Method and device for determining turning radius and automatic driving vehicle

Abstract

The present disclosure provides a method, device and autonomous driving vehicle for determining a turning radius, the method comprising: acquiring posture data of the vehicle by means of a posture sensor arranged on the vehicle; wherein the posture data at least comprises the speed, yaw angular velocity and heading angle of the vehicle in a world coordinate system; and determining the turning radius of a target position of the vehicle according to the posture data and the installation position of the posture sensor in the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and more specifically, to a method for determining a turning radius, a device for determining a turning radius, and an autonomous driving vehicle. Background Art

[0002] At present, the turning radius and turning radius of a vehicle are data frequently used in autonomous driving technology, for example, in scenarios such as path planning and collision prediction. The turning radius is defined with reference to the outer steering wheel of the vehicle, and the turning radius is defined with reference to other positions of the vehicle. Summary of the invention

[0003] An object of the present disclosure is to provide a new technical solution for determining the radius of gyration.

[0004] According to a first aspect of the present disclosure, a method for determining a gyration radius is provided, the method comprising:

[0005] Acquiring posture data of the vehicle through a posture sensor disposed on the vehicle; wherein the posture data at least includes the speed, yaw angular velocity and heading angle of the vehicle in a world coordinate system;

[0006] A turning radius of a target position of the vehicle is determined according to the posture data and an installation position of the posture sensor in the vehicle.

[0007] Optionally, determining the turning radius of the target position of the vehicle according to the posture data and the installation position includes:

[0008] Determine, based on the posture data, a first position vector from the rotation center of the vehicle to the installation position in a preset vehicle coordinate system;

[0009] According to the installation position, obtaining a second position vector of the attitude sensor in the vehicle coordinate system;

[0010] Obtaining a third position vector of the rotation center in the vehicle coordinate system according to the first position vector and the second position vector;

[0011] A radius of gyration of the target position is determined according to the third position vector.

[0012] Optionally, determining the rotation radius of the target position according to the third position vector includes:

[0013] determining a fourth position vector of the target position in the vehicle coordinate system;

[0014] Obtaining a fifth position vector from the rotation center to the target position in the vehicle coordinate system according to the third position vector and the fourth position vector;

[0015] The radius of gyration is obtained according to the fifth position vector.

[0016] Optionally, determining a first position vector from the rotation center of the vehicle to the installation position in a preset vehicle coordinate system according to the posture data includes:

[0017] Obtaining the speed of the vehicle in the vehicle coordinate system according to the speed and heading angle of the vehicle in the world coordinate system;

[0018] The first position vector is obtained according to the yaw angular velocity and the speed of the vehicle in the vehicle coordinate system.

[0019] Optionally, the speed of the vehicle in the vehicle coordinate system is determined by the following formula:

[0020] v=RV

[0021]

[0022] Wherein, v represents the speed of the vehicle in the vehicle coordinate system, V represents the speed of the vehicle in the world coordinate system, and θ represents the heading angle.

[0023] Optionally, the first position vector is determined by the following formula:

[0024] v=ω×r1

[0025] Wherein, r1 represents the first position vector, ω represents the yaw angular velocity of the vehicle in the vehicle coordinate system, and v represents the velocity of the vehicle in the vehicle coordinate system.

[0026] Optionally, the method further includes: performing collision prediction on the vehicle according to a turning radius of the target position.

[0027] Optionally, the method further comprises: obtaining a steering wheel angle of the vehicle;

[0028] The steering wheel angle and the turning radius of the target position are stored correspondingly.

[0029] According to a second aspect of the present disclosure, a device for determining a gyration radius is provided, the device comprising:

[0030] A posture data acquisition module, used for acquiring posture data of the vehicle through a posture sensor arranged on the vehicle; wherein the posture data at least includes the speed, yaw angular velocity and heading angle of the vehicle in the world coordinate system;

[0031] A determination module determines a turning radius of a target position of the vehicle according to the posture data and an installation position of the posture sensor in the vehicle.

[0032] According to a third aspect of the present disclosure, there is provided an autonomous driving vehicle, comprising a posture sensor and the turning radius determination device as described in the second aspect, or,

[0033] The vehicle comprises a posture sensor, a memory and a processor, wherein the memory is used to store an executable computer program; the computer program is used to control the processor to execute the method according to the first aspect of the present disclosure;

[0034] The posture sensor is used to obtain posture data of the vehicle.

