Method and apparatus for adjusting a preview distance

Abstract

The pre-look distance adjustment method and device provided by the embodiment of the present application comprises the following steps: obtaining trajectory point information and path type identification information corresponding to a plurality of trajectory points on a vehicle driving path; determining a pre-look point from the plurality of trajectory points according to a current pre-look distance; controlling the vehicle to drive according to the trajectory point information corresponding to the pre-look point; obtaining vehicle motion state information of the driving vehicle; and adjusting the current pre-look distance according to the vehicle motion state information and the trajectory point information and the path type identification information corresponding to the pre-look point. The pre-look distance is adjusted according to the trajectory point information corresponding to the pre-look point, the path type identification information and the vehicle motion state information, so that the adjustment of the pre-look distance takes into account the situation of the trajectory point and the motion state of the vehicle during the driving process along the trajectory point. In different vehicle conditions or different road conditions, the pre-look distance can be adaptively adjusted to a suitable pre-look distance without the need to estimate and adjust the pre-look distance according to the experience of technicians, and the accuracy of path tracking can be greatly improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and specifically to a method and apparatus for adjusting the aiming distance. Background Technology

[0002] Autonomous driving technology, as a cutting-edge technology in vehicles, has attracted widespread attention from scholars worldwide. Path tracking has always been a key focus and challenge in autonomous driving technologies such as automatic parking and driverless vehicles. Path tracking control aims to accurately track the desired path by adjusting the steering wheel angle based on the input desired trajectory. Path tracking control systems are generally divided into two types: preview and non-preview. Preview tracking control is widely used because it better aligns with real driver operating habits, is easier to implement, and has a simpler structure. However, current control algorithms are significantly affected by the preview distance. A short preview distance can lead to vehicle instability or even oscillations, while a long preview distance can result in larger path tracking errors. Currently, the preview distance is often estimated by technicians based on experience, leading to relatively low accuracy in path tracking. Summary of the Invention

[0003] One of the objectives of this invention is to provide a pre-aiming distance adjustment method and device that can adaptively adjust to a suitable pre-aiming distance under different vehicle conditions or different road conditions, without the need to estimate and adjust the pre-aiming distance based on the experience of technicians, which can greatly improve the accuracy of path tracking.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for adjusting aiming distance, wherein the method includes:

[0006] Obtain trajectory point information and path type identification information corresponding to multiple trajectory points on the vehicle's driving path;

[0007] The aiming point is determined from multiple trajectory points based on the current aiming distance;

[0008] Control the vehicle's movement based on the trajectory point information corresponding to the pre-aimed point;

[0009] Obtain vehicle motion status information of the moving vehicle;

[0010] Adjust the current aiming distance based on the vehicle's motion status information, the trajectory point information corresponding to the aiming point, and the path type identifier information.

[0011] Furthermore, the trajectory point information includes the trajectory point's position coordinates, curvature, and heading angle; where the trajectory point's position coordinates are the relative position of the trajectory point to the vehicle in the vehicle coordinate system.

[0012] The vehicle motion state information comprises real-time position coordinates, a real-time heading angle and a current position curvature of the vehicle; the real-time position coordinates are the position of the vehicle in a vehicle coordinate system, and the current position curvature is the curvature of a target trajectory point closest to the real-time position of the vehicle;

[0013] According to the vehicle motion state information, the trajectory point information corresponding to the preview point and the path type identification information, the current preview distance is adjusted, comprising:

[0014] The path shape type of the vehicle driving path where the preview point is located is determined based on the path type identification information; the path shape type is a straight line or a curve;

[0015] A position difference value is determined according to the trajectory point position coordinates of the target trajectory point and the real-time position coordinates of the vehicle;

[0016] An angle difference value is determined according to the heading angle of the target trajectory point and the real-time heading angle of the vehicle;

[0017] The current preview distance is adjusted based on the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point.

[0018] Further, the path shape type of the vehicle driving path where the preview point is located is determined based on the path type identification information, comprising:

[0019] The specific path type identification information matched with the path type identification information is queried from a path state type query table; the path state type query table stores a plurality of different specific path shape types and specific path type identification information corresponding to each specific path shape type;

[0020] The specific path shape type corresponding to the specific path type identification information is determined as the path shape type of the vehicle driving path where the preview point is located.

[0021] Further, the current preview distance is adjusted based on the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point, comprising:

[0022] A curvature adjustment parameter is determined according to the current position curvature and the curvature of the preview point;

[0023] A position error adjustment parameter is determined according to the path shape type and the position difference value;

[0024] An angle error adjustment parameter is determined according to the path shape type and the angle difference value;

[0025] The adjusted preview distance is determined based on the curvature adjustment parameter, the position error adjustment parameter, the angle error adjustment parameter and the current preview distance;

[0026] adjust the current preview distance to an adjusted preview distance.

[0027] Further, the curvature adjustment parameter is determined according to the current position curvature and the curvature of the preview point, comprising:

[0028] determining whether the current position curvature is less than the curvature of the preview point;

[0029] in the case that the current position curvature is less than the curvature of the preview point, querying a curvature weight corresponding to the current position curvature from a curvature weight query table, and determining the curvature adjustment parameter according to the curvature of the preview point and the curvature weight; wherein the curvature weight query table stores a plurality of different curvature weights and a curvature threshold range corresponding to each curvature weight;

[0030] in the case that the current position curvature is greater than or equal to the curvature of the preview point, the curvature adjustment parameter is a set value.

