Method and device for controlling vehicle driving

Abstract

The present invention discloses a method and apparatus for controlling vehicle travel, relating to the field of autonomous driving. A specific implementation of the method includes: determining a curvature jump point based on the curvature value of each trajectory point in a planned trajectory; for each curvature jump point, selecting trajectory points located in front of and behind the curvature jump point from the planned trajectory as auxiliary points for the curvature jump point; calculating a corrected curvature value for each curvature jump point based on the position information of each curvature jump point and the position information of the auxiliary points of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point; and controlling vehicle travel based on the curvature value of each trajectory point in the corrected planned trajectory. This implementation not only ensures steering stability during vehicle travel, avoids the risk of collision, and improves travel safety, but also reduces computational complexity and enhances operational efficiency.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method and device for controlling vehicle driving. Background Art

[0002] In recent years, the rapid development of internet technology has revolutionized the automotive industry. Smart cars, a future trend in automotive technology, integrate numerous technologies, including automatic control, architecture, artificial intelligence, and visual computing. They use onboard sensor systems to perceive the road environment, plan driving routes, and control the vehicle to its intended destination. The implementation of smart cars primarily involves four modules: positioning, perception, planning, and control. The control module's lateral control is primarily based on the reference curvature output by the planning module. However, in practice, the curvature output by the planning module exhibits discontinuities and jumps. Existing technologies either directly calculate control errors based on the planning module's current, unprocessed, discontinuous reference curvature; or employ curve algorithms to smooth the planned path, making the reference curvature continuous, before calculating the control error.

[0003] In the process of implementing the present invention, the inventors found that the prior art has the following problems:

[0004] The method of controlling vehicle driving directly through the discontinuous reference curvature output by the planning module will cause the vehicle to suddenly turn during driving, posing a potential risk of collision for high-speed vehicles; the method of using curve algorithms for smoothing, although the continuity of the reference curvature of the planned path is guaranteed, has high computational complexity and the operating efficiency cannot meet the requirements well. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a method and device for controlling vehicle driving. Based on a determined curvature jump point, auxiliary points in front of and behind the curvature jump point are selected respectively. According to the position information of each curvature jump point and its auxiliary point, the corrected curvature value of each curvature jump point is calculated to perform curvature correction, and the vehicle driving is controlled according to the corrected curvature value. This not only ensures the steering stability of the vehicle driving, avoids the risk of collision, and improves driving safety, but also reduces the computational complexity and improves the operating efficiency.

[0006] To achieve the above object, according to one aspect of an embodiment of the present invention, a method for controlling vehicle driving is provided, comprising:

[0007] Determine the curvature jump point according to the curvature value of each trajectory point in the planned trajectory;

[0008] For each curvature jump point, trajectory points located before and after the curvature jump point are selected from the planned trajectory as auxiliary points of the curvature jump point;

[0009] Calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point;

[0010] The vehicle is controlled according to the curvature value of each trajectory point in the corrected planned trajectory.

[0011] Optionally, the curvature jump point is determined according to the curvature value of each trajectory point in the planned trajectory, including: calculating the curvature difference between two adjacent trajectory points in the planned trajectory according to the curvature value of each trajectory point in the planned trajectory; when the curvature difference is greater than a preset jump threshold, the trajectory point with the larger curvature value among the two adjacent trajectory points is used as the curvature jump point.

[0012] Optionally, trajectory points located in front of and behind the curvature jump point are selected from the planned trajectory as auxiliary points of the curvature jump point, including: calculating the first distance and the second distance of the auxiliary point to be selected relative to the curvature jump point according to the vehicle's driving speed and the preset first time length and second time length; selecting a trajectory point located in front of the curvature jump point and at a distance of the first distance from the curvature jump point from the planned trajectory as the first auxiliary point of the curvature jump point; selecting a trajectory point located behind the curvature jump point and at a distance of the second distance from the curvature jump point from the planned trajectory as the second auxiliary point of the curvature jump point.

