated adjustments to achieve smooth and precise control of autonomous vehicles.

[0003] A typical debugging process is as follows: the trajectory planned by the planning module is input to the control module, which then sends commands such as steering wheel angle, accelerator, and brake to control the vehicle to drive according to the trajectory planned by the planning module (i.e., controlling the vehicle to perform trajectory tracking); then, it is judged whether the trajectory tracking effect is ideal. If it is not ideal, it is analyzed manually whether the problem lies with the trajectory planned in the planning module or the control algorithm in the control module; finally, the problematic modules are modified based on the analysis results, and this process is repeated multiple times.

[0004] During the above debugging process, if the trajectory tracking effect is not ideal, it is impossible to directly determine whether the problem is with the planning module or the control module, because the two modules have cross-coupling effects on the final tracking effect. Therefore, manual analysis is required to determine whether the problem lies with the trajectory planned in the planning module or the control algorithm in the control module.

[0005] In summary, the existing debugging process for the control module suffers from technical problems such as numerous debugging attempts, slow problem localization, and low efficiency. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a debugging method, apparatus and electronic device for a planning and control module, so as to alleviate the technical problems of the existing planning and control module debugging process, which involves many debugging times, slow problem location and low efficiency.

[0007] In a first aspect, embodiments of the present invention provide a debugging method for a control module, comprising:

[0008] Obtain the trajectory planned by the planning module of the autonomous vehicle;

[0009] The controllability of the trajectory is assessed, and the controllability of the trajectory is determined based on the assessment results.

[0010] If the trajectory is controllable, the trajectory is sent to the control module so that the control module controls the autonomous vehicle to perform trajectory tracking based on the trajectory, and then evaluates and debugs the control algorithm of the control module based on the trajectory tracking result;

[0011] If the trajectory is uncontrollable, an uncontrollable trajectory report is generated so that relevant personnel can debug the planning algorithm of the planning module based on the uncontrollable trajectory report.

[0012] Furthermore, the controllability of the trajectory is assessed, and the controllability of the trajectory is determined based on the assessment results, including:

[0013] The trajectory is verified for correctness, and the correctness verification result is obtained;

[0014] The lateral controllability of the trajectory is evaluated to obtain the lateral controllability evaluation results;

[0015] The longitudinal controllability of the trajectory is evaluated to obtain the longitudinal controllability evaluation results;

[0016] The controllability of the trajectory is determined based on the correctness verification results, the lateral controllability assessment results, and the longitudinal controllability assessment results.

[0017] Furthermore, the trajectory information includes: the position of the trajectory point, the orientation of the trajectory point, the curvature of the trajectory point, the velocity of the trajectory point, the acceleration of the trajectory point, and the time of the trajectory point. The trajectory is then subjected to a correctness check to obtain a correctness check result, including:

[0018] The acceleration to be verified of the trajectory point is calculated based on the velocity of the trajectory point and the corresponding time of the trajectory point. The correctness of the acceleration of the trajectory point is determined based on the acceleration to be verified of the trajectory point and the acceleration of the corresponding trajectory point, thereby obtaining the correctness verification result of whether the acceleration of the trajectory point is correct.

[0019] The curvature to be verified of the trajectory point is calculated based on the orientation of the trajectory point and the distance between the corresponding trajectory points. The curvature to be verified of the trajectory point and the curvature of the corresponding trajectory point are used to determine whether the curvature of the trajectory point is correct, thereby obtaining the correctness verification result of whether the curvature of the trajectory point is correct. The distance between the trajectory points is calculated based on the position of the trajectory points.

[0020] The velocity to be verified of the trajectory point is calculated based on the position of the trajectory point and the time of the corresponding trajectory point. The correctness of the velocity of the trajectory point is determined based on the velocity to be verified of the trajectory point and the velocity of the corresponding trajectory point, thereby obtaining the correctness verification result of the velocity of the trajectory point.

[0021] Furthermore, the lateral controllability of the trajectory is evaluated to obtain the lateral controllability evaluation results, including:

[0022] The maximum curvature is determined among the curvatures of the trajectory points, and it is determined whether the maximum curvature is greater than a preset curvature threshold, thereby obtaining the lateral controllability evaluation result of whether the maximum curvature is greater than the preset curvature threshold;

[0023] The trajectory curvature change rate is calculated based on the curvature of the trajectory point and the time of the trajectory point, and it is determined whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, thereby obtaining the lateral controllability assessment result of whether the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold.

[0024] Furthermore, the longitudinal controllability of the trajectory is evaluated to obtain the longitudinal controllability evaluation results, including:

[0025] The maximum acceleration is determined from the accelerations at the trajectory points, and it is determined whether the maximum acceleration is greater than a preset acceleration threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum acceleration is greater than the preset acceleration threshold;

[0026] The maximum deceleration is determined from the acceleration of the trajectory point, and it is determined whether the maximum deceleration is greater than a preset deceleration threshold, thereby obtaining the longitudinal controllability evaluation result of whether the maximum deceleration is greater than the preset deceleration threshold;

[0027] The maximum speed is determined from the speeds of the trajectory points, and it is determined whether the maximum speed is greater than a preset speed threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum speed is greater than the preset speed threshold;

[0028] Based on the velocity of the trajectory point, determine whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and then obtain the longitudinal controllability assessment result of whether the velocity change of adjacent trajectory points is greater than the preset velocity change threshold.