[0031] Further, the position error adjustment parameter is determined according to the path shape type and the position difference value, comprising:

[0032] determining the distance adjustment sign parameter according to the path shape type and the position difference value;

[0033] querying a position error weight corresponding to the position difference value from a position error weight query table; wherein the position error weight query table stores a plurality of different position error weights and a position difference threshold range corresponding to each position error weight;

[0034] determining the position error adjustment parameter according to the distance adjustment sign parameter, the position error weight and the position difference value.

[0035] Further, the distance adjustment sign parameter is determined according to the path shape type and the position difference value, comprising:

[0036] if the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, determining whether the position difference value is less than a negative value of a preset position difference threshold value, in the case that the position difference value is greater than or equal to the negative value of the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter, and in the case that the position difference value is less than the negative value of the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter; wherein the first preset sign parameter is negative and the second preset sign parameter is positive.

[0037] If the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, it is determined whether the position difference value is less than a negative value of a preset position difference threshold value, in a case where the position difference value is less than the negative value of the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter, and in a case where the position difference value is greater than or equal to the negative value of the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter;

[0038] If the path state type is a straight line, it is determined whether the absolute value of the position difference value is greater than a preset position difference threshold value, in a case where the absolute value of the position difference value is greater than the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter, and in a case where the absolute value of the position difference value is less than or equal to the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter.

[0039] Further, the angle error adjustment parameter is determined according to the path shape type and the angle difference value, comprising:

[0040] The angle adjustment sign parameter is determined according to the path shape type and the angle difference value;

[0041] The angle error weight corresponding to the angle difference value is queried from an angle error weight query table; wherein the angle error weight query table stores a plurality of different angle error weights and an angle difference threshold value range corresponding to each angle error weight;

[0042] The angle error adjustment parameter is determined according to the angle adjustment sign parameter, the angle error weight and the angle difference value.

[0043] Further, the angle adjustment sign parameter is determined according to the path shape type and the angle difference value, comprising:

[0044] If the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, it is determined whether the angle difference value is less than a negative value of a preset angle difference threshold value, in a case where the angle difference value is greater than or equal to the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a first preset sign parameter, and in a case where the angle difference value is less than the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a second preset sign parameter;

[0045] If the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, it is determined whether the angle difference value is less than a negative value of a preset angle difference threshold value, in a case where the angle difference value is less than the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a first preset sign parameter, and in a case where the angle difference value is greater than or equal to the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a second preset sign parameter;

[0046] If the path state type is a straight line, it is determined whether the absolute value of the angle difference value is greater than a preset angle difference threshold value, in a case where the absolute value of the angle difference value is greater than the preset angle difference threshold value, the angle adjustment sign parameter is a first preset sign parameter, and in a case where the absolute value of the angle difference value is less than or equal to the preset angle difference threshold value, the angle adjustment sign parameter is a second preset sign parameter.

[0047] A pre-view distance adjustment device, wherein the device comprises:

[0048] A first obtaining module is configured to obtain trajectory point information corresponding to a plurality of trajectory points on a vehicle travel path and path type identification information.

[0049] A determining module is configured to determine a pre-view point from the plurality of trajectory points according to a current pre-view distance.

[0050] A control module is configured to control vehicle travel according to trajectory point information corresponding to the pre-view point.

[0051] A second obtaining module is configured to obtain vehicle motion state information of the vehicle.

[0052] An adjustment module is configured to adjust the current pre-view distance according to the vehicle motion state information, the trajectory point information corresponding to the pre-view point, and the path type identification information.

[0053] A vehicle, comprising a processor and a memory, the processor is configured to execute a pre-view distance adjustment program stored in the memory to implement the above-mentioned pre-view distance adjustment method.

[0054] A storage medium, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned pre-view distance adjustment method.

[0055] The beneficial effects of the present application are as follows:

[0056] The pre-look distance adjustment method and device provided by the embodiment of the present application comprises the following steps: obtaining trajectory point information and path type identification information corresponding to a plurality of trajectory points on a vehicle driving path; determining a pre-look point from the plurality of trajectory points according to a current pre-look distance; controlling the vehicle to drive according to the trajectory point information corresponding to the pre-look point; obtaining vehicle motion state information of the driving vehicle; and adjusting the current pre-look distance according to the vehicle motion state information and the trajectory point information corresponding to the pre-look point and the path type identification information. The pre-look distance is adjusted according to the trajectory point information corresponding to the pre-look point, the path type identification information and the vehicle motion state information of the vehicle, so that the adjustment of the pre-look distance takes into account the situation of the trajectory point and the actual motion state of the vehicle during the driving process along the trajectory point, and the pre-look distance can be adaptively adjusted to a proper pre-look distance under different vehicle conditions or different road conditions, without the need to estimate and adjust the pre-look distance according to the experience of technicians, so that the accuracy of path tracking can be greatly improved, and the vehicle can stably and accurately drive along the vehicle driving path. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0058] Figure 2 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0059] Figure 3 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0060] Figure 4 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0061] Figure 5 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0062] Figure 6 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided.

[0063] Figure 7 An embodiment flow chart of a pre-look distance adjustment method provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0065] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0066] The embodiment provides a pre-look distance adjustment method, which is applied to a controller on a vehicle. Figure 1 The embodiment provides a pre-look distance adjustment method, which is applied to a controller on a vehicle. Figure 1 The flow shown can include the following steps:

[0067] In step 101, trajectory point information corresponding to a plurality of trajectory points on a vehicle driving path and path type identification information are acquired.

[0068] The vehicle driving path is actually a driving path from a current position of the vehicle to a destination planned by a path navigation system. In the embodiment, the vehicle driving path can be discretized into a series of discrete points, i.e., trajectory points, and then a plurality of trajectory points can be acquired from the series of discrete points at equal intervals, at equal proportion intervals or randomly.

