Mobile device and speed control method, apparatus, and storage medium thereof

Abstract

The present disclosure relates to the technical field of intelligent robots, and specifically provides a mobile device, a speed control method and device thereof, and a storage medium. The speed control method comprises: acquiring a cost map of a moving area and a target path of the mobile device; determining a target distance between the mobile device and an obstacle and a turning curvature of the mobile device based on the cost map; determining a target speed of the mobile device according to the target distance, the turning curvature and a maximum speed limit of the mobile device; and controlling the mobile device to move at the target speed. The present disclosure improves the speed control effect by adaptively controlling the speed of the mobile device.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent robot technology, specifically to a mobile device and its speed control method, apparatus, and storage medium. Background Technology

[0002] Currently, autonomous mobile devices are widely used in various industrial and daily life scenarios, such as logistics robots, food delivery robots, and robotic vacuum cleaners. The motion control planning of mobile devices directly determines their operational performance and safety level. Among related technologies, the speed control of mobile devices is relatively poor, resulting in low safety and low mobility. Summary of the Invention

[0003] To improve the speed control performance of mobile devices, this disclosure provides a mobile device and its speed control method, apparatus, and storage medium.

[0004] In a first aspect, embodiments of this disclosure provide a speed control method applied to a mobile device, the method comprising:

[0005] Obtain a cost map of the mobile area and the target path of the mobile device moving within the mobile area;

[0006] Based on the cost map, the target distance between the mobile device and the obstacle is determined, as well as the curvature of the mobile device when it moves along the target path.

[0007] The target speed of the mobile device is determined based on the target distance, the turning angle, and the maximum speed limit of the mobile device.

[0008] Control the mobile device to move at the target speed.

[0009] In some implementations, obtaining the cost map of the mobile area and the target path for the mobile device to move within the mobile area includes:

[0010] Acquire scene data of the moving area collected by the sensors of the mobile device;

[0011] Based on the scene data, the mobile device is located and mapped to obtain the current location of the mobile device and the environment map;

[0012] The cost map of the mobile area is obtained based on the obstacle information in the environmental map, and the target path of the mobile device is determined based on the cost map and the current location.

[0013] In some implementations, determining the current target distance between the mobile device and the obstacle based on the cost map includes:

[0014] Based on the cost map, obstacle data within a preset range in front of the mobile device is determined;

[0015] Based on the obstacle data, a first distance between the obstacle and the target path, and a second distance between the obstacle and the current position of the mobile device are determined; wherein, the first distance is perpendicular to the target path, and the second distance is parallel to the target path;

[0016] The target distance is obtained based on the first distance and the second distance.

[0017] In some implementations, determining the turning radius of the mobile device as it moves along the target path based on the cost map includes:

[0018] Based on the cost map, a first reference line segment and a second reference line segment are determined within a preset range in front of the mobile device; wherein the first reference line segment and the second reference line segment are both perpendicular to the target path, and the first reference line segment and the second reference line segment are spaced apart by a preset distance;

[0019] The current curvature of the mobile device is determined based on the included angle between the first reference line segment and the second reference line segment.

[0020] In some implementations, determining the current curvature of the mobile device based on the angle between the first reference line segment and the second reference line segment includes:

[0021] In response to the intersection of the first reference line segment and the second reference line segment, the coordinates of the intersection point of the first reference line segment and the second reference line segment are determined based on the cost map, and the included angle between the first reference line segment and the second reference line segment is determined according to the intersection point coordinates and the preset distance, and the included angle is determined as the curvature.

[0022] In response to the fact that the first reference line segment and the second reference line segment do not intersect, the curvature is determined to be zero.

[0023] In some implementations, determining the target speed of the mobile device based on the target distance, the turning angle, and the maximum speed limit of the mobile device includes:

[0024] The straight-line speed component of the mobile device is determined based on the target distance and the maximum speed limit; wherein the straight-line speed component is positively correlated with the target distance;

[0025] The turning speed component of the mobile device is determined based on the turning curvature and the maximum speed limit; wherein the turning speed component is negatively correlated with the turning curvature.

[0026] Based on pre-set straight-line speed weights and turning speed weights, the straight-line speed component and the turning speed component are weighted and fused to obtain the target speed of the mobile device.

[0027] In some implementations, the target distance includes a first distance perpendicular to the target path and a second distance parallel to the target path; determining the straight-line speed component of the mobile device based on the target distance includes:

[0028] Based on the first distance and the maximum speed limit, a first speed component of the mobile device is determined;

[0029] The second speed component of the mobile device is determined based on the second distance and the maximum speed limit;

[0030] The straight-line speed component is obtained based on the first speed component and the second speed component.

[0031] In some implementations, controlling the mobile device to move at the target speed includes:

[0032] In response to the target speed meeting a preset speed range, the mobile device is controlled to move at the target speed.

[0033] Secondly, this disclosure provides a speed control device applied to a mobile device, the device comprising:

[0034] The acquisition module is configured to acquire a cost map of the mobile area and the target path of the mobile device moving in the mobile area.

[0035] The first determining module is configured to determine, based on the cost map, the current target distance between the mobile device and the obstacle, and the turning radius of the mobile device as it moves along the target path.

[0036] The second determining module is configured to determine the target speed of the mobile device based on the target distance, the turning angle, and the maximum speed limit of the mobile device.

[0037] The control module is configured to control the mobile device to move at the target speed.

[0038] In some implementations, the acquisition module is configured to:

[0039] Acquire scene data of the moving area collected by the sensors of the mobile device;

[0040] Based on the scene data, the mobile device is located and mapped to obtain the current location of the mobile device and the environment map;

[0041] The cost map of the mobile area is obtained based on the obstacle information in the environmental map, and the target path of the mobile device is determined based on the cost map and the current location.

[0042] In some implementations, the first determining module is configured to:

[0043] Based on the cost map, obstacle data within a preset range in front of the mobile device is determined;

[0044] Based on the obstacle data, a first distance between the obstacle and the target path, and a second distance between the obstacle and the current position of the mobile device are determined; wherein, the first distance is perpendicular to the target path, and the second distance is parallel to the target path;

[0045] The target distance is obtained based on the first distance and the second distance.