[0029] Based on the acceleration of the trajectory point and the time of the trajectory point, determine whether the frequency of sign change of the acceleration of the trajectory point within a preset time period is greater than a preset frequency, and then obtain the longitudinal controllability assessment result of whether the frequency of sign change of the acceleration of the trajectory point within a preset time period is greater than the preset frequency.

[0030] Furthermore, determining whether the trajectory is controllable based on the correctness verification result, the lateral controllability assessment result, and the longitudinal controllability assessment result includes:

[0031] If the acceleration of the trajectory point in the correctness verification result is incorrect, or the curvature of the trajectory point is incorrect, or the velocity of the trajectory point is incorrect, or the maximum curvature in the lateral controllability assessment result is greater than a preset curvature threshold, or the rate of change of trajectory curvature is greater than a preset rate of change of trajectory curvature threshold, or the maximum acceleration in the longitudinal controllability assessment result is greater than a preset acceleration threshold, or the maximum deceleration is greater than a preset deceleration threshold, or the maximum velocity is greater than a preset velocity threshold, or the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, or the sign change frequency of the acceleration of the trajectory point within the preset time period is greater than a preset frequency, then the trajectory is determined to be uncontrollable.

[0032] Furthermore, the uncontrollable trajectory report includes: information on whether the acceleration of the trajectory point is correct, information on whether the curvature of the trajectory point is correct, information on whether the velocity of the trajectory point is correct, information on whether the maximum curvature is greater than a preset curvature threshold, information on whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, information on whether the maximum acceleration is greater than a preset acceleration threshold, information on whether the maximum deceleration is greater than a preset deceleration threshold, information on whether the maximum velocity is greater than a preset velocity threshold, information on whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and information on whether the sign change frequency of the acceleration of the trajectory point within a preset time period is greater than a preset frequency.

[0033] Secondly, embodiments of the present invention also provide a debugging device for a control module, comprising:

[0034] The acquisition unit is used to acquire the trajectory planned by the planning module of the autonomous vehicle;

[0035] A controllability assessment unit is used to assess the controllability of the trajectory and determine whether the trajectory is controllable based on the assessment results;

[0036] The sending unit is used to send the trajectory to the control module if the trajectory is controllable, so that the control module controls the autonomous vehicle to perform trajectory tracking based on the trajectory, and then evaluates and debugs the control algorithm of the control module based on the trajectory tracking result;

[0037] The generation unit is used to generate a trajectory uncontrollable report if the trajectory is uncontrollable, so that relevant personnel can debug the planning algorithm of the planning module based on the trajectory uncontrollable report.

[0038] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in any of the first aspects above.

[0039] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing machine-executable instructions, which, when invoked and executed by a processor, cause the processor to perform the method described in any of the first aspects above.

[0040] In this embodiment of the invention, a debugging method for a planning and control module is provided, comprising: acquiring the trajectory planned by the planning module of an autonomous vehicle; evaluating the controllability of the trajectory and determining whether the trajectory is controllable based on the evaluation result; if the trajectory is controllable, sending the trajectory to the control module so that the control module controls the autonomous vehicle to track the trajectory based on the trajectory, and then evaluating and debugging the control algorithm of the control module based on the trajectory tracking result; if the trajectory is uncontrollable, generating an uncontrollable trajectory report so that relevant personnel can debug the planning algorithm of the planning module based on the uncontrollable trajectory report. As described above, in the debugging method of the planning and control module of the present invention, after the planning module outputs the trajectory, the controllability of the trajectory is first evaluated to determine whether the trajectory is controllable. If the trajectory is controllable, the trajectory is then sent to the control module so that the control module controls the autonomous vehicle to track the trajectory. The obtained trajectory tracking result directly reflects whether there is a problem with the control algorithm of the control module. If there is a problem, the control algorithm is then specifically debugged. If the trajectory is uncontrollable, it indicates that there is a problem with the planning algorithm of the planning module. Then, the planning algorithm can be specifically debugged according to the uncontrollable trajectory report. The above debugging process greatly reduces the number of debugging times, improves the speed of problem location and the efficiency of debugging, and alleviates the technical problems of the existing planning and control module debugging process, which involves many debugging times, slow problem location and low efficiency. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a debugging method for a control module provided in an embodiment of the present invention;

[0043] Figure 2This is a flowchart for evaluating the controllability of a trajectory and determining whether the trajectory is controllable based on the evaluation results, provided as an embodiment of the present invention.

[0044] Figure 3 A schematic diagram of a debugging device for a control module provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] During the debugging process of existing planning and control modules, if the trajectory tracking effect is unsatisfactory, it is impossible to directly determine whether the problem lies with the planning module or the control module. This is because the two modules have overlapping and coupled influences on the final tracking effect. Therefore, manual analysis is required to determine whether the problem is with the trajectory planned in the planning module or the control algorithm in the control module. In other words, the debugging process suffers from technical problems such as numerous debugging attempts, slow problem localization, and low efficiency.

