Trajectory verification methods, devices, electronic equipment, storage media, and software products

Abstract

This application relates to the field of vehicle technology, and particularly to a trajectory verification method, device, electronic device, storage medium, and program product. The method includes: acquiring perception information about the vehicle's surroundings; inputting the perception information to a first domain controller and a second domain controller, wherein the first domain controller outputs a first planned trajectory, and the second domain controller outputs a second planned trajectory; verifying the first planned trajectory based on the second planned trajectory to obtain a first verification result, and verifying the second planned trajectory based on the first planned trajectory to obtain a second verification result; determining the final planned trajectory based on the first and second verification results, and controlling the vehicle's movement based on the final planned trajectory. This solves the problem of low reliability in trajectory verification in related technologies, which leads to a higher risk of traffic accidents.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a trajectory verification method, device, electronic device, storage medium, and program product. Background Technology

[0002] In current ADAS (Advanced Driver Assistance Systems), planning safe and reliable driving trajectories is crucial for ensuring road traffic safety. With the development of autonomous driving technology, the reliance on ADAS is constantly increasing, requiring the system to make accurate decisions in various complex environments. However, due to sensor errors, system or controller malfunctions, or uncertainties in the external environment, ADAS faces many potential risks, especially in trajectory planning.

[0003] Traditional ADAS trajectory planning typically relies on a single algorithm or system to determine the vehicle's driving path. This single-point algorithm design makes the entire system susceptible to single-point failures. Hardware / algorithm malfunctions can lead to unsafe driving decisions and abnormal trajectories. Single-point failures are a significant problem in modern electronic systems; a failure in one component can cause the entire system to fail. Furthermore, single-point systems or algorithms (sensors) can fail due to environmental factors (adverse weather, lighting conditions, or sensor contamination), affecting trajectory reliability. Therefore, ADAS trajectory verification is necessary to improve trajectory reliability.

[0004] The trajectory planning verification methods of related technologies only verify the rationality of trajectory results within a single-point system, such as the distance between two adjacent trajectory points and the pose difference. When the single-point system fails, there is also a situation where the verification is insufficient. Therefore, the reliability of the planned trajectory is still low, thereby increasing the risk of traffic accidents. Summary of the Invention

[0005] This application provides a trajectory verification method, device, electronic device, storage medium, and program product to solve the problems of low reliability in the verification of planned trajectories in related technologies, which leads to a high risk of traffic accidents.

[0006] The first aspect of this application provides a trajectory verification method, comprising the following steps: acquiring perception information around a vehicle; inputting the perception information to a first domain controller and a second domain controller, wherein the first domain controller outputs a first planned trajectory and the second domain controller outputs a second planned trajectory; verifying the first planned trajectory based on the second planned trajectory to obtain a first verification result, and verifying the second planned trajectory based on the first planned trajectory to obtain a second verification result; determining the final planned trajectory based on the first verification result and the second verification result, and controlling the vehicle to drive based on the final planned trajectory.

[0007] Optionally, the verification method for the first planned trajectory is the same as that for the second planned trajectory.

[0008] Optionally, obtaining a first verification result by verifying the first planned trajectory based on the second planned trajectory includes: acquiring the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory.

[0009] Optionally, a first verification result is determined based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, including: aligning the second planned trajectory with the first planned trajectory as a reference; obtaining the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are identical to any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is identical to any trajectory point in the first planned trajectory; if the first planned trajectory... If the difference in the Euclidean distance between any two adjacent trajectory points in the first planned trajectory is greater than a first preset threshold and is different from the difference in the Euclidean distance between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect. If the rate of change of heading angle between any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the rate of change of heading angle between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect. If the rate of change of acceleration between any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the rate of change of acceleration between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect.

[0010] Optionally, a first verification result is determined based on at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory, including: if the curvature of any trajectory point in the first planned trajectory is greater than a fourth preset threshold and greater than the curvature of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the lateral acceleration of any trajectory point in the first planned trajectory is greater than a fifth preset threshold and greater than the lateral acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the maximum longitudinal acceleration of any trajectory point in the first planned trajectory is greater than a sixth preset threshold and greater than the maximum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the minimum longitudinal acceleration of any trajectory point in the first planned trajectory is less than a seventh preset threshold and greater than the minimum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect.

