Vehicle motion control method and device

Abstract

The present application discloses a vehicle motion control method and device. The method comprises: when the expected value of the control target of the vehicle is obtained, using the initial speed, initial acceleration, maximum variable acceleration limit, expected value, and shortest time planning rule to determine whether the vehicle meets the parking condition, wherein the parking condition is met: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value; the control target is: the displacement of the vehicle, or the turning angle of the vehicle; when the vehicle does not meet the parking condition, using the initial speed, initial acceleration, maximum variable acceleration limit, and shortest time planning rule, determine the first planning result of the variable acceleration of the vehicle over time; based on the target planning result, perform vehicle motion control, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result. The present application can improve the vehicle motion control effect.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle motion control method and device. Background Art

[0002] In order to improve the effect of vehicle motion control, the current common method is to add trajectory planning in front of the motion controller to ensure that the vehicle stably and gradually approaches the target motion state during the control process, reducing oscillation and overshoot during the control process.

[0003] The commonly used trajectory planning defaults to 0 for all derivatives of the planning start and end points. However, the application scenarios of vehicle motion controllers are complex and varied. In actual use, we often encounter problems such as enabling the motion controller at a non-stationary moment, that is, motion trajectory planning with a non-ideal control start point; interrupting and switching to other control modes in the middle of the planning, that is, switching of motion trajectory planning with a non-ideal end point. When the existing trajectory planning encounters application scenarios such as non-ideal control start point planning or non-ideal end point planning switching, it will lead to problems such as non-smooth mutations in the planning, increased end point deviation, abnormal derivative output, etc., resulting in poor vehicle motion control effect. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a vehicle motion control method and device to solve the problem of poor vehicle motion control effect.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, a vehicle motion control method is provided, the method comprising:

[0007] When the expected value of the control target of the vehicle is obtained, the initial speed, initial acceleration and maximum variable acceleration limit of the vehicle are obtained; wherein the control target is: the displacement of the vehicle, or the turning angle of the vehicle;

[0008] Determining whether the vehicle satisfies a parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule, wherein satisfying the parking condition is characterized by: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value;

[0009] In a case where the vehicle does not meet the parking condition, determining a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule;

[0010] Vehicle motion control is performed based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result.

[0011] In a second aspect, a vehicle motion control device is provided, the device comprising:

[0012] An acquisition module, for acquiring an initial speed, an initial acceleration and a maximum variable acceleration limit of the vehicle at a starting position when the desired position of the vehicle is acquired;

[0013] A first determination module is used to determine whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule, wherein the parking condition is met in that: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value; the control target is: the motion control target of the vehicle, or the turning angle of the vehicle;

[0014] a second determining module, configured to determine a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule when the vehicle does not meet the parking condition;

[0015] A motion module is used to perform vehicle motion control based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the vehicle motion control method described in any one of the embodiments of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle motion control method described in any one of the embodiments of the present application are implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to perform the steps of the vehicle motion control method described in any one of the embodiments of the present application.

[0019] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0020] In the embodiment of the present application, when the expected value of the control target of the vehicle is obtained, the initial speed, initial acceleration, and maximum variable acceleration limit of the vehicle can be obtained first; then, the initial speed, initial acceleration, maximum variable acceleration limit, expected value, and shortest time planning rule are used to determine whether the vehicle meets the parking condition. In the case that the vehicle does not meet the parking condition, the initial speed, initial acceleration, maximum variable acceleration limit, and shortest time planning rule can be used to determine the first planning result of the variable acceleration of the vehicle over time, and then the vehicle motion control is performed based on the target planning result, wherein the target planning result is the first planning result, or is determined based on the first planning result. It can be seen that the embodiment of the present application gives the planning result of the variable acceleration of the vehicle over time by using the shortest time planning rule, which can make the embodiment of the present application applicable to the application scenario of any initial condition to perform trajectory planning for the control target, and can also make the acceleration, speed, and control target of the vehicle respectively first-order, second-order, and third-order continuous, thereby improving the stability of the vehicle motion and thus improving the vehicle motion control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute improper limitations on the present application.

[0022] Figure 1 It is a schematic diagram of the algorithm of the shortest time planning rule provided in the embodiment of the present application;

[0023] Figure 2 It is one of the flow charts of the vehicle motion control method provided in the embodiment of the present application;

[0024] Figure 3 It is a schematic diagram of the process of solving the binary search problem provided in the embodiment of the present application;

[0025] Figure 4 is a schematic diagram of a trajectory planning module provided in an embodiment of the present application;

[0026] Figure 5 This is the second flow chart of the vehicle motion control method provided in the embodiment of the present application;

[0027] Figure 6 is a vehicle desired position input signal diagram provided in an embodiment of the present application;

[0028] Figure 7 It is a diagram of a variable acceleration output signal planned under parking conditions provided in an embodiment of the present application;

[0029] Figure 8 It is the change process of vehicle acceleration, speed and displacement under parking conditions provided by the embodiment of the present application;

[0030] Fig. 9 It is a variable acceleration output signal diagram planned under non-parking conditions provided by an embodiment of the present application;

[0031] Fig.10 It is the change process of vehicle acceleration, speed and displacement under non-parking conditions provided by the embodiment of the present application;

[0032] Fig.11 It is the input and output result of the high-order trajectory planning module within the whole cycle provided by the embodiment of the present application;

[0033] Fig.12 is a schematic diagram of the structure of a vehicle motion control device provided in an embodiment of the present application;

[0034] Fig.13 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make those of ordinary skill in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples consistent with some aspects of the present application as detailed in the attached claims.

[0037] For ease of understanding, some contents involved in the embodiments of the present application are described below:

[0038] The vehicle motion control method of the embodiment of the present application is a third-order trajectory planning method, which can be applied to any planning process involving variables under third-order integral conditions, that is, the embodiment of the present application does not limit the control target of vehicle motion control.

[0039] In some embodiments, the control target may be the displacement of the vehicle, that is, the movement distance of the vehicle. In this embodiment, the vehicle motion control is the vehicle position control, which is used for the position trajectory planning of the vehicle movement. The vehicle speed is the vehicle's driving speed, the vehicle acceleration is the vehicle's driving acceleration, and the vehicle's variable acceleration is the vehicle's driving variable acceleration.

[0040] In other embodiments, the control target may be the turning angle of the vehicle, that is, the turning angle of the vehicle. In this embodiment, the vehicle motion control is the vehicle turning angle control, which is used for vehicle turning angle planning. The speed of the vehicle is the angular velocity of the vehicle, the acceleration of the vehicle is the angular acceleration of the vehicle, and the variable acceleration of the vehicle is the angular variable acceleration of the vehicle.