[0069] The trajectory point information includes trajectory point position coordinates, curvature and a heading angle. The trajectory point position coordinates are relative positions of the trajectory points relative to the vehicle in a vehicle coordinate system. The curvature is the curvature of the trajectory points on the vehicle driving path. The heading angle is a heading angle at the trajectory points when moving along the vehicle driving path.

[0070] The path type identification information is unique identification information of a path shape type of a sub-path of a preset range on the vehicle driving path where the trajectory points are located. The path shape type is a curve or a straight line. The sub-path is a path segment on the vehicle driving path including the trajectory points. The preset range can be set according to actual needs and is not limited herein.

[0071] In step 102, a pre-look point is determined from the plurality of trajectory points according to a current pre-look distance.

[0072] The current pre-look distance is a pre-look distance set according to an existing debugging basis. Specifically, a position of the vehicle when a driving distance reaches the current pre-look distance can be predicted from a current position, and a trajectory point closest to the position from the plurality of trajectory points is determined as the pre-look point.

[0073] In step 102, the way of determining the preview point can include multiple ways. Examples are as follows:

[0074] Way one, compare the driving distances of multiple trajectory points with the real-time position of the vehicle, and take the trajectory point with the driving distance closest to the preview distance as the preview point. This implementation of the preview point setting is closest to the position point corresponding to the current preview distance, so it is more accurate.

[0075] Way two, take the previous or next trajectory point of the position at which the above driving distance reaches the current preview distance as the preview point.

[0076] Among them, since the trajectory points are discrete points, the driving distance of the vehicle can be achieved by estimation. For example, adjacent trajectory points can be connected in a straight line to form a rough vehicle driving path, and the driving distance of the vehicle can be calculated by the distance of the vehicle moving on the vehicle driving path. Alternatively, the driving distance of the vehicle can be directly calculated by the distance in front of the vehicle.

[0077] Step 103, control the vehicle to travel according to the trajectory point information corresponding to the preview point;

[0078] Specifically, the steering angle of the vehicle can be calculated according to the trajectory point information corresponding to the preview point, so that the vehicle follows the trajectory point to travel. The process of calculating the steering angle of the vehicle according to the trajectory point information is prior art and will not be described in detail here.

[0079] Step 104, obtain the vehicle motion state information of the vehicle traveling;

[0080] The vehicle motion state information of the vehicle can include various data in the vehicle traveling process, which can be obtained by various sensors loaded on the vehicle. The specific vehicle motion state information includes the real-time position coordinates of the vehicle, the real-time heading angle, and the current position curvature. Among them, the real-time position coordinates are the position of the vehicle in the vehicle coordinate system, and the current position curvature is the curvature of the target trajectory point closest to the real-time position of the vehicle.

[0081] Step 105, adjust the current preview distance according to the vehicle motion state information and the trajectory point information and path type identification information corresponding to the preview point.

[0082] In the process of tracking the trajectory, different vehicle driving states have different requirements for the preview distance, and the difference between the position that the vehicle is expected to reach and the actual position also reflects the setting accuracy of the preview distance. Step 105 adjusts the current preview distance according to the vehicle motion state information and the trajectory point information and path type identification information corresponding to the preview point, and then determines the next preview point according to the adjusted preview distance to control the vehicle to travel, thereby dynamically setting the preview distance according to the information of the preview point and the actual running state of the vehicle, and improving the accuracy of path tracking.

[0083] The pre-look distance adjustment method provided by the embodiment of the application comprises: acquiring trajectory point information and path type identification information corresponding to a plurality of trajectory points on a vehicle driving path; determining a pre-look point from the plurality of trajectory points according to a current pre-look distance; controlling the vehicle to drive according to the trajectory point information corresponding to the pre-look point; acquiring vehicle motion state information of the driving vehicle; and adjusting the current pre-look distance according to the vehicle motion state information and the trajectory point information and the path type identification information corresponding to the pre-look point. The pre-look distance is adjusted according to the trajectory point information corresponding to the pre-look point, the path type identification information and the vehicle motion state information of the vehicle, so that the adjustment of the pre-look distance takes into account the situation of the trajectory points and the actual motion state of the vehicle during driving along the trajectory points, and the pre-look distance can be adaptively adjusted to a suitable pre-look distance in different vehicle conditions or different road conditions, without the need to estimate and adjust the pre-look distance according to the experience of technicians, so that the accuracy of path tracking can be greatly improved, and the vehicle can stably and accurately drive along the vehicle driving path.

[0084] In an embodiment, the step 105 can be implemented by steps A1 to A4.

[0085] In step A1, the path shape type of the vehicle driving path where the pre-look point is located is determined based on the path type identification information; the path shape type is a straight line or a curve.

[0086] As can be seen from the above description, the path type identification information is unique identification information for representing the path shape type of the sub-path in the preset range on the vehicle driving path where the trajectory point is located, that is, the path shape type of the sub-path is explicitly determined to be a curve or a straight line through the path type identification information. In order to facilitate understanding, Figure 2 A schematic diagram of a vehicle driving path is shown, as shown in Figure 2 A represents the current position of the vehicle, B represents the destination, the line segment between A and B is the vehicle driving path, AC, CD and DB are sub-paths of the vehicle driving path, a, b and c are trajectory points on the vehicle driving path, and Figure 2 It can be seen that the path shape type of the sub-path AC where the trajectory point a is located is a curve, the path shape type of the sub-path CD where the trajectory point b is located is a curve, and the path shape type of the sub-path DB where the trajectory point c is located is a straight line. In this embodiment, the path shape type of the sub-path where the trajectory point is located can be determined by the path type identification information corresponding to the trajectory point.