[0046] In some implementations, the first determining module is configured to:

[0047] Based on the cost map, a first reference line segment and a second reference line segment are determined within a preset range in front of the mobile device; wherein the first reference line segment and the second reference line segment are both perpendicular to the target path, and the first reference line segment and the second reference line segment are spaced apart by a preset distance;

[0048] The current curvature of the mobile device is determined based on the included angle between the first reference line segment and the second reference line segment.

[0049] In some implementations, the first determining module is configured to:

[0050] In response to the intersection of the first reference line segment and the second reference line segment, the coordinates of the intersection point of the first reference line segment and the second reference line segment are determined based on the cost map, and the included angle between the first reference line segment and the second reference line segment is determined according to the intersection point coordinates and the preset distance, and the included angle is determined as the curvature.

[0051] In response to the fact that the first reference line segment and the second reference line segment do not intersect, the curvature is determined to be zero.

[0052] In some implementations, the second determining module is configured to:

[0053] The straight-line speed component of the mobile device is determined based on the target distance and the maximum speed limit; wherein the straight-line speed component is positively correlated with the target distance;

[0054] The turning speed component of the mobile device is determined based on the turning curvature and the maximum speed limit; wherein the turning speed component is negatively correlated with the turning curvature.

[0055] Based on pre-set straight-line speed weights and turning speed weights, the straight-line speed component and the turning speed component are weighted and fused to obtain the target speed of the mobile device.

[0056] In some implementations, the second determining module is configured to:

[0057] Based on the first distance and the maximum speed limit, a first speed component of the mobile device is determined;

[0058] The second speed component of the mobile device is determined based on the second distance and the maximum speed limit;

[0059] The straight-line speed component is obtained based on the first speed component and the second speed component.

[0060] In some implementations, the control module is configured to:

[0061] In response to the target speed meeting a preset speed range, the mobile device is controlled to move at the target speed.

[0062] Thirdly, embodiments of this disclosure provide a mobile device, including:

[0063] processor; and

[0064] A memory storing computer instructions for causing a processor to perform the method according to any embodiment of the first aspect.

[0065] Fourthly, embodiments of this disclosure provide a storage medium storing computer instructions for causing a computer to perform the method described according to any embodiment of the first aspect.

[0066] This disclosure discloses a speed control method that includes acquiring a cost map of a movement area and a target path for a mobile device within that area; determining the target distance and curvature of the mobile device relative to obstacles based on the cost map; determining a target speed based on the target distance, curvature, and a maximum speed limit; and controlling the mobile device to move at the target speed. In this disclosure, controlling the current movement speed by considering the target distance and curvature of the mobile device relative to obstacles allows for adaptive adjustment of the movement speed according to current road conditions, reducing the risk of accidents. Furthermore, speed control considers not only the target distance between the mobile device and obstacles but also the curvature of the mobile device's target path, preventing overturning due to excessive turning speed and reducing the risk of accidents caused by blind spots at turns, further improving the speed control effect. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0068] Figure 1 This is a structural block diagram of a mobile device according to some embodiments of the present disclosure.

[0069] Figure 2 This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0070] Figure 3 This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0071] Figure 4 This is a schematic diagram of a speed control method according to some embodiments of this disclosure.

[0072] Figure 5 This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0073] Figure 6 This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0074] Figure 7 This is a schematic diagram of a speed control method according to some embodiments of this disclosure.

[0075] Figure 8 This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0076] Figure 9This is a flowchart of a speed control method according to some embodiments of the present disclosure.

[0077] Figure 10 This is a structural block diagram of a speed control device according to some embodiments of the present disclosure. Detailed Implementation

[0078] The technical solutions of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure. Furthermore, the technical features involved in the different embodiments of this disclosure described below can be combined with each other as long as they do not conflict with each other.

[0079] Currently, mobile devices such as robotic vacuum cleaners, logistics robots, food delivery robots, and legged robots can move autonomously within a pre-set operating space to meet corresponding operational needs. Speed ​​control of these mobile devices is a crucial aspect of motion planning. Excessive speed increases the risk of accidents and the resulting losses; conversely, insufficient speed reduces operational efficiency.

[0080] In related technologies, in some scenarios, the operating area of ​​a mobile device can be pre-divided into zones with speed limits. For example, the entire moving area of ​​the mobile device can be pre-divided into three zones: A, B, and C. Each zone can be pre-set with different maximum speed limits based on factors such as obstacle conditions and mobile device density. Thus, when the mobile device moves to a certain zone, it will run at the maximum speed limit specified for that zone.

[0081] In this scenario, mobile devices cannot adaptively adjust their speed based on changes in obstacles; they can only operate within the speed limits set by each zone. When the density of obstacles or equipment decreases in a zone with a lower speed limit, the mobile device continues to operate at that lower speed, leading to reduced operational efficiency. Conversely, when the density of obstacles or equipment increases in a zone with a higher speed limit, the mobile device continues to operate at that higher speed, significantly increasing the risk of collisions and scrapes. Furthermore, mobile devices can only control their speed within designated zones; they cannot adaptively control their speed in other movement areas, resulting in poor adaptability.

[0082] Based on the deficiencies existing in the aforementioned related technologies, this disclosure provides a mobile device and its speed control method, apparatus, and storage medium, aiming to achieve adaptive speed control of the mobile device, reduce the accident risk of the mobile device, and improve the safety and mobility efficiency of the mobile device.

[0083] Firstly, this disclosure provides a speed control method applicable to mobile devices. The mobile device in this disclosure can be any type of device with autonomous movement capabilities suitable for implementation, such as legged robots, sweeping robots, logistics robots, food delivery robots, intelligent mobile trash cans, etc., and this disclosure does not impose any limitations on this.

[0084] like Figure 1 As shown, in some embodiments, the mobile device 600 of this disclosure includes a processor 601, a memory 602, a scene perception system 604, and a driving device 605.

[0085] The processor 601, memory 602, scene perception system 604, and drive device 605 can establish a communicable connection between any two of them via bus 603.

[0086] The processor 601 can be any type of processor with one or more processing cores. It can execute single-threaded or multi-threaded operations, used for parsing instructions to perform operations such as data acquisition, logical operations, and outputting processing results.