[0035] According to the method for determining the turning radius of an embodiment of the present application, the posture data of the vehicle is obtained by a posture sensor arranged on the vehicle, and the turning radius of the target position of the vehicle is determined according to the posture data and the installation position of the posture sensor in the vehicle. The turning radius of any position in the vehicle can be obtained in real time without the need for vehicle traces, thereby reducing the requirements for the test site.

[0036] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0038] Figure 1 is a block diagram of an example of a hardware configuration of a vehicle capable of implementing the method for determining a turning radius according to an embodiment of the present application;

[0039] Figure 2 is a flow chart of a method for determining a radius of gyration according to an embodiment of the present application;

[0040] Figure 3 1 is a schematic diagram of obtaining the radius of gyration of a target position according to the method for determining the radius of gyration of an embodiment of the present application (I);

[0041] Figure 4 is a schematic diagram (II) of obtaining the radius of gyration of a target position according to the method for determining the radius of gyration of an embodiment of the present application;

[0042] Figure 5 is a structural block diagram of a device for determining a gyration radius according to an embodiment of the present application;

[0043] Figure 6 is a block diagram of an autonomous driving vehicle according to one embodiment. DETAILED DESCRIPTION

[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0046] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0047] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0048] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] <Hardware Configuration>

[0050] Figure 1 Schematic diagram of the structure of a vehicle 100 that can be used to implement the method for determining a turning radius according to an embodiment of the present application.

[0051] The vehicle 100 may be any type of vehicle, such as a car, an electric bicycle, an electric motorcycle, a tricycle, or a four-wheel vehicle, and is not limited here.

[0052] like Figure 1As shown, the vehicle 100 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a posture sensor 1500, a brake device 1600, a motor 1700, an output device 1800, and the like. The processor 1100 is used to execute a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1400 includes at least one communication module to enable short-distance and / or long-distance communication. The posture sensor 1500 is mounted on the body of the vehicle 100 and is used to obtain posture data of the vehicle 100, wherein the posture data includes the speed, yaw rate, and heading angle of the vehicle in the world coordinate system. The brake device 1600 is used to brake the vehicle. The motor 1700 is used to provide power for the vehicle body. The motor 1700 can be installed on the wheel hub of the rear wheel of the vehicle body, so as to apply a torque for the rear wheel of the vehicle body to rotate forward through the motor 1700. The motor 1700 can be a DC motor or an AC motor, which is not limited here. The output device 1800 can include a display device, such as a liquid crystal display screen, a touch display screen, etc., and can also include a device for outputting audio signals such as a speaker and a buzzer, and can also include a device for outputting light signals such as an indicator light.

[0053] In this embodiment, the memory 1200 of the vehicle 100 is used to store a computer program, and the computer program is used to control the processor 1100 to operate, so as to control the vehicle 100 to implement the method for determining the turning radius according to the embodiment of the present disclosure. A technician can design a computer program according to the scheme disclosed in the present invention. How a computer program controls the processor to operate is well known in the art, so it will not be described in detail here.

[0054] It should be understood that although Figure 1 The hardware configuration of the vehicle 100 is shown, but it is not intended to limit the respective numbers. The vehicle 100 may include multiple processors 1100, multiple memories 1200, etc.

[0055] Figure 1 The illustrated vehicle 100 is illustrative only and is in no way intended to limit the invention, its application, or uses.

[0056] <Method Example>

[0057] In the prior art, there are two main methods for measuring the turning radius of a vehicle. One is to stick paint on the wheel or add a dripping device to the wheel. When the vehicle turns, a paint mark or watermark will be left on the ground. The diameter of the paint mark or watermark is measured to obtain the turning radius. The other is to install a GPS device at any location of the vehicle, extract the longitude and latitude data points output by the GPS device for circle fitting, and the radius of the circle obtained by fitting is the turning radius.

[0058] However, both methods require the use of the vehicle's trajectory, and the formation of the trajectory takes a certain amount of time, so the vehicle's turning radius cannot be obtained in real time. In addition, when measuring the turning radius by the mark left on the site, there may be a situation where the turning radius of the mark close to a straight line cannot be measured due to site limitations. In this regard, it is necessary to propose a solution for determining the turning radius of the vehicle that can solve the above problems.