[0087] The process of determining the path shape type of the vehicle driving path where the pre-look point is located based on the path type identification information is as follows: querying specific path type identification information matching the path type identification information from a path state type query table; and determining the specific path shape type corresponding to the specific path type identification information as the path shape type of the vehicle driving path where the pre-look point is located.

[0088] In the path state type query table, a plurality of different specific path shape types and specific path type identification information corresponding to each specific path shape type are stored. In order to understand the description of the path state type query table, Table 1 shows an example of a path state type query table:

[0089] Table 1

[0090] Specific path type identification information Specific path shape type 1 Curved line 2 Straight line

[0091] Since the specific path shape type has a one-to-one correspondence with the specific path type identification information, the path shape type of the vehicle driving path where the preview point is located can be determined to be a curve or a straight line according to the path type identification information corresponding to the preview point by looking up Table 1.

[0092] It should be noted that Table 1 only shows an example of the correspondence between the specific path type identification information and the specific path shape type, and the correspondence between the specific path type identification information and the specific path shape type can be set according to actual needs, which is not limited herein.

[0093] Step A2, determining a position difference value according to the trajectory point position coordinates of the target trajectory point and the real-time position coordinates of the vehicle;

[0094] Since the trajectory point position coordinates of the target trajectory point and the real-time position coordinates of the vehicle are both position coordinates in the vehicle coordinate system, the trajectory point position coordinates of the target trajectory point and the real-time position coordinates of the vehicle can be subtracted to obtain the position difference value.

[0095] Step A3, determining an angle difference value according to the heading angle of the target trajectory point and the real-time heading angle of the vehicle;

[0096] Similarly, the heading angle of the target trajectory point and the real-time heading angle of the vehicle can be subtracted in the vehicle coordinate system to obtain the angle difference value.

[0097] Step A4, adjusting the current preview distance based on the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point.

[0098] In this embodiment, the setting of the preview distance is affected by the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point. In actual automatic driving process, the preview distance is greatly affected by these factors, and the preview distance is set more accurately by comprehensively considering the influence of these factors.

[0099] Further, on the basis of the above embodiment, the present embodiment provides an optional scheme, and the above step A4 can be implemented by steps B1 to B5:

[0100] Step B1, determining the curvature adjustment parameter according to the curvature of the current position and the curvature of the preview point;

[0101] The process of specifically determining the curvature adjustment parameter can be referred to Figure 3 An embodiment flowchart of curvature adjustment parameter determination provided for the embodiment of the present application is shown in the following. Figure 3 The flowchart shown can include the following steps:

[0102] Step 301, judging whether the curvature of the current position is less than the curvature of the preview point;

[0103] In the case that the curvature of the current position is less than the curvature of the preview point, step 302 is executed; in the case that the curvature of the current position is greater than or equal to the curvature of the preview point, step 303 is executed.

[0104] Step 302, querying the curvature weight corresponding to the curvature of the current position from the curvature weight query table, and determining the curvature adjustment parameter according to the curvature of the preview point and the curvature weight;

[0105] In the curvature weight query table, a plurality of different curvature weights and the curvature threshold range corresponding to each curvature weight are stored; through the description of the curvature weight query table, Table 2 shows an example of a curvature weight query table:

[0106] Table 2

[0107] Curvature weight Curvature threshold range 0.1 0.1-0.4 0.3 0.5-0.7 0.7 0.8-1

[0108] Since the curvature weight has a one-to-one correspondence with the curvature threshold range, the curvature threshold range in which the curvature of the current position is located can be determined by looking up Table 2, and then the curvature weight corresponding to the curvature threshold range in which the curvature of the current position is located is determined as the curvature weight corresponding to the curvature of the current position.

[0109] It should be noted that only an example of the correspondence between the curvature weight and the curvature threshold range is shown in Table 2, and the correspondence between the curvature weight and the curvature threshold range can be set according to actual needs, which is not limited herein.

[0110] In the present embodiment, the curvature adjustment parameter can be determined according to the curvature of the preview point and the curvature weight through the following formula:

[0111] Curvature adjustment parameter = -(curvature of the preview point-curvature threshold) * curvature weight; wherein the curvature threshold is set according to actual needs, which is not limited herein.

[0112] Step 303, the curvature adjustment parameter is a set value.

[0113] In the embodiment, the set value is 0, that is, in the case that the curvature at the current position is greater than or equal to the curvature of the preview point, the current preview distance is not adjusted based on the curvature adjustment parameter.

[0114] Step B2, determining the position error adjustment parameter according to the path shape type and the position difference value;

[0115] The process of determining the position error adjustment parameter can be implemented by steps C1 to C3:

[0116] Step C1, determining the distance adjustment sign parameter according to the path shape type and the position difference value;

[0117] The process of determining the distance adjustment sign parameter is as follows: if the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, it is judged whether the position difference value is less than the negative of a preset position difference threshold value; in the case that the position difference value is greater than or equal to the negative of the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter; in the case that the position difference value is less than the negative of the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter; wherein the first preset sign parameter is negative, and the second preset sign parameter is positive.

[0118] If the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, it is judged whether the position difference value is less than the negative of a preset position difference threshold value; in the case that the position difference value is less than the negative of the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter; in the case that the position difference value is greater than or equal to the negative of the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter.

[0119] If the path state type is a straight line, it is judged whether the absolute value of the position difference value is greater than a preset position difference threshold value; in the case that the absolute value of the position difference value is greater than the preset position difference threshold value, the distance adjustment sign parameter is a first preset sign parameter; in the case that the absolute value of the position difference value is less than or equal to the preset position difference threshold value, the distance adjustment sign parameter is a second preset sign parameter.