[0011] Optionally, controlling vehicle movement based on the first and second verification results includes: if the first verification result indicates an error in the first planned trajectory and the second verification result indicates an error in the second planned trajectory, then the final planned trajectory is the second planned trajectory; if the first verification result indicates an error in the first planned trajectory and the second verification result indicates an error in the second planned trajectory, then the final planned trajectory is the first planned trajectory; if both the first and second verification results indicate an error in both the first and second planned trajectories, then one of the first and second planned trajectories is selected as the final planned trajectory according to a preset priority; if both the first and second verification results indicate an error in both the first and second planned trajectories, then a consistency verification is performed on the first and second planned trajectories; if the consistency verification fails, then the vehicle is controlled to perform at least one of safe parking, deceleration braking, and rapid braking.

[0012] A second aspect of this application provides a trajectory verification device, comprising: an acquisition module for acquiring perception information around a vehicle; an input module for inputting the perception information to a first domain controller and a second domain controller, wherein the first domain controller outputs a first planned trajectory and the second domain controller outputs a second planned trajectory; a verification module for verifying the first planned trajectory based on the second planned trajectory to obtain a first verification result, and verifying the second planned trajectory based on the first planned trajectory to obtain a second verification result; and a control module for determining a final planned trajectory based on the first verification result and the second verification result, and controlling the vehicle's movement based on the final planned trajectory.

[0013] Optionally, the verification method for the first planned trajectory is the same as that for the second planned trajectory.

[0014] Optionally, the verification module is further configured to: obtain the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; and determine the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory.

[0015] Optionally, the verification module is further configured to: align the second planned trajectory with the first planned trajectory, using the first planned trajectory as a reference; obtain the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are identical to any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is identical to any trajectory point in the first planned trajectory; if the Euclidean distance difference between any two adjacent trajectory points in the first planned trajectory is greater than a first preset threshold and is different from the Euclidean distance difference between two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the heading angle change rate of any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the heading angle change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the acceleration change rate of any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the acceleration change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect.

[0016] Optionally, the verification module is further configured to: determine if the curvature of any trajectory point in the first planned trajectory is greater than a fourth preset threshold and greater than the curvature of the same trajectory point in the second planned trajectory; determine if the lateral acceleration of any trajectory point in the first planned trajectory is greater than a fifth preset threshold and greater than the lateral acceleration of the same trajectory point in the second planned trajectory; determine if the maximum longitudinal acceleration of any trajectory point in the first planned trajectory is greater than a sixth preset threshold and greater than the maximum longitudinal acceleration of the same trajectory point in the second planned trajectory; and determine if the minimum longitudinal acceleration of any trajectory point in the first planned trajectory is less than a seventh preset threshold and greater than the minimum longitudinal acceleration of the same trajectory point in the second planned trajectory.

[0017] Optionally, the control module is further configured to: if the first verification result indicates that the first planned trajectory is incorrect and the second verification result indicates that the second planned trajectory is correct, then the final planned trajectory is the second planned trajectory; if the first verification result indicates that the first planned trajectory is correct and the second verification result indicates that the second planned trajectory is incorrect, then the final planned trajectory is the first planned trajectory; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are correct, then one of the first planned trajectory and the second planned trajectory is selected as the final planned trajectory according to a preset priority; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are incorrect, then a consistency verification is performed on the first planned trajectory and the second planned trajectory; if the consistency verification fails, then the vehicle is controlled to perform at least one of safe parking, deceleration braking, and rapid braking.

[0018] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the trajectory verification method as described in the above embodiments.

[0019] A fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed by a processor, performs the trajectory verification method as described in the above embodiments.

[0020] A fifth aspect of this application provides a computer program product, including a computer program or instructions, which, when executed, implement the trajectory verification method as described in the above embodiments.

[0021] Therefore, this application has at least the following beneficial effects:

[0022] This application embodiment can generate a first planned trajectory and a second planned trajectory through a first domain controller and a second domain controller, respectively. The first planned trajectory and the second planned trajectory are mutually verified to obtain a first verification result and a second verification result. Based on the first verification result and the second verification result, the final planned trajectory is determined, and the vehicle is controlled to drive along the final planned trajectory. By verifying the planned trajectory through a dual verification method, the safety and reliability of the planned trajectory are improved, thereby reducing the risk of traffic accidents. This solves the technical problem in related technologies where the reliability of planned trajectory verification is low, leading to a high risk of traffic accidents.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0025] Figure 1 This is a flowchart of the trajectory verification method provided according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of a trajectory verification method provided according to a specific embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of dual-domain controller verification according to a specific embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of a high-security microcontroller arbitration provided according to a specific embodiment of the present application;