[0087] The memory 602 may include a non-volatile computer-readable storage medium, such as at least one disk storage device, flash memory device, distributed storage device remotely located relative to the processor 601, or other non-volatile solid-state storage device. The memory may have a program storage area for storing non-volatile software programs, non-volatile computer-executable programs, and modules, which can be invoked by the processor 601 to cause the processor 601 to execute one or more method steps. The memory 602 may also include a volatile random access storage medium, or a storage portion such as a hard disk, as a data storage area for storing the processing results and data output by the processor 601.

[0088] The scene perception system 604 is a sensor system used by mobile devices to acquire current scene data. By collecting relevant data of the current scene through the scene perception system 604, the mobile device can realize functions such as device positioning and map building.

[0089] In some implementations, the scene perception system 604 may be a SLAM (Simultaneous Localization and Mapping) system. A SLAM system may include multiple sensors, such as a monocular camera, a binocular camera, a LiDAR, an IMU (Inertial Measurement Unit) sensor, a ToF (Time-of-Flight) sensor, etc. These sensors collect data in real time during the movement of the mobile device, and the SLAM algorithm is used based on the collected data to achieve device localization and mapping.

[0090] In this embodiment of the disclosure, a cost map of the mobile device during its movement can be established using data collected by the scene perception system 604, thereby enabling path planning and speed control of the mobile device. The specific details of this method will be described below and will not be elaborated upon here.

[0091] The drive device 605 is the power system for the mobile device, used to drive the mobile device 600 to generate displacement. In some embodiments, the drive device 605 may include mechanical structures such as motors, transmission mechanisms, and rollers, which will undoubtedly be understood and fully implemented by those skilled in the art, and will not be described in detail here. Of course, those skilled in the art will understand that the mobile device 600 may also include various other electrical components and mechanical parts, which will not be described in detail in the embodiments of this disclosure.

[0092] exist Figure 1 Based on the mobile device shown, this disclosure provides a speed control method for real-time control of the speed of the mobile device 600 during movement. This method can be executed by the processor 601 of the mobile device 600. The following describes the method in conjunction with... Figure 2 The implementation method is described below.

[0093] like Figure 2 As shown, in some embodiments, the speed control method of this disclosure includes S210, acquiring a cost map of the mobile area and a target path for the mobile device to move in the mobile area.

[0094] As we can understand, a cost map is a virtual map calculated based on an environmental map and data collected by mobile device sensors. It represents the cost incurred by a mobile device moving in a specific way. The path planning problem for mobile devices is defined as finding the path with the least cost on the cost map.

[0095] A mobile area refers to a pre-defined range within which a mobile device is allowed to move autonomously. For example, in the case of a robotic vacuum cleaner, the mobile area is the robot's operating area.

[0096] In this embodiment of the disclosure, the scene perception system 604 of the mobile device can collect scene data of the mobile device in real time during its movement. The scene data may include image data in front of the mobile device, LiDAR data, pose data of the mobile device itself, speed data, etc. Based on the collected scene data, a cost map of the area in front of the mobile device and the target path of the mobile device for the next period of time can be obtained.

[0097] The process of calculating the cost map and the target path of the mobile device is described below in this disclosure. Figure 3 The implementation method will be described in detail here.

[0098] S220. Based on the cost map, determine the current target distance between the mobile device and the obstacle, as well as the curvature of the mobile device as it moves along the target path.

[0099] In this embodiment of the disclosure, the target distance refers to the distance between the current position of the mobile device and the obstacle in front, and the turning angle refers to the turning angle of the mobile device when it is moving along the target path.

[0100] Traditional robot path planning schemes often only focus on the distance between the mobile device and the obstacle in front. When the mobile device is close to the obstacle, the robot's movement speed is reduced to decrease the risk of collision or scraping.

[0101] However, the inventors in this case discovered that whether a mobile device will have an accident depends on two factors: firstly, the distance between the mobile device and the obstacle, with the closer the distance, the higher the risk of an accident; secondly, the turning angle of the mobile device, as mobile devices often experience collisions and scrapes due to blind spots during turns, and the greater the turning angle of the mobile device, the greater the risk of an accident.

[0102] In this embodiment of the disclosure, based on the cost map, it is necessary not only to determine the target distance between the current position of the mobile device and the obstacle in front, but also to determine the curvature of the mobile device as it moves along the target path. This curvature reflects the magnitude of the turning angle; when the target path is a straight line, the corresponding curvature is zero when the mobile device moves along a straight line.

[0103] In some implementations, the presence of obstacles within a preset range in front of the mobile device's current location can be determined based on a cost map. This preset range represents the robot's preset look-ahead range. If obstacles exist within the preset range, the distance between the obstacles and the mobile device's current location can be determined based on the cost map; this is the target distance described in the embodiments of this disclosure.

[0104] In some implementations, the target distance between the mobile device and the obstacle includes two mutually perpendicular components: a first distance and a second distance.

[0105] The first distance refers to the distance component of the perpendicular line between the obstacle and the target path. Since the mobile device itself has a certain volume and width, when the mobile device moves along the target path, if the distance component of the perpendicular line between the obstacle in front and the target path is small, the risk of the mobile device colliding or scraping with the obstacle is high.

[0106] The second distance refers to the distance component where the obstacle is parallel to the target path. When the mobile device moves along the target path, if the distance component where the obstacle is parallel to the target path is small, it means that the current position of the mobile device is relatively close to the obstacle, and the risk of collision or scraping is high.

[0107] The specific principles and processes of the first distance and the second distance are explained in the embodiments described below, but will not be detailed here.

[0108] In addition, it can be understood that in the embodiments of this disclosure, the line connecting the current position of the mobile device and the position of the obstacle can be used directly as the target distance, that is, there is no need to calculate the first distance component and the second distance component mentioned above, and this disclosure does not limit this.

[0109] In some implementations, based on a cost map, two normal segments with a preset distance between them can be drawn on the target path within a preset range in front of the mobile device as reference segments, namely the first reference segment and the second reference segment.

[0110] It is understandable that since the first reference line segment and the second reference line segment are always perpendicular to the target path, when the target path is a straight line, the first reference line segment and the second reference line segment are in a parallel position to each other and will not intersect.

[0111] When the target path is curved, the first and second reference segments are no longer parallel. Moreover, as the curvature of the target path increases, the first and second reference segments will intersect, forming an angle. The greater the curvature of the target path, the larger this angle value. Therefore, this angle value can be used to determine the curvature of the mobile device as it moves along the target path.

[0112] The specific process and principle for determining the curvature of the bend will be explained in detail in the following embodiments of this disclosure, and will not be elaborated here.