[0120] The first preset sign parameter is negative, indicating that the current preview distance is to be reduced, and the second preset sign parameter is positive, indicating that the current preview distance is to be increased.

[0121] In order to facilitate understanding of the process of determining the distance adjustment sign parameter, Figure 4 An embodiment flowchart of the process of determining the distance adjustment sign parameter is provided for the embodiment of the application. Figure 4 The flowchart can include the following steps:

[0122] Step 400, judging whether the path state type is a straight line;

[0123] If no, step 401 is executed, and if yes, step 406 is executed.

[0124] Step 401, it is judged whether the position coordinate of the center of the curve is on the right side of the real-time position coordinate of the vehicle.

[0125] If no, step 402 is executed, and if yes, step 405 is executed.

[0126] Step 402, it is judged whether the position difference value is less than the negative value of the preset position difference threshold value.

[0127] If no, step 403 is executed, and if yes, step 404 is executed.

[0128] Step 403, the distance adjustment sign parameter is the first preset sign parameter.

[0129] Step 404, the distance adjustment sign parameter is the second preset sign parameter.

[0130] Step 405, it is judged whether the position difference value is less than the negative value of the preset position difference threshold value.

[0131] If yes, step 403 is executed, and if no, step 404 is executed.

[0132] In the curve path, when the position coordinate of the center of the curve is on the right side of the real-time position coordinate of the vehicle, EPos<-EPosMax, the current preview distance is increased, EPos>EPosMax, the current preview distance is decreased, when the position coordinate of the center of the curve is on the left side of the real-time position coordinate of the vehicle, EPos<-EPosMax, the current preview distance is decreased, EPos>EPosMax, the current preview distance is increased; wherein, EPos is the position difference value, EPosMax is the preset position difference threshold value.

[0133] Step 406, it is judged whether the absolute value of the position difference value is greater than the preset position difference threshold value.

[0134] If yes, step 403 is executed, and if no, step 404 is executed. That is, in the straight line path, if the absolute value of the position difference value exceeds the preset position difference threshold value, the current preview distance is decreased; otherwise, the current preview distance is increased. The preset position difference threshold value is the maximum position difference value that is tolerated.

[0135] Step C2, the position error weight corresponding to the position difference value is queried from the position error weight query table.

[0136] In which, the position error weight query table stores a plurality of different position error weights, and the position difference threshold value range corresponding to each position error weight; through the description of the position error weight query table, table 3 shows an example of a position error weight query table:

[0137] Table 3

[0138] Position error weight Position difference threshold range (unit / m) 0.1 1-5 0.3 6-10 0.7 11-15

[0139] Since the position error weight has a one-to-one correspondence with the position difference threshold range, the position difference threshold range in which the position difference value is located can be determined by looking up Table 3, and then the position error weight corresponding to the position difference threshold range in which the position difference value is located is determined as the position error weight corresponding to the position difference value.

[0140] It should be noted that only an example of the correspondence between the position error weight and the position difference threshold range is shown in Table 3, and the correspondence between the position error weight and the position difference threshold range can be set according to actual needs, which is not limited herein.

[0141] Step C3, determining the position error adjustment parameter according to the distance adjustment sign parameter, the position error weight and the position difference value.

[0142] In this embodiment, the position error adjustment parameter can be determined according to the distance adjustment sign parameter, the position error weight and the position difference value by the following formula:

[0143] Position error adjustment parameter = distance adjustment sign parameter * (|position difference value| - preset position difference threshold value) * position error weight; wherein the preset position difference threshold value is set according to actual needs, which is not limited herein.

[0144] Step B3, determining the angle error adjustment parameter according to the path shape type and the angle difference value;

[0145] The process of determining the angle error adjustment parameter can be implemented by steps D1 to D3:

[0146] Step D1, determining the angle adjustment sign parameter according to the path shape type and the angle difference value;

[0147] The angle adjustment sign parameter determination process is as follows: if the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, it is judged whether the angle difference value is less than the negative value of the preset angle difference threshold value, in the case that the angle difference value is greater than or equal to the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is the first preset sign parameter, and in the case that the angle difference value is less than the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is the second preset sign parameter.

[0148] If the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, it is determined whether the angle difference value is less than a negative value of a preset angle difference threshold value, in a case where the angle difference value is less than the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a first preset sign parameter, in a case where the angle difference value is greater than or equal to the negative value of the preset angle difference threshold value, the angle adjustment sign parameter is a second preset sign parameter;

[0149] If the path state type is a straight line, it is determined whether the absolute value of the angle difference value is greater than a preset angle difference threshold value, in a case where the absolute value of the angle difference value is greater than the preset angle difference threshold value, the angle adjustment sign parameter is a first preset sign parameter, in a case where the absolute value of the angle difference value is less than or equal to the preset angle difference threshold value, the angle adjustment sign parameter is a second preset sign parameter.

[0150] In order to facilitate the understanding of the angle adjustment sign parameter determination process, Figure 5 An embodiment flowchart of angle adjustment sign parameter determination is provided for the embodiments of the application. Figure 5 The flowchart can include the following steps:

[0151] Step 500, it is determined whether the path state type is a straight line;

[0152] If not, step 501 is performed, and if so, step 506 is performed.

[0153] Step 501, it is determined whether the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle;

[0154] If not, step 502 is performed, and if so, step 505 is performed.

[0155] Step 502, it is determined whether the angle difference value is less than a negative value of a preset angle difference threshold value;

[0156] If not, step 503 is performed, and if so, step 504 is performed.