[0029] Figure 5 This is an example diagram of a trajectory verification device provided according to an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0032] The trajectory verification method, apparatus, electronic device, storage medium, and program product of this application are described below with reference to the accompanying drawings. Regarding the trajectory planning verification methods mentioned in the background art, which only perform reasonableness verification on the trajectory results within a single-point system (e.g., the distance between adjacent trajectory points, pose difference, etc.), insufficient verification can occur when the single-point system fails. Therefore, the reliability of the planned trajectory remains low, increasing the risk of traffic accidents. This application provides a trajectory verification method in which a first planned trajectory and a second planned trajectory are generated by a first domain controller and a second domain controller, respectively. The first and second planned trajectories are mutually verified to obtain a first verification result and a second verification result. The final planned trajectory is determined based on the first and second verification results, and the vehicle is controlled to travel along the final planned trajectory. This dual-verification method verifies the planned trajectory. Therefore, it solves the problem of low reliability in the verification of planned trajectories in related technologies, leading to a high risk of traffic accidents.

[0033] Specifically, Figure 1 This is a schematic flowchart of a trajectory verification method provided in an embodiment of this application.

[0034] like Figure 1 As shown, the trajectory verification method includes the following steps:

[0035] In step S101, perception information about the vehicle's surroundings is acquired.

[0036] In this embodiment, the vehicle's surroundings can be acquired using devices such as cameras, radar, lidar, and ultrasonic sensors. The perception information may include target object (vehicle, pedestrian, obstacle, etc.) information, including target ID, target 2D information, target position, target speed, target attitude, target predicted trajectory, etc., road topology information, including lane lines, road edges, road semantics, etc., and other perception information, etc.

[0037] It should be noted that in this embodiment, two sets of devices, sensing device A and sensing device B, will be used to obtain sensing information around the vehicle. The final acquisition of the sensing information is the same, such as radar A / B group, camera A / B group, and lidar A / B group.

[0038] In step S102, the sensing information is input to the first domain controller and the second domain controller respectively, wherein the first domain controller outputs the first planned trajectory and the second domain controller outputs the second planned trajectory.

[0039] The first domain controller can be the primary domain controller, and the second domain controller can be the secondary domain controller, meaning the second domain controller is a redundant controller.

[0040] It is understood that, in the embodiments of this application, the sensing information can be input to the first domain controller and the second domain controller respectively, the first domain controller outputs the first planned trajectory, and the second domain controller outputs the second planned trajectory.

[0041] It should be noted that although the two sensing information inputs to the controller are the same, they are input in two separate groups. Specifically, the information sensed by sensing device A is input to the first domain controller, and the information sensed by sensing device B is input to the second domain controller. Both domain controllers must have a sensing fusion algorithm to fuse the sensing information.

[0042] In addition, the primary and secondary domain controllers in this application embodiment need to have sufficient computing power to support them; algorithm compatibility, the primary and secondary domain controllers use similar or the same decision planning algorithm (covering different planners within the domain) to ensure the comparability of decision planning results.

[0043] In step S103, the first planned trajectory is verified based on the second planned trajectory to obtain a first verification result, and the second planned trajectory is verified based on the first planned trajectory to obtain a second verification result.

[0044] It is understood that the embodiments of this application can verify the first planned trajectory based on the second planned trajectory to obtain a first verification result, and verify the second planned trajectory based on the first planned trajectory to obtain a second verification result. The specific verification method is described in the following embodiments.

[0045] In this embodiment of the application, the verification method for the first planned trajectory is the same as that for the second planned trajectory.

[0046] The following embodiments all use the verification of the first planned trajectory using the second planned trajectory as an example to illustrate the verification method of the planned trajectory.

[0047] In this embodiment of the application, obtaining a first verification result by verifying the first planned trajectory based on the second planned trajectory includes: obtaining the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory.

[0048] It is understood that, in the embodiments of this application, the first verification result can be determined based on the Euclidean distance difference between any two adjacent trajectory points in the first planned trajectory, the rate of change of heading angle and the rate of change of acceleration, and / or at least one of the curvature, lateral acceleration, maximum longitudinal acceleration and minimum longitudinal acceleration of any trajectory point in the first planned trajectory.

[0049] In this embodiment of the application, determining a first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory includes: aligning the second planned trajectory with the first planned trajectory as a reference; obtaining the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are identical to any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is identical to any trajectory point in the first planned trajectory; if the first... If the difference in the Euclidean distance between any two adjacent trajectory points in the planned trajectory is greater than a first preset threshold and is different from the difference in the Euclidean distance between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect. If the rate of change of heading angle between any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the rate of change of heading angle between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect. If the rate of change of acceleration between any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the rate of change of acceleration between any two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect.

[0050] The first, second, and third preset thresholds can be set according to specific circumstances, and no specific limitations are imposed on them.