[0048] Based on this, in the debugging method of the control module of the present invention, after the planning module outputs the trajectory, the controllability of the trajectory is first evaluated to determine whether the trajectory is controllable. If the trajectory is controllable, the trajectory is then sent to the control module so that the control module controls the autonomous vehicle to track the trajectory. The obtained trajectory tracking result directly reflects whether there is a problem with the control algorithm of the control module. If there is a problem, the control algorithm is then specifically debugged. If the trajectory is uncontrollable, it indicates that there is a problem with the planning algorithm of the planning module. Then, the planning algorithm can be specifically debugged according to the uncontrollable trajectory report. The above debugging process greatly reduces the number of debugging times and improves the speed of problem location and debugging efficiency.

[0049] To facilitate understanding of this embodiment, a debugging method for a control module disclosed in this embodiment of the invention will be described in detail first.

[0050] Example 1:

[0051] According to an embodiment of the present invention, an embodiment of a debugging method for a control module is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0052] Figure 1 This is a flowchart of a debugging method for a control module according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0053] Step S102: Obtain the trajectory planned by the planning module of the autonomous vehicle;

[0054] It should be noted that the debugging method of the regulation control module of the present invention can be applied not only to the development stage of the regulation control module, but also to the actual vehicle after development. The embodiments of the present invention do not impose specific limitations on its specific application stage.

[0055] The trajectory described above is a trajectory planned by the planning algorithm of the planning module to guide autonomous driving.

[0056] Step S104: Perform a controllability assessment on the trajectory and determine whether the trajectory is controllable based on the assessment results;

[0057] Step S106: If the trajectory is controllable, the trajectory is sent to the control module so that the control module controls the autonomous vehicle to track the trajectory based on the trajectory, and then evaluates and debugs the control algorithm of the control module based on the trajectory tracking result.

[0058] Specifically, a controllable trajectory indicates that the planning algorithm in the planning module is functioning correctly. This correct trajectory is then sent to the control module, which uses this trajectory to control the autonomous vehicle for trajectory tracking. The resulting trajectory tracking directly reflects whether there are any issues with the control module's algorithm. If the trajectory tracking is satisfactory, the control module's algorithm is also functioning correctly; if the trajectory tracking is unsatisfactory, the control module's algorithm has a problem, and only the control algorithm needs further debugging.

[0059] Step S108: If the trajectory is uncontrollable, generate a trajectory uncontrollable report so that relevant personnel can debug the planning algorithm of the planning module based on the trajectory uncontrollable report.

[0060] Specifically, an uncontrollable trajectory indicates a problem with the planning algorithm in the planning module. Consequently, relevant personnel can debug the planning algorithm based on the uncontrollable trajectory report. Since the uncontrollable trajectory report shows the reason for the uncontrollable trajectory, the debugging process is quicker and simpler, thus accelerating the debugging efficiency.

[0061] It should be noted that after debugging the planning algorithm, the above-mentioned method of the present invention can be used again to debug and verify the planning and control module. Since the controllability assessment of the trajectory is completed automatically, it has good intelligence and high efficiency.

[0062] In this embodiment of the invention, a debugging method for a planning and control module is provided, comprising: acquiring the trajectory planned by the planning module of an autonomous vehicle; evaluating the controllability of the trajectory and determining whether the trajectory is controllable based on the evaluation result; if the trajectory is controllable, sending the trajectory to the control module so that the control module controls the autonomous vehicle to track the trajectory based on the trajectory, and then evaluating and debugging the control algorithm of the control module based on the trajectory tracking result; if the trajectory is uncontrollable, generating an uncontrollable trajectory report so that relevant personnel can debug the planning algorithm of the planning module based on the uncontrollable trajectory report. As described above, in the debugging method of the planning and control module of the present invention, after the planning module outputs the trajectory, the controllability of the trajectory is first evaluated to determine whether the trajectory is controllable. If the trajectory is controllable, the trajectory is then sent to the control module so that the control module controls the autonomous vehicle to track the trajectory. The obtained trajectory tracking result directly reflects whether there is a problem with the control algorithm of the control module. If there is a problem, the control algorithm is then specifically debugged. If the trajectory is uncontrollable, it indicates that there is a problem with the planning algorithm of the planning module. Then, the planning algorithm can be specifically debugged according to the uncontrollable trajectory report. The above debugging process greatly reduces the number of debugging times, improves the speed of problem location and the efficiency of debugging, and alleviates the technical problems of the existing planning and control module debugging process, which involves many debugging times, slow problem location and low efficiency.

[0063] The above provides a brief overview of the debugging method for the control module of this invention. The specific details involved will be described in detail below.

[0064] In an optional embodiment of the present invention, the trajectory information includes: the position of the trajectory point, the orientation of the trajectory point, the curvature of the trajectory point, the velocity of the trajectory point, the acceleration of the trajectory point, and the time of the trajectory point, with reference to... Figure 2 Step S104 above involves assessing the controllability of the trajectory and determining whether the trajectory is controllable based on the assessment results. This specifically includes the following steps:

[0065] Step S201: Perform a correctness check on the trajectory and obtain the correctness check result;

[0066] Specifically, the correctness check mainly verifies whether the various data information on the trajectory match each other.

[0067] The process specifically includes:

[0068] (1) Calculate the acceleration to be verified of the trajectory point based on the velocity of the trajectory point and the corresponding time of the trajectory point, and determine whether the acceleration of the trajectory point is correct based on the acceleration to be verified of the trajectory point and the acceleration of the corresponding trajectory point, and then obtain the correctness verification result of whether the acceleration of the trajectory point is correct.