[0013] Optionally, the first duration and the second duration are equal.

[0014] Optionally, based on the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, the corrected curvature value of each curvature jump point is calculated, including: for each curvature jump point, a circle is determined by the curvature jump point and the auxiliary point of the curvature jump point; based on the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, the curvature value of the circle is calculated, and the curvature value of the circle is used as the corrected curvature value of the curvature jump point.

[0015] Optionally, the corrected curvature value of each curvature jump point is calculated based on the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, including: for each curvature jump point, according to the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, the straight-line distance between the curvature jump point and each of the auxiliary points and the straight-line distance between the auxiliary points are obtained; using the cosine theorem, according to the angle formed by the curvature jump point and each of the auxiliary points, and the straight-line distance between the curvature jump point and each of the auxiliary points, and the straight-line distance between the auxiliary points, the corrected curvature value of the curvature jump point is calculated.

[0016] According to a second aspect of an embodiment of the present invention, there is provided an apparatus for controlling vehicle travel, comprising:

[0017] A jump point acquisition module is used to determine the curvature jump point according to the curvature value of each trajectory point in the planned trajectory;

[0018] an auxiliary point acquisition module, configured to select, for each curvature jump point, trajectory points located before and after the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point;

[0019] a curvature correction module, configured to calculate a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and use the corrected curvature value to correct the curvature value of the curvature jump point;

[0020] The driving control module is used to control the vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory.

[0021] Optionally, the jump point acquisition module is further used to: calculate the curvature difference between two adjacent trajectory points in the planned trajectory according to the curvature value of each trajectory point in the planned trajectory; when the curvature difference is greater than a preset jump threshold, the trajectory point with the larger curvature value among the two adjacent trajectory points is used as the curvature jump point.

[0022] According to a third aspect of an embodiment of the present invention, there is provided an electronic device for controlling vehicle driving, characterized by comprising:

[0023] one or more processors;

[0024] a storage device for storing one or more programs,

[0025] When the one or more programs are executed by the one or more processors, the one or more processors implement the method provided in the first aspect of the embodiment of the present invention.

[0026] According to a fourth aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the method provided by the first aspect of the embodiment of the present invention is implemented.

[0027] An embodiment of the invention has the following advantages or beneficial effects: determining the curvature jump point according to the curvature value of each trajectory point in the planned trajectory; for each curvature jump point, selecting trajectory points located on both sides of the curvature jump point in front and behind the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point; calculating the corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point; a technical solution for controlling vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory realizes a technical solution for controlling vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory, which realizes the selection of auxiliary points on the front and rear sides of the curvature jump point based on the determined curvature jump point, and calculating the corrected curvature value of each curvature jump point according to the position information of each curvature jump point and its auxiliary point, thereby performing curvature correction, and controlling vehicle driving according to the corrected curvature value, which not only ensures the steering stability of the vehicle driving, avoids the risk of collision, and improves driving safety, but also reduces the computational complexity and improves the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0029] Figure 1 is a schematic diagram of the main process of a method for controlling vehicle travel according to an embodiment of the present invention;

[0030] Figure 2 Schematic diagram of the auxiliary point position of the curvature jump point according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of main modules of a device for controlling vehicle travel according to an embodiment of the present invention;

[0032] Figure 4 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

[0033] Figure 5 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0035] Currently, in the driving control scenario of smart cars, the existing technology directly controls the vehicle's driving by using the discontinuous reference curvature output by the planning module, which can cause the vehicle to suddenly turn during driving, posing a potential risk of collision for high-speed vehicles. The method of using curve algorithms for smoothing, although ensuring the continuity of the reference curvature of the planned path, has high computational complexity and cannot meet the operating efficiency requirements well.