[0051] It is understood that, in the embodiments of this application, the second planned trajectory B can be aligned to the first planned trajectory A based on the first planned trajectory A, and then two adjacent trajectory points can be randomly selected on the first planned trajectory. The two adjacent trajectory points on the second planned trajectory are the same as the two points randomly selected on the first planned trajectory. The information of the adjacent trajectory points on the two trajectories is compared to determine whether the first planned trajectory is incorrect.

[0052] Specifically, if the difference in the Euclidean distance between two adjacent points on the planned trajectory A is too large and significantly different from the difference in the Euclidean distance between the same two points on the planned trajectory B, or if the rate of change of the heading angle between two adjacent points on the planned trajectory A is too large and significantly different from the rate of change of the heading angle between the same two points on the planned trajectory B, or if the rate of change of the acceleration between two adjacent points on the planned trajectory A is too large and significantly different from the rate of change of the acceleration between the same two points on the planned trajectory B, then the first planned trajectory A is incorrect.

[0053] In this embodiment of the application, the first verification result is determined based on at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory. This includes: if the curvature of any trajectory point in the first planned trajectory is greater than a fourth preset threshold and greater than the curvature of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the lateral acceleration of any trajectory point in the first planned trajectory is greater than a fifth preset threshold and greater than the lateral acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the maximum longitudinal acceleration of any trajectory point in the first planned trajectory is greater than a sixth preset threshold and greater than the maximum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the minimum longitudinal acceleration of any trajectory point in the first planned trajectory is less than a seventh preset threshold and greater than the minimum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect.

[0054] The fourth, fifth, sixth, and seventh preset thresholds can be set according to specific circumstances, and no specific restrictions are imposed on them.

[0055] It is understood that, in the embodiments of this application, the second planned trajectory B can be aligned to the first planned trajectory A based on the first planned trajectory A, and then a trajectory point can be randomly selected on the first planned trajectory. The same trajectory point selected on the second planned trajectory is the same as the randomly selected point on the first planned trajectory. The information of the same trajectory point on the two trajectories is compared to determine whether the first planned trajectory is incorrect.

[0056] Specifically, if the curvature of a single trajectory point in Plan A is too large and significantly greater than the curvature of the same point in Plan B; or the lateral acceleration of a single trajectory point in Plan A is too large and significantly greater than the lateral acceleration of the same point in Plan B; or the maximum longitudinal acceleration of a single trajectory point in Plan A is too large and significantly greater than the maximum acceleration of the same point in Plan B; or the minimum longitudinal acceleration of a single trajectory point in Plan A is too small and significantly less than the minimum acceleration of the same point in Plan B, then the first planned trajectory is incorrect.

[0057] In step S104, the final planned trajectory is determined based on the first verification result and the second verification result, and the vehicle driving is controlled based on the final planned trajectory.

[0058] It is understood that the embodiments of this application can determine the final planned trajectory based on the first verification result and the second verification result, and control the vehicle driving according to the final planned trajectory, so as to avoid the failure of a single-point system or a single algorithm due to environmental factors, which may affect the reliability of the trajectory, improve the rationality of the trajectory, solve the problem that the single-point system has too long a delay time when detecting a safety problem in the trajectory, and reduce the risk of traffic accidents due to trajectory errors.

[0059] In this embodiment of the application, determining the final planned trajectory based on the first verification result and the second verification result includes: if the first verification result indicates that the first planned trajectory is incorrect and the second verification result indicates that the second planned trajectory is correct, then the final planned trajectory is the second planned trajectory; if the first verification result indicates that the first planned trajectory is correct and the second verification result indicates that the second planned trajectory is incorrect, then the final planned trajectory is the first planned trajectory; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are correct, then one of the first planned trajectory and the second planned trajectory is selected as the final planned trajectory according to a preset priority; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are incorrect, then a consistency verification is performed on the first planned trajectory and the second planned trajectory; if the consistency verification fails, then the vehicle is controlled to perform at least one of safe parking, deceleration braking, and rapid braking.

[0060] It is understood that the embodiments of this application can determine the final planned trajectory based on the first verification result and the second verification result. Specifically, when the first planned trajectory is incorrect but the second planned trajectory is correct, the final planned trajectory is the second planned trajectory; when the first planned trajectory is correct but the second planned trajectory is incorrect, the final planned trajectory is the first planned trajectory; when both the first and second planned trajectories are correct, one of them is selected as the final planned trajectory according to a preset priority; when both the first and second planned trajectories are incorrect, a consistency verification is performed. If the consistency verification fails, a safety downgrade should be implemented, and the vehicle should be controlled to safely stop, reduce speed, brake suddenly, or use other safety strategies according to the current scenario of the vehicle.