[0069] Specifically, if the acceleration to be verified at a trajectory point is equal to the acceleration of the corresponding trajectory point, then the acceleration of the trajectory point is determined to be correct; conversely, if the acceleration to be verified at a trajectory point is not equal to the acceleration of the corresponding trajectory point, then the acceleration of the trajectory point is determined to be incorrect.

[0070] (2) Calculate the curvature to be verified of the trajectory point based on the orientation of the trajectory point and the distance between the corresponding trajectory points, and determine whether the curvature of the trajectory point is correct based on the curvature to be verified of the trajectory point and the curvature of the corresponding trajectory point, and then obtain the correctness verification result of whether the curvature of the trajectory point is correct. The distance between the trajectory points is calculated based on the position of the trajectory points.

[0071] Specifically, if the curvature of the trajectory point to be verified is equal to the curvature of the corresponding trajectory point, then the curvature of the trajectory point is determined to be correct; conversely, if the curvature of the trajectory point to be verified is not equal to the curvature of the corresponding trajectory point, then the curvature of the trajectory point is determined to be incorrect.

[0072] 3) Calculate the velocity to be verified of the trajectory point based on the position of the trajectory point and the corresponding time of the trajectory point, and determine whether the velocity of the trajectory point is correct based on the velocity to be verified of the trajectory point and the velocity of the corresponding trajectory point, thereby obtaining the correctness verification result of whether the velocity of the trajectory point is correct.

[0073] Specifically, the distance between trajectory points is first calculated based on their positions, and then the velocity to be verified of each trajectory point is calculated using the corresponding time. If the velocity to be verified of a trajectory point is equal to the velocity of its corresponding trajectory point, the velocity of the trajectory point is determined to be correct; conversely, if the velocity to be verified of a trajectory point is not equal to the velocity of its corresponding trajectory point, the velocity of the trajectory point is determined to be incorrect.

[0074] Step S202: Perform a lateral controllability assessment on the trajectory to obtain the lateral controllability assessment results;

[0075] Specifically, the lateral controllability assessment mainly evaluates whether the trajectory conforms to the lateral dynamics of the controlled vehicle (i.e., the autonomous vehicle) and the physical constraints of the steering wheel.

[0076] The process specifically includes:

[0077] (1) Determine the maximum curvature in the curvature of the trajectory points, and determine whether the maximum curvature is greater than the preset curvature threshold, thereby obtaining the lateral controllability evaluation result of whether the maximum curvature is greater than the preset curvature threshold;

[0078] Specifically, the aforementioned preset curvature threshold is the reciprocal of the minimum turning radius of the autonomous vehicle. In actual control, the maximum curvature of the trajectory must not exceed the preset curvature threshold.

[0079] (2) Calculate the trajectory curvature change rate based on the curvature of the trajectory point and the time of the trajectory point, and determine whether the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold, thereby obtaining the lateral controllability assessment result of whether the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold.

[0080] Specifically, the maximum rotational speed of the steering wheel of an autonomous vehicle is physically limited, so the curvature of the trajectory must be continuous and the rate of change must meet the requirements; otherwise, the steering wheel control will deviate, resulting in reduced control tracking accuracy.

[0081] The rate of change of trajectory curvature is the difference in curvature between adjacent trajectory points divided by the time difference between these adjacent trajectory points, i.e.: dkappa = (kappa2 - kappa1) / t, where dkappa represents the rate of change of trajectory curvature, kappa2 represents the curvature of the second trajectory point among adjacent trajectory points, kappa1 represents the curvature of the first trajectory point among adjacent trajectory points, and t represents the time difference between these adjacent trajectory points.

[0082] The time difference between two trajectory points is related to the distance and speed between them: t = dis / vel; therefore, dkappa = (kappa2 - kappa1) * vel / dis. It can be seen that the rate of change of trajectory curvature is positively correlated with speed; the faster the speed, the greater the rate of change of trajectory curvature. (In actual calculation of dkappa, it can be calculated directly based on the curvature and time of the trajectory points without using speed information; this conversion is only to illustrate the positive correlation between the rate of change of trajectory curvature and speed.) The rate of change of trajectory curvature must not exceed the physical limit of the steering wheel rotation speed of the autonomous vehicle, which is the aforementioned preset threshold for the rate of change of trajectory curvature.

[0083] Step S203: Perform a longitudinal controllability assessment on the trajectory to obtain the longitudinal controllability assessment result;

[0084] Specifically, the longitudinal controllability assessment mainly evaluates whether the trajectory conforms to the longitudinal dynamics of the controlled vehicle and the physical limitations of the throttle and brakes.

[0085] The process specifically includes:

[0086] (1) Determine the maximum acceleration from the acceleration of the trajectory point and determine whether the maximum acceleration is greater than the preset acceleration threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum acceleration is greater than the preset acceleration threshold;

[0087] Specifically, the maximum acceleration must not exceed a preset acceleration threshold; otherwise, the trajectory will be uncontrollable.

