Vehicle control method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a vehicle control method, relates to the technical field of artificial intelligence, and particularly relates to the technical fields of intelligent transportation, image processing and point cloud processing. A specific implementation scheme is as follows: in response to the vehicle being in a starting state at a preset position in a target scene, constructing a local coordinate system for the vehicle with the preset position as the origin; obtaining global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, and the global map data including a reference trajectory for guiding the vehicle to travel in the target scene; mapping the reference trajectory in the global coordinate system to the local coordinate system to obtain the reference trajectory in the local coordinate system; and controlling the vehicle to travel according to the reference trajectory in the local coordinate system. The present disclosure also provides a vehicle control device, an electronic device and a storage medium.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of automatic driving and artificial intelligence, in particular to the field of intelligent transportation, image processing and point cloud processing. More specifically, the present disclosure provides a vehicle control method, device, electronic equipment and storage medium. BACKGROUND

[0002] Memory parking is one of the core functions of automatic driving. Memory parking is to take the route trajectory of the user driving the vehicle into or out of the garage as a reference trajectory, so that the vehicle drives according to the reference trajectory when performing autonomous parking, to complete autonomous parking. SUMMARY

[0003] The present disclosure provides a vehicle control method, device, equipment and storage medium.

[0004] According to a first aspect, a vehicle control method is provided, the method comprising: in response to a preset position of a vehicle in a target scene being in a starting state, constructing a local coordinate system for the vehicle with the preset position as the origin; obtaining global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, and the global map data comprising a reference trajectory for guiding the vehicle to travel in the target scene; mapping the reference trajectory in the global coordinate system to the local coordinate system to obtain the reference trajectory in the local coordinate system; and controlling the vehicle to travel according to the reference trajectory in the local coordinate system.

[0005] According to a second aspect, a vehicle control device is provided, the device comprising: a construction module configured to construct a local coordinate system for a vehicle with a preset position of the vehicle in a target scene as the origin in response to the preset position being in a starting state; an obtaining module configured to obtain global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, and the global map data comprising a reference trajectory for guiding the vehicle to travel in the target scene; a mapping module configured to map the reference trajectory in the global coordinate system to the local coordinate system to obtain the reference trajectory in the local coordinate system; and a control module configured to control the vehicle to travel according to the reference trajectory in the local coordinate system.

[0006] According to a third aspect, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method provided by the present disclosure.

[0007] According to a fourth aspect, a non-transitory computer-readable storage medium having computer instructions is provided, the computer instructions being used to cause a computer to execute the method provided by the present disclosure.

[0008] According to a fifth aspect, there is provided a computer program product comprising a computer program stored on at least one of a readable storage medium and an electronic device, which, when executed by a processor, implements the method according to the present disclosure.

[0009] It should be understood that nothing in this section is intended to limit the scope of the embodiments of the present disclosure. Other aspects of the present disclosure will become apparent to those of ordinary skill in the art upon reviewing the description below in conjunction with the accompanying figures. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings are included to provide a better understanding of the present application, and are incorporated in and constitute a part of this specification, illustrate embodiments that, together with the description, serve to explain the principles of the present application. In the drawings:

[0011] Figure 1 is an exemplary scenario diagram in which the vehicle control method and device according to one embodiment of the present disclosure can be applied;

[0012] Figure 2 is a flowchart of a vehicle control method according to one embodiment of the present disclosure;

[0013] Figure 3 is a schematic diagram of a vehicle control method according to one embodiment of the present disclosure;

[0014] Figure 4 is a schematic diagram of conversion of a reference trajectory according to one embodiment of the present disclosure;

[0015] Figure 5 is a schematic diagram of the relationship between a global coordinate system, a local coordinate system, and a vehicle body coordinate system according to one embodiment of the present disclosure;

[0016] Figure 6 is a block diagram of a vehicle control device according to one embodiment of the present disclosure;

[0017] Figure 7 is a block diagram of an electronic device for a vehicle control method according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are included to provide a better understanding of the present disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments that, together with the description, serve to explain the principles of the present disclosure. Those of ordinary skill in the art will realize that various modifications and changes can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Likewise, the present disclosure covers all alternatives, modifications, and equivalents falling within the scope of the claims. Further, in describing the present disclosure, the following terminology can have been used: the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Similarly, "or" as used herein is intended to indicate a possible presence of one or more items independently selected from the possible presence of each item. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The content of all references (including publications, granted patents, and published patent applications) cited herein is hereby expressly incorporated by reference.