[0041] In an embodiment of the present application, trajectory planning is performed using the shortest time planning rule, that is, an expression of a planning solution for the control target, speed, and acceleration is calculated based on the time optimality, to ensure that the trajectory planning accurately reaches the expected value of the control target in the shortest time.

[0042] The shortest time planning rule is as follows Figure 1 In the shortest time planning rule, the vehicle movement phases include:

[0043] The first stage of uniform acceleration, the duration of the first stage of motion is , which can also be called stage;

[0044] The second stage of uniform acceleration, the duration of the second stage of motion is , which can also be called stage;

[0045] The third stage of uniform acceleration and deceleration, the duration of the third stage of motion is , which can also be called stage;

[0046] The fourth stage of uniform motion, the duration of the fourth stage of motion is , which can also be called stage;

[0047] The fifth stage of uniform acceleration and deceleration, the duration of the fifth stage of motion is , which can also be called Phase 1:

[0048] The sixth stage of uniform deceleration, the duration of the sixth stage of movement is , which can also be called stage;

[0049] The seventh stage of uniform acceleration, the duration of the seventh stage of motion is , which can also be called Phase II;

[0050] to Can be greater than or equal to 0.

[0051] When the expected value dis of the control target is greater than 0, the calculation formulas for the acceleration a, speed v and the value x of the control target at each stage are as follows:

[0052] (1) stage, uniform acceleration stage

[0053]

[0054]

[0055]

[0056] (2) stage, uniform acceleration stage

[0057]

[0058]

[0059]

[0060] (3) stage, uniformly decreasing acceleration stage

[0061]

[0062]

[0063]

[0064] (4) stage, uniform speed stage

[0065]

[0066]

[0067]

[0068] (5) The first stage, uniform deceleration and acceleration stage

[0069]

[0070]

[0071]

[0072] (6) stage, uniform deceleration stage

[0073]

[0074]

[0075]

[0076] (7) The second stage, uniform acceleration stage

[0077]

[0078]

[0079]

[0080] Since in (3) After the stage, the acceleration is 0, so:

[0081]

[0082] In (7) After the second stage, the speed is 0, so we can get:

[0083]

[0084] Actual value of the control target:

[0085]

[0086] The actual value of the control target is equal to the expected value dis, that is:

[0087]

[0088] When the expected value of the control target dis is less than 0, in the above formula, let , , That's it.

[0089] When acceleration limit is not considered and speed limit When planning in the shortest time, always maintain uniform acceleration or uniform deceleration, that is, , only need to calculate From formulas (1) and (2), we can see that Depend on So we only need to solve formula (3) about A high-order equation of one variable can be used.

[0090] The embodiment of the present application is capable of planning the control target for any initial condition, and provides a position, velocity, and acceleration planning trajectory starting from "current position and initial state" and ending at "the vehicle is exactly stationary when the expected value of the control target is reached", so that the embodiment of the present application is suitable for trajectory planning in application scenarios where the derivatives of each order of the start and end points are 0, and can also be applied to trajectory planning in application scenarios with third-order non-zero initial states, such as non-ideal control starting point planning or non-ideal end point planning switching.

[0091] From the derivation in the previous step, we can know that the expression of the planning solution is a univariate high-order equation. Considering , initial velocity and initial acceleration When the initial speed or acceleration is large and the target distance is small, even if the maximum variable acceleration is used for deceleration, when the speed and acceleration When adjusted to 0, the actual displacement Still beyond target position , at this time, formula (3) has no solution. Therefore, in order to ensure reliable trajectory planning output, we can first determine whether the equation is solvable under the current initial conditions and define the processing method when it is unsolvable.

[0092] The vehicle motion control method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0093] The embodiment of the present application can be used for vehicle motion control in operation scenarios such as warehouses and docks. The execution subject of the vehicle motion control method can be a vehicle, and the above execution subject does not constitute a limitation on the present application.

[0094] Figure 2 This is one of the flow charts of the vehicle motion control method provided in the embodiment of the present application. Figure 2 As shown, the vehicle motion control method provided in the embodiment of the present application may include the following steps:

[0095] Step 201, when the expected value of the control target of the vehicle is obtained, the initial speed, initial acceleration and maximum variable acceleration limit of the vehicle are obtained.

[0096] The control target may be, but is not limited to: the displacement of the vehicle, or the turning angle of the vehicle.

[0097] In specific implementation, in some implementations, the user can input the expected value of the control target in the vehicle, so that the vehicle obtains the expected value of the control target. In other implementations, the user can send the expected value of the control target to the vehicle through an electronic device, so that the vehicle obtains the expected value of the control target.

[0098] When the vehicle obtains the expected value of the control target, the current speed and acceleration of the vehicle can be obtained and used as the initial speed and initial acceleration of the vehicle. Can be pre-stored in the vehicle.

[0099] Step 202, using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule, determine whether the vehicle meets the parking condition, wherein meeting the parking condition is characterized by: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value.

[0100] It can be seen from the foregoing that the expression of the planning solution is a univariate high-order equation. Under some initial conditions, the univariate high-order equation may have no solution, and x is greater than dis. In the embodiment of the present application, for the case where there is no solution, when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value, and the trajectory planning can be carried out in the manner of stopping first and then secondary planning. In this case, the vehicle needs to stop before reaching the end point, that is, the vehicle meets the parking condition. For the case where there is a solution, when the speed changes from the initial speed to 0, the actual value of the control target will not be greater than the expected value, and the trajectory planning can be carried out directly. In this case, the vehicle does not need to stop before reaching the end point, that is, the vehicle does not meet the parking condition.

[0101] It can be seen that the embodiment of the present application can be applied to trajectory planning of the control target in application scenarios with any initial conditions, but the trajectory planning method of the vehicle is different for different solution results. Based on this, in the embodiment of the present application, before trajectory planning, it is possible to first determine whether the vehicle meets the parking conditions, and then select the corresponding trajectory planning method based on the determination result, thereby improving the reliability of trajectory planning.

[0102] If the vehicle does not meet the parking condition, trajectory planning can be performed through step 203 and step 204. If the vehicle does not meet the parking condition, trajectory planning can be performed by first parking and then secondary planning. For details, please refer to the following related description, which will not be described here.

[0103] In a specific implementation, the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule can be used to determine whether the one-dimensional high-order equation has a solution to determine whether the vehicle meets the parking condition. If the one-dimensional high-order equation has a solution, it can be determined that the vehicle does not meet the parking condition; if the one-dimensional high-order equation has a solution, it can be determined that the vehicle meets the parking condition.

[0104] Step 203, when the vehicle does not meet the parking condition, determine a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule.

[0105] In the embodiment of the present application, the planning result of the variable acceleration j of the vehicle over time t can be as follows: Figure 1 Shown: In stage, j= ;exist stage, j= ;exist stage, j= ;exist stage, j= ;exist In the first stage, j = ;exist stage, j= ;exist In the second stage, j = .