[0061] The consistency verification method can be based on the first planned trajectory A trajectory point, align the second planned trajectory B trajectory to trajectory A, establish evaluation indicators, and in the set of all aligned trajectory points, for each trajectory point A / B corresponding to each absolute timestamp, if the difference in the Euclidean distance between the planned trajectory A trajectory point and the planned trajectory B trajectory point is greater than a threshold, the algorithm accumulates the average value of the evaluation indicators. When the accumulated average value of the evaluation indicators is higher than a certain threshold, the consistency verification fails.

[0062] The trajectory verification method of this application will be illustrated below through a specific embodiment.

[0063] Before explaining the trajectory verification method, it is necessary to first describe the technical conditions and control devices used in this specific embodiment: ADAS domain controller A, ADAS domain controller B, and ADAS high-safety microprocessor.

[0064] 1. Sensor compatibility: The main and auxiliary road domain controllers should be able to receive and process inputs from the same or different types of sensors (radar A / B groups, camera A / B groups, lidar A / B groups); 2. Data synchronization: The time synchronization of data collected by different sensors needs to be guaranteed to ensure data consistency and accuracy; 3. Data fusion capability: The main and auxiliary road domain controllers should perform accurate environmental perception based on their respective sensing input groups.

[0065] Parameters: Sensor specifications such as resolution, detection range, refresh rate, etc.; data processing and transmission delays for each sensor; synchronization time accuracy.

[0066] 2. Computing power: The primary and secondary domain controllers have sufficient computing power to support the system; Algorithm compatibility: The primary and secondary domain controllers use similar or the same decision-planning algorithms (covering different internal planners) to ensure the comparability of decision-planning results; Pre-verification mechanism: The system must be able to perform trajectory pre-verification, that is, to assess the safety and feasibility of each planned trajectory before implementing arbitration trajectory verification.

[0067] Parameters: Planning result A / Planning result B, planning algorithm calculation time, pre-verification criteria: trajectory safety assessment such as minimum distance to obstacles, maximum acceleration, the angle between the lane centerline and the heading angle, etc., pre-verification results of planning A to B, and pre-verification results of planning B to A.

[0068] 3. The high-security microprocessor system needs to have a strong real-time operating system and data processing capabilities, high reliability; it needs a fair and reliable algorithm to evaluate and arbitrate the dual-path trajectory based on the vehicle's current pose and state constraints; real-time communication is required to ensure that the microprocessor can receive data from the two domain controllers in real time and guarantee time consistency.

[0069] Parameters: Vehicle pose: position, velocity, acceleration, etc.; Arbitration rule: a standard algorithm used to select the current reliable trajectory.

[0070] 4. Consistency check algorithm, which is the algorithm implementation for comparing two trajectories; safety processing algorithm, when a significant consistency deviation is detected, the high-safety microprocessor needs to execute a preset safety processing procedure, such as reducing speed and turning to a safe zone;

[0071] Parameters: Consistency threshold; safety handling parameters such as emergency braking deceleration, steering angle limit, etc.

[0072] The specific implementation steps and information input / output process are as follows: Figure 2 As shown, it includes:

[0073] Step 1: Group the ADAS main domain controller and auxiliary domain controller into perception groups, that is, group the dual domain controllers to receive the same / different capability perception sensor input groups.

[0074] Step 2: Utilizing the pre-defined perception groups, the ADAS main road domain controller and auxiliary road domain controller perform identical / similar complete decision-making and planning algorithms. The auxiliary road domain controller and main road domain controller each receive the planned trajectory from the other road and pre-verify their own planning results. Figure 3 As shown, the main participants are the planning modules in the dual-path domain controller. The A-side domain controller takes the A-side perception results to make A-side decision planning, generates a trajectory, and then requests the B-side domain controller to plan the trajectory results for trajectory safety A-side pre-verification. Similarly, the B-side domain controller performs trajectory safety B-side pre-verification, and finally forwards it to the high-security microcontroller for arbitration and final trajectory verification through relevant communication protocols.