[0019] For a site where autonomous parking of a vehicle can be performed (for example, a large parking lot), a three-dimensional scene map of the site can be constructed. The three-dimensional scene map can include semantic information such as parking space markings, speed bumps, arrows, and pillars, and can also include point cloud data of objects with obvious features such as edges and bright spots.

[0020] Before performing autonomous parking, a user (for example, a driver) can first drive the vehicle to enter or exit the parking lot once, and the entry route and exit route can be added to the three-dimensional scene map as a reference trajectory (or teaching trajectory, reference trajectory, etc.).

[0021] When the vehicle performs autonomous parking, the vehicle is controlled to travel according to the reference trajectory in the map according to the positioning of the vehicle in the map, thereby completing the autonomous parking process of the vehicle. The autonomous parking process can be referred to as a memory parking process.

[0022] Since the memory parking process is based on the positioning of the vehicle in the map, a high-precision positioning result is required, and a high-precision three-dimensional scene map containing point cloud information and semantic information needs to be constructed. However, when the scene is large (for example, a parking lot of several kilometers), the mapping takes a long time, and it is difficult to ensure the consistency of the map, thereby reducing the positioning accuracy.

[0023] In addition, the precise positioning of the vehicle in the three-dimensional scene map is from a global observation point of view, which is prone to positioning point jumping, thereby affecting the tracking and obstacle avoidance of the vehicle, and causing the memory parking to fail.

[0024] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0025] In the technical solution of the present disclosure, the authorization or consent of the user is obtained before the user's personal information is acquired or collected.

[0026] Figure 1 is an exemplary scene diagram to which the vehicle control method and device according to an embodiment of the present disclosure can be applied. It should be noted that, Figure 1 The diagram shown is only an example of a scene to which the embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments, or scenes.

[0027] As Figure 1As shown, scenario 100 according to this embodiment may include a memory parking space 100, which may be a large parking lot. The memory parking space 100 includes multiple parking spaces, such as parking spaces 101 to 104. When a vehicle 105 enters the memory parking space 100, it can choose an available parking space to park, and vehicles parked in parking spaces can also leave as needed.

[0028] Each parking space can have an entry trajectory for entering the parking space and an exit trajectory for leaving the parking space. For example... Figure 1 As shown, trajectory 106 can be the entry trajectory into parking space 101. Trajectory 106 can be a reference trajectory generated when a user drives a vehicle into parking space 101. When vehicle 102 selects parking space 101 for autonomous entry, it can enter parking space 101 according to trajectory 106.

[0029] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0030] like Figure 2 As shown, the vehicle control method 200 includes operations S210 to S240.

[0031] In operation S210, in response to the vehicle being in the start state at a preset position in the target scene, a local coordinate system for the vehicle is constructed with the preset position as the origin.

[0032] The target location can be a parking lot. The preset locations can be the starting point for entering the parking space and the starting point for exiting the parking space. If the vehicle is in an active state at the starting point for entering or exiting the parking space, it indicates that the vehicle is preparing to enter or exit the parking space.

[0033] When a vehicle is about to enter or exit the parking space, a coordinate system for that vehicle can be constructed with that preset position as the origin. This coordinate system is called a local coordinate system. The origin of this local coordinate system is the preset position where the vehicle begins to enter or exit the parking space. The coordinate axis directions can include the left or right side of the vehicle as the x-axis, the direction the vehicle is facing when it begins to enter or exit the parking space as the t-axis, and the top of the vehicle as the z-axis.

[0034] The S220 is used to obtain global map data for the target scene.

[0035] Global map data is a 3D scene map generated in a global coordinate system for a target scene (such as a large parking lot). Global map data includes reference trajectories used to guide vehicles in driving within the target scene.

[0036] The global map data can further include semantic information such as parking space markings, speed bumps, arrows, columns, and the like in the target scene, and can further include point cloud data of objects (such as columns) having obvious features such as edges and bright spots.

[0037] The reference trajectory can be a trajectory generated by the user driving the vehicle to enter or exit the garage, and the reference trajectory can include a plurality of trajectory points, each trajectory point can include a reference pose, and the reference pose can be a pose of the vehicle when the user drives the vehicle. The reference pose can include a reference position and a reference attitude, the reference position is each position point in the trajectory of the user driving the vehicle to enter or exit the garage, and the reference attitude includes a vehicle head direction, a vehicle tail direction, and the like at the reference position.

[0038] In operation S230, the reference trajectory in the global coordinate system is mapped to the local coordinate system to obtain the reference trajectory in the local coordinate system.