[0157] Step 503, the angle adjustment sign parameter is a first preset sign parameter;

[0158] Step 504, the angle adjustment sign parameter is a second preset sign parameter;

[0159] Step 505, it is determined whether the angle difference value is less than a negative value of a preset angle difference threshold value;

[0160] If so, step 503 is performed, and if not, step 504 is performed.

[0161] In the curved path, when the position coordinate of the center of the curve is on the right side of the real-time position coordinate of the vehicle, EYaw < -EYawMax, the current preview distance is increased, EYaw > EYawMax, the current preview distance is decreased, when the position coordinate of the center of the curve is on the left side of the real-time position coordinate of the vehicle, EYaw < -EYawMax, the current preview distance is decreased, EYaw > EYawMax, the current preview distance is increased; wherein, EYaw is an angle difference value, EYawMax is a preset angle difference value threshold.

[0162] Step 506, judging whether the absolute value of the angle difference value is greater than the preset angle difference value threshold;

[0163] If yes, step 503 is executed, if not, step 504 is executed. That is, in the straight path, if the absolute value of the angle difference value exceeds the preset angle difference value threshold, the current preview distance is decreased; otherwise, the current preview distance is increased. The preset angle difference value threshold is the maximum angle difference value tolerated.

[0164] Step C2, querying the angle error weight corresponding to the angle difference value from the angle error weight query table;

[0165] Wherein, the angle error weight query table stores a plurality of different angle error weights, and an angle difference value threshold range corresponding to each angle error weight; through the description of the angle error weight query table, table 4 shows an example of an angle error weight query table:

[0166] Table 4

[0167] Angle error weight Angle difference threshold range (unit / degree) 0.2 1-5 0.4 6-10 0.6 11-15

[0168] Since the angle error weight and the angle difference value threshold range have a one-to-one correspondence, the angle difference value threshold range in which the angle difference value is located can be determined by looking up table 4, and then the angle error weight corresponding to the angle difference value threshold range in which the angle difference value is located is determined as the angle error weight corresponding to the angle difference value.

[0169] It should be noted that only an example of the correspondence between the angle error weight and the angle difference value threshold range is shown in table 4, and the correspondence between the specific angle error weight and the angle difference value threshold range can be set according to actual needs, which is not limited here.

[0170] Step D3, determining the angle error adjustment parameter according to the angle adjustment sign parameter, the angle error weight and the angle difference value.

[0171] In this embodiment, the angle error adjustment parameter can be obtained by the following formula according to the angle adjustment sign parameter, the angle error weight and the angle difference value:

[0172] The angle error adjustment parameter = the angle adjustment sign parameter * (|the angle difference value| - the preset angle difference value threshold) * the angle error weight; the preset angle difference value threshold is set according to actual needs, and is not limited herein.

[0173] Step B4, determining an adjusted preview distance based on the curvature adjustment parameter, the position error adjustment parameter, the angle error adjustment parameter and the current preview distance;

[0174] The adjusted preview distance can be obtained by the following formula:

[0175] The adjusted preview distance = the current preview distance + the curvature adjustment parameter + the position error adjustment parameter + the angle error adjustment parameter.

[0176] Step B5, adjusting the current preview distance into the adjusted preview distance.

[0177] The adjusted preview distance obtained according to step B4 adaptively adjusts the current preview distance to a proper preview distance, without estimating the adjusted preview distance according to the experience of technicians, which can greatly improve the accuracy of path tracking, and make the vehicle stably and accurately follow the vehicle driving path.

[0178] Corresponding to the above method embodiment, the present embodiment provides a preview distance adjustment device, referring to Figure 6 a structural schematic diagram of a preview distance adjustment device, the device comprising:

[0179] A first acquisition module 601 is configured to acquire trajectory point information and path type identification information corresponding to a plurality of trajectory points on a vehicle driving path;

[0180] A determination module 602 is configured to determine a preview point from the plurality of trajectory points according to a current preview distance;

[0181] A control module 603 is configured to control vehicle driving according to the trajectory point information corresponding to the preview point;

[0182] A second acquisition module 604 is configured to acquire vehicle motion state information of the vehicle driving;

[0183] An adjustment module 605 is configured to adjust the current preview distance according to the vehicle motion state information and the trajectory point information and the path type identification information corresponding to the preview point.

[0184] The pre-look distance adjustment device provided by the embodiment of the present application comprises: obtaining trajectory point information corresponding to a plurality of trajectory points on a vehicle driving path and path type identification information; determining a pre-look point from the plurality of trajectory points according to a current pre-look distance; controlling the vehicle to drive according to the trajectory point information corresponding to the pre-look point; obtaining vehicle motion state information of the driving vehicle; and adjusting the current pre-look distance according to the vehicle motion state information and the trajectory point information corresponding to the pre-look point and the path type identification information. The pre-look distance is adjusted according to the trajectory point information corresponding to the pre-look point, the path type identification information and the vehicle motion state information of the vehicle, so that the adjustment of the pre-look distance takes into account the situation of the trajectory point and the actual motion state of the vehicle during the driving process along the trajectory point, and the pre-look distance can be adaptively adjusted to a proper pre-look distance under different vehicle conditions or different road conditions, without the need to estimate and adjust the pre-look distance according to the experience of technicians, so that the accuracy of path tracking can be greatly improved, and the vehicle can stably and accurately drive along the vehicle driving path.

[0185] Figure 7 A structural schematic diagram of a vehicle is provided for the embodiment of the present application. Figure 7 The vehicle 500 shown comprises at least one processor 701, a memory 702, at least one network interface 704 and other user interfaces 703. The various components in the vehicle 700 are coupled together through a bus system 705. It can be understood that the bus system 705 is used to realize the connection and communication between the components. In addition to a data bus, the bus system 705 also comprises a power bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all the buses are marked as the bus system 705 in the Figure 7

[0186] The user interface 703 can comprise a display, a keyboard or a clicking device (for example, a mouse, a trackball, a touchpad or a touch screen, etc.).