[0075] Specifically, for the main road domain control plan A, it needs to obtain the detection results processed by the perception algorithm A, make a decision, and generate a planned trajectory, which is then transmitted to control A. Simultaneously, plan A needs to request the planned trajectory of the auxiliary road domain control plan B at the same time (plan B's planned trajectory is generated from the detection results processed by the perception algorithm B). Plan A then needs to perform pre-verification based on plan B's planned trajectory and provide the pre-verification result to the arbitrator. At the same time, plan B processes plan A's trajectory, performs pre-verification, and similarly provides the pre-verification result to the arbitrator. The pre-verification logic for A is as follows (the same applies to B):

[0076] Using the points of planned trajectory A as a reference, align planned trajectory B to trajectory A;

[0077] For the trajectory point set of Plan A, if there is an excessively large difference in the Euclidean distance between two adjacent trajectory points of Plan A, which is significantly different from the difference in the Euclidean distance between the same two points in Plan B, or if the rate of change of the heading angle between two adjacent trajectory points of Plan A is excessively large, which is significantly different from the rate of change of the heading angle between the same two points in Plan B, or if the rate of change of the acceleration between two adjacent trajectory points of Plan A is excessively large, which is significantly different from the rate of change of the acceleration between the same two points in Plan B;

[0078] If the curvature of a single trajectory point in Plan A is too large and significantly greater than the curvature of the same point in Plan B; the lateral acceleration of a single trajectory point in Plan A is too large and significantly greater than the lateral acceleration of the same point in Plan B; the maximum longitudinal acceleration of a single trajectory point in Plan A is too large and significantly greater than the maximum acceleration of the same point in Plan B; or the minimum longitudinal acceleration of a single trajectory point in Plan A is too small and significantly less than the minimum acceleration of the same point in Plan B, then Plan A declares to the arbitration that trajectory A has a pre-verification error.

[0079] Step 3: During operation, the ADAS high-safety microprocessor receives the planned trajectory and pre-verification results from both the main road domain controller and the auxiliary road domain controller. Based on the current vehicle pose and state constraints, it evaluates and arbitrates the dual-path trajectories, selecting the optimal road domain control command result under the current conditions. Figure 4As shown, the main participant is the arbitrator module in the high-safety microcontroller. The arbitrator requests trajectory information and trajectory pre-verification results from the A-side and B-side domain controllers. It then selects the tracking control commands for A and B sides based on the current vehicle position and related state constraints and sends them down the bus. The arbitrator verifies the consistency of the A / B side trajectories. When a significant deviation occurs, the arbitrator enters a safety mode and executes a corresponding safety response (such as planning a safe and stable trajectory and completing the execution command conversion and sending it down). When the consistency is good, the trajectory and control commands are selected according to the arbitration rules.

[0080] Specifically, when Plan A indicates an error in the pre-verification trajectory of Plan A, the arbitrator should select Control B command based on the current position and issue the final command; when Plan B indicates an error in the pre-verification trajectory of Plan B, the arbitrator should select Control A command based on the current position and issue the final command; when both Plan A and Plan B self-verification trajectories have errors, the arbitrator should perform a safety downgrade, in which case the arbitrator should perform a safe stop or slow / rapid braking in the current lane, or other safety strategies, depending on the scenario.

[0081] Step 4: The ADAS high-safety microprocessor performs consistency verification on the dual-track results. When there is a significant consistency deviation between the two tracks, the high-safety microprocessor performs safety processing. If the deviation is not significant, the operation is carried out according to the aforementioned arbitration result. That is, if there are errors in the planned A / B self-verification tracks at the same time, the arbitration should simultaneously perform consistency verification on the planned A / B tracks. When there is a significant deviation between the A / B tracks, the arbitration should, depending on the scenario, perform safe stopping, slow / rapid braking in the current lane, or other safety strategies. The consistency verification method is as follows:

[0082] Using the planned trajectory point A as a benchmark, the planned trajectory B is aligned to trajectory A; the algorithm establishes evaluation indicators; in the set of all aligned trajectory points, for each trajectory point A / B corresponding to an absolute timestamp, if the difference in the Euclidean distance between the planned trajectory point A and the planned trajectory point B is greater than a threshold, the algorithm accumulates the average of the evaluation indicators; when the accumulated average of the evaluation indicators is higher than a certain threshold, the consistency check fails.

[0083] In summary, this application embodiment adds redundant path decision planning, upgrades to a two-point system for cross-validation, and achieves trajectory safety detection by comparing the consistency of the two trajectories through a high-security controller.

[0084] According to the trajectory verification method proposed in the embodiments of this application, a first planned trajectory and a second planned trajectory can be generated by a first domain controller and a second domain controller, respectively. The first planned trajectory and the second planned trajectory are verified against each other to obtain a first verification result and a second verification result. The final planned trajectory is determined based on the first verification result and the second verification result, and the vehicle is controlled to drive along the final planned trajectory. By verifying the planned trajectory through a dual verification method, the safety and reliability of the planned trajectory are improved, thereby reducing the risk of traffic accidents.

[0085] Next, the trajectory verification device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0086] Figure 5 This is a block diagram of a trajectory verification device according to an embodiment of this application.