[0106] For different planning results, the difference is to To facilitate the distinction of different planning results, in the embodiment of the present application, the first planning result includes to Can be called the first To the first .

[0107] Based on this, in the embodiment of the present application, the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule can be used to solve to , and obtain the planning result of the vehicle's variable acceleration over time.

[0108] In specific implementation, the shortest time planning rule can be used to obtain the above formulas (1) to (3). Then, the initial speed, the initial acceleration, and the maximum variable acceleration limit can be substituted into the one-dimensional high-order equation derived based on formulas (1) to (3), and the one-dimensional high-order equation can be solved to obtain and , and then solve it by other formulas to get to So far, we have a set of to , that is, the first To the first , and then obtain the first planning result.

[0109] The present application does not limit the solution method of the univariate high-order equation. In some embodiments, to simplify the solution of the univariate high-order equation, a dichotomy method may be used to solve it.

[0110] In specific implementation, the dichotomy method for solving high-order equations mainly involves formula (3) and To solve the problem of no solution, that is, to determine that the vehicle does not meet the no-stop condition, it is necessary to determine the range of its solution. Let the dichotomy interval be .

[0111] (1) Formula (3) Please solve.

[0112] make ;when To ensure , then ,Right now ;when , similarly ,Right now .

[0113] when When the actual value of the control target Follow Monotonically increasing, when When the numerical solution must be in the interval In. Order when season , until .

[0114] (2) Formula (3) Solution

[0115] is the only restriction, that is, , the other processes are the same as above.

[0116] After determining the interval where the solution exists, the numerical solution of the higher-order equation is obtained by bisection method. The workflow is as follows: Figure 3 shown.

[0117] Step 204: perform vehicle motion control based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result.

[0118] In some embodiments, after the first planning result is obtained, vehicle motion control may be performed directly based on the first planning result. In this case, the target planning result is the first planning result.

[0119] In other embodiments, a target parameter limit may be introduced, and the target parameter may include at least one of speed and acceleration. In these embodiments, after obtaining the first planning result, it may be further determined whether the value of the target parameter of the vehicle exceeds the maximum limit of the target parameter when the vehicle performs vehicle motion control based on the first planning result.

[0120] If the vehicle performs vehicle motion control based on the first planning result, the value of the vehicle's target parameter will exceed the maximum limit of the target parameter, then the vehicle can to The target planning result is updated to ensure that when the vehicle performs vehicle motion control based on the target planning result, the value of the vehicle's target parameter does not exceed the maximum limit of the target parameter, thereby improving the reliability of vehicle motion control. In this case, the target planning result is determined based on the first planning result, specifically the updated first planning result. The determination of the target planning result can be specifically referred to the following related description, which is not described here.

[0121] If the value of the vehicle's target parameter does not exceed the maximum limit of the target parameter when the vehicle performs vehicle motion control based on the first planning result, then the vehicle can directly perform vehicle motion control based on the first planning result. In this case, the target planning result is the first planning result.

[0122] like Figure 1 As shown, the vehicle performs vehicle motion control based on the planning results of the vehicle's variable acceleration over time in the embodiment of the present application, which can make the vehicle's acceleration, speed and control target first-order, second-order and third-order continuous, respectively, improve the smoothness of the vehicle's motion, and thus improve the vehicle motion control effect.

[0123] The vehicle motion control method of the embodiment of the present application, when the expected value of the control target of the vehicle is obtained, can first obtain the initial speed, initial acceleration, and maximum variable acceleration limit of the vehicle; then, the initial speed, initial acceleration, maximum variable acceleration limit, expected value and shortest time planning rule are used to determine whether the vehicle meets the parking condition. In the case that the vehicle does not meet the parking condition, the initial speed, initial acceleration, maximum variable acceleration limit and shortest time planning rule can be used to determine the first planning result of the variable acceleration of the vehicle over time, and then the vehicle motion control is performed based on the target planning result, wherein the target planning result is the first planning result, or is determined based on the first planning result. It can be seen that the embodiment of the present application gives the planning result of the variable acceleration of the vehicle over time by using the shortest time planning rule, which can make the embodiment of the present application applicable to the application scenario of any initial condition to perform trajectory planning for the control target, and can also make the acceleration, speed and control target of the vehicle respectively first-order, second-order and third-order continuous, improve the stability of the vehicle motion, and thus improve the vehicle motion control effect.

[0124] The determination of whether the vehicle meets the parking condition is described in detail below.

[0125] It can be understood that if all the derivatives of the control target under the initial conditions are 0, that is, the initial velocity and the initial acceleration are both 0, then the univariate high-order equation must have a solution. Therefore, for this initial condition, it can be directly determined that the vehicle meets the parking condition to simplify the determination of whether the parking condition is met.

[0126] For the initial condition that the initial speed or initial acceleration is not 0, optionally, determining whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule may include:

[0127] Obtaining a control target calculation formula corresponding to the initial speed and the initial acceleration, wherein the control target calculation formula is determined based on a shortest time planning rule and the maximum variable acceleration limit;

[0128] Substituting the initial speed, the initial acceleration and the maximum variable acceleration limit into the control target calculation formula to obtain a first actual value of the control target;

[0129] When the first actual value is greater than the expected value, determining that the vehicle meets the parking condition;

[0130] When the first actual value is less than or equal to the expected value, it is determined that the vehicle does not satisfy the parking condition.

[0131] In this embodiment, the control target calculation formula may be different for the initial speed and initial acceleration in different situations. Therefore, in specific implementation, the control target calculation formula corresponding to the initial speed and initial acceleration may be obtained first.

[0132] In some embodiments, after obtaining the initial speed and initial acceleration, the vehicle can use the shortest time planning rule and the maximum variable acceleration limit to derive a control target calculation formula corresponding to the initial speed and initial acceleration.

[0133] In other embodiments, for the initial speed and initial acceleration in different situations, the vehicle can use the shortest time planning rule and the maximum variable acceleration limit in advance to derive the control target calculation formula corresponding to the initial speed and initial acceleration in various situations. In this way, after obtaining the initial speed and initial acceleration, the corresponding control target calculation formula can be directly extracted, thereby improving the efficiency of obtaining the control target calculation formula.

[0134] The independent variables of the control target calculation formula include the initial speed, the initial acceleration and the maximum variable acceleration limit, and the dependent variable is the value of the control target. Therefore, after obtaining the corresponding control target calculation formula, the initial speed, the initial acceleration and the maximum variable acceleration limit can be substituted into the control target calculation formula to obtain the first actual value of the control target.

[0135] Thereafter, the first actual value may be compared with the expected value, and based on the comparison result, it may be determined whether the vehicle satisfies the parking condition.