[0088] (2) Determine the maximum deceleration in the acceleration of the trajectory point, and determine whether the maximum deceleration is greater than the preset deceleration threshold, so as to obtain the longitudinal controllability assessment result of whether the maximum deceleration is greater than the preset deceleration threshold;

[0089] Specifically, the maximum deceleration must not exceed a preset deceleration threshold; otherwise, the trajectory becomes uncontrollable. The maximum deceleration mentioned above is the positive value corresponding to the acceleration of the trajectory point that is negative and has the largest absolute value. The preset deceleration threshold mentioned above is also a positive number.

[0090] (3) Determine the maximum speed among the velocities of the trajectory points, and determine whether the maximum speed is greater than the preset speed threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum speed is greater than the preset speed threshold;

[0091] Specifically, the maximum speed must not exceed a preset speed threshold; otherwise, the trajectory will be uncontrollable.

[0092] (4) Determine whether the velocity change of adjacent trajectory points is greater than the preset velocity change threshold based on the velocity of the trajectory points, and then obtain the longitudinal controllability assessment result of whether the velocity change of adjacent trajectory points is greater than the preset velocity change threshold.

[0093] Specifically, if the change in velocity between adjacent trajectory points exceeds a preset velocity change threshold, it indicates that there is a sudden change in the velocity of the trajectory point, further indicating that the trajectory is uncontrollable (the velocity should be continuous without sudden changes).

[0094] (5) Determine whether the sign change frequency of the trajectory point's acceleration within a preset time period is greater than the preset frequency based on the acceleration and time of the trajectory point, and then obtain the longitudinal controllability assessment result of whether the sign change frequency of the trajectory point's acceleration within a preset time period is greater than the preset frequency.

[0095] Specifically, if the frequency of sign changes of the acceleration at the trajectory point within the preset time period is greater than the preset frequency, it indicates that the sign of the acceleration is frequently switching, further indicating that the trajectory is uncontrollable (the acceleration should be stable and the sign should not frequently switch).

[0096] Step S204: Determine whether the trajectory is controllable based on the correctness verification results, the horizontal controllability assessment results, and the vertical controllability assessment results.

[0097] Specifically, if the acceleration of the trajectory point in the correctness verification result is incorrect, or the curvature of the trajectory point is incorrect, or the velocity of the trajectory point is incorrect, or the maximum curvature in the lateral controllability assessment result is greater than the preset curvature threshold, or the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold, or the maximum acceleration in the longitudinal controllability assessment result is greater than the preset acceleration threshold, or the maximum deceleration is greater than the preset deceleration threshold, or the maximum velocity is greater than the preset velocity threshold, or the velocity change of adjacent trajectory points is greater than the preset velocity change threshold, or the sign change frequency of the trajectory point's acceleration within a preset time period is greater than the preset frequency, then the trajectory is determined to be uncontrollable.

[0098] Conversely, if the acceleration of the trajectory point is correct in the correctness verification result, and the curvature and velocity of the trajectory point are correct, and the maximum curvature in the lateral controllability assessment result is not greater than a preset curvature threshold, and the rate of change of trajectory curvature is not greater than a preset rate of change of trajectory curvature threshold, and the maximum acceleration in the longitudinal controllability assessment result is not greater than a preset acceleration threshold, and the maximum deceleration is not greater than a preset deceleration threshold, and the maximum velocity is not greater than a preset velocity threshold, and the velocity change of adjacent trajectory points is not greater than a preset velocity change threshold, and the frequency of sign changes in the acceleration of the trajectory point within a preset time period is not greater than a preset frequency, then the trajectory is determined to be controllable.

[0099] In an optional embodiment of the present invention, the trajectory uncontrollable report includes: information on whether the acceleration of the trajectory point is correct, information on whether the curvature of the trajectory point is correct, information on whether the velocity of the trajectory point is correct, information on whether the maximum curvature is greater than a preset curvature threshold, information on whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, information on whether the maximum acceleration is greater than a preset acceleration threshold, information on whether the maximum deceleration is greater than a preset deceleration threshold, information on whether the maximum velocity is greater than a preset velocity threshold, information on whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and information on whether the sign change frequency of the trajectory point's acceleration within a preset time period is greater than a preset frequency.

[0100] In the debugging method of the planning and control module of the present invention, the output trajectory of the planning module is separated from the control module and directly enters the controllability assessment. The cross-fusion problem is split into two independent problems, so as to achieve accurate problem positioning and accelerate the development of autonomous driving planning and control modules.

[0101] A trajectory controllability assessment is added between the planning and control modules to separate them. The quality of the planning module's output is determined by the controllability assessment, while the quality of the control module's output is evaluated based on the actual vehicle trajectory tracking results. This avoids the problems of repeated debugging, problem confusion, slow localization, and low efficiency in the conventional autonomous driving planning and control module debugging process.

[0102] Example 2:

[0103] This invention also provides a debugging device for a planning and control module. This debugging device is mainly used to execute the debugging method for the planning and control module provided in Embodiment 1 of this invention. The debugging device for the planning and control module provided in this invention will be described in detail below.

[0104] Figure 3 This is a schematic diagram of a debugging device for a control module according to an embodiment of the present invention, as shown below. Figure 3 As shown, the device mainly includes: an acquisition unit 10, a controllability evaluation unit 20, a transmission unit 30, and a generation unit 40, wherein:

[0105] The acquisition unit is used to acquire the trajectory planned by the planning module of the autonomous vehicle;

[0106] The controllability assessment unit is used to assess the controllability of the trajectory and determine whether the trajectory is controllable based on the assessment results.