[0036] In order to solve the above-mentioned problems existing in the prior art, the present invention proposes a method for controlling vehicle driving. Based on a determined curvature jump point, auxiliary points in front of and behind the curvature jump point are selected respectively. According to the position information of each curvature jump point and its auxiliary point, the corrected curvature value of each curvature jump point is calculated to perform curvature correction, and the vehicle driving is controlled according to the corrected curvature value. This not only ensures the steering stability of the vehicle driving, avoids the risk of collision, and improves driving safety, but also reduces the calculation complexity and improves the operating efficiency.

[0037] Figure 1 FIG. 1 is a schematic diagram of the main process of the method for controlling vehicle driving according to an embodiment of the present invention. Figure 1 As shown, the method for controlling vehicle driving according to the embodiment of the present invention includes the following steps S101 to S104.

[0038] Step S101: determining a curvature jump point according to the curvature value of each trajectory point in the planned trajectory.

[0039] Specifically, smart cars primarily consist of four modules: positioning, perception, planning, and control. The planning module is primarily responsible for planning the vehicle's trajectory and sending it to the control module. The control module calculates the vehicle's driving deviation based on the planned trajectory and the actual vehicle trajectory, and controls the vehicle's driving state. The planned trajectory output by the planning module includes curvature information for the trajectory points. These points inevitably have discontinuities and sudden changes in curvature. Therefore, it is necessary to identify the trajectory points where the curvature changes within the planned trajectory output by the planning module for subsequent curvature correction.

[0040] According to one embodiment of the present invention, a curvature jump point is determined based on the curvature value of each trajectory point in a planned trajectory, including: calculating the curvature difference between two adjacent trajectory points in the planned trajectory based on the curvature value of each trajectory point in the planned trajectory; when the curvature difference is greater than a preset jump threshold, the trajectory point with the larger curvature value between the two adjacent trajectory points is used as the curvature jump point.

[0041] Specifically, the trajectory information output by the planning module of the smart car includes trajectory points and corresponding curvature values. After receiving the planned trajectory output by the planning module, the control module traverses each trajectory point in the trajectory and calculates the curvature difference between two adjacent trajectory points in the planned trajectory; when the curvature difference is greater than the preset jump threshold, the trajectory point with the larger curvature value between the two adjacent trajectory points corresponding to the curvature difference is the curvature jump point. Based on this method, all curvature jump points in the planned trajectory can be obtained.

[0042] Step S102: For each curvature jump point, select trajectory points located before and after the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point.

[0043] Specifically, in order to avoid the interference problem caused by curvature discontinuity and jump in the planned trajectory to the control module, the curvature jump point is processed twice. The trajectory points located in front and behind the curvature jump point in the planned trajectory are used as auxiliary points. The curvature jump point and the auxiliary points corresponding to the curvature jump point are taken as a whole to calculate the curvature of the curvature jump point, so as to avoid the curvature discontinuity problem in the planned trajectory to the greatest extent.

[0044] According to one embodiment of the present invention, trajectory points located in front of and behind the curvature jump point are respectively selected from the planned trajectory as auxiliary points of the curvature jump point, including: calculating the first distance and the second distance of the auxiliary point to be selected relative to the curvature jump point according to the vehicle's driving speed and the preset first time length and second time length; selecting a trajectory point located in front of the curvature jump point and at a distance of the first distance from the curvature jump point from the planned trajectory as the first auxiliary point of the curvature jump point; selecting a trajectory point located behind the curvature jump point and at a distance of the second distance from the curvature jump point from the planned trajectory as the second auxiliary point of the curvature jump point.

[0045] Specifically, when determining the auxiliary point of the curvature jump point, the vehicle control module needs to make adaptive adjustments based on the vehicle's speed. When the vehicle speed is fast, the control range needs to be expanded to make a prejudgment in advance. When the vehicle speed is slow, the control range can be narrowed to focus only on the vehicle's driving status within the current limited range. Accordingly, based on the vehicle's speed and a preset first time length parameter and a second time length parameter, the product of the driving speed and the first time length parameter is calculated to obtain a first distance to the curvature jump point, and the product of the driving speed and the second time length parameter is calculated to obtain a second distance to the curvature jump point. According to the first distance, a trajectory point located before the curvature jump point and at a distance from the curvature jump point equal to the first distance is selected from the drawn trajectory as a first auxiliary point. According to the second distance, a trajectory point located after the curvature jump point and at a distance from the curvature jump point equal to the second distance is selected from the drawn trajectory as a second auxiliary point.