[0136] Specifically, if the first actual value x is greater than the expected value dis, the one-variable high-order equation has no solution, and it can be determined that the vehicle meets the parking condition. If the first actual value x is less than or equal to the expected value dis, the one-variable high-order equation has a solution, and it can be determined that the vehicle does not meet the parking condition.

[0137] It can be seen that through this embodiment, it is possible to accurately determine whether the vehicle meets the parking condition under the initial condition that the initial speed or the initial acceleration is not 0, thereby improving the reliability of vehicle motion control.

[0138] The following describes the control target calculation formula for various initial conditions where the initial velocity or initial acceleration is not 0.

[0139] In some embodiments, in the first case, the control target calculation formula is:

[0140] (4)

[0141] In the second case, the control target calculation formula is:

[0142] (5)

[0143] The first situation is: , , ; or, the initial acceleration is greater than the acceleration threshold, , ;

[0144] The second situation is: , , ;

[0145] x is the control target, is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity.

[0146] When the starting condition When, meet Therefore, the parking conditions in various situations are discussed separately:

[0147] (1) The initial velocity is relatively large. .

[0148] In this case, if the actual value of the control target is greater than the expected value , then it satisfies Otherwise, the acceleration and speed Average and expected value On the contrary, it will not exceed the boundary, that is, the expected value.

[0149] (a) when When the maximum variable acceleration is used, based on the shortest time planning rule Slow down, you can , substituting it into formula (3) can be deduced to obtain formula (4).

[0150] In this case, the unsolvable parking condition is represented by .

[0151] (b) When When ,Right now , the same logic can be used to get formula (5).

[0152] In this case, the unsolvable parking condition is represented by .

[0153] (2) The initial acceleration is large, greater than the acceleration threshold; .

[0154] Due to the expected value , there must be a speed Greater than 0 stage, that is, it must exist stage, then , the derivation process is the same as (a) in (1).

[0155] The control target calculation formula of this embodiment can accurately determine the value of the control target under the initial condition that the initial speed or initial acceleration is not 0, thereby improving the accuracy of determining whether the vehicle meets the parking conditions, and further improving the reliability of vehicle motion control.

[0156] The following is a detailed description of how to determine the target planning results.

[0157] It can be understood that when there are no speed and acceleration restrictions, , solve formula (3) about The one-variable high-order equation can be obtained to The value for each time period.

[0158] In some embodiments, the vehicle may include a maximum limit corresponding to a target parameter, the target parameter including at least one of speed and acceleration;

[0159] After determining the first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule, and before executing the vehicle motion control based on the target planning result, the method may further include:

[0160] Determine whether a value of a target parameter of the vehicle is greater than a maximum limit corresponding to the target parameter if vehicle motion control is performed based on the first planning result, to obtain a first determination result;

[0161] Determine the target planning result by using the second planning result;

[0162] Wherein, when the first determination result is that the value of the target parameter is less than or equal to the maximum limit corresponding to the target parameter, the second planning result is the first planning result;

[0163] When the first determination result is that the value of the target parameter is greater than the maximum limit corresponding to the target parameter, the second planning result is obtained by updating the first planning result using the maximum limit corresponding to the target parameter and the shortest time planning rule.

[0164] In this embodiment, the vehicle further stores a maximum limit corresponding to the target parameter, and the target parameter includes at least one of speed and acceleration. That is, the vehicle further stores at least one of the following: a maximum speed limit and a maximum acceleration limit.

[0165] After obtaining the first planning result, the vehicle can first determine whether the value of the target parameter of the vehicle is greater than the maximum limit corresponding to the target parameter based on the maximum limit corresponding to the target parameter, assuming that the vehicle motion control is performed based on the first planning result, and obtain the first determination result. Then, the second planning result is determined based on the first determination result, and then the target planning result is determined using the second planning result.

[0166] In specific implementation, if the value of the target parameter of the vehicle is greater than its maximum limit, the maximum limit can be used to update the first planning result to obtain the second planning result. If the value of the target parameter of the vehicle is less than or equal to its maximum limit, the first planning result can be directly determined as the second planning result. For the convenience of description, in the embodiment of the present application, the second planning result includes to Can be called the second To the second .

[0167] In the case where the target parameters include speed, such as Figure 1 It can be seen that The speed is maximum at the end of the stage, so it can be The speed at the end of the phase is compared with the maximum speed limit to determine whether the vehicle speed will be greater than the maximum speed limit if the vehicle motion control is performed based on the first planning result. The speed at the end of the stage is greater than the maximum speed limit, and it can be determined that if the vehicle motion control is performed based on the first planning result, the vehicle speed will be greater than the maximum speed limit; otherwise, the vehicle speed will not be greater than the maximum speed limit.

[0168] In the case where the target parameters include acceleration, such as Figure 1 It can be seen that The positive acceleration is the largest at the end of the stage. The reverse acceleration is the largest at the end of the first stage, so it can be The value of the positive acceleration at the end of the phase is compared with the maximum acceleration limit to determine whether the positive acceleration of the vehicle will be greater than the maximum acceleration limit if the vehicle motion control is performed based on the first planning result. The value of the reverse acceleration at the end of the first stage is compared with the maximum acceleration limit to determine whether the reverse acceleration of the vehicle will be greater than the maximum acceleration limit if the vehicle motion control is performed based on the first planning result.

[0169] Specifically, if If the forward acceleration of the vehicle is greater than the maximum acceleration limit, it can be determined that if the vehicle motion control is performed based on the first planning result, the forward acceleration of the vehicle will be greater than the maximum acceleration limit; otherwise, the forward acceleration of the vehicle will not be greater than the maximum acceleration limit.

[0170] like The value of the reverse acceleration at the end of the first stage is greater than the maximum acceleration limit. It can be determined that if vehicle motion control is performed based on the first planning result, the reverse acceleration of the vehicle will be greater than the maximum acceleration limit; otherwise, the reverse acceleration of the vehicle will not be greater than the maximum acceleration limit.

[0171] It should be noted that, when the target parameters include speed and acceleration, the present application does not limit the execution order of the first determination operation of whether the speed is greater than the maximum speed limit, and the second determination operation of whether the acceleration is greater than the maximum acceleration limit. In some embodiments, the first determination operation may be executed first, and then the second determination operation, or vice versa. The specific decision can be made based on actual conditions, and the embodiments of the present application are not limited to this.

[0172] Through this embodiment, the determined second planning result can satisfy: the value of the target parameter of the vehicle is less than or equal to the corresponding maximum limit, so that the reliability of vehicle motion control can be improved.

[0173] The update of the first planning result is described in detail below.