[0187] ​​​​​​​​​It is to be appreciated that the memory 702 in embodiments of the application can be volatile, nonvolatile, or a combination of both. The non-volatile memory can be, for example, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. The volatile memory can be, for example, random access memory (RAM), which acts as external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous dynamic RAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory 702 described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0188] In some embodiments, the memory 702 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system 7021 and application programs 7022.

[0189] The operating system 7021 contains various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application programs 7022 contain various application programs, such as a media player, a browser, etc., for implementing various application services. The programs implementing the methods of embodiments of the application can be included in the application programs 7022.

[0190] In embodiments of the application, the processor 701 is configured to execute the method steps provided by each method embodiment by invoking the programs or instructions stored in the memory 702, specifically, the programs or instructions stored in the application programs 7022.

[0191] The method disclosed by the embodiments of the present application can be applied to the processor 701 or implemented by the processor 701. The processor 701 can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the method can be completed by the integrated logic electric circuit or the instruction in the form of software in the processor 701. The processor 701 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software units in the code processor for execution. The software unit can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory 702, and the processor 701 reads the information in the memory 702 and combines the hardware to complete the steps of the above method.

[0192] It can be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described in the present application, or a combination thereof.

[0193] For software implementation, the techniques described herein can be implemented with a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0194] The electronic device provided by the embodiment can be a vehicle as shown in Figure 7 The vehicle can perform all steps of Figure 1 , thereby achieving the technical effects of the preview distance adjustment method in Figure 1 . For details, please refer to the related description Figure 1 . For brevity, no further description is given here.

[0195] The embodiment of the present application also provides a storage medium (computer readable storage medium). The storage medium stores one or more programs. The storage medium can include a volatile memory such as a random access memory, and the memory can also include a non-volatile memory such as a read-only memory, a flash memory, a hard disk or a solid state disk, and the memory can also include a combination of the above types of memories.

[0196] When the one or more programs in the storage medium are executed by one or more processors, the data fusion method described above can be implemented.

[0197] The processor is configured to execute the data fusion program stored in the memory to implement the steps of the preview distance adjustment method.

[0198] The skilled person should also further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0199] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be stored in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0200] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A look-ahead distance adjustment method, characterized by, The method comprises: acquiring trajectory point information corresponding to a plurality of trajectory points on a vehicle travel path and path type identification information; determining a preview point from the plurality of trajectory points according to a current preview distance; controlling vehicle travel according to the trajectory point information corresponding to the preview point; acquiring vehicle motion state information of the vehicle; adjusting the current preview distance according to the vehicle motion state information and the trajectory point information corresponding to the preview point and the path type identification information; the trajectory point information comprises trajectory point position coordinates, curvature and a heading angle; wherein the trajectory point position coordinates are the relative position of the trajectory point relative to the vehicle in a vehicle coordinate system; the vehicle motion state information comprises real-time position coordinates, a real-time heading angle and a current position curvature of the vehicle; wherein the real-time position coordinates are the position of the vehicle in the vehicle coordinate system, and the current position curvature is the curvature of the target trajectory point closest to the real-time position of the vehicle; the adjusting of the current preview distance according to the vehicle motion state information and the trajectory point information corresponding to the preview point and the path type identification information comprises: determining a path shape type of the vehicle travel path where the preview point is located based on the path type identification information; wherein the path shape type is a straight line or a curve; determining a position difference value according to the trajectory point position coordinates of the target trajectory point and the real-time position coordinates of the vehicle; determining an angle difference value according to the heading angle of the target trajectory point and the real-time heading angle of the vehicle; adjusting the current preview distance based on the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point; the adjusting of the current preview distance based on the path shape type, the position difference value, the angle difference value, the current position curvature and the curvature of the preview point comprises: determining a curvature adjustment parameter according to the current position curvature and the curvature of the preview point; determining a position error adjustment parameter according to the path shape type and the position difference value; determining an angle error adjustment parameter according to the path shape type and the angle difference value; determining an adjusted preview distance based on the curvature adjustment parameter, the position error adjustment parameter, the angle error adjustment parameter and the current preview distance; adjusting the current preview distance to the adjusted preview distance.

2. The method of claim 1, wherein, the determining of the path shape type of the vehicle travel path where the preview point is located based on the path type identification information comprises: querying specific path type identification information matching the path type identification information from a path state type query table; wherein the path state type query table stores a plurality of different specific path shape types and specific path type identification information corresponding to each specific path shape type; determining the specific path shape type corresponding to the specific path type identification information as the path shape type of the vehicle travel path where the preview point is located.

3. The method of claim 1, wherein, the determining of the curvature adjustment parameter according to the current position curvature and the curvature of the preview point comprises: determining whether the current position curvature is less than the curvature of the preview point; in the case that the current position curvature is less than the curvature of the preview point, querying a curvature weight corresponding to the current position curvature from a curvature weight query table, and determining a curvature adjustment parameter according to the curvature of the preview point and the curvature weight; wherein the curvature weight query table stores a plurality of different curvature weights and a curvature threshold range corresponding to each of the curvature weights; in the case that the current position curvature is greater than or equal to the curvature of the preview point, the curvature adjustment parameter is a set value.

4. The method of claim 1, wherein, the determining of the position error adjustment parameter according to the path shape type and the position difference value comprises: determining a distance adjustment sign parameter according to the path shape type and the position difference value; querying a position error weight corresponding to the position difference value from a position error weight query table; wherein the position error weight query table stores a plurality of different position error weights and a position difference value threshold range corresponding to each of the position error weights; determining a position error adjustment parameter according to the distance adjustment sign parameter, the position error weight and the position difference value.