[0039] The vehicle positioning in the global map and the tracking of the trajectory points of the reference trajectory in the global map are performed in the observation angle of the global coordinate system. In the observation angle of the global coordinate system, the vehicle positioning point is prone to jump, which affects the control strategies such as vehicle tracing and obstacle avoidance.

[0040] Since the local coordinate system is a coordinate system for the vehicle with the position where the vehicle starts to enter or exit the garage as the origin, the positioning of the vehicle in the local coordinate system is not observed globally. Therefore, the positioning of the vehicle in the global coordinate system is real-time, smooth, and high-frequency, and the positioning result will not jump.

[0041] Therefore, the embodiment maps the reference trajectory in the global coordinate system to the local coordinate system, so that the vehicle is positioned and tracks the trajectory points in the local coordinate system, and can not depend on high-precision global positioning.

[0042] In operation S240, the vehicle is controlled to travel according to the reference trajectory in the local coordinate system.

[0043] After mapping the reference trajectory in the global coordinate system to the local coordinate system, the vehicle can be controlled to travel according to the reference trajectory in the local coordinate system. For example, the position of the vehicle in the local coordinate system is positioned in real time, and the trajectory points in the local coordinate system are tracked according to the position of the vehicle in the local coordinate system.

[0044] The embodiment maps the reference trajectory in the global coordinate system to the local coordinate system, controls the vehicle to travel according to the reference trajectory in the local coordinate system according to the position of the vehicle in the local coordinate system, and since the positioning of the vehicle in the local coordinate system will not jump and the positioning smoothness is high, the vehicle can easily track the trajectory points, improve the ability of vehicle tracing and obstacle avoidance, and improve the success rate of memory parking.

[0045] In addition, since the memory parking process of the embodiment controls the vehicle to travel according to the reference trajectory in the local coordinate system according to the position of the vehicle in the local coordinate system, the high-precision global positioning result is not required, that is, the positioning accuracy of the vehicle in the global map is low, so that the accuracy of the global map can be reduced, and a series of measures such as trajectory optimization are not required, thereby significantly reducing the mapping time and improving the applicability of the large-scene map.

[0046] Figure 3 FIG. 1 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure.

[0047] As shown in FIG. 1, the embodiment includes a sensor system 310, a memory parking positioning system 320, and a planning control system 330. The sensor system 310 can obtain values of an inertial measurement unit (IMU) of the vehicle, wheel speed, visual features such as images or point clouds, and semantic information such as parking space markings or arrows in real time. Figure 3

[0048] The memory parking positioning system 320 includes a local positioning module, a global positioning module, and a reference trajectory conversion module. The local positioning module obtains IMU data and wheel speed data, calculates the position of the vehicle in the local coordinate system according to the IMU data and the wheel speed data, and takes the position as a local positioning result. The global positioning module obtains IMU data, wheel speed data, visual features, and semantic information, calculates the position of the vehicle in the global coordinate system (i.e., the position in the global map) according to the IMU data, the wheel speed data, the visual features, and the semantic information, and takes the position as a global positioning result. The reference trajectory conversion module is used to map the reference trajectory in the global coordinate system to the local coordinate system based on the local positioning result and the global positioning result.

[0049] The planning control system 330 controls the vehicle to travel according to the reference trajectory in the local coordinate system according to the reference trajectory in the local coordinate system.

[0050] The memory parking positioning system 320 is described in detail below.

[0051] The local positioning module calculates the local pose of the vehicle in the local coordinate system according to the inertial measurement unit (IMU) data and the wheel speed data of the vehicle.

[0052] For example, the local positioning module can obtain values of the IMU data and the wheel speed data in real time, and calculate the position and the attitude of the vehicle in the local coordinate system in real time to obtain a local positioning result.

[0053] ​The global positioning module determines target object data in the global map data that matches the perception object data according to the perception object data obtained by the vehicle during driving; and calculates a global pose of the vehicle in the global coordinate system according to a position of the target object in the global map, inertial measurement unit (IMU) data and wheel speed data of the vehicle.

[0054] During driving of the vehicle, visual data such as images and point clouds are obtained in real time, and perception object data in the images or point clouds can be obtained by feature extraction on the visual data such as images and point clouds. The perception object data includes feature points that can represent the salient features of the perception object. The perception object includes, for example, a parking space marking line, a column, another vehicle, and the like. The relative positional relationship between the vehicle and the perception object can also be obtained by ranging of a perception device (such as a radar) on the vehicle.