[0113] Furthermore, it can be understood that the turning curvature represents the degree of turning of the mobile device as it moves along the target path. In this disclosure, the method of determining the turning curvature is not limited to the above-described method; any other suitable method can be used, as long as the turning curvature parameter characterizing the degree of curvature of the target path can be obtained. For example, the curvature of the target path within a preset range in front of the mobile device can be directly calculated based on a cost map to obtain the turning curvature of the target path. This disclosure does not impose any limitations on this.

[0114] S230. Determine the target speed of the mobile device based on the target distance, turning radius, and the maximum speed limit of the mobile device.

[0115] The maximum speed limit Vmax of a mobile device represents the maximum operating speed that the mobile device is allowed to travel at. The task of speed control of a mobile device can be understood as the process of adjusting the maximum speed limit of the mobile device. By adaptively adjusting the maximum speed limit of the mobile device, the mobile device can maintain an appropriate speed under different road conditions.

[0116] In this embodiment of the disclosure, after obtaining the target distance between the current position of the mobile device and the obstacle in front, and the curvature of the mobile device when it is moving along the target path, the maximum speed limit Vmax of the mobile device can be adjusted based on the target distance and the curvature to obtain the corresponding target speed.

[0117] It's understandable that target distance reflects the proximity of the mobile device to an obstacle; the smaller the target distance, the higher the risk of an accident for the mobile device, and therefore the lower the target speed should be. Turning curvature reflects the curvature of the mobile device's own path; the greater the turning curvature, the higher the risk of an accident for the mobile device, and therefore the lower the target speed should be.

[0118] Based on the above principles, the maximum speed limit of the mobile device can be adjusted according to the target distance and the turning radius to obtain the target speed of the mobile device.

[0119] For example, in some embodiments, the straight-line speed component of the mobile device can be determined based on the target distance and the maximum speed limit, while the turning speed component can be determined based on the turning radius and the maximum speed limit. Then, the straight-line speed component and the turning speed component are weighted and summed to obtain the final target speed. This will be described in the embodiments below, and will not be detailed here.

[0120] S240, Control the mobile device to move at the target speed.

[0121] In this embodiment of the disclosure, after determining the target speed of the mobile device, the mobile device can be controlled to move at that target speed. For example... Figure 1As shown, the processor 601 can generate corresponding control commands based on the target speed and send the control commands to the drive device 605. The drive device 605 outputs motor torque according to the control commands, thereby controlling the mobile device to move at the target speed.

[0122] The above explanation uses the speed control process of a mobile device in one control cycle as an example. By repeating the above method for each control cycle, speed control during the autonomous movement of the mobile device can be achieved. For example, in one example, the control frequency of the mobile device is 5Hz, meaning the above method is executed once every 200ms to achieve speed control of the mobile device.

[0123] As can be seen from the above, in this embodiment of the present disclosure, the current moving speed is controlled by the target distance between the mobile device and the obstacle and the curvature of the turning point. The moving speed can be adaptively adjusted according to the current road conditions, reducing the risk of accidents. Furthermore, when controlling the speed, not only the target distance between the mobile device and the obstacle is considered, but also the curvature of the target path of the mobile device itself is taken into account, which reduces the risk of accidents caused by blind spots at the turning point and further improves the speed control effect.

[0124] like Figure 3 As shown, in some embodiments, the speed control method of this disclosure, the process of obtaining a cost map of the movement area and the target path, includes:

[0125] S310. Acquire scene data of the moving area collected by the sensors of the mobile device.

[0126] In this disclosure embodiment, combined with Figure 1 As shown, during the movement of the mobile device 600, the scene perception system 604 can collect scene data in the current state.

[0127] For example, in one example, the scene perception system 604 is a computer vision-based VSLAM system. The scene data collected by the VSLAM system may include scene image data of the moving area in front of the mobile device, physical depth data, and motion information of the mobile device itself.

[0128] Of course, in other examples, the scene perception system 604 can also be other systems, such as LiDAR, and this disclosure does not limit it.

[0129] S320. Based on scene data, locate and map the mobile device to obtain the current location of the mobile device and the environment map.

[0130] In this embodiment of the disclosure, based on the scene data collected by the aforementioned scene perception system 604, the mobile device can be located and the map of the moving area in front of the mobile device can be reconstructed using the Simultaneous Localization and Mapping (SLAM) algorithm, according to the scene data including, for example, image data, physical depth data, lidar data, IMU data, etc., thereby obtaining the current position of the mobile device and the environmental map of the moving area.

[0131] The principles and processes of the SLAM algorithm can undoubtedly be understood and fully implemented by those skilled in the art by referring to relevant technologies, and this disclosure does not impose any restrictions on them.

[0132] S330. Obtain the cost map of the moving area based on the obstacle information in the environmental map, and determine the target path of the mobile device based on the cost map and the current location.

[0133] As mentioned above, the cost map is a virtual map used for path planning of mobile devices. In some implementations, the cost map can be a local 2D cost map within a preset range in front of the mobile device.

[0134] In this embodiment of the disclosure, after obtaining the environmental map, obstacle information in the environmental map can be determined by combining it with, for example, lidar data or physical depth data, and then a corresponding cost map can be obtained based on the obstacle information and the environmental map.

[0135] However, after obtaining the cost map, the target path of the mobile device within the cost map's range can be determined based on the device's current location and the pre-set global path. The target path is the planned movement path of the mobile device in the next period of time.

[0136] For example, in one example, the cost map could be like this: Figure 4 As shown, the current position of mobile device 600 is S, the target position is G, and curve SG is the target path. The moving area includes three obstacles: obstacle O1, obstacle O2, and obstacle O3.

[0137] In the embodiments described below, this disclosure will use... Figure 4 The cost map shown illustrates the speed control method of this embodiment. However, it is understood that... Figure 4 This is merely an example illustrating an embodiment of the present disclosure and does not limit the scope of the disclosure.

[0138] like Figure 5 As shown, in some embodiments, the speed control method of this disclosure, the process of determining the current target distance between the mobile device and the obstacle, includes:

[0139] S510. Based on the cost map, determine the obstacle data within a preset range in front of the mobile device.

[0140] S520. Based on the obstacle data, determine the first distance between the obstacle and the target path, and the second distance between the obstacle and the current position of the mobile device.

