A method, apparatus, device, and medium for generating a test fitting trajectory

Abstract

This invention discloses a method, apparatus, device, and medium for generating test fitting trajectories, relating to the field of vehicle safety technology. It includes: acquiring the starting point and ending point trajectory information of a test vehicle's turning trajectory at a test intersection, and acquiring the starting and ending point trajectory information of the arc segments within the turning trajectory; generating a first segment trajectory based on the starting point and arc starting point trajectory information; generating a second segment trajectory based on the arc ending point trajectory information and the turning ending point trajectory information; and determining the trajectory obtained by connecting the first segment trajectory, the arc segment trajectory, and the second segment trajectory as the target turning trajectory for collision testing. This solution generates the first and second segment trajectories and obtains the target turning trajectory based on them, improving the accuracy of the test trajectory.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, and in particular to a method, apparatus, equipment and medium for generating test fitting trajectories. Background Technology

[0002] Currently, an increasing number of vehicles are equipped with automatic emergency braking (AEP) functions to take braking measures to avoid danger in the event of a collision. Therefore, testing the reliability of AEP functions is crucial.

[0003] Currently, when testing the automatic emergency braking function, a circular arc trajectory is usually fitted and the vehicle is instructed to travel along this trajectory. During the driving process, a collision test is conducted on the vehicle. However, since the actual trajectory of the vehicle is different from the fitted circular arc trajectory, there is a defect that the vehicle test trajectory is inaccurate, leading to inaccurate test results. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for generating test fitting trajectories to improve the accuracy of vehicle test trajectories.

[0005] In a first aspect, the present invention provides a method for generating a test fitting trajectory, comprising:

[0006] The system acquires the starting point and ending point trajectory information of the turning trajectory of the test vehicle at the test intersection, as well as the starting point and ending point trajectory information of the arc segments in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle.

[0007] Based on the trajectory information of the steering starting point and the trajectory information of the arc starting point, the first segment of the steering trajectory is generated; wherein, the driving order of the vehicle in the first segment trajectory is before the driving order of the steering arc segment trajectory.

[0008] Based on the trajectory information of the arc termination point and the steering termination point, the second segment trajectory in the steering trajectory is generated; wherein, the vehicle's driving order in the steering arc segment trajectory precedes the driving order in the second segment trajectory.

[0009] The trajectory obtained by connecting the first segment trajectory, the circular arc segment trajectory, and the second segment trajectory is determined as the target turning trajectory for collision testing.

[0010] Secondly, the present invention also provides a test fitting trajectory generation device, comprising:

[0011] The trajectory information acquisition module is used to acquire the trajectory information of the starting point and ending point of the turning trajectory of the test vehicle in the test intersection, as well as the trajectory information of the starting point and ending point of the arc segment trajectory in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle;

[0012] The first trajectory generation module is used to generate the first segment trajectory in the steering trajectory based on the steering start point trajectory information and the arc start point trajectory information; wherein, the vehicle's driving order in the first segment trajectory is before the driving order in the steering arc segment trajectory.

[0013] The second trajectory generation module is used to generate the second segment trajectory in the steering trajectory based on the trajectory information of the arc termination point and the trajectory information of the steering termination point; wherein, the driving order of the vehicle in the steering arc segment trajectory precedes the driving order of the second segment trajectory.

[0014] The target trajectory generation module is used to connect the first segment trajectory, the circular arc segment trajectory, and the second segment trajectory to determine the target turning trajectory for collision testing.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, comprising:

[0016] At least one processor; and

[0017] A memory that is communicatively connected to at least one processor; wherein

[0018] The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the test fitting trajectory generation method provided in any embodiment of the present invention.

[0019] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions that are used to cause a processor to execute the test fitting trajectory generation method of any embodiment of the present invention.

[0020] This invention, through obtaining the starting and ending point trajectory information of a test vehicle's turning trajectory at a test intersection, as well as the starting and ending point trajectory information of the arc segments within the turning trajectory; generates a first segment trajectory based on the starting and ending point trajectory information; and generates a second segment trajectory based on the ending and ending point trajectory information. Connecting the first segment trajectory, the arc segment trajectory, and the second segment trajectory yields the target turning trajectory for collision testing. This technical solution, by generating the first and second segment trajectories and obtaining the target turning trajectory based on them, achieves a target turning trajectory with the same trend as the vehicle's actual driving trajectory. Using this target turning trajectory as the vehicle's test trajectory for collision testing improves the accuracy of the vehicle's test trajectory, thereby increasing the accuracy of the test results.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a test fitting trajectory generation method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a test fitting trajectory generation method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of a test fitting trajectory generation device provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the test fitting trajectory generation method of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. In the technical solutions of the embodiments of this invention, the acquisition, storage, and application of candidate power values, etc., all comply with relevant laws and regulations and do not violate public order and good morals.