[0055] The global positioning module obtains a pre-constructed global map, and by matching the feature points of the perception object extracted from the images or point clouds with the feature points of the point cloud objects or semantic objects in the global map, a target object in the global map that matches the perception object can be obtained. According to the relative positional relationship between the vehicle and the perception object, the relative positional relationship between the vehicle and the target object in the global map can be determined.

[0056] For example, the perception object is a column, and the position of the column in the global map can be obtained by matching the feature points. According to the relative positional relationship between the vehicle and the column perceived by the vehicle, the relative positional relationship between the vehicle and the column in the global map can be determined.

[0057] According to the position of the target object in the global map and the relative positional relationship between the vehicle and the target object, the position of the vehicle in the global map (i.e., the global coordinate system) can be determined. During movement of the vehicle, the moving distance and relative pose of the vehicle relative to the target object can be calculated in real time according to real-time IMU data and wheel speed data, and then the real-time position and pose of the vehicle in the global map, i.e., the global positioning result, can be calculated.

[0058] In order to map the reference trajectory in the global coordinate system to the local coordinate system, the relationship between the global coordinate system and the local coordinate system needs to be determined, and therefore, the vehicle body coordinate system is introduced in this embodiment.

[0059] During operation of the vehicle, a vehicle body coordinate system is constructed with a projection point of the vehicle on the ground as the origin; the reference trajectory in the global coordinate system is mapped to the vehicle body coordinate system according to the relationship between the global coordinate system and the vehicle body coordinate system to obtain the reference trajectory in the vehicle body coordinate system; and the reference trajectory in the vehicle body coordinate system is mapped to the local coordinate system according to the relationship between the local coordinate system and the vehicle body coordinate system to obtain the reference trajectory in the local coordinate system.

[0060] The vehicle body coordinate system is constructed during the running of the vehicle, can take the projection point of the center of the rear axle of the vehicle on the ground as the origin, and the coordinate axis direction can take the front direction of the vehicle as the x-axis direction, the right side or the left side of the vehicle as the t-axis direction, and the upper side of the vehicle as the z-axis direction. The vehicle body coordinate system is real-time changed with the movement of the vehicle.

[0061] Since the vehicle body coordinate system is changed with the movement of the vehicle, the origin of the vehicle body coordinate system is the projection point of the center of the rear axle of the vehicle on the ground. Therefore, the pose of the vehicle body coordinate system in the global coordinate system, i.e., the global positioning result of the vehicle, can be taken as the pose of the vehicle body coordinate system in the global coordinate system. The pose of the vehicle in the local coordinate system, i.e., the local positioning result of the vehicle, can be taken as the pose of the vehicle body coordinate system in the local coordinate system.

[0062] The reference trajectory conversion module can determine the relationship between the global coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the global coordinate system, and determine the relationship between the local coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the local coordinate system.

[0063] For example, according to the pose of the vehicle body coordinate system in the global coordinate system, the conversion matrix between the global coordinate system and the vehicle body coordinate system can be determined. According to the pose of the vehicle body coordinate system in the local coordinate system, the conversion matrix between the local coordinate system and the vehicle body coordinate system can be determined.

[0064] According to the conversion matrix between the global coordinate system and the vehicle body coordinate system, the reference trajectory in the global coordinate system can be mapped into the vehicle body coordinate system to obtain the reference trajectory in the vehicle body coordinate system. According to the conversion matrix between the local coordinate system and the vehicle body coordinate system, the reference trajectory in the vehicle body coordinate system can be mapped into the local coordinate system to obtain the reference trajectory in the local coordinate system.

[0065] The reference trajectory can include a plurality of trajectory points, and each trajectory point can include a reference pose. Therefore, the reference trajectory in the local coordinate system can also include a plurality of trajectory points, and each trajectory point includes a reference pose.

[0066] The planning control system 330 will be described in detail below.

[0067] The planning control system 330 can control the vehicle to travel according to the reference trajectory in the local coordinate system by adjusting the local pose and the local speed of the vehicle in the local coordinate system. According to the reference pose of each trajectory point, the local pose and the local speed of the vehicle are adjusted, and according to the adjusted local pose and the local speed of the vehicle, the vehicle is controlled to travel according to the reference trajectory in the local coordinate system.

[0068] For example, at the current trajectory point, the pose of the vehicle is adjusted to the reference pose of the trajectory point to control the vehicle to drive towards the next trajectory point. When encountering an obstacle, the direction and speed can be adjusted to automatically bypass the obstacle, and after bypassing the obstacle, the vehicle can be adjusted to drive towards the next trajectory point so as to reach the next trajectory point.