[0174] In some embodiments, in the shortest time planning rule, the vehicle movement phases include: a first movement phase of uniform acceleration, the duration of the first movement phase is ; The second motion stage of uniform acceleration, the duration of the second motion stage is ; The third motion stage of uniform deceleration and acceleration, the duration of the third motion stage is ; The fourth motion stage of uniform speed, the duration of the fourth motion stage is ; The fifth motion stage of uniform deceleration and acceleration, the duration of the fifth motion stage is ; The sixth motion stage of uniform deceleration, the duration of the sixth motion stage is ; The seventh motion stage of uniform acceleration, the duration of the seventh motion stage is ;

[0175] to Greater than or equal to 0; the first planning result includes the first To the first ;

[0176] In the case where the first determination result is that the value of the target parameter is greater than the maximum limit corresponding to the target parameter, the determining whether the value of the target parameter of the vehicle is greater than the maximum limit corresponding to the target parameter if the vehicle motion control is performed based on the first planning result, after obtaining the first determination result, and before determining the target planning result using the second planning result, the method further includes:

[0177] Using the first formula, the second formula and the third formula determined based on the shortest time planning rule and the maximum limit corresponding to the target parameter, the first planning result is updated to obtain the second planning result;

[0178] The first formula is:

[0179]

[0180] The second formula is:

[0181]

[0182] The third formula is:

[0183]

[0184] in, is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity; is the actual value of the control target in the i-th motion stage, and i is any integer from 1 to 7.

[0185] It can be understood that the first formula is the aforementioned formula (1), the second formula is the aforementioned formula (2), and the third formula is the aforementioned formula (3). The determination of formulas (1) to (3) can refer to the aforementioned related descriptions and will not be repeated here.

[0186] This embodiment uses formulas (1) to (3) and the maximum limit corresponding to the target parameter to update the first planning result to obtain the second planning result, which can ensure that the determined second planning result satisfies: the value of the vehicle's target parameter is less than or equal to the corresponding maximum limit. In this way, the reliability of vehicle motion control can be improved.

[0187] In some embodiments, the updating of the first planning result by using the first formula, the second formula, and the third formula determined based on the shortest time planning rule, and the maximum limit corresponding to the target parameter to obtain the second planning result includes at least one of the following:

[0188] In the case where the first determination result includes that the speed of the vehicle is greater than the maximum limit corresponding to the speed, the speed at the end time of the third motion stage is determined as the maximum limit corresponding to the speed, and the second ; Using the first formula, calculate the second ; Using the second formula, the second ; Using the third formula, the second ;

[0189] In the case where the first determination result includes that the value of the forward acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the acceleration at the end of the first motion stage is determined as the maximum limit corresponding to the acceleration, and the second ; Using the first formula, calculate the second ; The second Determine to be 0; Using the third formula, calculate the second and second ;

[0190] In the case where the first determination result includes that the value of the reverse acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the acceleration at the end of the fifth motion stage is determined as the maximum limit corresponding to the acceleration, and the second ; Using the second formula, the second ; Using the third formula, the second .

[0191] The specific instructions are as follows:

[0192] The first determination result includes that the speed of the vehicle is greater than a maximum limit corresponding to the speed.

[0193] In this case, the maximum speed limit can be updated and , updated by the terminal velocity being 0 , updated by the expected value .

[0194] speed exist The maximum value is obtained after the stage is reached, and the calculation formula is as follows:

[0195]

[0196] when When the second . Recalculate from formula (6) , get the second , and then update , get the second . Updated by formula (2) , get the second . Updated by formula (3) , get the second .

[0197] The first determination result includes that a value of the forward acceleration of the vehicle is greater than a maximum limit corresponding to the acceleration.

[0198] like , then update , get the second , and then update , get the second . Order the second , updated and solved by formula (3) , get the second and second .

[0199] The first determination result includes that a value of the reverse acceleration of the vehicle is greater than a maximum limit corresponding to the acceleration.

[0200] like , then let the second , updated by formula (2) , get the second . Updated by formula (3) , get the second .

[0201] Through this embodiment, it can be ensured that the determined second planning result satisfies: the value of the target parameter of the vehicle is less than or equal to the corresponding maximum limit, so that the reliability of vehicle motion control can be improved.

[0202] In some embodiments, when the first determination result includes that the value of the forward acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, and the target parameter includes speed, determining the target planning result by using the second planning result includes:

[0203] determining whether a speed of the vehicle is greater than a maximum limit corresponding to the speed if the vehicle performs vehicle motion control based on the second planning result, to obtain a second determination result;

[0204] When the second determination result is that the speed of the vehicle is less than or equal to the maximum limit corresponding to the speed, determining the second planning result as the target planning result;

[0205] When the second determination result is that the speed of the vehicle is greater than the maximum limit corresponding to the speed, the speed at the end of the third motion stage is determined as the maximum limit corresponding to the speed, and the second ; Using the second formula, update the second ; Using the third formula, update the second ; The updated second To the second The target planning result is determined.

[0206] In this embodiment, the vehicle has both a maximum acceleration limit and a maximum speed limit. In the case where the first determination result includes that the value of the forward acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the vehicle updates the maximum acceleration limit based on the maximum acceleration limit. to Afterwards, due to The speed limit is reconsidered and the vehicle motion control is performed based on the second planning result. Is it true?

[0207] If established, you can continue to To the second Update to get the target planning result. In specific implementation, it can be updated by speed limit , updated by the terminal velocity being 0 , updated by the expected value Specifically, it is known that , updated by formula (8) , updated by (2) , updated by formula (3) .

[0208] If not, the second planning result can be determined as the target planning result.

[0209] Through this embodiment, it can be ensured that the determined target planning result satisfies: the vehicle speed is less than or equal to the maximum speed limit, and the vehicle acceleration is less than or equal to the maximum acceleration limit, so that the reliability of vehicle motion control can be improved.

[0210] The following specifically describes the situation where the vehicle meets the parking conditions.

[0211] In some embodiments, after determining whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule, the method further includes:

[0212] When the vehicle satisfies the parking condition, determining a second actual value of the control target when the vehicle is parked by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule;

[0213] The initial speed and the initial acceleration are updated to 0, the expected value is updated to the difference between the expected value and the second actual value, and the process of using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule to determine whether the vehicle meets the parking condition is returned to execution;

[0214] In which, in the process of returning to execute the process of determining whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule, the signs of each parameter are reversed.

[0215] In this embodiment, the vehicle meets the parking condition, so the trajectory planning can be performed by parking first and then secondary planning. In specific implementation, the initial speed, initial acceleration, maximum variable acceleration limit and shortest time planning rules can be used to perform the first trajectory planning, then park the vehicle, and determine the actual value of the control target when parking, that is, the second value. After that, the second trajectory planning can be performed.