[0029] In the technical solutions of the embodiments of the present invention, the acquisition, storage and application of target program identifiers, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a test fitting trajectory generation method provided in Embodiment 1 of the present invention. This embodiment is applicable to the generation of test fitting trajectories. The method can be executed by a test fitting trajectory generation device, which can be implemented in hardware and / or software and specifically configured in an electronic device, such as a server.

[0032] See Figure 1 The test fitting trajectory generation method shown includes:

[0033] S101. Obtain the trajectory information of the starting point and ending point of the turning trajectory of the test vehicle in the test intersection, and obtain the trajectory information of the starting point and ending point of the arc segment trajectory in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle.

[0034] In this embodiment, the test vehicle can be a vehicle to be used for a vehicle collision test. The test intersection can be an intersection used for a vehicle collision test. The steering trajectory can be the driving trajectory of the vehicle during a turning process. The steering start point can be the starting point of the steering trajectory. The steering end point can be the ending point of the steering trajectory. The arc segment trajectory can be an arc trajectory with constant curvature in the steering trajectory. The arc start point can be the starting point of the arc segment trajectory. The arc end point can be the ending point of the arc segment trajectory. The tangent angle can be the angle between the tangent and the horizontal line.

[0035] In an optional embodiment, obtaining the turning start point trajectory information of the test vehicle at the test intersection includes: obtaining sample turning trajectories of at least three sample vehicles at the test intersection; for the starting point of each sample turning trajectory, determining the starting point distance between the starting point and the starting points of other sample turning trajectories; determining the coordinates of the starting point of the sample turning trajectory with the smallest starting point distance as the coordinates of the turning start point; determining the curvature of the starting point of the sample turning trajectory with the smallest starting point distance in its respective sample turning trajectory as the curvature of the turning start point, and determining the tangent angle of the starting point of the sample turning trajectory with the smallest starting point distance in its respective sample turning trajectory as the tangent angle of the turning start point.

[0036] The sample vehicle can be the same model as the test vehicle. The sample steering trajectory can be the actual steering trajectory of the sample vehicle at the test intersection.

[0037] It is understandable that by adopting the above technical solution, the trajectory information of the starting point of the sample turning trajectory with the smallest distance from the starting point of each sample turning trajectory can be selected as the trajectory information of the turning starting point. This minimizes the distance between the turning starting point and the starting point of each sample turning trajectory, thus obtaining the turning starting point that is closest to the starting point of the sample turning trajectory and improving the accuracy of the turning starting point.

[0038] In another alternative embodiment, the trajectory information of the turning termination point can also be determined based on the sample turning trajectories of at least three sample vehicles at the test intersection. It should be noted that the process of determining the trajectory information of the turning termination point is similar to the process of determining the trajectory information of the turning start point, and will not be described again here.

[0039] In another optional embodiment, before acquiring the arc start point trajectory information and arc end point trajectory information of the turning arc trajectory in the test intersection, the method further includes: acquiring sample arc trajectories of at least three sample vehicles in the test intersection; for each sample arc trajectory, determining a first distance between the arc start point of the sample arc trajectory and the arc start point of other sample arc trajectories, and a second distance between the arc end point of the sample arc trajectory and the arc end point of other sample arc trajectories; and determining the sample arc trajectory with the smallest sum between the first distance and the second distance as the turning arc trajectory.

[0040] S102. Based on the trajectory information of the steering starting point and the trajectory information of the arc starting point, generate the first segment trajectory in the steering trajectory; wherein, the driving order of the vehicle in the first segment trajectory is before the driving order of the steering arc segment trajectory.

[0041] In this embodiment, the first segment trajectory can be a segment trajectory in the steering trajectory where the driving order precedes the driving order of the steering arc segment trajectory. The vehicle's driving order in the first segment trajectory precedes the driving order of the steering arc segment trajectory; that is, the vehicle drives the first segment trajectory before driving the steering arc segment trajectory. Specifically, a certain algorithm is used to generate the first segment trajectory in the steering trajectory based on the trajectory information of the steering starting point and the trajectory information of the arc starting point.

[0042] S103. Based on the trajectory information of the arc termination point and the trajectory information of the steering termination point, generate the second segment trajectory in the steering trajectory; wherein, the driving order of the vehicle in the steering arc segment trajectory precedes the driving order of the second segment trajectory.

[0043] In this embodiment, the second segment trajectory can be a segment of the steering trajectory whose driving order is lower than that of the steering arc segment trajectory. The vehicle's driving order on the steering arc segment trajectory precedes that on the second segment trajectory; that is, the vehicle travels on the arc segment trajectory before traveling on the second segment trajectory. Specifically, a certain algorithm is used to generate the second segment trajectory in the steering trajectory based on the trajectory information of the arc termination point and the steering termination point.