[0069] The embodiment converts the reference trajectory in the global coordinate system into the local coordinate system according to the global positioning result and the local positioning result, so that the vehicle drives according to the reference trajectory in the local coordinate system. Since the local positioning result does not jump and the positioning is smooth, the smoothness of the vehicle driving can be improved, and the accuracy of the vehicle memory parking can be improved.

[0070] Figure 4 FIG. 1 is a schematic diagram of conversion of a reference trajectory according to one embodiment of the present disclosure.

[0071] As shown in Figure 4 , the conversion relationship between the global coordinate system and the vehicle body coordinate system can be determined according to the global positioning result, which can be a conversion matrix between the pose in the global coordinate system and the pose in the vehicle body coordinate system. According to the conversion relationship between the global coordinate system and the vehicle body coordinate system, the reference trajectory in the global coordinate system can be converted into the vehicle body coordinate to obtain the reference trajectory in the vehicle body coordinate system.

[0072] The conversion relationship between the local coordinate system and the vehicle body coordinate system can be determined according to the local positioning result, which can be a conversion matrix between the pose in the local coordinate system and the pose in the vehicle body coordinate system. According to the conversion relationship between the local coordinate system and the vehicle body coordinate system, the reference trajectory in the vehicle body coordinate system can be converted into the local coordinate to obtain the reference trajectory in the local coordinate system.

[0073] The embodiment converts the reference trajectory in the global coordinate system into the local coordinate system according to the global positioning result and the local positioning result. The local positioning result is used for planning and control of the vehicle, and the global positioning result is not used for planning and control of the vehicle, but only used for conversion of the reference trajectory. Therefore, the accuracy requirement of the global positioning is reduced, thereby reducing the requirement of mapping, and a series of measures such as using an unoptimized trajectory for the map can be adopted. The mapping time can be significantly reduced, and the applicability of the large scene map can be improved.

[0074] Figure 5 FIG. 1 is a schematic diagram of the relationship among the global coordinate system, the local coordinate system and the vehicle body coordinate system according to one embodiment of the present disclosure.

[0075] As shown in Figure 5 , the coordinate system XOY represents the global coordinate system, which can be a coordinate system used for constructing a global map of a target scene.

[0076] The coordinate system xoy represents a local coordinate system, which is constructed with the position where the vehicle starts to enter the garage or starts to exit the garage as the origin, the right side of the vehicle as the x-axis direction, and the front direction of the vehicle as the t-axis direction.

[0077] The coordinate system x'o't'represents a vehicle body coordinate system, which can be constructed in real time during the driving of the vehicle, and thus, the vehicle body coordinate system changes with the movement of the vehicle. The origin of the vehicle body coordinate system can be the projection point of the rear axle center of the vehicle to the ground, the direction of the x'axis is the front direction of the vehicle, and the direction of the y'axis is the right side of the vehicle.

[0078] The pose of the vehicle in the global coordinate system can represent the pose of the vehicle body coordinate system in the global coordinate system, and thus, the conversion relationship between the global coordinate system and the vehicle body coordinate system can be determined. The pose of the vehicle in the local coordinate system can represent the pose of the vehicle body coordinate system in the local coordinate system, and thus, the conversion relationship between the local coordinate system and the vehicle body coordinate system can be determined.

[0079] The reference trajectory in the global coordinate system can be converted to the vehicle body coordinate system according to the conversion relationship between the global coordinate system and the vehicle body coordinate system, and the reference trajectory in the vehicle body coordinate system can be converted to the local coordinate system according to the conversion relationship between the local coordinate system and the vehicle body coordinate system. As shown in Figure 5 the trajectory 501 can represent the reference trajectory in the converted local coordinate system.

[0080] It should be noted that the global coordinate system is a three-dimensional coordinate system, and the global map in the global coordinate system can include point cloud data of objects such as columns and vehicles, and can also include semantic information such as arrows and parking line markings. The local coordinate system and the vehicle body coordinate system can also be three-dimensional coordinate systems, for example, the local coordinate system takes the upper side of the vehicle as the direction of the z-axis, and the vehicle body coordinate system takes the upper side of the vehicle as the direction of the z'axis.

[0081] Figure 6 is a block diagram of a vehicle control device according to one embodiment of the present disclosure.

[0082] As shown in Figure 6 the vehicle control device 600 includes a construction module 601, an acquisition module 602, a mapping module 603, and a control module 604.

[0083] The construction module 601 is configured to, in response to the vehicle being in a starting state at a preset position in a target scene, construct a local coordinate system for the vehicle with the preset position as the origin.