[0216] It should be noted that the difference between the second trajectory planning and the first trajectory planning is that the initial speed, initial acceleration and expected values ​​of the control target are different. Since the vehicle will stop before the second trajectory planning, the initial speed and initial acceleration corresponding to the second trajectory planning are both 0, and the expected value will be changed to the expected value corresponding to the first trajectory planning, that is, the difference between the initial expected value and the second actual value. That is, the acceleration after stopping ,speed , the displacement is , then Perform the second trajectory planning.

[0217] In the second trajectory planning process, dis is less than 0. Therefore, in this trajectory planning process, the signs of the parameters can be reversed. Specifically, the expected value is set to be positive, and the initial acceleration, velocity, and actual output acceleration are set to be negative.

[0218] In this embodiment, when the vehicle meets the parking conditions, trajectory planning is performed by first parking and then secondary planning, which can achieve smooth planning of trajectories under various initial conditions, thereby improving the reliability of trajectory planning.

[0219] In some embodiments, determining the second actual value of the control target when the vehicle is parked by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule includes:

[0220] Obtaining a third planning result corresponding to the parking condition;

[0221] determining whether the acceleration of the vehicle is greater than a maximum limit corresponding to the acceleration if the vehicle moves based on the third planning result, to obtain a third determination result;

[0222] When the third determination result is that the acceleration of the vehicle is less than or equal to the maximum limit corresponding to the acceleration, performing vehicle motion control based on the third planning result to determine a second actual value of the control target when the vehicle is parked;

[0223] In a case where the third determination result is that the acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the third planning result is corrected using the maximum limit corresponding to the acceleration, and vehicle motion control is performed based on the corrected third planning result to determine a second actual value of the control target when the vehicle is parked, wherein the movement of the vehicle based on the corrected third planning result satisfies: the acceleration of the vehicle is less than or equal to the maximum limit corresponding to the acceleration.

[0224] As can be seen from the above content, the vehicle can meet the parking conditions under different circumstances. For the parking conditions under different circumstances, the corresponding planning results may be different.

[0225] In specific implementation, the method for determining the planning results under various parking conditions can be determined in advance. Then, after determining the parking conditions satisfied by the vehicle, the corresponding planning result determination method can be used to obtain the corresponding planning results.

[0226] After obtaining the third planning result corresponding to the parking condition, acceleration restriction may be further performed. Of course, in some embodiments, acceleration restriction may not be performed, and the third planning result may be directly determined as the target planning result.

[0227] In the case of acceleration limitation, it can be determined whether the acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration if the vehicle moves based on the third planning result. Whether the acceleration reaches the boundary value after the first stage .

[0228] like After the first stage, the acceleration is less than or equal to , the third planning result can be determined as the target planning result.

[0229] like After the first stage, the acceleration is greater than , can be to Update to get the target planning result. In specific implementation, you can use , It is calculated by formula (2).

[0230] Through this embodiment, the target planning result can meet the acceleration limit, thereby improving the reliability of vehicle motion control.

[0231] The following describes the planning results corresponding to parking conditions in different situations.

[0232] In some embodiments, the third planning result includes a third To the third ;

[0233] Under the parking condition corresponding to the first situation, the third planning result may be:

[0234]

[0235] Under the parking condition corresponding to the second situation, the third planning result may be:

[0236]

[0237] The first situation is: , , ; or, the initial acceleration is greater than the acceleration threshold, , ;

[0238] The second situation is: , , ;

[0239] is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity.

[0240] In this embodiment, for the parking condition corresponding to (a) in (1) above, it can be set , can be obtained by formula (2) The calculation formula is:

[0241]

[0242] For the parking condition corresponding to (b) in (1) above, we can set ,Right now , similarly, The calculation formula is:

[0243]

[0244] In this way, the third planning result can satisfy the shortest time planning rule, thereby improving the vehicle motion control efficiency.

[0245] It should be noted that the various optional implementations introduced in the embodiments of the present application can be implemented in combination with each other or separately if they do not conflict with each other, and the embodiments of the present application are not limited to this.

[0246] The embodiments of the present application are applicable to the trajectory planning process under any initial acceleration, speed and desired position conditions. The embodiments of the present application take into account the variable acceleration, acceleration and speed limit conditions in the actual vehicle system, and solve the trajectory planning process under necessary parking conditions and non-parking conditions. Make full use of the limiting conditions of maximum variable acceleration, acceleration and speed, so that the vehicle can reach the desired position in a shorter time and improve movement efficiency. The high-order trajectory planning algorithm uses variable acceleration as output, so that the vehicle acceleration, speed and displacement are first-order, second-order and third-order continuous, respectively, which improves the stability and comfort of the vehicle during operation.

[0247] Taking into account the speed limit and acceleration limit, the trajectory planning module interface is as follows Figure 4 Its input is the expected value of the control target , initial velocity , initial acceleration , speed limit , acceleration limit , variable acceleration limit ; After being processed internally by the module, the planned variable acceleration is output Over time planning results.

[0248] The embodiment of the present application determines the necessity of parking based on the given initial acceleration, speed and expected position, and calculates the variable acceleration output time of each stage based on the limited acceleration and speed conditions, which involves the existence range judgment and evaluation of the numerical solution of the high-order equation, and finally realizes the high-order position trajectory planning.

[0249] The application of this method is not limited to the position trajectory planning of vehicle motion, but can also be used in any planning process involving variables under third-order integral conditions. For example, this method can plan the vehicle turning angle under any initial angular velocity and angular acceleration, and give the output of angular acceleration under limited angular velocity and angular acceleration conditions.

[0250] In one embodiment, the vehicle motion control method may be as follows: Figure 5 shown.

[0251] For ease of understanding, the following uses a continuous multiple planning process under given initial acceleration and speed conditions as an example to illustrate the specific implementation of the vehicle motion control of the embodiment of the present application. This example sets the starting position of the car to 0 , speed 4 , the acceleration is 1 , the maximum speed limit is 5 , the maximum acceleration is limited to 2 , the maximum variable acceleration limit is 1 . At 0 When the desired position of the car is 10 Input; in 12 , change the desired position input to 60 ,like Figure 6 shown.

[0252] At 0 When the expected input position , so the initial acceleration ,speed . Determine whether it meets the parking conditions, because , and the formula (4) gives , so it enters parking mode. Value is .because The acceleration after the stage is 2.12, which exceeds the boundary value 2, so let , from (2) we can get After calculation, the actual displacement can be obtained That is, after the first planning of the parking phase is completed, the actual displacement is 13.96 , speed is 0 , the acceleration is .

[0253] Next, the second planning is performed to initialize the expected position , acceleration ,speed . Let the desired position be positive, and the initial acceleration, velocity and actual output acceleration be negative. After judgment, if the parking conditions are not met, the vehicle can directly reach the desired position through one planning without stopping. Binary method solves each stage Value is After inspection, the speed and forward and reverse acceleration are within the limit conditions, so there is no need to Combining the above two-stage process, the complete output variable acceleration can be obtained as follows: Figure 7 By integrating the output variable acceleration, we can get the change process of acceleration, velocity and displacement, as shown in Figure 8 As shown. Figure 8 It can be seen that the acceleration and speed are always within the constraints. to reach the desired position.