[0044] S104. The trajectory obtained by connecting the first segment trajectory, the circular arc segment trajectory, and the second segment trajectory is determined as the target turning trajectory for collision testing.

[0045] In this embodiment, the target turning trajectory can be the trajectory of the vehicle during the vehicle collision test.

[0046] In one optional embodiment, the test vehicle is controlled to automatically drive along a target turning trajectory at a test intersection, and the automatic emergency braking function is activated when the test vehicle collides; the automatic emergency braking data of the test vehicle is acquired; and the automatic emergency braking function is detected as abnormal based on the automatic emergency braking data.

[0047] The automatic emergency braking data can be data obtained from testing the automatic emergency braking function, and may include, but is not limited to, at least one of braking distance, braking response time, and obstacle detection results.

[0048] For example, if the braking distance is greater than a preset distance threshold, the automatic emergency braking function is determined to be abnormal; if the braking response time is greater than a preset time threshold, the automatic emergency braking function is determined to be abnormal; if the obstacle detection result is no obstacle, but the automatic emergency braking function is activated, the automatic emergency braking function is determined to be abnormal.

[0049] Optionally, the test vehicle can be a real vehicle, that is, a real test vehicle is controlled to drive automatically in the test intersection according to the target turning trajectory, and the automatic emergency braking function configured in the vehicle is activated when the test vehicle collides; the automatic emergency braking data of the test vehicle is acquired; and the automatic emergency braking function is checked for abnormality based on the automatic emergency braking data.

[0050] Optionally, the test vehicle can also be a simulated vehicle, i.e., a vehicle dynamics model obtained by modeling a real vehicle. Specifically, a simulated vehicle model of the real vehicle is created, which includes a control system sub-model and a braking system sub-model, etc. The braking system sub-model is configured with the corresponding function for the automatic emergency braking function. The test road is simulated using a driving scenario designer tool to obtain a simulated road. Using the simulated vehicle model and the simulated road, a vehicle collision event is simulated to obtain the automatic emergency braking data output by the simulated vehicle model. Based on the automatic emergency braking data, whether the automatic emergency braking function is abnormal is detected.

[0051] This invention, through obtaining the starting and ending point trajectory information of a test vehicle's turning trajectory at a test intersection, as well as the starting and ending point trajectory information of the arc segments within the turning trajectory; generates a first segment trajectory based on the starting and ending point trajectory information; and generates a second segment trajectory based on the ending and ending point trajectory information. Connecting the first segment trajectory, the arc segment trajectory, and the second segment trajectory yields the target turning trajectory for collision testing. This technical solution, by generating the first and second segment trajectories and obtaining the target turning trajectory based on them, achieves a target turning trajectory with the same trend as the vehicle's actual driving trajectory. Using this target turning trajectory as the vehicle's test trajectory for collision testing improves the accuracy of the vehicle's test trajectory, thereby increasing the accuracy of the test results.

[0052] Example 2

[0053] Figure 2 This is a flowchart of a test fitting trajectory generation method provided in Embodiment 2 of the present invention. Based on the technical solution of the above embodiments, the present invention optimizes and improves the generation method of the first segmented trajectory.

[0054] Furthermore, the step of "generating the first segment trajectory in the steering trajectory based on the steering start point trajectory information and the arc start point trajectory information" is refined to "determining the length of the first segment trajectory based on the curvature and tangent angle of the steering start point, as well as the curvature and tangent angle of the arc start point; determining the rate of curvature change of the first segment trajectory based on the square of the curvature and tangent angle of the steering start point, as well as the square of the curvature and tangent angle of the arc start point; dividing the first segment trajectory into at least two sub-trajectories and obtaining the length of each sub-trajectory; for each sub-trajectory, obtaining the coordinates of the corresponding trajectory point based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of curvature change of the first segment trajectory; generating the first segment trajectory based on the coordinates of the corresponding trajectory points of each sub-trajectory," thus improving the generation operation of the first segment trajectory.

[0055] It should be noted that for any parts not described in detail in the embodiments of the present invention, please refer to the description in the foregoing embodiments.

[0056] See Figure 2 The test fitting trajectory generation method shown includes:

[0057] S201. Obtain the trajectory information of the starting point and ending point of the turning trajectory of the test vehicle in the test intersection, and obtain the trajectory information of the starting point and ending point of the arc segment trajectory in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle.

[0058] S202. Determine the length of the first segment trajectory based on the curvature and tangent angle of the steering starting point, as well as the curvature and tangent angle of the arc starting point; wherein the vehicle's driving order on the first segment trajectory precedes the driving order on the steering arc segment trajectory.