[0107] The sending unit is used to send the trajectory to the control module if the trajectory is controllable, so that the control module can control the autonomous vehicle to track the trajectory based on the trajectory, and then evaluate and debug the control algorithm of the control module based on the trajectory tracking result.

[0108] The generation unit is used to generate a trajectory uncontrollable report if the trajectory is uncontrollable, so that relevant personnel can debug the planning algorithm of the planning module based on the trajectory uncontrollable report.

[0109] In this embodiment of the invention, a debugging device for a planning and control module is provided, comprising: acquiring the trajectory planned by the planning module of an autonomous vehicle; evaluating the controllability of the trajectory and determining whether the trajectory is controllable based on the evaluation result; if the trajectory is controllable, sending the trajectory to the control module so that the control module controls the autonomous vehicle to track the trajectory based on the trajectory, and then evaluating and debugging the control algorithm of the control module based on the trajectory tracking result; if the trajectory is uncontrollable, generating an uncontrollable trajectory report so that relevant personnel can debug the planning algorithm of the planning module based on the uncontrollable trajectory report. As described above, in the debugging device of the planning and control module of the present invention, after the planning module outputs the trajectory, it first evaluates the controllability of the trajectory to determine whether the trajectory is controllable. If the trajectory is controllable, it is then sent to the control module so that the control module controls the autonomous vehicle to track the trajectory. The obtained trajectory tracking result directly reflects whether there is a problem with the control algorithm of the control module. If there is a problem, the control algorithm is then specifically debugged. If the trajectory is uncontrollable, it indicates that there is a problem with the planning algorithm of the planning module. Then, the planning algorithm can be specifically debugged according to the uncontrollable trajectory report. The above debugging process greatly reduces the number of debugging times, improves the speed of problem location and the efficiency of debugging, and alleviates the technical problems of the existing planning and control module debugging process, which involves many debugging times, slow problem location and low efficiency.

[0110] Optionally, the controllability assessment unit is also used to: perform correctness verification on the trajectory and obtain correctness verification results; perform lateral controllability assessment on the trajectory and obtain lateral controllability assessment results; perform longitudinal controllability assessment on the trajectory and obtain longitudinal controllability assessment results; and determine whether the trajectory is controllable based on the correctness verification results, lateral controllability assessment results, and longitudinal controllability assessment results.

[0111] Optionally, the trajectory information includes: the position of the trajectory point, the orientation of the trajectory point, the curvature of the trajectory point, the velocity of the trajectory point, the acceleration of the trajectory point, and the time of the trajectory point. The controllability evaluation unit is also used to: calculate the acceleration to be verified of the trajectory point based on the velocity of the trajectory point and the corresponding time of the trajectory point, and determine whether the acceleration of the trajectory point is correct based on the acceleration to be verified and the corresponding acceleration of the trajectory point, thereby obtaining a correctness verification result for whether the acceleration of the trajectory point is correct; calculate the curvature to be verified of the trajectory point based on the orientation of the trajectory point and the distance between the corresponding trajectory points, and determine whether the curvature of the trajectory point is correct based on the curvature to be verified and the corresponding curvature of the trajectory point, thereby obtaining a correctness verification result for whether the curvature of the trajectory point is correct, wherein the distance between the trajectory points is calculated based on the position of the trajectory point; calculate the velocity to be verified of the trajectory point based on the position of the trajectory point and the corresponding time of the trajectory point, and determine whether the velocity of the trajectory point is correct based on the velocity to be verified and the corresponding velocity of the trajectory point, thereby obtaining a correctness verification result for whether the velocity of the trajectory point is correct.

[0112] Optionally, the controllability assessment unit is further configured to: determine the maximum curvature among the curvatures of the trajectory points, and determine whether the maximum curvature is greater than a preset curvature threshold, thereby obtaining a lateral controllability assessment result of whether the maximum curvature is greater than the preset curvature threshold; calculate the trajectory curvature change rate based on the curvature of the trajectory points and the time of the trajectory points, and determine whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, thereby obtaining a lateral controllability assessment result of whether the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold.

[0113] Optionally, the controllability assessment unit is further configured to: determine the maximum acceleration among the accelerations of the trajectory points, and determine whether the maximum acceleration is greater than a preset acceleration threshold, thereby obtaining a longitudinal controllability assessment result regarding whether the maximum acceleration is greater than the preset acceleration threshold; determine the maximum deceleration among the accelerations of the trajectory points, and determine whether the maximum deceleration is greater than a preset deceleration threshold, thereby obtaining a longitudinal controllability assessment result regarding whether the maximum deceleration is greater than the preset deceleration threshold; determine the maximum velocity among the velocities of the trajectory points, and determine whether the maximum velocity is greater than a preset velocity threshold, thereby obtaining a longitudinal controllability assessment result regarding whether the maximum velocity is greater than the preset velocity threshold; determine whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold based on the velocity of the trajectory points, thereby obtaining a longitudinal controllability assessment result regarding whether the velocity change of adjacent trajectory points is greater than the preset velocity change threshold; and determine whether the sign change frequency of the acceleration of the trajectory points within a preset time period is greater than a preset frequency based on the acceleration of the trajectory points and the time of the trajectory points, thereby obtaining a longitudinal controllability assessment result regarding whether the sign change frequency of the acceleration of the trajectory points within a preset time period is greater than the preset frequency.