[0141] S530: Obtain the target distance based on the first distance and the second distance.

[0142] In this embodiment of the disclosure, the preset range in front of the mobile device refers to the preset forward range area located in front of the mobile device in the direction of movement.

[0143] It is understandable that mobile devices need to determine road conditions ahead in advance during movement in order to control their speed. In other words, the speed control and path planning of mobile devices should have a certain degree of foresight. The preset range described in this disclosure is the forward-looking range area of ​​the mobile device.

[0144] For example Figure 4 In the example, the preset range 400 in front of the mobile device 600 is the rectangular area shown by the dotted line in the figure. As the mobile device 600 moves, the preset range 400 is always located in front of the mobile device 600 in the direction of movement. In this example, the size of the preset range is 2R*P, where the specific values ​​of R and P can be set according to factors such as the size of the mobile device and the requirements of the scenario, and this disclosure does not impose any restrictions on them.

[0145] Of course, those skilled in the art will understand. Figure 4 The preset range 400 in this embodiment is merely an example of an implementation of this disclosure, and the preset range 400 is not limited to this. Figure 4 The rectangular area shown can also be, for example, a sector-shaped area, and this disclosure does not limit it.

[0146] In this embodiment of the disclosure, after obtaining the cost map of the mobile area, it can be determined whether there are obstacles within a preset range in front of the current position of the mobile device based on the cost map. If there are obstacles within the preset range, obstacle data can be determined based on the cost map. The obstacle data includes the position coordinates of the obstacles in the image coordinate system.

[0147] In this embodiment of the disclosure, the target distance between the mobile device and the obstacle includes two mutually perpendicular components: a first distance and a second distance. The first distance is the distance obtained by drawing a perpendicular line from the obstacle to the target path, while the second distance is the distance between the obstacle and the mobile device in a direction parallel to the target path.

[0148] For example Figure 4In the example, obstacle O2 is located within a preset range of 400, so that the first distance L1 between the obstacle and the target path and the second distance L2 between the obstacle and the mobile device can be determined on the cost map based on the obstacle data.

[0149] In this example, the first distance refers to the shortest distance L1 obtained by drawing a perpendicular line from obstacle O2 to the target path SG. The second path refers to the shortest distance L2 between obstacle O2 and mobile device 600 in a direction parallel to the target path; that is, the first distance L1 and the second distance L2 are perpendicular to each other.

[0150] In this embodiment of the disclosure, the target distance between the mobile device and the obstacle includes the first distance L1 and the second distance L2 mentioned above. After obtaining the first distance L1 and the second distance L2, the first distance L1 and the second distance L2 are determined as the target distance between the mobile device and the obstacle.

[0151] The above combination Figure 5 The implementation method describes the process of determining the target distance between the mobile device and the obstacle in this disclosure method. The following is a description of this process in conjunction with... Figure 6 , Figure 7 The process of determining the curvature in the method disclosed herein is explained.

[0152] like Figure 6 As shown, in some embodiments, the speed control method of this disclosure, in the process of determining the curvature of the turning point of the mobile device as it moves along the target path, includes:

[0153] S610. Based on the cost map, determine the first reference line segment and the second reference line segment within a preset range in front of the mobile device.

[0154] S620. Determine the current curvature of the mobile device based on the angle between the first reference line segment and the second reference line segment.

[0155] In this embodiment of the disclosure, based on a cost map, within a preset range in front of the mobile device, two normal segments spaced at a preset distance are drawn along the target path as reference segments, defined as the first reference segment and the second reference segment, respectively. See also Figure 7 The cost map shown is used for explanation. For clarity, obstacles O1 to O3 in the cost map have been hidden.

[0156] like Figure 7 As shown, within a preset range of 400 in front of the mobile device 600, two normal segments are drawn for the target path, namely the first reference segment K1 and the second reference segment K2. The first reference segment K1 and the second reference segment K2 are separated by a preset distance d. It can be understood that the lengths of the first reference segment K1 and the second reference segment K2 can be set according to the specific needs of the scenario, and this disclosure does not impose any restrictions on them.

[0157] Continue to refer to Figure 7 Assuming the current position of mobile device 600 is S0, the target path is a straight line. Since the first reference line segment K1 and the second reference line segment K2 are both perpendicular to the target path, the first reference line segment K1 and the second reference line segment K2 are parallel to each other and will not intersect, so there will be no angle between them.

[0158] Assuming the current position of mobile device 600 is S1, the target path ahead is a curve. Since the first reference line segment K1 and the second reference line segment K2 are always perpendicular to the target path, the first reference line segment K1 and the second reference line segment K2 will intersect at the intersection point Q, and the two have an included angle θ.

[0159] Furthermore, it is worth noting that since both the first reference segment K1 and the second reference segment K2 are line segments, meaning they are not infinitely extended, even if the target path is curved, causing the first reference segment K1 and the second reference segment K2 to no longer be parallel, they will still not intersect if the curvature is very small. By changing the preset distance d between the first reference segment K1 and the second reference segment K2, as well as the segment length, the curvature boundary of the target path when their ends intersect can be adjusted. Those skilled in the art can understand and fully implement this, and it will not be elaborated further in this disclosure.

[0160] based on Figure 7 As can be seen, in this embodiment of the present disclosure, when the first reference line segment and the second reference line segment do not intersect, it indicates that the target path within the preset range is a straight line or has a small curvature. At this time, the first reference line segment and the second reference line segment have no angle, and the curvature of the target path can be defined as zero.

[0161] When the first reference line segment intersects with the second reference line segment, the coordinates of the intersection point Q of the first reference line segment K1 and the second reference line segment K2 can be determined based on the coordinate data of the cost map. After obtaining the coordinates of the intersection point Q, the distance r from the intersection point Q to the target path can be determined. The arc d is a known preset distance. Therefore, the angle θ between the first reference line segment K1 and the second reference line segment K2 can be determined using the sector formula, expressed as: θ = d / r. In this embodiment, the value of the angle θ can be used to determine the current curvature of the mobile device.

[0162] Based on the above process, the target distance and turning radius of the mobile device's current position relative to the obstacle can be determined. Then, the maximum speed limit of the mobile device can be adjusted according to the target distance and turning radius, as explained in detail below.