[0059] Specifically, a certain algorithm is used to determine the length of the first segment trajectory based on the curvature and tangent angle of the turning starting point, as well as the curvature and tangent angle of the arc starting point.

[0060] Optionally, the length of the first segment trajectory is determined based on the curvature and tangent angle of the turning starting point, as well as the curvature and tangent angle of the arc starting point, including: determining the sum of curvature between the curvature of the arc starting point and the curvature of the turning starting point; determining the difference in tangent angle between the tangent angle of the arc starting point and the tangent angle of the turning starting point; and determining the length of the first segment trajectory based on the difference in tangent angle and the sum of curvature.

[0061] For example, the length of the first segment trajectory can be determined using the following formula:

[0062]

[0063] Where L1 represents the length of the first segment trajectory; R2 represents the tangent angle at the starting point of the arc; R1 represents the tangent angle at the starting point of the turn; k1 represents the curvature at the starting point of the turn; and k2 represents the curvature at the starting point of the arc.

[0064] Understandably, by adopting the above technical solution, the curvature sum and tangent angle difference are determined, and the length of the first segment trajectory is determined based on the tangent angle difference and curvature sum, thus improving the accuracy of the length of the first segment trajectory.

[0065] S203. Determine the rate of change of curvature of the first segment trajectory based on the square value of curvature and the tangent angle at the starting point of the turn, as well as the square value of curvature and the tangent angle at the starting point of the arc.

[0066] Specifically, using a certain algorithm, the rate of curvature change of the first segment trajectory is determined based on the square value of curvature and the tangent angle at the starting point of the turn, as well as the square value of curvature and the tangent angle at the starting point of the arc.

[0067] Optionally, the rate of curvature change of the first segment trajectory is determined based on the squared curvature value and tangent angle of the turning starting point, as well as the squared curvature value and tangent angle of the arc starting point. This includes: determining the squared curvature difference between the squared curvature value of the arc starting point and the squared curvature value of the turning starting point; determining the tangent angle difference between the tangent angle of the arc starting point and the tangent angle of the turning starting point; and determining the rate of curvature change of the first segment trajectory based on the squared curvature difference and the tangent angle difference.

[0068] For example, the rate of change of curvature of the first segment trajectory can be determined by the following formula:

[0069]

[0070] Where d1 represents the rate of change of curvature of the first segment trajectory; R2 represents the tangent angle at the starting point of the arc; R1 represents the tangent angle at the starting point of the turn; k1 represents the curvature at the starting point of the turn; and k2 represents the curvature at the starting point of the arc.

[0071] Understandably, by adopting the above technical solution, the difference in the square of curvature and the difference in the tangent angle are determined, and the rate of change of curvature of the first segment trajectory is determined based on the difference in the square of curvature and the difference in the tangent angle, thus improving the accuracy of the rate of change of curvature.

[0072] S204. Divide the first segment trajectory into at least two sub-trajectories and obtain the length of each sub-trajectory.

[0073] Optionally, the first segment trajectory can be divided into at least two sub-trajectories, and the length of each sub-trajectory can be obtained.

[0074] S205. For each sub-trajectory, obtain the coordinates of the trajectory point corresponding to the sub-trajectory based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory.

[0075] The trajectory point corresponding to the sub-trajectory can be the termination point of the sub-trajectory, that is, the coordinates of the trajectory point corresponding to the sub-trajectory are the coordinates of the termination point of the sub-trajectory.

[0076] For the first sub-track with the starting point of the turn as its starting point, the starting point of the sub-track is the starting point of the turn; the coordinates of the starting point of the sub-track are the coordinates of the starting point of the turn; the curvature of the starting point of the sub-track is the curvature of the starting point of the turn; and the tangent angle of the starting point of the sub-track is the tangent angle of the starting point of the turn.

[0077] For each sub-track other than the first sub-track, the starting point of the sub-track is the ending point of the previous sub-track connected to it; the coordinates of the starting point of the sub-track are the coordinates of the ending point of the previous sub-track connected to it; the curvature of the starting point of the sub-track is the curvature of the ending point of the previous sub-track connected to it; and the tangent angle of the starting point of the sub-track is the tangent angle of the ending point of the previous sub-track connected to it.

[0078] Specifically, using a certain algorithm, the coordinates of the trajectory points corresponding to the sub-trajectory are obtained based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory.

[0079] Optionally, for each sub-trajectory, the coordinates of the corresponding trajectory point are obtained based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory. This includes: determining the tangent angle of the corresponding trajectory point of the sub-trajectory based on the length of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory; and determining the coordinates of the corresponding trajectory point of the sub-trajectory based on the tangent angle of the corresponding trajectory point of the sub-trajectory and the coordinates of the starting point of the sub-trajectory.