[0254] In 12 When the vehicle receives the expected position input, it is updated to 60 , enter the planning process. Initialize the expected position , acceleration ,speed If it is determined that the parking conditions are not met, the vehicle can directly reach the desired location through one-time planning without stopping. Value is . To test the speed, After the stage, speed , so the speed limit is recalculated to , updated by formula (2) , updated by formula (3) The next step is to conduct a positive acceleration test. After the stage, the maximum positive acceleration is reached , so the forward acceleration limit is recalculated to ,make , updated by formula (3) .because An update was made, so the speed limits were re-examined. After the stage, speed , updated by formula (6) , updated by formula (2) , updated by formula (3) Considering the acceleration limit in the reverse direction, After the stage, the maximum reverse acceleration is reached ,renew , updated by formula (2) , updated by formula (3) The complete planning result is obtained from the above , the complete output variable acceleration is as follows Fig. 9 By integrating the output variable acceleration, we can get the change process of acceleration, velocity and displacement, as shown in Fig.10 As shown. Fig.10 It can be seen that the acceleration and speed are limited within the given conditions, at 25.9 to reach the desired position.

[0255] The complete example operation cycle inputs the expected position, outputs the planned variable acceleration, and the acceleration, velocity, and displacement obtained by integration are as follows: Fig.11 In the whole cycle, the variable acceleration, acceleration and speed of the vehicle did not exceed the limit conditions, and the acceleration and speed were respectively first-order and second-order continuous, and the displacement of the vehicle was third-order continuous and reached the expected position, which proved the effectiveness of the position trajectory planning method proposed in this application.

[0256] Based on the vehicle motion control method provided in the above embodiment, the present application also provides a specific implementation of a vehicle motion control device. Please refer to the following embodiment.

[0257] See also Fig.12 , the vehicle motion control device provided in the embodiment of the present application may include:

[0258] The acquisition module 1201 is used to acquire the initial speed, initial acceleration and maximum variable acceleration limit of the vehicle at the starting position when the desired position of the vehicle is acquired;

[0259] The first determination module 1202 is used to determine whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule, wherein the parking condition is met if: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value; the control target is: the motion control target of the vehicle, or the turning angle of the vehicle;

[0260] A first determining module 1203 is used to determine a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule when the vehicle does not meet the parking condition;

[0261] The motion module 1204 is used to perform vehicle motion control based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result.

[0262] The vehicle motion control device provided in the embodiment of the present application can implement each process in the method embodiment, and will not be described again here to avoid repetition.

[0263] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0264] Fig.13 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.13 As shown, the electronic device may include a processor 1301 and a memory 1302 storing computer programs or instructions.

[0265] Specifically, the processor 1301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0266] The memory 1302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 1302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 1302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 1302 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the vehicle motion control method provided in the above-mentioned embodiments.

[0267] The processor 1301 implements any one of the vehicle motion control methods in the above embodiments by reading and executing computer program instructions stored in the memory 1302 .

[0268] In one example, the electronic device may further include a communication interface 1303 and a bus 1310. Fig.13 As shown, the processor 1301, the memory 1302, and the communication interface 1303 are connected via a bus 1310 and communicate with each other.

[0269] The communication interface 1303 is mainly used to implement communication between various modules, devices, units and / or devices in the embodiments of the present application.

[0270] Bus 1310 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industrial standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industrial standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 410 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnect.

[0271] The electronic device can execute the vehicle motion control method in the embodiment of the present application.

[0272] In addition, in combination with the vehicle motion control method in the above embodiment, the embodiment of the present application can provide a readable storage medium for implementation. The readable storage medium stores program instructions, and when the program instructions are executed by the processor, any one of the vehicle motion control methods in the above embodiment is implemented.

[0273] In addition, in combination with the vehicle motion control method in the above embodiment, the embodiment of the present application can provide a computer program product for implementation. When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device can execute any of the vehicle motion control methods in the above embodiment.

[0274] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0275] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0276] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0277] The above reference is made to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application, and describe various aspects of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0278] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle motion control method, characterized in that: The method comprises: When the expected value of the control target of the vehicle is obtained, the initial speed, initial acceleration and maximum variable acceleration limit of the vehicle are obtained; wherein the control target is: the displacement of the vehicle, or the turning angle of the vehicle; Determining whether the vehicle satisfies a parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule, wherein satisfying the parking condition is characterized by: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value; In a case where the vehicle does not meet the parking condition, determining a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule; Executing vehicle motion control based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result; The determining whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule comprises: obtaining a control target calculation formula corresponding to the initial speed and the initial acceleration, wherein the control target calculation formula is determined based on the shortest time planning rule and the maximum variable acceleration limit; substituting the initial speed, the initial acceleration, and the maximum variable acceleration limit into the control target calculation formula to obtain a first actual value of the control target; determining that the vehicle meets the parking condition when the first actual value is greater than the expected value; and determining that the vehicle does not meet the parking condition when the first actual value is less than or equal to the expected value. After using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule to determine whether the vehicle meets the parking condition, the method also includes: when the vehicle meets the parking condition, using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule to determine a second actual value of the control target when the vehicle is parked; updating the initial speed and the initial acceleration to 0, updating the expected value to the difference between the expected value and the second actual value, and returning to execute the method of using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule to determine whether the vehicle meets the parking condition.

2. The method according to claim 1, characterized in that In the first case, the control target calculation formula is: In the second case, the control target calculation formula is: The first situation is: , , ; or, the initial acceleration is greater than the acceleration threshold, , ; The second situation is: , , ; x is the control target, is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity.

3. The method according to claim 1, characterized in that The vehicle includes a maximum limit corresponding to a target parameter, the target parameter including at least one of speed and acceleration; After determining the first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule, and before executing the vehicle motion control based on the target planning result, the method further includes: Determine whether a value of a target parameter of the vehicle is greater than a maximum limit corresponding to the target parameter if vehicle motion control is performed based on the first planning result, to obtain a first determination result; Determine the target planning result by using the second planning result; Wherein, when the first determination result is that the value of the target parameter is less than or equal to the maximum limit corresponding to the target parameter, the second planning result is the first planning result; When the first determination result is that the value of the target parameter is greater than the maximum limit corresponding to the target parameter, the second planning result is obtained by updating the first planning result using the maximum limit corresponding to the target parameter and the shortest time planning rule.