[0087] like Figure 5 As shown, the trajectory verification device 10 includes: an acquisition module 100, an input module 200, a verification module 300, and a control module 400.

[0088] The acquisition module 100 is used to acquire perception information around the vehicle; the input module 200 is used to input the perception information to the first domain controller and the second domain controller respectively, wherein the first domain controller outputs a first planned trajectory and the second domain controller outputs a second planned trajectory; the verification module 300 is used to verify the first planned trajectory based on the second planned trajectory to obtain a first verification result, and to verify the second planned trajectory based on the first planned trajectory to obtain a second verification result; the control module 400 is used to determine the final planned trajectory based on the first verification result and the second verification result, and to control the vehicle's driving based on the final planned trajectory.

[0089] In this embodiment of the application, the verification method for the first planned trajectory is the same as that for the second planned trajectory.

[0090] In this embodiment of the application, the verification module 300 is further configured to: obtain the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; and determine the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory.

[0091] In this embodiment, the verification module 300 is further configured to: align the second planned trajectory with the first planned trajectory, using the first planned trajectory as a reference; obtain the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are the same as any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is the same as any trajectory point in the first planned trajectory; if the Euclidean distance difference between any two adjacent trajectory points in the first planned trajectory is greater than a first preset threshold and is different from the Euclidean distance difference between two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the heading angle change rate of any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the heading angle change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the acceleration change rate of any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the acceleration change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect.

[0092] In this embodiment of the application, the verification module 300 is further configured to: if the curvature of any trajectory point in the first planned trajectory is greater than a fourth preset threshold and greater than the curvature of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the lateral acceleration of any trajectory point in the first planned trajectory is greater than a fifth preset threshold and greater than the lateral acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the maximum longitudinal acceleration of any trajectory point in the first planned trajectory is greater than a sixth preset threshold and greater than the maximum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect; if the minimum longitudinal acceleration of any trajectory point in the first planned trajectory is less than a seventh preset threshold and greater than the minimum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect.

[0093] In this embodiment, the control module 400 is further configured to: if the first verification result indicates that the first planned trajectory is incorrect and the second verification result indicates that the second planned trajectory is correct, then the final planned trajectory is the second planned trajectory; if the first verification result indicates that the first planned trajectory is correct and the second verification result indicates that the second planned trajectory is incorrect, then the final planned trajectory is the first planned trajectory; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are correct, then one of the first planned trajectory and the second planned trajectory is selected as the final planned trajectory according to a preset priority; if both the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are incorrect, then a consistency verification is performed on the first planned trajectory and the second planned trajectory; if the consistency verification fails, then the vehicle is controlled to perform at least one of safe parking, deceleration braking, and rapid braking.

[0094] It should be noted that the foregoing explanation of the trajectory verification method embodiment also applies to the trajectory verification device of this embodiment, and will not be repeated here.

[0095] According to the trajectory verification device proposed in the embodiments of this application, a first planned trajectory and a second planned trajectory can be generated by a first domain controller and a second domain controller, respectively. The first planned trajectory and the second planned trajectory are mutually verified to obtain a first verification result and a second verification result. The final planned trajectory is determined based on the first verification result and the second verification result, and the vehicle is controlled to drive on the final planned trajectory. By verifying the planned trajectory through a dual verification method, the safety and reliability of the planned trajectory are improved, thereby reducing the risk of traffic accidents.

[0096] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0097] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0098] When the processor 602 executes the program, it implements the trajectory verification method provided in the above embodiments.

[0099] Furthermore, electronic devices also include:

[0100] Communication interface 603 is used for communication between memory 601 and processor 602.

[0101] The memory 601 is used to store computer programs that can run on the processor 602.

[0102] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0103] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0104] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0105] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0106] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the trajectory verification method described above.

[0107] This application also provides a computer program product, including a computer program or instructions, which, when executed, implement the trajectory verification method described above.