[0084] The acquisition module 602 is configured to acquire global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, and the global map data including a reference trajectory for guiding the vehicle to drive in the target scene.

[0085] The mapping module 603 is configured to map the reference trajectory in the global coordinate system to the local coordinate system to obtain the reference trajectory in the local coordinate system.

[0086] The control module 604 is configured to control the vehicle to travel according to the reference trajectory in the local coordinate system.

[0087] The mapping module 603 includes a construction unit, a first mapping unit and a second mapping unit.

[0088] The construction unit is configured to construct a vehicle body coordinate system with a projection point of the vehicle on the ground as an origin during operation of the vehicle.

[0089] The first mapping unit is configured to map the reference trajectory in the global coordinate system to the vehicle body coordinate system according to a relationship between the global coordinate system and the vehicle body coordinate system to obtain the reference trajectory in the vehicle body coordinate system.

[0090] The second mapping unit is configured to map the reference trajectory in the vehicle body coordinate system to the local coordinate system according to a relationship between the local coordinate system and the vehicle body coordinate system to obtain the reference trajectory in the local coordinate system.

[0091] The vehicle control device 600 further includes a first pose determination module, a second pose determination module, a first relationship determination module and a second relationship determination module.

[0092] The first pose determination module is configured to determine a global pose of the vehicle in the global coordinate system as a pose of the vehicle body coordinate system in the global coordinate system.

[0093] The second pose determination module is configured to determine a local pose of the vehicle in the local coordinate system as a pose of the vehicle body coordinate system in the local coordinate system.

[0094] The first relationship determination module is configured to determine the relationship between the global coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the global coordinate system.

[0095] The second relationship determination module is configured to determine the relationship between the local coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the local coordinate system.

[0096] The first pose determination module includes an acquisition unit, a matching unit, a first determination unit and a calculation unit.

[0097] The acquisition unit is configured to acquire perception object data of the vehicle in a driving process and a relative position relationship between the vehicle and the perception object.

[0098] The matching unit is configured to match the perception object data with object data in the global map data to obtain a target object corresponding to the perception object in the global map data.

[0099] The first determining unit is configured to determine a relative position relationship between the vehicle and the target object in the global map data according to a relative position relationship between the vehicle and the perception object.

[0100] The computing unit is configured to calculate a global pose of the vehicle in the global coordinate system according to a position of the target object in the global map, the relative position relationship between the vehicle and the target object, inertial measurement unit (IMU) data and wheel speed data of the vehicle.

[0101] The second pose determining module is configured to calculate a local pose of the vehicle in the local coordinate system according to inertial measurement unit (IMU) data and wheel speed data of the vehicle.

[0102] According to an embodiment of the present disclosure, the local coordinate system takes a preset position as an origin, takes a direction of a front of the vehicle when the vehicle is at the preset position as a direction of one coordinate axis of the local coordinate system, and takes one of a left side or a right side of the vehicle as a direction of another coordinate axis of the local coordinate system. The body coordinate system takes a projection point of a center of a rear axle of the vehicle on the ground as an origin, takes a direction of a front of the vehicle in a driving process as a direction of one coordinate axis of the body coordinate system, and takes one of a left side or a right side of the vehicle as a direction of another coordinate axis of the body coordinate system.

[0103] The control module 604 includes a second determining unit and a control unit.

[0104] The second determining unit is configured to determine a local pose and a local speed of the vehicle in the local coordinate system.

[0105] The control unit is configured to control the vehicle to drive according to the reference trajectory in the local coordinate system by adjusting the local pose and the local speed of the vehicle.

[0106] According to an embodiment of the present disclosure, the reference trajectory includes a plurality of trajectory points, and each trajectory point includes a reference pose. The control unit includes an adjusting subunit and a control subunit.

[0107] The adjusting subunit is configured to adjust the local pose and the local speed of the vehicle according to the reference pose.

[0108] The control subunit is configured to control the vehicle to drive according to the reference trajectory in the local coordinate system according to the adjusted local pose and the local speed of the vehicle.

[0109] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0110] Figure 7A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0111] like Figure 7 As shown, device 700 includes a computing unit 701, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 702 or a computer program loaded from storage unit 708 into random access memory (RAM) 703. RAM 703 may also store various programs and data required for the operation of device 700. The computing unit 701, ROM 702, and RAM 703 are interconnected via bus 704. Input / output (I / O) interface 705 is also connected to bus 704.