[0114] Optionally, the controllability assessment unit is further configured to: determine that the trajectory is uncontrollable if the acceleration of the trajectory point in the correctness verification result is incorrect, or the curvature of the trajectory point is incorrect, or the velocity of the trajectory point is incorrect, or the maximum curvature in the lateral controllability assessment result is greater than a preset curvature threshold, or the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, or the maximum acceleration in the longitudinal controllability assessment result is greater than a preset acceleration threshold, or the maximum deceleration is greater than a preset deceleration threshold, or the maximum velocity is greater than a preset velocity threshold, or the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, or the sign change frequency of the trajectory point's acceleration within a preset time period is greater than a preset frequency.

[0115] Optionally, the uncontrollable trajectory report includes: information on whether the acceleration of the trajectory point is correct, information on whether the curvature of the trajectory point is correct, information on whether the velocity of the trajectory point is correct, information on whether the maximum curvature is greater than a preset curvature threshold, information on whether the rate of change of trajectory curvature is greater than a preset trajectory curvature rate of change threshold, information on whether the maximum acceleration is greater than a preset acceleration threshold, information on whether the maximum deceleration is greater than a preset deceleration threshold, information on whether the maximum velocity is greater than a preset velocity threshold, information on whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and information on whether the frequency of sign change of the trajectory point's acceleration within a preset time period is greater than a preset frequency.

[0116] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0117] like Figure 4 As shown in the embodiment of this application, an electronic device 600 includes a processor 601, a memory 602, and a bus. The memory 602 stores machine-readable instructions that can be executed by the processor 601. When the electronic device is running, the processor 601 communicates with the memory 602 via the bus. The processor 601 executes the machine-readable instructions to perform the steps of the debugging and determination method of the above-described control module.

[0118] Specifically, the memory 602 and processor 601 mentioned above can be general-purpose memory and processor, without any specific limitations. When the processor 601 runs the computer program stored in the memory 602, it can execute the debugging and determination method of the above-mentioned control module.

[0119] The processor 601 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 601 or by instructions in software form. The processor 601 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may 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, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 602, and processor 601 reads the information from memory 602 and, in conjunction with its hardware, completes the steps of the above method.

[0120] Corresponding to the debugging and determination method of the above-mentioned control module, this application embodiment also provides a computer-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and run by a processor, the machine-executable instructions cause the processor to perform the steps of the debugging and determination method of the above-mentioned control module.

[0121] The debugging and determination device for the control module provided in this application embodiment can be specific hardware on the device or software or firmware installed on the device. The implementation principle and technical effects of the device provided in this application embodiment are the same as those in the foregoing method embodiments. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the foregoing method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0122] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0123] For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0124] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0125] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0126] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the vehicle marking method described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0127] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0128] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A debugging method for a control module, characterized in that, include: Obtain the trajectory planned by the planning module of the autonomous vehicle; The controllability of the trajectory is assessed, and the controllability of the trajectory is determined based on the assessment results. If the trajectory is controllable, the trajectory is sent to the control module so that the control module controls the autonomous vehicle to perform trajectory tracking based on the trajectory, and then evaluates and debugs the control algorithm of the control module based on the trajectory tracking result; If the trajectory is uncontrollable, an uncontrollable trajectory report is generated so that relevant personnel can debug the planning algorithm of the planning module based on the uncontrollable trajectory report; The process of assessing the controllability of the trajectory and determining whether the trajectory is controllable based on the assessment results includes: The trajectory is verified for correctness, and the correctness verification result is obtained; The lateral controllability of the trajectory is evaluated to obtain the lateral controllability evaluation results; The longitudinal controllability of the trajectory is evaluated to obtain the longitudinal controllability evaluation results; The controllability of the trajectory is determined based on the correctness verification results, the lateral controllability assessment results, and the longitudinal controllability assessment results. The uncontrollable trajectory report includes: information on whether the acceleration of the trajectory point is correct, information on whether the curvature of the trajectory point is correct, information on whether the velocity of the trajectory point is correct, information on whether the maximum curvature is greater than a preset curvature threshold, information on whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, information on whether the maximum acceleration is greater than a preset acceleration threshold, information on whether the maximum deceleration is greater than a preset deceleration threshold, information on whether the maximum velocity is greater than a preset velocity threshold, information on whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and information on whether the sign change frequency of the acceleration of the trajectory point within a preset time period is greater than a preset frequency.

2. The method according to claim 1, characterized in that, The trajectory information includes: the position of the trajectory point, the orientation of the trajectory point, the curvature of the trajectory point, the velocity of the trajectory point, the acceleration of the trajectory point, and the time of the trajectory point. The trajectory is then subjected to a correctness check to obtain a correctness check result, including: The acceleration to be verified of the trajectory point is calculated based on the velocity of the trajectory point and the corresponding time of the trajectory point. The correctness of the acceleration of the trajectory point is determined based on the acceleration to be verified of the trajectory point and the acceleration of the corresponding trajectory point, thereby obtaining the correctness verification result of whether the acceleration of the trajectory point is correct. The curvature to be verified of the trajectory point is calculated based on the orientation of the trajectory point and the distance between the corresponding trajectory points. The curvature to be verified of the trajectory point and the curvature of the corresponding trajectory point are used to determine whether the curvature of the trajectory point is correct, thereby obtaining the correctness verification result of whether the curvature of the trajectory point is correct. The distance between the trajectory points is calculated based on the position of the trajectory points. The velocity to be verified of the trajectory point is calculated based on the position of the trajectory point and the time of the corresponding trajectory point. The correctness of the velocity of the trajectory point is determined based on the velocity to be verified of the trajectory point and the velocity of the corresponding trajectory point, thereby obtaining the correctness verification result of the velocity of the trajectory point.