4. The method according to claim 3, characterized in that In the shortest time planning rule, the vehicle movement phases include: a first movement phase of uniform acceleration, the duration of the first movement phase is ; The second motion stage of uniform acceleration, the duration of the second motion stage is ; The third motion stage of uniform deceleration and acceleration, the duration of the third motion stage is ; The fourth motion stage of uniform speed, the duration of the fourth motion stage is ; The fifth motion stage of uniform deceleration and acceleration, the duration of the fifth motion stage is ; The sixth motion stage of uniform deceleration, the duration of the sixth motion stage is ; The seventh motion stage of uniform acceleration, the duration of the seventh motion stage is ; to Greater than or equal to 0; the first planning result includes the first To the first ; In the case where the first determination result is that the value of the target parameter is greater than the maximum limit corresponding to the target parameter, the determining whether the value of the target parameter of the vehicle is greater than the maximum limit corresponding to the target parameter if the vehicle motion control is performed based on the first planning result, after obtaining the first determination result, and before determining the target planning result using the second planning result, the method further includes: Using the first formula, the second formula and the third formula determined based on the shortest time planning rule and the maximum limit corresponding to the target parameter, the first planning result is updated to obtain the second planning result; The first formula is: The second formula is: The third formula is: in, is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity; is the actual value of the control target in the i-th motion stage, and i is any integer from 1 to 7.

5. The method according to claim 4, characterized in that The second planning result includes the second To the second ; The updating of the first planning result by using the first formula, the second formula and the third formula determined based on the shortest time planning rule and the maximum limit corresponding to the target parameter to obtain the second planning result includes at least one of the following: In the case where the first determination result includes that the speed of the vehicle is greater than the maximum limit corresponding to the speed, the speed at the end time of the third motion stage is determined as the maximum limit corresponding to the speed, and the second ; Using the first formula, the second ; Using the second formula, the second ; Using the third formula, the second ; In the case where the first determination result includes that the value of the forward acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the acceleration at the end of the first motion stage is determined as the maximum limit corresponding to the acceleration, and the second ; Using the first formula, the second ; The second Determine to 0; Using the third formula, the second and second ; In the case where the first determination result includes that the value of the reverse acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the acceleration at the end of the fifth motion stage is determined as the maximum limit corresponding to the acceleration, and the second ; Using the second formula, the second ; Using the third formula, the second .

6. The method according to claim 4, characterized in that In a case where the first determination result includes that the value of the forward acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, and the target parameter includes speed, determining the target planning result by using the second planning result includes: determining whether a speed of the vehicle is greater than a maximum limit corresponding to the speed if the vehicle performs vehicle motion control based on the second planning result, to obtain a second determination result; When the second determination result is that the speed of the vehicle is less than or equal to the maximum limit corresponding to the speed, determining the second planning result as the target planning result; In the case where the second determination result is that the speed of the vehicle is greater than the maximum limit corresponding to the speed, the speed at the end of the third motion stage is determined as the maximum limit corresponding to the speed, and the second ; Using the second formula, update the second ; Using the third formula, update the second ; The updated second To the second Determine the target planning result.

7. The method according to claim 1, characterized in that In the process of returning to execute the process of determining whether the vehicle meets the parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule, the signs of each parameter are reversed.

8. The method according to claim 7, characterized in that The determining the second actual value of the control target when the vehicle is parked by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule includes: Obtaining a third planning result corresponding to the parking condition; determining whether the acceleration of the vehicle is greater than a maximum limit corresponding to the acceleration if the vehicle moves based on the third planning result, to obtain a third determination result; When the third determination result is that the acceleration of the vehicle is less than or equal to the maximum limit corresponding to the acceleration, performing vehicle motion control based on the third planning result to determine a second actual value of the control target when the vehicle is parked; In a case where the third determination result is that the acceleration of the vehicle is greater than the maximum limit corresponding to the acceleration, the third planning result is corrected using the maximum limit corresponding to the acceleration, and vehicle motion control is performed based on the corrected third planning result to determine a second actual value of the control target when the vehicle is parked, wherein the movement of the vehicle based on the corrected third planning result satisfies: the acceleration of the vehicle is less than or equal to the maximum limit corresponding to the acceleration.

9. The method according to claim 8, characterized in that In the shortest time planning rule, the vehicle movement phases include: a first movement phase of uniform acceleration, the duration of the first movement phase is ; The second motion stage of uniform acceleration, the duration of the second motion stage is ; The third motion stage of uniform deceleration and acceleration, the duration of the third motion stage is ; The fourth motion stage of uniform speed, the duration of the fourth motion stage is ; The fifth motion stage of uniform deceleration and acceleration, the duration of the fifth motion stage is ; The sixth motion stage of uniform deceleration, the duration of the sixth motion stage is ; The seventh motion stage of uniform acceleration, the duration of the seventh motion stage is ; to Greater than or equal to 0; the third planning result includes the third To the third ; Under the parking condition corresponding to the first situation, the third planning result is: Under the parking condition corresponding to the second situation, the third planning result is: The first situation is: , , ; or, the initial acceleration is greater than the acceleration threshold, , ; The second situation is: , , ; is the initial acceleration; is the maximum variable acceleration limit; is the initial velocity.

10. A vehicle motion control device, characterized in that: include: An acquisition module, configured to acquire the initial speed, initial acceleration and maximum variable acceleration limit of the vehicle when an expected value of a control target of the vehicle is acquired; wherein the control target is: the displacement of the vehicle, or the turning angle of the vehicle; A first determination module is configured to determine whether the vehicle satisfies a parking condition by using the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value, and the shortest time planning rule, wherein satisfying the parking condition is characterized by: when the speed changes from the initial speed to 0, the actual value of the control target is greater than the expected value; a second determining module, configured to determine a first planning result of the variable acceleration of the vehicle over time by using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule when the vehicle does not meet the parking condition; A motion module, configured to perform vehicle motion control based on a target planning result, wherein the target planning result is the first planning result, or the target planning result is determined based on the first planning result; The first determination module is used to obtain a control target calculation formula corresponding to the initial speed and the initial acceleration, wherein the control target calculation formula is determined based on the shortest time planning rule and the maximum variable acceleration limit; the initial speed, the initial acceleration and the maximum variable acceleration limit are substituted into the control target calculation formula to obtain a first actual value of the control target; when the first actual value is greater than the expected value, it is determined that the vehicle meets the parking condition; when the first actual value is less than or equal to the expected value, it is determined that the vehicle does not meet the parking condition; The device is also used to determine, when the vehicle meets the parking condition, a second actual value of the control target when the vehicle is parked using the initial speed, the initial acceleration, the maximum variable acceleration limit, and the shortest time planning rule; update the initial speed and the initial acceleration to 0, update the expected value to the difference between the expected value and the second actual value, and return to execute the initial speed, the initial acceleration, the maximum variable acceleration limit, the expected value of the control target, and the shortest time planning rule to determine whether the vehicle meets the parking condition.

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