5. The method of claim 4, wherein, the determining of the distance adjustment sign parameter according to the path shape type and the position difference value comprises: if the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, determining whether the position difference value is less than a negative value of a preset position difference value threshold, in the case that the position difference value is greater than or equal to the negative value of the preset position difference value threshold, the distance adjustment sign parameter is a first preset sign parameter, and in the case that the position difference value is less than the negative value of the preset position difference value threshold, the distance adjustment sign parameter is a second preset sign parameter; wherein the first preset sign parameter and the second preset sign parameter are opposite numbers, the first preset sign parameter is a negative value, and the second preset sign parameter is a positive value; if the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, determining whether the position difference value is less than the negative value of the preset position difference value threshold, in the case that the position difference value is less than the negative value of the preset position difference value threshold, the distance adjustment sign parameter is the first preset sign parameter, and in the case that the position difference value is greater than or equal to the negative value of the preset position difference value threshold, the distance adjustment sign parameter is the second preset sign parameter; if the path state type is a straight line, determining whether the absolute value of the position difference value is greater than the preset position difference value threshold, in the case that the absolute value of the position difference value is greater than the preset position difference value threshold, the distance adjustment sign parameter is the first preset sign parameter, and in the case that the absolute value of the position difference value is less than or equal to the preset position difference value threshold, the distance adjustment sign parameter is the second preset sign parameter.

6. The method of claim 5, wherein, the determining of the angle error adjustment parameter according to the path shape type and the angle difference value comprises: determining an angle adjustment sign parameter according to the path shape type and the angle difference value; query an angle error weight corresponding to the angle difference from an angle error weight query table; wherein the angle error weight query table stores a plurality of different angle error weights and a range of angle difference thresholds corresponding to each of the angle error weights; determine an angle error adjustment parameter according to the angle adjustment sign parameter, the angle error weight, and the angle difference.

7. The method of claim 6, wherein, The determining of the angle adjustment sign parameter according to the path shape type and the angle difference includes: if the path state type is a curve and the center position coordinate of the curve is on the right side of the real-time position coordinate of the vehicle, determining whether the angle difference is less than a negative value of a preset angle difference threshold, in a case where the angle difference is greater than or equal to the negative value of the preset angle difference threshold, the angle adjustment sign parameter is the first preset sign parameter, and in a case where the angle difference is less than the negative value of the preset angle difference threshold, the angle adjustment sign parameter is the second preset sign parameter; if the path state type is a curve and the center position coordinate of the curve is on the left side of the real-time position coordinate of the vehicle, determining whether the angle difference is less than a negative value of a preset angle difference threshold, in a case where the angle difference is less than the negative value of the preset angle difference threshold, the angle adjustment sign parameter is the first preset sign parameter, and in a case where the angle difference is greater than or equal to the negative value of the preset angle difference threshold, the angle adjustment sign parameter is the second preset sign parameter; if the path state type is a straight line, determining whether the absolute value of the angle difference is greater than the preset angle difference threshold, in a case where the absolute value of the angle difference is greater than the preset angle difference threshold, the angle adjustment sign parameter is the first preset sign parameter, and in a case where the absolute value of the angle difference is less than or equal to the preset angle difference threshold, the angle adjustment sign parameter is the second preset sign parameter.

8. A look-ahead distance adjustment device characterized by comprising: The device includes: a first obtaining module configured to obtain trajectory point information corresponding to a plurality of trajectory points on a driving path of a vehicle and path type identification information; a determining module configured to determine a preview point from the plurality of trajectory points according to a current preview distance; a control module configured to control driving of the vehicle according to the trajectory point information corresponding to the preview point; a second obtaining module configured to obtain vehicle motion state information of the driving vehicle. An adjusting module is configured to adjust the current preview distance according to the vehicle motion state information, the trajectory point information corresponding to the preview point, and the path type identification information. The trajectory point information includes a trajectory point position coordinate, a curvature, and a heading angle. The trajectory point position coordinate is a relative position of the trajectory point with respect to the vehicle in a vehicle coordinate system. The vehicle motion state information includes a real-time position coordinate, a real-time heading angle, and a current position curvature of the vehicle. The real-time position coordinate is a position of the vehicle in the vehicle coordinate system. The current position curvature is a curvature of a target trajectory point closest to the real-time position of the vehicle. The adjusting of the current preview distance according to the vehicle motion state information, the trajectory point information corresponding to the preview point, and the path type identification information includes: determining a path shape type of a vehicle travel path where the preview point is located based on the path type identification information. The path shape type is a straight line or a curve. A position difference value is determined according to the trajectory point position coordinate of the target trajectory point and the real-time position coordinate of the vehicle. An angle difference value is determined according to the heading angle of the target trajectory point and the real-time heading angle of the vehicle. The current preview distance is adjusted based on the path shape type, the position difference value, the angle difference value, the current position curvature, and a curvature of the preview point. The adjustment of the current preview distance based on the path shape type, the position difference value, the angle difference value, the current position curvature, and the curvature of the preview point includes: determining a curvature adjustment parameter according to the current position curvature and the curvature of the preview point. A position error adjustment parameter is determined according to the path shape type and the position difference value. An angle error adjustment parameter is determined according to the path shape type and the angle difference value. An adjusted preview distance is determined based on the curvature adjustment parameter, the position error adjustment parameter, the angle error adjustment parameter, and the current preview distance. The current preview distance is adjusted to the adjusted preview distance.

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