[0059] Figure 2 is a flow chart of a method for determining a gyration radius according to an embodiment. The method may be, for example, Figure 1 The vehicle 100 in the embodiment is implemented as follows. Figure 1 The method steps of this embodiment are described by taking the processor 1100 in FIG. 1 as an example. In this embodiment, the vehicle 100 is provided with a posture sensor 1500 , which can be located at any position of the vehicle 100 , and the posture sensor 1500 is used to obtain the posture data of the vehicle 100 .

[0060] like Figure 2 As shown, the method of this embodiment may include the following steps S210 to S220:

[0061] Step S210, acquiring posture data of the vehicle through a posture sensor arranged on the vehicle.

[0062] In this embodiment, a posture sensor 1500 is provided on the vehicle, and the posture sensor 1500 can obtain the posture data of the vehicle in real time. The posture data at least includes the speed, yaw rate and heading angle of the vehicle in the world coordinate system. Before obtaining the posture data of the vehicle, the world coordinate system and the vehicle coordinate system need to be defined.

[0063] Assuming that the vehicle has a vehicle coordinate system that can include three mutually perpendicular coordinate axes - X axis, Y axis and Z1 axis, the world coordinate system can include three mutually perpendicular coordinate axes - XE axis, YN axis and Z2 axis, such as Figure 3As shown. The origin of the vehicle coordinate system can be any point on the plane where the vehicle is located. The Y axis can be used to identify the length direction of the vehicle, the X axis can be used to identify the width direction of the vehicle, and the Z1 axis can be used to identify the height direction of the vehicle. For the world coordinate system, the XE axis is used to identify the east-west direction, with east being positive; the YN axis is used to identify the north-south direction, with north being positive; the Z2 axis is used to identify the up-down direction, with upward being positive; the plane where the XE axis and the YN axis are located is parallel to the horizontal plane. The directions of the Z1 axis in the vehicle coordinate system and the Z2 axis in the world coordinate system can be the same, both perpendicular to the horizontal plane. The clockwise rotation angle θ of the Y axis relative to the YN axis is the vehicle heading angle. When the front of the vehicle faces due north, the heading angle is 0°, and when it faces due east, the heading angle is 90°.

[0064] After defining the vehicle coordinate system and the world coordinate system, the attitude sensor can obtain the vehicle's velocity V in the world coordinate system, the vehicle's yaw rate ω, and the heading angle θ in real time.

[0065] Step S220: determining a turning radius of a target position of the vehicle according to the posture data and an installation position of the posture sensor in the vehicle.

[0066] In this embodiment, the installation position of the posture sensor in the vehicle may be to obtain the position of the posture sensor relative to the origin O of the vehicle coordinate system.

[0067] In this embodiment, after the posture data of the vehicle and the installation position of the posture sensor are acquired, the turning radius of any target position of the vehicle can be determined according to the posture data and the installation position.

[0068] Specifically, in step S220, determining the turning radius of the target position of the vehicle according to the posture data and the installation position may include the following steps S2211 to S2214:

[0069] Step S2211, determining a first position vector from the rotation center of the vehicle to the installation position in a preset vehicle coordinate system according to the posture data.

[0070] In one embodiment, determining a first position vector from the rotation center of the vehicle to the installation position in a preset vehicle coordinate system according to the posture data includes the following steps S22111 to S22112:

[0071] Step S22111, obtaining the speed of the vehicle in the vehicle coordinate system according to the speed and heading angle of the vehicle in the world coordinate system.

[0072] In this embodiment, the speed V of the vehicle in the world coordinate system acquired by the posture sensor may be converted into the speed v in the vehicle coordinate system.

[0073] In one embodiment, the velocity V of the vehicle in the world coordinate system may include a component of the vehicle relative to the XE axis of the world coordinate system, and a component of the vehicle relative to the YN axis of the world coordinate system.

[0074] Specifically, the speed of the vehicle in the vehicle coordinate system can be determined by the following formula (1) and formula (2):

[0075] v=RV (1)

[0076]

[0077] Wherein, v represents the speed of the vehicle in the vehicle coordinate system, V represents the speed of the vehicle in the world coordinate system, and θ represents the heading angle.

[0078] Step S22112: Obtain the first position vector according to the yaw angular velocity and the speed of the vehicle in the vehicle coordinate system.

[0079] In this embodiment, the yaw angular velocity of the vehicle in the world coordinate system acquired by the attitude sensor can be converted into the yaw angular velocity of the vehicle in the vehicle coordinate system. Since the Z2 axis of the world coordinate system and the Z1 axis of the vehicle coordinate system are parallel, the yaw angular velocity of the vehicle in the world coordinate system is the same as the yaw angular velocity of the vehicle in the vehicle coordinate system.