[0046] Figure 2 This is a schematic diagram of the auxiliary point position of the curvature jump point of an embodiment of the present invention. In the figure, the vehicle is traveling in a planned trajectory. The path points in the planned trajectory have their own numbers, and each trajectory point has a curvature value. According to the curvature values ​​of adjacent trajectory points, the curvature difference between two adjacent trajectory points can be obtained, and then compared with the preset jump threshold to obtain a certain trajectory point P in the planned trajectory as the curvature jump point; according to the current vehicle speed v, and the preset first time length parameter t1 and second time length parameter t2, the first distance s1 is calculated as: s1 = v × t1, and the second distance s2 is: s2 = v × t2; according to the first distance s1 and the second distance s2, with the curvature jump point P as the reference point, from the planned trajectory, the auxiliary point P1 located at a distance s1 in front of the curvature jump point P and the auxiliary point P2 located at a distance s2 behind the curvature jump point P are respectively selected.

[0047] According to another embodiment of the present invention, the first duration and the second duration are equal.

[0048] Specifically, when calculating the first distance and the second distance of the curvature jump point based on the vehicle's driving speed, the first time length parameter and the second time length parameter can be set to the same parameter, for example, t1=t2=0.3 seconds. In the above example, s1=s2=v×0.3, that is, with the curvature jump point as the center, the trajectory points with equal distances before and after the curvature jump point in the planned trajectory are selected as auxiliary points of the curvature jump point. This not only satisfies the selection of auxiliary points of the curvature jump point, but also simplifies the subsequent calculation of the corrected curvature, reducing the calculation complexity.

[0049] Step S103 : calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point.

[0050] Specifically, according to the first distance and second distance of the curvature jump point determined above, given that the auxiliary point is selected from the planned trajectory, the position information of the auxiliary point of the curvature jump point can be obtained according to the first distance and the second distance. The position information of the curvature jump point and the position information of the corresponding auxiliary point are taken as a whole. The calculated curvature value is the corrected curvature value of the curvature jump point, and the corrected curvature value is used to correct the curvature value of the curvature jump point.

[0051] According to one embodiment of the present invention, based on the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, the corrected curvature value of each curvature jump point is calculated, including: for each curvature jump point, a circle is determined by the curvature jump point and the auxiliary point of the curvature jump point; based on the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, the curvature value of the circle is calculated, and the curvature value of the circle is used as the corrected curvature value of the curvature jump point.

[0052] Specifically, the three points are composed of the above-mentioned curvature jump point and the two auxiliary points on both sides of the curvature jump point. Given that the three points can determine a circle, the curvature jump point and the auxiliary point of the curvature jump point are used to determine a circle; according to the position information of the curvature jump point and the auxiliary point of the curvature jump point, the curvature value of the circle is calculated, and the curvature value of this circle is the corrected curvature value of the curvature jump point.

[0053] According to another embodiment of the present invention, the corrected curvature value of each curvature jump point is calculated based on the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, including: for each curvature jump point, according to the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, the straight-line distance between the curvature jump point and each of the auxiliary points and the straight-line distance between the auxiliary points are obtained; using the cosine theorem, according to the angle formed by the curvature jump point and each of the auxiliary points, the straight-line distance between the curvature jump point and each of the auxiliary points, and the straight-line distance between the auxiliary points, the corrected curvature value of the curvature jump point is calculated.