[0080] Specifically, determine the first product between the rate of change of curvature of the first segment trajectory and the square of the length of the sub-trajectory; determine the second product between the curvature of the starting point of the sub-trajectory and the length of the sub-trajectory; and determine the tangent angle of the corresponding trajectory point of the sub-trajectory based on the first product, the second product, and the tangent angle of the starting point of the sub-trajectory.

[0081] For example, the tangent angle of the corresponding trajectory point of the sub-trajectory can be determined by the following formula:

[0082]

[0083] Among them, R z The tangent angle at the corresponding point in the sub-trajectory is represented by d1; the rate of change of curvature of the first segmented trajectory is represented by l; the length of the sub-trajectory is represented by k. q R represents the curvature of the starting point of the sub-trajectory. q This represents the tangent angle at the starting point of the sub-trajectory.

[0084] For example, the x-coordinate of the trajectory point corresponding to the sub-trajectory can be determined by the following formula;

[0085]

[0086] Where, x z This represents the x-coordinate of the point corresponding to the sub-trajectory; xq The x-coordinate of the starting point of the sub-trajectory is represented by d1; d1 represents the rate of change of curvature of the first segment trajectory; R q The tangent angle at the starting point of the sub-trajectory; k q The curvature of the starting point of the sub-trajectory is represented by l; the length of the sub-trajectory is represented by l; and C represents the Fresnel cosine integral function.

[0087] For example, the ordinate of the trajectory point corresponding to the sub-trajectory can be determined using the following formula:

[0088]

[0089] Among them, y z This represents the y-coordinate of the point corresponding to the sub-trajectory; q The ordinate of the starting point of the sub-trajectory is represented by d1; d1 represents the rate of change of curvature of the first segment trajectory; R q The tangent angle at the starting point of the sub-trajectory; k q The curvature of the starting point of the sub-trajectory is represented by l; the length of the sub-trajectory is represented by S; and the Fresnel sine integral function is represented by S.

[0090] Understandably, by adopting the above technical solution, the tangent angle of the corresponding trajectory point of the sub-trajectory can be determined, and the coordinates of the corresponding trajectory point of the sub-trajectory can be determined based on the tangent angle of the corresponding trajectory point of the sub-trajectory and the coordinates of the starting point of the sub-trajectory, thereby improving the accuracy of determining the coordinates of the corresponding trajectory point of the sub-trajectory.

[0091] In another optional embodiment, the curvature of the trajectory point corresponding to the sub-trajectory is determined based on the rate of change of curvature of the first segmented trajectory, the length of the sub-trajectory, and the curvature of the starting point of the sub-trajectory. Specifically, the product between the rate of change of curvature of the first segmented trajectory and the length of the sub-trajectory is determined; and the sum of the product and the curvature of the starting point of the sub-trajectory is determined as the curvature of the trajectory point corresponding to the sub-trajectory.

[0092] For example, the curvature of the trajectory points corresponding to the sub-trajectory can be determined using the following formula:

[0093] k z =d1l+k q ;

[0094] Where, k z d1 represents the curvature of the corresponding trajectory point in the sub-trajectory; l represents the rate of change of curvature of the first segment trajectory; k represents the length of the sub-trajectory; q This represents the curvature of the starting point of the sub-trajectory.

[0095] S206. Generate the first segment trajectory based on the coordinates of the trajectory points corresponding to each sub-trajectory.

[0096] Specifically, the first segment trajectory is obtained by fitting the coordinates of the trajectory points corresponding to each sub-trajectory.

[0097] S207. Based on the trajectory information of the arc termination point and the trajectory information of the steering termination point, generate the second segment trajectory in the steering trajectory; wherein, the driving order of the vehicle in the steering arc segment trajectory precedes the driving order of the second segment trajectory.

[0098] It should be noted that the process of determining the second segment trajectory is similar to that of determining the first segment trajectory, and will not be repeated here.

[0099] S208. The trajectory obtained by connecting the first segment trajectory, the circular arc segment trajectory, and the second segment trajectory is determined as the target turning trajectory for collision testing.

[0100] This invention, in its embodiments, determines the length of the first segment trajectory based on the curvature and tangent angle of the turning starting point, as well as the curvature and tangent angle of the arc starting point; it also determines the rate of curvature change of the first segment trajectory based on the square of the curvature and tangent angle of the turning starting point, and the square of the curvature and tangent angle of the arc starting point; the first segment trajectory is divided into at least two sub-trajectories, and the length of each sub-trajectory is obtained; for each sub-trajectory, the coordinates of the corresponding trajectory point are obtained based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of curvature change of the first segment trajectory; and the first segment trajectory is generated based on the coordinates of the corresponding trajectory points of each sub-trajectory. This technical solution of the present invention, by determining the length and rate of curvature change of the first segment trajectory, dividing the first segment trajectory into multiple sub-trajectories, determining the trajectory points corresponding to each sub-trajectory, and generating the first segment trajectory based on the coordinates of each trajectory point, improves the accuracy of the first segment trajectory.