[0080] In this embodiment, after the velocity v and yaw angular velocity ω of the vehicle in the vehicle coordinate system are obtained, the first position vector r1 from the rotation center of the vehicle to the location where the attitude sensor is installed can be obtained by formula (3).

[0081] v=ω×r1 (3)

[0082] Wherein, r1 represents the first position vector, ω represents the yaw angular velocity of the vehicle in the vehicle coordinate system, and v represents the velocity of the vehicle in the vehicle coordinate system.

[0083] Step S2212: Obtain a second position vector of the attitude sensor in the vehicle coordinate system according to the installation position.

[0084] In this embodiment, according to the installation position of the attitude sensor and the position of the origin of the vehicle coordinate system, a second position vector p of the attitude sensor in the vehicle coordinate system is obtained. The second position vector is a position vector from the origin of the vehicle coordinate system to the installation position of the attitude sensor.

[0085] Step S2213: Obtain a third position vector of the rotation center in the vehicle coordinate system according to the first position vector and the second position vector.

[0086] In this embodiment, a third position vector q of the rotation center of gravity in the vehicle coordinate system is obtained according to the first position vector r1 and the second position vector p.

[0087] Specifically, the third position vector q can be obtained by the following formula (4).

[0088] q=p-r1 (4)

[0089] like Figure 3 As shown, the third position vector q can be obtained by performing vector operation on the second position vector p and the first position vector r1.

[0090] In one embodiment, in order to reduce the amount of calculation and save power consumption, the installation position of the attitude sensor in the vehicle can be used as the coordinate origin O of the vehicle coordinate system XOY. Figure 4 As shown, in this case, the coordinates of the second position vector p are (0,0), and the third position vector q=-r1.

[0091] Step S2214: determining a radius of gyration of the target position according to the third position vector.

[0092] Step 2214 in this embodiment determines the gyration radius of the target position according to the third position vector, and further includes the following steps S22141 to S22143:

[0093] Step S22141, determining a fourth position vector of the target position in the vehicle coordinate system.

[0094] In this embodiment, the target position may be a position pre-calibrated on the vehicle, for example, the position of the vehicle wheel, the position of the vehicle outer contour, the position of the handlebar, etc. When obtaining the turning radius of the target position, the fourth position vector s of the target position in the vehicle coordinate system may be determined first.

[0095] Step S22142: Obtain a fifth position vector from the rotation center to the target position in the vehicle coordinate system according to the third position vector and the fourth position vector.

[0096] In this embodiment, after obtaining the fourth position vector s of the target position in the vehicle coordinate system, the fifth position vector r2 from the center of rotation to the target position in the vehicle coordinate system can be obtained according to the third position vector q and the fourth position vector s by formula (5).

[0097] r2=sq (5)

[0098] like Figure 3As shown, the target position is the position of the outer contour of the right front of the vehicle. At this time, the fifth position vector r2 can be obtained by vector operation between the third position vector q and the fourth position vector s.

[0099] Step S22143, obtaining the rotation radius according to the fifth position vector.

[0100] In this embodiment, the rotation radius of the target position is the modulus of the fifth position vector r2, that is, r2.

[0101] According to the method for determining the turning radius of the embodiment of the present application, the posture data of the vehicle is obtained by a posture sensor provided on the vehicle, and the installation position of the posture sensor in the vehicle is obtained; based on the posture data and the installation position, the turning radius of the target position of the vehicle is determined, so that the turning radius of the vehicle can be obtained in real time without the need for vehicle traces, thereby reducing the requirements for the test site.

[0102] In one embodiment, the method comprises:

[0103] A collision prediction is performed on the vehicle according to the turning radius of the target position.

[0104] In this embodiment, the position at the edge of the vehicle's outer contour can be pre-calibrated as the target position. When the vehicle passes through a certain curve, the turning radius of the target position of the vehicle passing through the curve can be obtained to more accurately reflect the passing space and perform collision prediction.

[0105] According to an embodiment of the present application, by predicting the collision of the vehicle based on the turning radius of the target position, compared with predicting the collision through the turning radius of the outer steering wheel of the relevant vehicle, it is possible to more accurately reflect the passing space and improve the accuracy of the collision prediction.

[0106] In one embodiment, the method further comprises:

[0107] Step S310, obtaining the steering wheel angle of the vehicle.