[0054] Specifically, for each curvature jump point in the planned trajectory, the straight-line distance between the curvature jump point and each auxiliary point and the straight-line distance between two auxiliary points can be calculated based on the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point. For example, the position information of the curvature jump point P is set to (Px, Py), the position information of the auxiliary point P1 in front of P is (P1.x, P1.y), and the position information of the auxiliary point P2 behind P is (P2.x, P2.y). Then the straight-line distance between P and P1 is The straight-line distance between P and P2 is The straight-line distance between P2 and P1 is Based on the angle between the line connecting the curvature jump point P and the auxiliary point P1 and the line connecting the curvature jump point P and the auxiliary point P2, as well as the straight-line distance between the curvature jump point and each auxiliary point and the straight-line distance between the auxiliary points, the curvature of the three discrete points is calculated using the cosine theorem. The final corrected curvature value new_curvature of the curvature jump point P is obtained as:

[0055]

[0056] Where D1 represents the straight-line distance between P and P1, D2 represents the straight-line distance between P and P2, and D represents the straight-line distance between P1 and P2:

[0057]

[0058]

[0059]

[0060] The curvature value of the curvature jump point is corrected using the corrected curvature value of the curvature jump point. Each curvature jump point is processed according to the above process to ensure the curvature continuity of the planned trajectory.

[0061] Step S104: Control the vehicle's travel according to the curvature value of each trajectory point in the corrected planned trajectory.

[0062] Specifically, the vehicle control module calculates the control error based on the curvature value of each trajectory point in the corrected planned trajectory and the actual trajectory of the vehicle, and issues control instructions through the control algorithm to control the vehicle's driving.

[0063] The above-mentioned method for controlling vehicle driving can avoid the problem of discontinuous curvature and jump of trajectory points in the planned trajectory, making the vehicle driving more stable and improving the safety and reliability of the vehicle during driving.

[0064] Figure 3FIG. 1 is a schematic diagram of the main modules of the device for controlling vehicle travel according to an embodiment of the present invention. Figure 3 As shown, the device 300 for controlling vehicle driving mainly includes a jump point acquisition module 301 , an auxiliary point acquisition module 302 , a curvature correction module 303 and a driving control module 304 .

[0065] A jump point acquisition module 301 is used to determine a curvature jump point according to the curvature value of each trajectory point in the planned trajectory;

[0066] An auxiliary point acquisition module 302 is configured to select, for each curvature jump point, trajectory points located before and after the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point;

[0067] a curvature correction module 303 for calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point;

[0068] The driving control module 304 is used to control the vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory.

[0069] Exemplarily, the jump point acquisition module 301 is further used to: calculate the curvature difference between two adjacent trajectory points in the planned trajectory based on the curvature value of each trajectory point in the planned trajectory; when the curvature difference is greater than a preset jump threshold, the trajectory point with the larger curvature value among the two adjacent trajectory points is used as the curvature jump point.

[0070] Exemplarily, the auxiliary point acquisition module 302 is also used to: calculate the first distance and the second distance of the auxiliary point to be selected relative to the curvature jump point according to the vehicle's driving speed and the preset first time length and second time length respectively; select a trajectory point from the planned trajectory that is located before the curvature jump point and has a distance of the first distance from the curvature jump point as the first auxiliary point of the curvature jump point; select a trajectory point from the planned trajectory that is located after the curvature jump point and has a distance of the second distance from the curvature jump point as the second auxiliary point of the curvature jump point.

[0071] Exemplarily, the first duration and the second duration are equal.

[0072] Exemplarily, the curvature correction module 303 is also used to: for each curvature jump point, determine a circle by the curvature jump point and the auxiliary point of the curvature jump point; calculate the curvature value of the circle according to the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, and use the curvature value of the circle as the corrected curvature value of the curvature jump point.

[0073] Exemplarily, the curvature correction module 303 can also be used to: for each curvature jump point, obtain the straight-line distance between the curvature jump point and each of the auxiliary points, as well as the straight-line distance between the auxiliary points, based on the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point; use the cosine theorem to calculate the corrected curvature value of the curvature jump point based on the angle formed by the curvature jump point and each of the auxiliary points, as well as the straight-line distance between the curvature jump point and each of the auxiliary points, as well as the straight-line distance between the auxiliary points.