[0101] Example 3

[0102] Figure 3 This is a schematic diagram of a test fitting trajectory generation device provided in Embodiment 3 of the present invention. This embodiment of the present invention is applicable to the generation of test fitting trajectories. The device can execute a test fitting trajectory generation method and can be implemented in hardware and / or software. The device can be configured in an electronic device, such as a server.

[0103] See Figure 3 The test fitting trajectory generation device shown includes a trajectory information acquisition module 301, a first trajectory generation module 302, a second trajectory generation module 303, and a target trajectory generation module 304, wherein...

[0104] The trajectory information acquisition module 301 is used to acquire the trajectory information of the starting point and ending point of the turning trajectory of the test vehicle in the test intersection, as well as the trajectory information of the starting point and ending point of the arc segment trajectory in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle;

[0105] The first trajectory generation module 302 is used to generate the first segment trajectory in the steering trajectory based on the steering start point trajectory information and the arc start point trajectory information; wherein, the driving order of the vehicle in the first segment trajectory is before the driving order of the steering arc segment trajectory.

[0106] The second trajectory generation module 303 is used to generate the second segment trajectory in the steering trajectory based on the arc termination point trajectory information and the steering termination point trajectory information; wherein, the vehicle's driving order in the steering arc segment trajectory precedes the driving order in the second segment trajectory.

[0107] The target trajectory generation module 304 is used to connect the first segment trajectory, the circular arc segment trajectory and the second segment trajectory to determine the target turning trajectory for collision testing.

[0108] This invention, through a trajectory information acquisition module, acquires the trajectory information of the starting point and ending point of the turning trajectory of a test vehicle at a test intersection, as well as the trajectory information of the starting point and ending point of the arc segment trajectory within the turning trajectory. The trajectory information includes at least one of coordinates, curvature, and tangent angle. A first trajectory generation module generates a first segment trajectory within the turning trajectory based on the starting point trajectory information and the arc starting point trajectory information, wherein the vehicle's driving order on the first segment trajectory precedes the driving order on the arc segment trajectory. A second trajectory generation module generates a second segment trajectory within the turning trajectory based on the arc ending point trajectory information and the turning ending point trajectory information, wherein the vehicle's driving order on the arc segment trajectory precedes the driving order on the second segment trajectory. A target trajectory generation module connects the first segment trajectory, the arc segment trajectory, and the second segment trajectory to determine the target turning trajectory for collision testing. The technical solution of this invention generates a first segmented trajectory and a second segmented trajectory, and obtains a target turning trajectory based on the first segmented trajectory, the arc segmented trajectory and the second segmented trajectory. This results in a target turning trajectory that has the same trend as the actual driving trajectory of the vehicle. The target turning trajectory is then used as the test trajectory of the vehicle to conduct a collision test, which improves the accuracy of the vehicle test trajectory and thus improves the accuracy of the test results.

[0109] Optionally, the first trajectory generation module 302 includes:

[0110] The length determination unit is used to determine the length of the first segment trajectory based on the curvature and tangent angle of the turning starting point, as well as the curvature and tangent angle of the arc starting point.

[0111] The rate of change determination unit is used to determine the rate of change of curvature of the first segment trajectory based on the square value of curvature at the starting point of the turn and the tangent angle at the starting point of the turn, as well as the square value of curvature at the starting point of the arc and the tangent angle at the starting point of the arc.

[0112] A trajectory splitting unit is used to divide the first segment trajectory into at least two sub-trajectories and obtain the length of each sub-trajectory;

[0113] The coordinate determination unit is used to determine the coordinates of the trajectory points corresponding to each sub-trajectory based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory.

[0114] The trajectory generation unit is used to generate the first segment trajectory based on the coordinates of the trajectory points corresponding to each sub-trajectory.

[0115] Optional, coordinate determination unit, specifically used for:

[0116] Based on the length of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segment trajectory, determine the tangent angle of the corresponding trajectory point of the sub-trajectory;

[0117] The coordinates of the corresponding trajectory points of the sub-trajectory are determined based on the tangent angle of the corresponding trajectory point and the coordinates of the starting point of the sub-trajectory.

[0118] Optional, length-determining unit, specifically used for:

[0119] Determine the curvature and its value between the curvature at the starting point of the arc and the curvature at the starting point of the turn;

[0120] Determine the difference between the tangent angle at the starting point of the arc and the tangent angle at the starting point of the turn;

[0121] The length of the first segment trajectory is determined based on the difference in tangent angles and the sum of curvature values.