[0108] Step S320: storing the steering wheel angle and the turning radius of the target position in correspondence.

[0109] In this embodiment, the steering wheel angle of the vehicle may be acquired, and the steering wheel angle and the turning radius of the target position may be stored in correspondence with each other to obtain a corresponding relationship between the steering wheel angle and the turning radius of the target position.

[0110] The steering angle of the vehicle's steering wheel can be measured by an angle measuring device.

[0111] After obtaining the correspondence between the steering wheel angle and the turning radius of the corresponding target position, the vehicle can be driven more intelligently and safely according to the correspondence.

[0112] According to an embodiment of the present application, by acquiring the steering wheel angle of the vehicle and storing the steering wheel angle and the turning radius of the target position in correspondence, it is possible to easily obtain the correspondence between the steering wheel angle and the turning radius of the target position. Based on the correspondence, more intelligent and safe driving of the vehicle can be achieved.

[0113] <Device Example>

[0114] Figure 5 4 is a principle block diagram of a gyration radius determination device 400 according to an embodiment of the present invention.

[0115] In this embodiment, if Figure 5 As shown, the gyration radius determination device 400 includes: a posture data acquisition module 401 and a determination module 402 .

[0116] The posture data acquisition module 401 is used to acquire the posture data of the vehicle through a posture sensor arranged on the vehicle; wherein the posture data at least includes the speed, yaw rate and heading angle of the vehicle in the world coordinate system;

[0117] The determination module 402 determines a turning radius of a target position of the vehicle according to the posture data and an installation position of the posture sensor in the vehicle.

[0118] According to an embodiment of the present application, the posture data of the vehicle is obtained by a posture sensor provided on the vehicle, and the installation position of the posture sensor in the vehicle is obtained; based on the posture data and the installation position, the turning radius of the target position of the vehicle is determined, so that the turning radius of the vehicle can be obtained in real time without the need for vehicle traces, thereby reducing the requirements for the test site.

[0119] In one embodiment, the determination module 402 is specifically used to determine a first position vector from the center of rotation of the vehicle to the installation position in a preset vehicle coordinate system based on the posture data; obtain a second position vector of the posture sensor in the vehicle coordinate system based on the installation position; obtain a third position vector of the center of rotation in the vehicle coordinate system based on the first position vector and the second position vector; and determine the radius of rotation of the target position based on the third position vector.

[0120] In one embodiment, the determination module 402 is specifically used to determine a fourth position vector of the target position in the vehicle coordinate system; obtain a fifth position vector from the center of rotation to the target position in the vehicle coordinate system based on the third position vector and the fourth position vector; and obtain the rotation radius based on the fifth position vector.

[0121] In one embodiment, the determination module is specifically configured to obtain the speed of the vehicle in the vehicle coordinate system according to the speed and heading angle of the vehicle in the world coordinate system;

[0122] The first position vector is obtained according to the yaw angular velocity and the speed of the vehicle in the vehicle coordinate system.

[0123] In one embodiment, the speed of the vehicle in the vehicle coordinate system is determined by the following formula:

[0124] v=RV

[0125]

[0126] Wherein, v represents the speed of the vehicle in the vehicle coordinate system, V represents the speed of the vehicle in the world coordinate system, and θ represents the heading angle.

[0127] In one embodiment, the first position vector is determined by the following formula:

[0128] v=ω×r1

[0129] Wherein, r1 represents the first position vector, ω represents the yaw angular velocity of the vehicle in the vehicle coordinate system, and v represents the velocity of the vehicle in the vehicle coordinate system.

[0130] In one embodiment, the apparatus further comprises: a prediction module 403;

[0131] The prediction module 403 is used to perform collision prediction on the vehicle according to the turning radius of the target position.

[0132] According to an embodiment of the present application, by predicting the collision of the vehicle based on the turning radius of the target position, compared with predicting the collision through the turning radius of the outer steering wheel of the relevant vehicle, it is possible to more accurately reflect the passing space and improve the accuracy of the collision prediction.

[0133] In one embodiment, the apparatus further includes: a corresponding module 404;

[0134] The corresponding module 404 is used to obtain the steering wheel angle of the vehicle; and store the steering wheel angle and the turning radius of the target position in correspondence.

[0135] According to an embodiment of the present application, by acquiring the steering wheel angle of the vehicle and storing the steering wheel angle and the turning radius of the target position in correspondence, it is possible to easily obtain the correspondence between the steering wheel angle and the turning radius of the target position. Based on the correspondence, more intelligent and safe driving of the vehicle can be achieved.