[0074] Figure 4 is an exemplary system architecture diagram to which embodiments of the present invention can be applied.

[0075] like Figure 4 As shown, system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. Network 404 is used to provide a medium for communication links between terminal devices 401, 402, 403 and server 405. Network 404 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0076] Users can use terminal devices 401, 402, 403 to interact with server 405 via network 404 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 401, 402, 403, such as vehicle driving control applications (only as an example).

[0077] The terminal devices 401 , 402 , and 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers.

[0078] Server 405 may be a server that provides various services, such as a background management server (for example only) that supports users controlling vehicle travel using terminal devices 401, 402, and 403. The background management server may determine a curvature jump point based on the curvature value of each trajectory point in the planned trajectory; for each curvature jump point, the trajectory points located in front of and behind the curvature jump point are selected from the planned trajectory as auxiliary points of the curvature jump point; based on the position information of each curvature jump point and the position information of the auxiliary points of the curvature jump point, the corrected curvature value of each curvature jump point is calculated, and the curvature value of the curvature jump point is corrected using the corrected curvature value; the vehicle travel is controlled based on the corrected curvature value of each trajectory point in the planned trajectory, and the processing results (for example, corrected curvature data, etc. - for example only) are fed back to the terminal device.

[0079] It should be noted that the method for controlling vehicle driving provided in the embodiment of the present invention is generally executed by the server 405 , and accordingly, the device for controlling vehicle driving is generally provided in the server 405 .

[0080] It should be understood that Figure 4 The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0081] Reference below Figure 5 , which shows a schematic structural diagram of a computer system 500 of a terminal device or server suitable for implementing an embodiment of the present invention. Figure 5 The terminal device or server shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0082] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage unit 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the system 500 are also stored in the RAM 503. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0083] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[0084] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from a removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are performed.

[0085] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical cable, RF, or any suitable combination thereof.

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0087] The units involved in the embodiments of the present invention may be implemented in software or hardware. The units described may also be provided in a processor. For example, the processor may include a jump point acquisition module, an auxiliary point acquisition module, a curvature correction module, and a driving control module.

[0088] Among them, the names of these modules do not constitute a limitation on the modules themselves in some cases. For example, the jump point acquisition module can also be described as "a module for determining the curvature jump point according to the curvature value of each trajectory point in the planned trajectory."

[0089] On the other hand, the present invention further provides a computer-readable medium, which may be included in the device described in the embodiment, or may exist independently and not be incorporated into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the device, the device includes: determining a curvature jump point based on the curvature value of each trajectory point in the planned trajectory; for each curvature jump point, selecting trajectory points located on both sides of the curvature jump point in the planned trajectory as auxiliary points of the curvature jump point; calculating a corrected curvature value for each curvature jump point based on the position information of each curvature jump point and the position information of the auxiliary points of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point; and controlling vehicle driving based on the corrected curvature value of each trajectory point in the planned trajectory.

[0090] According to the technical solution of the embodiment of the present invention, there are the following advantages or beneficial effects: by determining the curvature jump point according to the curvature value of each trajectory point in the planned trajectory; for each curvature jump point, respectively selecting trajectory points located in front of and behind the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point; calculating the corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point; the technical solution of controlling vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory realizes the technical solution of controlling vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory, realizing the technical solution of selecting auxiliary points in front of and behind the curvature jump point based on the determined curvature jump point, calculating the corrected curvature value of each curvature jump point according to the position information of each curvature jump point and its auxiliary point, and performing correction based on this, and controlling vehicle driving according to the corrected curvature value, which not only ensures the steering stability of the vehicle driving, avoids the risk of collision, and improves driving safety, but also reduces the computational complexity and improves the operating efficiency.