[0122] Optional, the rate of change determination unit, specifically used for:

[0123] Determine the difference in squared curvature between the squared curvature value at the starting point of the arc and the squared curvature value at the starting point of the turn;

[0124] Determine the difference between the tangent angle at the starting point of the arc and the tangent angle at the starting point of the turn;

[0125] The rate of change of curvature of the first segment trajectory is determined based on the difference in the square of curvature and the difference in the tangent angle.

[0126] Optionally, the trajectory information acquisition module 301 is specifically used for:

[0127] Obtain the sample turning trajectories of at least three sample vehicles at the test intersection;

[0128] For the starting point of each sample turning trajectory, determine the starting point distance between that starting point and the starting points of other sample turning trajectory points;

[0129] The coordinates of the starting point of the turning trajectory of the sample with the smallest starting point distance are determined as the coordinates of the turning starting point;

[0130] The curvature of the starting point of the sample turning trajectory with the smallest starting point distance in its corresponding sample turning trajectory is determined as the curvature of the starting point of the turning trajectory, and the tangent angle of the starting point of the sample turning trajectory with the smallest starting point distance in its corresponding sample turning trajectory is determined as the tangent angle of the starting point of the turning trajectory.

[0131] Optionally, the device may also include:

[0132] The vehicle control module is used to control the test vehicle to drive automatically according to the target turning trajectory in the test intersection, and to activate the automatic emergency braking function when the test vehicle collides.

[0133] The data acquisition module is used to acquire automatic emergency braking data of the test vehicle;

[0134] The anomaly detection module is used to detect whether the automatic emergency braking function is abnormal based on the automatic emergency braking data.

[0135] The test fitting trajectory generation device provided in the embodiments of the present invention can execute the test fitting trajectory generation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the test fitting trajectory generation method.

[0136] Example 4

[0137] Figure 4A schematic diagram of an electronic device 400 that can be used to implement embodiments of the present invention 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 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), 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 invention described and / or claimed herein.

[0138] like Figure 4 As shown, the electronic device 400 includes at least one processor 401 and a memory, such as a read-only memory (ROM) 402 and a random access memory (RAM) 403, communicatively connected to the at least one processor 401. The memory stores computer programs executable by the at least one processor. The processor 401 can perform various appropriate actions and processes based on the computer program stored in the ROM 402 or loaded into the RAM 403 from storage unit 408. The RAM 403 may also store various programs and data required for the operation of the electronic device 400. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0139] Multiple components in electronic device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of displays, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows electronic device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0140] Processor 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 401 performs the various methods and processes described above, such as testing fitted trajectory generation methods.

[0141] In some embodiments, the test fitting trajectory generation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by processor 401, one or more steps of the test fitting trajectory generation method described above may be performed. Alternatively, in other embodiments, processor 401 may be configured to execute the test fitting trajectory generation method by any other suitable means (e.g., by means of firmware).

[0142] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0144] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0145] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0146] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0147] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0148] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0149] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for generating a test fitting trajectory, characterized in that, The method includes: The system acquires the starting point and ending point trajectory information of the turning trajectory of the test vehicle at the test intersection, as well as the starting point and ending point trajectory information of the arc segments in the turning trajectory; wherein the trajectory information includes at least one of coordinates, curvature, and tangent angle. Based on the steering start point trajectory information and the arc start point trajectory information, a first segment trajectory in the steering trajectory is generated; wherein, the vehicle's driving order on the first segment trajectory precedes the driving order on the arc segment trajectory; Based on the arc termination point trajectory information and the steering termination point trajectory information, a second segment trajectory in the steering trajectory is generated; wherein, the vehicle's driving order on the arc segment trajectory precedes the driving order on the second segment trajectory; The trajectory obtained by connecting the first segmented trajectory, the circular arc segmented trajectory, and the second segmented trajectory is determined as the target turning trajectory for collision testing; The step of generating the first segment trajectory in the steering trajectory based on the steering start point trajectory information and the arc start point trajectory information includes: The length of the first segment trajectory is determined based on the curvature and tangent angle of the turning starting point, as well as the curvature and tangent angle of the arc starting point. The rate of curvature change of the first segment trajectory is determined based on the square value of curvature at the starting point of the turn and the tangent angle at the starting point of the turn, as well as the square value of curvature at the starting point of the arc and the tangent angle at the starting point of the arc. Divide the first segmented trajectory into at least two sub-trajectories and obtain the length of each sub-trajectories; For each sub-trajectory, the coordinates of the trajectory point corresponding to the sub-trajectory are obtained based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segmented trajectory. The first segment trajectory is generated based on the coordinates of the trajectory points corresponding to each sub-trajectory.