[0112] Multiple components in device 700 are connected to I / O interface 705, including: input unit 706, such as keyboard, mouse, etc.; output unit 707, such as various types of monitors, speakers, etc.; storage unit 708, such as disk, optical disk, etc.; and communication unit 709, such as network card, modem, wireless transceiver, etc. Communication unit 709 allows device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0113] The computing unit 701 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs various methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded onto the RAM 703 and executed by the computing unit 701, one or more steps of the vehicle control method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured to perform the vehicle control method by any other appropriate means, such as by means of firmware.

[0114] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0115] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0116] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0117] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0118] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0119] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0120] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0121] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, comprising: in response to a vehicle being in a start state at a preset position in a target scene, constructing a local coordinate system for the vehicle with the preset position as an origin, wherein the preset position comprises at least one of a position for starting warehousing and a position for starting delivery; obtaining global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, the global map data comprising a reference trajectory for guiding the vehicle to travel in the target scene, the reference trajectory in the global coordinate system being obtained by adding historical warehousing routes and historical delivery routes in an observation angle of the global coordinate system to the global map data; mapping the reference trajectory in the global coordinate system to the local coordinate system to obtain a reference trajectory in the local coordinate system; and controlling the vehicle to travel according to the reference trajectory in the local coordinate system.

2. The method of claim 1, wherein, The mapping of the reference trajectory in the global coordinate system to the local coordinate system to obtain the reference trajectory in the local coordinate system comprises: constructing a vehicle body coordinate system with a projection point of the vehicle on the ground as an origin during vehicle operation; mapping the reference trajectory in the global coordinate system to the vehicle body coordinate system according to a relationship between the global coordinate system and the vehicle body coordinate system to obtain a reference trajectory in the vehicle body coordinate system; and mapping the reference trajectory in the vehicle body coordinate system to the local coordinate system according to a relationship between the local coordinate system and the vehicle body coordinate system to obtain the reference trajectory in the local coordinate system.

3. The method of claim 2, further comprising: determining a global pose of the vehicle in the global coordinate system as a pose of the vehicle body coordinate system in the global coordinate system; determining a local pose of the vehicle in the local coordinate system as a pose of the vehicle body coordinate system in the local coordinate system; determining the relationship between the global coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the global coordinate system; determining the relationship between the local coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the local coordinate system.

4. The method of claim 3, wherein, The determination of the global pose of the vehicle in the global coordinate system as the pose of the vehicle body coordinate system in the global coordinate system comprises: obtaining perception object data of the vehicle during travel and a relative position relationship between the vehicle and the perception object; matching the perception object data with object data in the global map data to obtain a target object corresponding to the perception object in the global map data; determining a relative position relationship between the vehicle and the target object in the global map data according to the relative position relationship between the vehicle and the perception object; calculating the global pose of the vehicle in the global coordinate system according to a position of the target object in the global map, the relative position relationship between the vehicle and the target object, inertial measurement unit (IMU) data and wheel speed data of the vehicle.

5. The method of claim 3, wherein, The determining the local pose of the vehicle in the local coordinate system as the pose of the vehicle body coordinate system in the local coordinate system comprises: According to the inertial measurement unit (IMU) data and wheel speed data of the vehicle, the local pose of the vehicle in the local coordinate system is calculated.

6. The method of any one of claims 2 to 5, wherein: The local coordinate system takes the preset position as the origin, takes the direction of the vehicle head when the vehicle is at the preset position as the direction of one coordinate axis of the local coordinate system, and takes one of the left side or the right side of the vehicle as the direction of another coordinate axis of the local coordinate system; The vehicle body coordinate system takes the projection point of the vehicle rear axle center on the ground as the origin, takes the direction of the vehicle head during driving as the direction of one coordinate axis of the vehicle body coordinate system, and takes one of the left side or the right side of the vehicle as the direction of another coordinate axis of the local coordinate system.

7. The method of claim 1, wherein, The controlling the vehicle to drive according to the reference trajectory in the local coordinate system comprises: determining the local pose and local speed of the vehicle in the local coordinate system; and controlling the vehicle to drive according to the reference trajectory in the local coordinate system by adjusting the local pose and local speed of the vehicle.

8. The method of claim 7, wherein, The reference trajectory comprises a plurality of trajectory points, each trajectory point comprising a reference pose; The controlling the vehicle to drive according to the reference trajectory in the local coordinate system by adjusting the local pose and local speed of the vehicle comprises: adjusting the local pose and local speed of the vehicle according to the reference pose; and controlling the vehicle to drive according to the reference trajectory in the local coordinate system according to the adjusted local pose and local speed of the vehicle.

