Trajectory planning method, electronic device, vehicle, medium and product for vehicle with tire burst

Abstract

The present application discloses a trajectory planning method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product for a vehicle with a tire blowout. The trajectory planning method of the present application includes: determining a target trajectory of the vehicle with a tire blowout according to preset constraints, wherein the preset constraints are determined according to the vehicle state parameters of the vehicle with a tire blowout. The trajectory planning method of the present application can obtain constraints set for the characteristics of the vehicle with a tire blowout by determining preset constraints according to the vehicle state parameters of the vehicle with a tire blowout. The target trajectory planned and determined on the basis of the preset constraints is a trajectory that is more capable of satisfying the characteristics of the vehicle with a tire blowout, and can prevent the vehicle with a tire blowout from exceeding the unique constraints of the vehicle with a tire blowout for safe obstacle avoidance when the vehicle with a tire blowout is running along the target trajectory, thereby avoiding damage to the tire integrity and operating stability of the vehicle with a tire blowout.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a trajectory planning method for a vehicle with a tire burst, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] The moment when a tire blows out when a car is driving at high speed is highly uncertain. If the driver fails to operate in a timely or aggressive manner, the vehicle may lose control or even roll over, which will seriously threaten the lives and property of people in the car and other vehicles.

[0003] In the related art, there is a lack of trajectory planning methods for vehicles with tire blowouts. Summary of the invention

[0004] The present application provides a trajectory planning method for a vehicle with a tire burst, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product.

[0005] The present application provides a trajectory planning method for a vehicle with a tire blowout, the trajectory planning method comprising:

[0006] The target trajectory of the vehicle with a tire blowout is determined according to preset constraints, wherein the preset constraints are determined according to vehicle state parameters of the vehicle with a tire blowout.

[0007] Thus, in the trajectory planning method, electronic device, vehicle, computer-readable storage medium, and computer program product of the embodiments of the present application, by determining the preset constraint conditions according to the vehicle state parameters of the vehicle with a flat tire, the constraint conditions set for the characteristics of the vehicle with a flat tire can be obtained. The target trajectory planned and determined on the basis of the preset constraint conditions is a trajectory that is more able to meet the characteristics of the vehicle with a flat tire, and can prevent the vehicle with a flat tire from exceeding the unique constraints of the vehicle with a flat tire for safe obstacle avoidance when the vehicle with a flat tire runs along the target trajectory, thereby avoiding damage to the integrity and running stability of the tire of the vehicle with a flat tire.

[0008] In some embodiments, the preset constraint condition includes a first preset constraint condition and a second preset constraint condition, and determining the target trajectory of the vehicle with a tire blowout according to the preset constraint condition includes:

[0009] Determining a candidate trajectory of the vehicle with a tire burst according to the first preset constraint condition;

[0010] According to the second preset constraint condition, the target trajectory is determined among the candidate trajectories.

[0011] In some embodiments, determining the candidate trajectory of the vehicle with a tire burst according to the first preset constraint condition includes:

[0012] Determining the longitudinal trajectory according to the longitudinal parameters of the vehicle with a tire burst and a longitudinal fitting algorithm;

[0013] Determining the lateral trajectory according to the lateral parameters of the vehicle with a tire burst and a lateral fitting algorithm;

[0014] The candidate trajectory is determined according to the longitudinal trajectory and the transverse trajectory.

[0015] In some embodiments, determining the longitudinal trajectory according to the longitudinal parameters of the vehicle with a tire blowout and a longitudinal fitting algorithm comprises:

[0016] The longitudinal trajectory is determined according to the initial longitudinal position, the initial longitudinal velocity, the initial longitudinal acceleration, the terminal longitudinal position, the terminal longitudinal velocity, the terminal longitudinal acceleration and the longitudinal fitting algorithm, wherein the longitudinal parameters are time-dependent.

[0017] In some embodiments, determining the lateral trajectory according to the lateral parameters of the vehicle with a tire blowout and a lateral fitting algorithm comprises:

[0018] The lateral trajectory is determined according to the initial lateral position, the initial lateral velocity, the initial lateral acceleration, the terminal lateral position, the terminal lateral velocity, the terminal lateral acceleration and the lateral fitting algorithm, and the lateral parameters are all related to the longitudinal position of the vehicle with a tire burst.