[0136] <Vehicle Embodiment>

[0137] This embodiment provides an autonomous driving vehicle 500, which is provided with a posture sensor. The posture sensor is used to obtain posture data of the vehicle.

[0138] On the one hand, the autonomous driving vehicle 500 may also include the device 400 for determining the turning radius as described in the aforementioned implementation.

[0139] On the other hand, Figure 6 As shown, the autonomous driving vehicle 500 may also include a memory 520 and a processor 510, wherein the memory 520 is used to store a computer program, and the processor 510 is used to execute the steps of the method for determining the turning radius according to any embodiment of the present disclosure under the control of the computer program.

[0140] In this embodiment, the autonomous driving vehicle 500 can be an electric bicycle, a car, a sedan, etc., and is not specifically limited here.

[0141] The autonomous vehicle 500 and Figure 1 The vehicle 100 shown may have the same or similar hardware structure, which will not be described in detail here.

[0142] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0143] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0144] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0145] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0146] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0147] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0148] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0149] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0150] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for determining the radius of gyration, It is characterized in that include: Acquiring posture data of the vehicle through a posture sensor disposed on the vehicle; wherein the posture data at least includes the speed, yaw angular velocity and heading angle of the vehicle in a world coordinate system; Obtaining the speed of the vehicle in the vehicle coordinate system according to the speed and heading angle of the vehicle in the world coordinate system; Determine a first position vector from the rotation center of the vehicle to the sensor installation position in a preset vehicle coordinate system according to the yaw angular velocity and the speed of the vehicle in the vehicle coordinate system; Obtaining a second position vector of the attitude sensor in the vehicle coordinate system according to the sensor installation position; Obtaining a third position vector of the rotation center in the vehicle coordinate system according to the first position vector and the second position vector; determining a fourth position vector of the target position of the vehicle in the vehicle coordinate system; Obtaining a fifth position vector from the rotation center to a target position of the vehicle in the vehicle coordinate system according to the third position vector and the fourth position vector; The radius of gyration is obtained according to the fifth position vector.

2. The method according to claim 1, It is characterized in that The speed of the vehicle in the vehicle coordinate system is determined by the following formula: v=RV Wherein, v represents the speed of the vehicle in the vehicle coordinate system, V represents the speed of the vehicle in the world coordinate system, and θ represents the heading angle.

3. The method according to claim 1, It is characterized in that The first position vector is determined by the following formula: v = ω × r1, where r1 represents a first position vector, ω represents a yaw angular velocity of the vehicle in the vehicle coordinate system, and v represents a velocity of the vehicle in the vehicle coordinate system.

4. The method according to claim 1, It is characterized in that The method comprises: A collision prediction is performed on the vehicle according to the turning radius of the target position.

5. The method according to claim 1, It is characterized in that The method further comprises: Obtaining a steering wheel angle of the vehicle; The steering wheel angle and the turning radius of the vehicle target position are stored correspondingly.

6. A device for determining a gyration radius, It is characterized in that include: A posture data acquisition module, used for acquiring posture data of the vehicle through a posture sensor arranged on the vehicle; Wherein, the posture data at least includes the speed, yaw rate and heading angle of the vehicle in the world coordinate system; a determination module, obtaining the speed of the vehicle in the vehicle coordinate system according to the speed and heading angle of the vehicle in the world coordinate system, determining a first position vector from the rotation center of the vehicle to the sensor installation position in a preset vehicle coordinate system according to the yaw angular velocity and the speed of the vehicle in the vehicle coordinate system; and obtaining a second position vector of the attitude sensor in the vehicle coordinate system according to the sensor installation position; Obtaining a third position vector of the rotation center in the vehicle coordinate system according to the first position vector and the second position vector; determining a fourth position vector of the target position of the vehicle in the vehicle coordinate system; Obtaining a fifth position vector from the rotation center to the target position in the vehicle coordinate system according to the third position vector and the fourth position vector; The radius of gyration is obtained according to the fifth position vector.

7. An autonomous driving vehicle, comprising a posture sensor and the apparatus according to claim 6; or, the vehicle comprises a posture sensor, a memory and a processor, the memory is used to store a computer program, and the computer program is used to control the processor to perform the method according to any one of claims 1 to 5; The posture sensor is used to obtain posture data of the vehicle.

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