9. A vehicle control device, comprising: a construction module configured to, in response to a vehicle being in a starting state at a preset position in a target scene, construct a local coordinate system for the vehicle with the preset position as the origin, wherein the preset position comprises at least one of a start-in warehouse position and a start-out warehouse position; an acquisition module configured to acquire global map data of the target scene, the global map data being generated in a global coordinate system for the target scene, the global map data comprising a reference trajectory for guiding the vehicle to drive in the target scene, the reference trajectory in the global coordinate system being obtained by adding historical in-warehouse routes and historical out-warehouse routes in a global coordinate system observation angle to the global map data; a mapping module configured to map the reference trajectory in the global coordinate system to the local coordinate system to obtain a reference trajectory in the local coordinate system; and a control module configured to control the vehicle to drive according to the reference trajectory in the local coordinate system.

10. The apparatus of claim 9, wherein, The mapping module comprises: a construction unit configured to, during operation of the vehicle, construct a vehicle body coordinate system with a projection point of the vehicle on the ground as the origin; The first mapping unit is configured to map the reference trajectory in the global coordinate system into the vehicle body coordinate system according to the relationship between the global coordinate system and the vehicle body coordinate system, to obtain the reference trajectory in the vehicle body coordinate system. The second mapping unit is configured to map the reference trajectory in the vehicle body coordinate system into the local coordinate system according to the relationship between the local coordinate system and the vehicle body coordinate system, to obtain the reference trajectory in the local coordinate system.

11. The apparatus of claim 10, further comprising: The first pose determination module is configured to determine a global pose of the vehicle in the global coordinate system as a pose of the vehicle body coordinate system in the global coordinate system. The second pose determination module is configured to determine a local pose of the vehicle in the local coordinate system as a pose of the vehicle body coordinate system in the local coordinate system. The first relationship determination module is configured to determine the relationship between the global coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the global coordinate system. The second relationship determination module is configured to determine the relationship between the local coordinate system and the vehicle body coordinate system according to the pose of the vehicle body coordinate system in the local coordinate system.

12. The apparatus of claim 11, wherein, The first pose determination module comprises: The obtaining unit is configured to obtain perception object data of the vehicle in a driving process and a relative position relationship between the vehicle and the perception object. The matching unit is configured to match the perception object data with object data in the global map data, to obtain a target object corresponding to the perception object in the global map data. The first determination unit is configured to determine a relative position relationship between the vehicle and the target object in the global map data according to the relative position relationship between the vehicle and the perception object. The calculation unit is configured to calculate a global pose of the vehicle in the global coordinate system according to a position of the target object in the global map, the relative position relationship between the vehicle and the target object, inertial measurement unit (IMU) data and wheel speed data of the vehicle.

13. The apparatus of claim 11, wherein, The second pose determination module is configured to calculate a local pose of the vehicle in the local coordinate system according to inertial measurement unit (IMU) data and wheel speed data of the vehicle.

14. The apparatus of any one of claims 10 to 13, wherein: The local coordinate system takes the preset position as an origin, takes a direction of a front direction of the vehicle when the vehicle is at the preset position as a direction of one coordinate axis of the local coordinate system, and takes one of a left side or a right side of the vehicle as a direction of another coordinate axis of the local coordinate system. The vehicle body coordinate system takes a projection point of a center of a rear axle of the vehicle on the ground as an origin, takes a direction of a front direction of the vehicle in the driving process as a direction of one coordinate axis of the vehicle body coordinate system, and takes one of a left side or a right side of the vehicle as a direction of another coordinate axis of the local coordinate system.

15. The apparatus of claim 9, wherein, The control module comprises: The second determination unit is configured to determine a local pose and a local speed of the vehicle in the local coordinate system; and The second determination unit is configured to determine a local pose and a local speed of the vehicle in the local coordinate system; and A control unit is configured to control the vehicle to travel along the reference trajectory in the local coordinate system by adjusting a local pose and a local speed of the vehicle.

16. The apparatus of claim 15, wherein, The reference trajectory includes a plurality of trajectory points, each trajectory point including a reference pose; the control unit includes: an adjusting sub-unit configured to adjust the local pose and the local speed of the vehicle according to the reference pose; and a control sub-unit configured to control the vehicle to travel along the reference trajectory in the local coordinate system according to the adjusted local pose and the local speed of the vehicle. 17.An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.

18. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are configured to cause the computer to perform the method of any one of claims 1 to 8. 19.A computer program product comprising a computer program stored on at least one of a readable storage medium and an electronic device, the computer program, when executed by a processor, implementing the method of any one of claims 1 to 8.

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