[0163] like Figure 8As shown, in some embodiments, the speed control method of this disclosure, which determines the target speed of a mobile device based on the target distance, turning radius, and maximum speed limit, includes:

[0164] S810. Determine the straight-line speed component of the mobile device based on the target distance and the maximum speed limit.

[0165] In this embodiment of the disclosure, after obtaining the target distance between the mobile device and the obstacle, the maximum speed limit can be adaptively adjusted according to the magnitude of the target distance to obtain the straight-line speed component.

[0166] Specifically, the target distance is positively correlated with the straight-line speed component. That is, the greater the target distance, the farther the mobile device is from the obstacle, the lower the risk of an accident, and thus the greater the straight-line speed component. Conversely, the smaller the target distance, the closer the mobile device is to the obstacle, the higher the risk of an accident, and thus the smaller the straight-line speed component.

[0167] Based on the above principles, those skilled in the art can undoubtedly calculate the straight-line speed component, and this disclosure does not impose specific limitations on the calculation method. For example, in some embodiments, a correspondence between the target distance and the straight-line speed component can be established in advance, and the magnitude of the straight-line speed component can be determined by looking up this correspondence.

[0168] In some embodiments of this disclosure, as described above Figure 5 The target distance includes a first distance L1 and a second distance L2. Therefore, the straight-line speed component in this embodiment also includes a first speed component and a second speed component. The following is in conjunction with... Figure 9 The implementation method is described below.

[0169] like Figure 9 As shown, in some embodiments, the speed control method of this disclosure, in the process of determining the straight-line speed component based on the target distance, includes:

[0170] S811. Determine the first velocity component of the mobile device based on the first distance and the maximum speed limit.

[0171] S812. Determine the second speed component of the mobile device based on the second distance and the maximum speed limit.

[0172] S813. Obtain the straight-line speed component based on the first speed component and the second speed component.

[0173] Combination Figure 4 As shown, the first distance L1 between the mobile device 600 and the obstacle O2, and the second distance L2 between the mobile device 600 and the obstacle O2 can be obtained through the aforementioned implementation. Therefore, the first velocity component and the second velocity component can be expressed as:

[0174]

[0175]

[0176] In equations (1) and (2) above, V1 represents the first velocity component, V2 represents the second velocity component, L1 represents the first distance, L2 represents the second distance, R represents half the width of the preset range, P represents the length of the preset range, and V max This indicates the maximum speed limit for mobile devices.

[0177] Combination Figure 4 As shown, when there are no obstacles within the preset range, the first distance L1 = R and the second distance L2 = P can be set. At this time, the first velocity component V1 = V max The second velocity component V2 = V max .

[0178] Based on equations (1) and (2) above, the first velocity component V1 and the second velocity component V2 of the mobile device can be calculated, and then the first velocity component V1 and the second velocity component V2 are determined as the straight-line velocity components.

[0179] S820: Determine the turning speed component of the mobile device based on the turning radius and the maximum speed limit.

[0180] In this embodiment of the disclosure, after obtaining the curvature of the current target path of the mobile device, the maximum speed limit can be adaptively adjusted according to the magnitude of the curvature to obtain the turning speed component.

[0181] Specifically, the turning radius is negatively correlated with the turning speed component. That is, the greater the turning radius, the higher the risk of an accident involving the mobile device, and therefore the smaller the turning speed component should be. Conversely, the smaller the turning radius, the lower the risk of an accident involving the mobile device, and therefore the larger the turning speed component should be.

[0182] Based on the above principle, in some implementations, the calculation process of the turning speed component can be expressed as follows:

[0183]

[0184] In equation (3) above, V3 represents the turning speed component, θ represents the turning curvature, and V max This indicates the maximum speed limit.

[0185] Combination Figure 7 As shown, when the first reference line segment K1 and the second reference line segment K2 have no intersection, the turning curvature θ can be set to zero. Thus, according to equation (3), the turning speed component V3 = V max .

[0186] S830: Based on the pre-set straight-line speed weight and turning speed weight, the straight-line speed component and the turning speed component are weighted and fused to obtain the target speed of the mobile device.

[0187] It is understood that the straight-line speed component represents the straight-line speed of the mobile device under the current road conditions, and the turning speed component represents the turning speed of the mobile device under the current road conditions. In this embodiment of the disclosure, it is necessary to consider the risk of collision with obstacles when the mobile device is traveling straight, as well as the risk of accidents when turning. Therefore, the straight-line speed component and the turning speed component can be weighted and fused to obtain the final target speed.

[0188] In some implementations, the straight-line speed weight includes a first weight value a and a second weight value b, and the turning speed weight includes a third weight value c. Therefore, the target speed can be expressed as:

[0189] V=a*V1+b*V2+c*V3 (4)

[0190] In equation (4) above, V represents the target speed, V1 represents the first speed component, a represents the first weight value of the first speed component, V2 represents the second speed component, b represents the second weight value of the second speed component, V3 represents the turning speed component, and c represents the third weight value of the turning speed component. Wherein, a+b+c=1.

[0191] The specific values ​​of the first weight value a, the second weight value b, and the third weight value c can be set by those skilled in the art according to the specific needs of the scenario, and this disclosure does not impose any restrictions on them.

[0192] Using the above formula (4), the first velocity component, the second velocity component, and the turning speed component can be fused to obtain the target speed corresponding to the mobile device.

[0193] Combining formulas (1) to (4), the control principle of the method of the present invention will be explained in the following scenarios.

[0194] When the mobile device moves in a straight line or has a very small turning radius, and there are no obstacles within a preset range in front of the mobile device, the first velocity component V1 = V can be calculated based on the aforementioned equations (1) to (3). max The second velocity component V2 = V max And the turning speed component V3 = V max Substituting into equation (4), we can obtain the target speed V = Vmax, which means that the mobile device maintains the maximum speed limit.

[0195] When the mobile device moves in a straight line or has a very small turning radius, and there is an obstacle within a preset range in front of the mobile device, the turning speed component V3 = V can be calculated based on the aforementioned formula (3). max The first velocity component V1 and the second velocity component V2 are both less than Vmax. Substituting them into equation (4) will result in a target velocity V that is also less than Vmax, which means that the speed of the mobile device is adaptively reduced.