[0091] The specific embodiments described herein do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Determine the curvature jump point according to the curvature value of each trajectory point in the planned trajectory; For each curvature jump point, trajectory points located before and after the curvature jump point are selected from the planned trajectory as auxiliary points of the curvature jump point; Wherein, the trajectory points located in front of and behind the curvature jump point are respectively selected from the planned trajectory as auxiliary points of the curvature jump point, including: calculating a first distance and a second distance of the auxiliary point to be selected relative to the curvature jump point according to the vehicle's driving speed and a preset first time duration and a preset second time duration; selecting a trajectory point located in front of the curvature jump point and at a distance of the first distance from the curvature jump point from the planned trajectory as the first auxiliary point of the curvature jump point; selecting a trajectory point located in rear of the curvature jump point and at a distance of the second distance from the curvature jump point from the planned trajectory as the second auxiliary point of the curvature jump point; Calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and using the corrected curvature value to correct the curvature value of the curvature jump point; The vehicle is controlled according to the curvature value of each trajectory point in the corrected planned trajectory.

2. The method according to claim 1, characterized in that The curvature jump point is determined according to the curvature value of each trajectory point in the planned trajectory, including: Calculating the curvature difference between two adjacent trajectory points in the planned trajectory according to the curvature value of each trajectory point in the planned trajectory; When the curvature difference is greater than a preset jump threshold, the trajectory point with a larger curvature value among the two adjacent trajectory points is used as the curvature jump point.

3. The method according to claim 1, characterized in that The first duration and the second duration are equal.

4. The method according to claim 1, wherein Calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, including: For each curvature jump point, a circle is determined by the curvature jump point and auxiliary points of the curvature jump point; The curvature value of the circle is calculated according to the position information of the curvature jump point and the position information of the auxiliary point of the curvature jump point, and the curvature value of the circle is used as the corrected curvature value of the curvature jump point.

5. The method according to claim 1, wherein Calculating a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, including: For each curvature jump point, according to the position information of the curvature jump point and the position information of the auxiliary points of the curvature jump point, obtain the straight-line distance between the curvature jump point and each of the auxiliary points and the straight-line distance between the auxiliary points; The cosine theorem is used to calculate the corrected curvature value of the curvature jump point according to the angle formed by the curvature jump point and each of the auxiliary points, the straight-line distance between the curvature jump point and each of the auxiliary points, and the straight-line distance between the auxiliary points.

6. A device for controlling vehicle movement, characterized in that: include: A jump point acquisition module is used to determine the curvature jump point according to the curvature value of each trajectory point in the planned trajectory; an auxiliary point acquisition module, configured to select, for each curvature jump point, trajectory points located before and after the curvature jump point from the planned trajectory as auxiliary points of the curvature jump point; The auxiliary point acquisition module is further configured to calculate, based on the vehicle's driving speed and a preset first time duration and a preset second time duration, a first distance and a second distance of the auxiliary point to be selected relative to the curvature jump point, respectively; and select, from the planned trajectory, a trajectory point that is located before the curvature jump point and is at a distance of the first distance from the curvature jump point as a first auxiliary point of the curvature jump point; Selecting a trajectory point from the planned trajectory that is located after the curvature jump point and is at a second distance from the curvature jump point as a second auxiliary point of the curvature jump point; a curvature correction module, configured to calculate a corrected curvature value of each curvature jump point according to the position information of each curvature jump point and the position information of the auxiliary point of the curvature jump point, and use the corrected curvature value to correct the curvature value of the curvature jump point; The driving control module is used to control the vehicle driving according to the curvature value of each trajectory point in the corrected planned trajectory.

7. The device according to claim 6, characterized in that The jump point acquisition module is further used to: Calculating the curvature difference between two adjacent trajectory points in the planned trajectory according to the curvature value of each trajectory point in the planned trajectory; When the curvature difference is greater than a preset jump threshold, the trajectory point with a larger curvature value among the two adjacent trajectory points is used as the curvature jump point.

8. A mobile electronic device terminal, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5.

9. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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