2. The method according to claim 1, characterized in that, For each sub-trajectory, the coordinates of the corresponding trajectory point are obtained based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segmented trajectory, including: Based on the length of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segmented trajectory, the tangent angle of the corresponding trajectory point of the sub-trajectory is determined. The coordinates of the corresponding trajectory points of the sub-trajectory are determined based on the tangent angle of the corresponding trajectory point and the coordinates of the starting point of the sub-trajectory.

3. The method according to claim 1, characterized in that, Determining the length of the first segmented trajectory based on the curvature and tangent angle of the turning starting point, and the curvature and tangent angle of the arc starting point, includes: Determine the curvature and its value between the curvature of the arc starting point and the curvature of the turning starting point; Determine the difference in tangent angle between the tangent angle at the starting point of the arc and the tangent angle at the starting point of the turn; The length of the first segment trajectory is determined based on the difference in tangent angles and the sum of curvature values.

4. The method according to claim 1, characterized in that, The step of determining the rate of curvature change of the first segmented trajectory based on the squared curvature value and tangent angle of the turning starting point, and the squared curvature value and tangent angle of the arc starting point, includes: Determine the difference in squared curvature between the squared curvature value at the starting point of the arc and the squared curvature value at the starting point of the turn; Determine the difference in tangent angle between the tangent angle at the starting point of the arc and the tangent angle at the starting point of the turn; The rate of change of curvature of the first segmented trajectory is determined based on the difference in the square of curvature and the difference in the tangent angle.

5. The method according to claim 1, characterized in that, The acquisition of the turning start point trajectory information of the test vehicle at the test intersection includes: Obtain sample turning trajectories of at least three sample vehicles at the test intersection; For the starting point of each sample turning trajectory, determine the starting point distance between that starting point and the starting points of other sample turning trajectory points; The coordinates of the starting point of the sample turning trajectory with the smallest starting point distance are determined as the coordinates of the turning starting point; The curvature of the starting point of the sample turning trajectory with the smallest starting point distance in its corresponding sample turning trajectory is determined as the curvature of the turning starting point, and the tangent angle of the starting point of the sample turning trajectory with the smallest starting point distance in its corresponding sample turning trajectory is determined as the tangent angle of the turning starting point.

6. The method according to claim 1, further comprising: The test vehicle is controlled to automatically drive in the test intersection according to the target turning trajectory, and the automatic emergency braking function is activated when the test vehicle collides. Acquire the automatic emergency braking data of the test vehicle; Based on the automatic emergency braking data, detect whether the automatic emergency braking function is abnormal.

7. A test fitting trajectory generation device, characterized in that, The device includes: The trajectory information acquisition module is used to acquire the trajectory information of the starting point and ending point of the turning trajectory of the test vehicle in the test intersection, as well as the trajectory information of the starting point and ending point of the arc segment trajectory in the turning trajectory; wherein, the trajectory information includes at least one of coordinates, curvature and tangent angle; The first trajectory generation module is used to generate a first segment trajectory in the steering trajectory based on the steering start point trajectory information and the arc start point trajectory information; wherein, the vehicle's driving order on the first segment trajectory is prior to the driving order on the arc segment trajectory. The second trajectory generation module is used to generate a second segment trajectory in the steering trajectory based on the arc termination point trajectory information and the steering termination point trajectory information; wherein, the vehicle's driving order on the arc segment trajectory precedes the driving order on the second segment trajectory. The target trajectory generation module is used to determine the trajectory obtained by connecting the first segmented trajectory, the circular arc segmented trajectory and the second segmented trajectory as the target turning trajectory for collision testing; The first trajectory generation module includes: The length determination unit is used to determine the length of the first segmented trajectory based on the curvature of the turning starting point and the tangent angle of the turning starting point, as well as the curvature of the arc starting point and the tangent angle of the arc starting point. The rate of change determination unit is used to determine the rate of change of curvature of the first segmented trajectory based on the square value of curvature of the turning starting point and the tangent angle of the turning starting point, as well as the square value of curvature of the arc starting point and the tangent angle of the arc starting point. A trajectory splitting unit is used to divide the first segmented trajectory into at least two sub-trajectories and obtain the length of each sub-trajectory; The coordinate determination unit is used to determine the coordinates of the trajectory points corresponding to each sub-trajectory based on the length of the sub-trajectory, the coordinates of the starting point of the sub-trajectory, the curvature of the starting point of the sub-trajectory, the tangent angle of the starting point of the sub-trajectory, and the rate of change of curvature of the first segmented trajectory. The trajectory generation unit is used to generate the first segment trajectory based on the coordinates of the trajectory points corresponding to each sub-trajectory.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the test fitting trajectory generation method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the test fitting trajectory generation method according to any one of claims 1-6.

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