[0196] When the mobile device moves along the curve and there are no obstacles within a preset range in front of the mobile device, the first velocity component V1 = V can be calculated based on the aforementioned formulas (1) and (2). max The second velocity component V2 = V max Based on equation (3), the turning speed component V3 is calculated to be less than Vmax. Substituting it into equation (4), the target speed V should also be less than Vmax, that is, the speed of the mobile device is adaptively reduced.

[0197] When the mobile device moves along the curve and there are obstacles in the preset range in front of the mobile device, the first speed component V1, the second speed component V2 and the turning speed component V3 can be calculated based on the above equations (1) to (3) and are all less than Vmax. The target speed V obtained by substituting into equation (4) should also be less than Vmax, that is, the speed of the mobile device is adaptively reduced.

[0198] As can be seen from the above scenario, in this embodiment of the invention, the speed of the mobile device is not only adjusted based on the distance between the mobile device and the obstacle, but also further adjusted based on the turning curvature. During the turning process, even if there is no obstacle in front of the mobile device, the speed of the mobile device will still be reduced to avoid overturning due to excessive turning speed, or to reduce the risk of accidents caused by blind spots during turning.

[0199] In some implementations, to ensure the normal operation of the mobile device, a preset speed range for the mobile device can be set in advance. This preset speed range can limit the minimum speed limit Vmin and the maximum speed limit Vmax of the mobile device, that is, the movement speed of the mobile device should be within the preset speed range [Vmin, Vmax].

[0200] When the target speed obtained through the aforementioned process is less than the minimum speed limit Vmin, the mobile device can be controlled to move at the minimum speed limit Vmin. When the target speed is greater than the maximum speed limit Vmax, the mobile device can be controlled to move at the maximum speed limit Vmax. When the target speed is within the preset speed range [Vmin, Vmax], the mobile device can be controlled to move at the target speed.

[0201] The specific values ​​of the preset speed range [Vmin, Vmax] can be set by those skilled in the art according to the specific application scenario, and this disclosure does not impose any restrictions on them.

[0202] As can be seen from the above, in this embodiment of the present disclosure, the current moving speed is controlled by the target distance between the mobile device and the obstacle and the curvature of the turning point. The moving speed can be adaptively adjusted according to the current road conditions, reducing the risk of accidents. Furthermore, when controlling the speed, not only the target distance between the mobile device and the obstacle is considered, but also the curvature of the target path of the mobile device itself is taken into account, so as to avoid overturning due to excessive turning speed, reduce the risk of accidents caused by blind spots at the turning point, and further improve the speed control effect.

[0203] Secondly, this disclosure provides a speed control device that can be applied to a mobile device. The mobile device in this disclosure can be any type of device with autonomous movement capabilities suitable for implementation, such as a robotic vacuum cleaner, a logistics robot, a food delivery robot, or a smart mobile trash can; this disclosure does not impose any limitations on this.

[0204] like Figure 10 As shown, in some embodiments, the speed control device exemplified by this disclosure includes:

[0205] The acquisition module 10 is configured to acquire a cost map of the mobile area and the target path of the mobile device moving in the mobile area;

[0206] The first determining module 20 is configured to determine, based on the cost map, the current target distance between the mobile device and the obstacle, and the turning radius of the mobile device as it moves along the target path.

[0207] The second determining module 30 is configured to determine the target speed of the mobile device based on the target distance, the turning angle, and the maximum speed limit of the mobile device.

[0208] The control module 40 is configured to control the mobile device to move at the target speed.

[0209] As can be seen from the above, in this embodiment of the present disclosure, the current moving speed is controlled by the target distance between the mobile device and the obstacle and the curvature of the turning point. The moving speed can be adaptively adjusted according to the current road conditions, reducing the risk of accidents. Furthermore, when controlling the speed, not only the target distance between the mobile device and the obstacle is considered, but also the curvature of the target path of the mobile device itself is taken into account, which reduces the risk of accidents caused by blind spots at the turning point and further improves the speed control effect.

[0210] In some embodiments, the acquisition module 10 is configured to:

[0211] Acquire scene data of the moving area collected by the sensors of the mobile device;

[0212] Based on the scene data, the mobile device is located and mapped to obtain the current location of the mobile device and the environment map;

[0213] The cost map of the mobile area is obtained based on the obstacle information in the environmental map, and the target path of the mobile device is determined based on the cost map and the current location.

[0214] In some implementations, the first determining module 20 is configured to:

[0215] Based on the cost map, obstacle data within a preset range in front of the mobile device is determined;

[0216] Based on the obstacle data, a first distance between the obstacle and the target path, and a second distance between the obstacle and the current position of the mobile device are determined; wherein, the first distance is perpendicular to the target path, and the second distance is parallel to the target path;

[0217] The target distance is obtained based on the first distance and the second distance.

[0218] In some implementations, the first determining module 20 is configured to:

[0219] Based on the cost map, a first reference line segment and a second reference line segment are determined within a preset range in front of the mobile device; wherein the first reference line segment and the second reference line segment are both perpendicular to the target path, and the first reference line segment and the second reference line segment are spaced apart by a preset distance;

[0220] The current curvature of the mobile device is determined based on the included angle between the first reference line segment and the second reference line segment.

[0221] In some implementations, the first determining module 20 is configured to:

[0222] In response to the intersection of the first reference line segment and the second reference line segment, the coordinates of the intersection point of the first reference line segment and the second reference line segment are determined based on the cost map, and the included angle between the first reference line segment and the second reference line segment is determined according to the intersection point coordinates and the preset distance, and the included angle is determined as the curvature.

[0223] In response to the fact that the first reference line segment and the second reference line segment do not intersect, the curvature is determined to be zero.

[0224] In some implementations, the second determining module 30 is configured to:

[0225] The straight-line speed component of the mobile device is determined based on the target distance and the maximum speed limit; wherein the straight-line speed component is positively correlated with the target distance;

[0226] The turning speed component of the mobile device is determined based on the turning curvature and the maximum speed limit; wherein the turning speed component is negatively correlated with the turning curvature.

[0227] Based on pre-set straight-line speed weights and turning speed weights, the straight-line speed component and the turning speed component are weighted and fused to obtain the target speed of the mobile device.

[0228] In some implementations, the second determining module 30 is configured to:

[0229] Based on the first distance and the maximum speed limit, a first speed component of the mobile device is determined;

[0230] The second speed component of the mobile device is determined based on the second distance and the maximum speed limit;

[0231] The straight-line speed component is obtained based on the first speed component and the second speed component.