3. The method according to claim 2, characterized in that, The lateral controllability of the trajectory is evaluated to obtain the lateral controllability evaluation results, including: The maximum curvature is determined among the curvatures of the trajectory points, and it is determined whether the maximum curvature is greater than a preset curvature threshold, thereby obtaining the lateral controllability evaluation result of whether the maximum curvature is greater than the preset curvature threshold; The trajectory curvature change rate is calculated based on the curvature of the trajectory point and the time of the trajectory point, and it is determined whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, thereby obtaining the lateral controllability assessment result of whether the trajectory curvature change rate is greater than the preset trajectory curvature change rate threshold.

4. The method according to claim 3, characterized in that, The longitudinal controllability of the trajectory is evaluated to obtain the longitudinal controllability evaluation results, including: The maximum acceleration is determined from the accelerations at the trajectory points, and it is determined whether the maximum acceleration is greater than a preset acceleration threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum acceleration is greater than the preset acceleration threshold; The maximum deceleration is determined from the acceleration of the trajectory point, and it is determined whether the maximum deceleration is greater than a preset deceleration threshold, thereby obtaining the longitudinal controllability evaluation result of whether the maximum deceleration is greater than the preset deceleration threshold; The maximum speed is determined from the speeds of the trajectory points, and it is determined whether the maximum speed is greater than a preset speed threshold, thereby obtaining the longitudinal controllability assessment result of whether the maximum speed is greater than the preset speed threshold; Based on the velocity of the trajectory point, determine whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and then obtain the longitudinal controllability assessment result of whether the velocity change of adjacent trajectory points is greater than the preset velocity change threshold. Based on the acceleration of the trajectory point and the time of the trajectory point, determine whether the frequency of sign change of the acceleration of the trajectory point within a preset time period is greater than a preset frequency, and then obtain the longitudinal controllability assessment result of whether the frequency of sign change of the acceleration of the trajectory point within a preset time period is greater than the preset frequency.

5. The method according to claim 4, characterized in that, Determining whether the trajectory is controllable based on the correctness verification result, the lateral controllability assessment result, and the longitudinal controllability assessment result includes: If the acceleration of the trajectory point in the correctness verification result is incorrect, or the curvature of the trajectory point is incorrect, or the velocity of the trajectory point is incorrect, or the maximum curvature in the lateral controllability assessment result is greater than a preset curvature threshold, or the rate of change of trajectory curvature is greater than a preset rate of change of trajectory curvature threshold, or the maximum acceleration in the longitudinal controllability assessment result is greater than a preset acceleration threshold, or the maximum deceleration is greater than a preset deceleration threshold, or the maximum velocity is greater than a preset velocity threshold, or the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, or the sign change frequency of the acceleration of the trajectory point within the preset time period is greater than a preset frequency, then the trajectory is determined to be uncontrollable.

6. A debugging device for a control module, characterized in that, include: The acquisition unit is used to acquire the trajectory planned by the planning module of the autonomous vehicle; A controllability assessment unit is used to assess the controllability of the trajectory and determine whether the trajectory is controllable based on the assessment results; The sending unit is used to send the trajectory to the control module if the trajectory is controllable, so that the control module controls the autonomous vehicle to perform trajectory tracking based on the trajectory, and then evaluates and debugs the control algorithm of the control module based on the trajectory tracking result; A generation unit is used to generate a trajectory uncontrollable report if the trajectory is uncontrollable, so that relevant personnel can debug the planning algorithm of the planning module based on the trajectory uncontrollable report; The controllability assessment unit is further configured to: perform a correctness check on the trajectory to obtain a correctness check result; perform a lateral controllability assessment on the trajectory to obtain a lateral controllability assessment result; perform a longitudinal controllability assessment on the trajectory to obtain a longitudinal controllability assessment result; and determine whether the trajectory is controllable based on the correctness check result, the lateral controllability assessment result, and the longitudinal controllability assessment result. The uncontrollable trajectory report includes: information on whether the acceleration of the trajectory point is correct, information on whether the curvature of the trajectory point is correct, information on whether the velocity of the trajectory point is correct, information on whether the maximum curvature is greater than a preset curvature threshold, information on whether the trajectory curvature change rate is greater than a preset trajectory curvature change rate threshold, information on whether the maximum acceleration is greater than a preset acceleration threshold, information on whether the maximum deceleration is greater than a preset deceleration threshold, information on whether the maximum velocity is greater than a preset velocity threshold, information on whether the velocity change of adjacent trajectory points is greater than a preset velocity change threshold, and information on whether the sign change frequency of the acceleration of the trajectory point within a preset time period is greater than a preset frequency.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores machine-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 5.

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