[0108] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0110] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0111] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0112] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A trajectory verification method, characterized in that, Includes the following steps: Acquire sensory information about the vehicle's surroundings; The perceived information is input to a first domain controller and a second domain controller, respectively, wherein the first domain controller outputs a first planned trajectory and the second domain controller outputs a second planned trajectory; A first verification result is obtained by verifying the first planned trajectory based on the second planned trajectory, and a second verification result is obtained by verifying the second planned trajectory based on the first planned trajectory; the first verification result obtained by verifying the first planned trajectory based on the second planned trajectory includes: obtaining the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or based on at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory includes: using the first planned trajectory as a reference, comparing the second planned trajectory with... The first planned trajectory is aligned; the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are identical to any two adjacent trajectory points in the first planned trajectory are obtained, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is identical to any trajectory point in the first planned trajectory; if the Euclidean distance difference between any two adjacent trajectory points in the first planned trajectory is greater than a first preset threshold and is different from the Euclidean distance difference between two adjacent trajectory points identical to the second planned trajectory, then the first planned trajectory is incorrect; if the heading angle change rate of any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the heading angle change rate of two adjacent trajectory points identical to the second planned trajectory, then the first planned trajectory is incorrect; if the acceleration change rate of any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the acceleration change rate of two adjacent trajectory points identical to the second planned trajectory, then the first planned trajectory is incorrect. The final planned trajectory is determined based on the first verification result and the second verification result, and the vehicle is controlled to drive based on the final planned trajectory.

2. The trajectory verification method according to claim 1, characterized in that, The verification method for the first planned trajectory is the same as that for the second planned trajectory.

3. The trajectory verification method according to claim 1, characterized in that, The step of determining the first verification result based on at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory includes: If the curvature of any trajectory point in the first planned trajectory is greater than the fourth preset threshold and greater than the curvature of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect. If the lateral acceleration of any trajectory point in the first planned trajectory is greater than the fifth preset threshold and greater than the lateral acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect. If the maximum longitudinal acceleration of any trajectory point in the first planned trajectory is greater than the sixth preset threshold and is greater than the maximum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect. If the minimum longitudinal acceleration of any trajectory point in the first planned trajectory is less than the seventh preset threshold and greater than the minimum longitudinal acceleration of the same trajectory point in the second planned trajectory, then the first planned trajectory is incorrect.

4. The trajectory verification method according to claim 1, characterized in that, The step of determining the final planned trajectory based on the first verification result and the second verification result includes: If the first verification result indicates that the first planned trajectory is incorrect, and the second verification result indicates that the second planned trajectory is correct, then the final planned trajectory is the second planned trajectory. If the first verification result indicates that the first planned trajectory is correct, and the second verification result indicates that the second planned trajectory is incorrect, then the final planned trajectory is the first planned trajectory. If the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are correct, then one of the first planned trajectory and the second planned trajectory is selected as the final planned trajectory according to the preset priority. If the first verification result and the second verification result indicate that both the first planned trajectory and the second planned trajectory are incorrect, then a consistency verification is performed on the first planned trajectory and the second planned trajectory. If the consistency verification fails, then the vehicle is controlled to perform at least one of safe parking, deceleration braking, and rapid braking.

5. A trajectory verification device, characterized in that, include: The acquisition module is used to acquire perception information about the vehicle's surroundings; The input module is used to input the perceived information to the first domain controller and the second domain controller respectively, wherein the first domain controller outputs a first planned trajectory and the second domain controller outputs a second planned trajectory; The verification module is used to verify the first planned trajectory based on the second planned trajectory to obtain a first verification result, and to verify the second planned trajectory based on the first planned travel trajectory to obtain a second verification result. The verification of the first planned trajectory based on the second planned trajectory to obtain the first verification result includes: acquiring the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory, or based on at least one of the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of any trajectory point in the first planned trajectory; determining the first verification result based on at least one of the Euclidean distance difference, heading angle change rate, and acceleration change rate of any two adjacent trajectory points in the first planned trajectory includes: using the first planned trajectory as a reference, calculating the second planned trajectory... The trajectory is aligned with the first planned trajectory; the Euclidean distance difference, heading angle change rate, and acceleration change rate of two adjacent trajectory points in the second planned trajectory that are the same as any two adjacent trajectory points in the first planned trajectory are obtained, and / or the curvature, lateral acceleration, maximum longitudinal acceleration, and minimum longitudinal acceleration of a trajectory point in the second planned trajectory that is the same as any trajectory point in the first planned trajectory; if the Euclidean distance difference between any two adjacent trajectory points in the first planned trajectory is greater than a first preset threshold and is different from the Euclidean distance difference between two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the heading angle change rate of any two adjacent trajectory points in the first planned trajectory is greater than a second preset threshold and is different from the heading angle change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect; if the acceleration change rate of any two adjacent trajectory points in the first planned trajectory is greater than a third preset threshold and is different from the acceleration change rate of two adjacent trajectory points in the second planned trajectory, then the first planned trajectory is incorrect. The control module is used to control the vehicle's movement based on the first verification result and the second verification result.

6. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the trajectory verification method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by the processor, they are used to implement the trajectory verification method as described in any one of claims 1-4.

8. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement the trajectory verification method as described in any one of claims 1-4.

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