[0232] In some embodiments, the control module 40 is configured to:

[0233] In response to the target speed meeting a preset speed range, the mobile device is controlled to move at the target speed.

[0234] As can be seen from the above, in this embodiment of the present disclosure, the current moving speed is controlled by the target distance between the mobile device and the obstacle and the curvature of the turning point. The moving speed can be adaptively adjusted according to the current road conditions, reducing the risk of accidents. Furthermore, when controlling the speed, not only the target distance between the mobile device and the obstacle is considered, but also the curvature of the target path of the mobile device itself is taken into account, so as to avoid overturning due to excessive turning speed, reduce the risk of accidents caused by blind spots at the turning point, and further improve the speed control effect.

[0235] Thirdly, embodiments of this disclosure provide a mobile device, including:

[0236] processor; and

[0237] A memory storing computer instructions for causing a processor to perform the method according to any embodiment of the first aspect.

[0238] Fourthly, embodiments of this disclosure provide a storage medium storing computer instructions for causing a computer to perform the method described according to any embodiment of the first aspect.

[0239] As can be seen from the above, in this embodiment of the present disclosure, the current moving speed is controlled by the target distance between the mobile device and the obstacle and the curvature of the turning point. The moving speed can be adaptively adjusted according to the current road conditions, reducing the risk of accidents. Furthermore, when controlling the speed, not only the target distance between the mobile device and the obstacle is considered, but also the curvature of the target path of the mobile device itself is taken into account, so as to avoid overturning due to excessive turning speed, reduce the risk of accidents caused by blind spots at the turning point, and further improve the speed control effect.

[0240] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the embodiments. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all embodiments here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this disclosure.

Claims

1. A speed control method, characterized in that, Applied to mobile devices, the method includes: Obtain a cost map of the mobile area and the target path of the mobile device moving within the mobile area; Based on the cost map, the target distance between the mobile device and the obstacle is determined, as well as the curvature of the mobile device when it moves along the target path, wherein the curvature represents the degree of curvature of the target path; The target speed of the mobile device is determined based on the target distance, the turning angle, and the maximum speed limit of the mobile device. Control the mobile device to move at the target speed; Based on the cost map, the turning radius of the mobile device as it moves along the target path is determined, including: Based on the cost map, a first reference line segment and a second reference line segment are determined within a preset range in front of the mobile device; wherein the first reference line segment and the second reference line segment are both perpendicular to the target path, and the first reference line segment and the second reference line segment are spaced apart by a preset distance; The current curvature of the mobile device is determined based on the angle between the first reference line segment and the second reference line segment.

2. The method according to claim 1, characterized in that, The acquisition of the cost map of the mobile area and the target path of the mobile device moving in the mobile area includes: Acquire scene data of the moving area collected by the sensors of the mobile device; Based on the scene data, the mobile device is located and mapped to obtain the current location of the mobile device and the environment map; The cost map of the mobile area is obtained based on the obstacle information in the environmental map, and the target path of the mobile device is determined based on the cost map and the current location.

3. The method according to claim 1, characterized in that, Based on the cost map, the current target distance between the mobile device and the obstacle is determined, including: Based on the cost map, obstacle data within a preset range in front of the mobile device is determined; Based on the obstacle data, a first distance between the obstacle and the target path, and a second distance between the obstacle and the current position of the mobile device are determined; wherein, the first distance is perpendicular to the target path, and the second distance is parallel to the target path; The target distance is obtained based on the first distance and the second distance.

4. The method according to claim 1, characterized in that, Determining the current curvature of the mobile device based on the included angle between the first reference line segment and the second reference line segment includes: In response to the intersection of the first reference line segment and the second reference line segment, the coordinates of the intersection point of the first reference line segment and the second reference line segment are determined based on the cost map, and the included angle between the first reference line segment and the second reference line segment is determined according to the intersection point coordinates and the preset distance, and the included angle is determined as the curvature. In response to the fact that the first reference line segment and the second reference line segment do not intersect, the curvature is determined to be zero.

5. The method according to claim 1, characterized in that, Determining the target speed of the mobile device based on the target distance, the turning angle, and the maximum speed limit of the mobile device includes: The straight-line speed component of the mobile device is determined based on the target distance and the maximum speed limit; wherein the straight-line speed component is positively correlated with the target distance; The turning speed component of the mobile device is determined based on the turning curvature and the maximum speed limit; wherein the turning speed component is negatively correlated with the turning curvature. Based on pre-set straight-line speed weights and turning speed weights, the straight-line speed component and the turning speed component are weighted and fused to obtain the target speed of the mobile device.

6. The method according to claim 5, characterized in that, The target distance includes a first distance perpendicular to the target path and a second distance parallel to the target path; determining the straight-line speed component of the mobile device based on the target distance includes: Based on the first distance and the maximum speed limit, a first speed component of the mobile device is determined; The second speed component of the mobile device is determined based on the second distance and the maximum speed limit; The straight-line speed component is obtained based on the first speed component and the second speed component.

7. The method according to claim 1, characterized in that, Controlling the mobile device to move at the target speed includes: In response to the target speed meeting a preset speed range, the mobile device is controlled to move at the target speed.

8. A speed control device, characterized in that, Applied to a mobile device, the device includes: The acquisition module is configured to acquire a cost map of the mobile area and the target path of the mobile device moving in the mobile area. The first determining module is configured to determine, based on the cost map, the current target distance between the mobile device and the obstacle, and the curvature of the mobile device as it moves along the target path, wherein the curvature represents the degree of curvature of the target path; The second determining module is configured to determine the target speed of the mobile device based on the target distance, the turning angle, and the maximum speed limit of the mobile device. The control module is configured to control the mobile device to move at the target speed; The first determining module is configured as follows: Based on the cost map, a first reference line segment and a second reference line segment are determined within a preset range in front of the mobile device; wherein the first reference line segment and the second reference line segment are both perpendicular to the target path, and the first reference line segment and the second reference line segment are spaced apart by a preset distance; The current curvature of the mobile device is determined based on the angle between the first reference line segment and the second reference line segment.

9. A mobile device, characterized in that, include: processor; and A memory storing computer instructions for causing a processor to perform the method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The computer contains computer instructions for causing the computer to perform the method according to any one of claims 1 to 7.

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