[0019] In some embodiments, determining the target trajectory from the candidate trajectories according to the second preset constraint condition includes:

[0020] Determining a cost function according to the second preset constraint condition;

[0021] The target trajectory is determined according to the cost function and the candidate trajectories.

[0022] In some implementations, determining a cost function according to the second preset constraint condition includes:

[0023] Determine a collision detection cost function based on the size information and position information of the vehicle with a flat tire and the size information and position information of surrounding obstacle vehicles;

[0024] The cost function is determined according to the collision detection cost function and the second preset constraint condition.

[0025] In some implementations, the candidate trajectories include a plurality of trajectories, and determining the target trajectory according to the cost function and the candidate trajectories includes:

[0026] Determine a trajectory cost value corresponding to each candidate trajectory according to the cost function and each candidate trajectory;

[0027] The candidate trajectory corresponding to the minimum value among the plurality of trajectory cost values ​​is used as the target trajectory.

[0028] In some embodiments, the first preset constraint condition includes a longitudinal speed constraint condition, which is determined based on at least one of the front axle vehicle cornering stiffness, rear axle wheel cornering stiffness, rear axle to center of mass length, front axle to center of mass length, moment of inertia and mass of the vehicle with a tire burst.

[0029] In some embodiments, the first preset constraint condition includes a longitudinal acceleration constraint condition, and the longitudinal acceleration constraint condition is determined based on at least one of a road adhesion coefficient, a lateral acceleration of the vehicle with a tire burst, and a gravitational acceleration distance.

[0030] In some embodiments, the first preset constraint condition includes a lateral acceleration constraint condition, and the lateral acceleration constraint condition is determined based on at least one of a preset minimum turning angle, a preset maximum turning angle, a front and rear wheelbase of the vehicle with a tire burst, and a longitudinal speed of the vehicle with a tire burst.

[0031] In some embodiments, the second preset constraint condition includes a curvature constraint condition, and the curvature constraint condition is determined according to at least one of the preset minimum turning angle, the preset maximum turning angle, and the front and rear wheelbase of the vehicle with a tire burst.

[0032] In some embodiments, the trajectory planning method further includes:

[0033] Determining a safe area that the vehicle with a tire burst can enter based on the vehicle with a tire burst and obstacle vehicles around the vehicle with a tire burst;

[0034] Determining the target trajectory of the vehicle with a tire blowout according to the preset constraint conditions includes:

[0035] According to the preset constraint conditions and the safety area, a target trajectory of the vehicle with a tire burst is determined, the target trajectory being an optimal trajectory of the vehicle with a tire burst from an initial position to a target terminal, and the target terminal is within the safety area.

[0036] In some embodiments, the obstacle vehicles include a plurality of obstacle vehicles, and determining the safe area that the vehicle with a tire burst can enter according to the vehicle with a tire burst and obstacle vehicles around the vehicle with a tire burst includes:

[0037] In the SL coordinate system, the safety area of ​​the vehicle with a tire burst in a side lane is determined according to the state information of the vehicle with a tire burst, the state information of the obstacle vehicle, the first preset condition and the second preset condition, and the side lane is adjacent to the current lane where the vehicle with a tire burst is located.

[0038] In some embodiments, determining the safety area according to the state information of the vehicle with a tire burst, the state information of the obstacle vehicle, the first preset condition and the second preset condition includes:

[0039] When the state information of the vehicle with a flat tire and the state information of the obstacle vehicle meet a first preset condition, determining the rear side of the obstacle vehicle as an optional safety area;

[0040] When the state information of the vehicle with a flat tire and the state information of the obstacle vehicle meet a second preset condition, determining the front side of the obstacle vehicle as an optional safety area;

[0041] When the rear side of the first obstacle vehicle is the optional safety area and the front side of the second obstacle vehicle is the optional safety area, the area between the first obstacle vehicle and the second obstacle vehicle is determined as the safety area, and on the S axis of the SL coordinate system, the first obstacle vehicle is in front of the second obstacle vehicle.

[0042] In some embodiments, the first preset condition is that: within a preset time, the sum of the travel distance of the obstacle vehicle and the preset distance is greater than or equal to the travel distance of the vehicle with a flat tire;

[0043] The second preset condition is that within a preset time, the sum of the travel distance of the vehicle with a tire blowout and a preset distance is greater than or equal to the travel distance of the obstacle vehicle.

[0044] In some embodiments, determining the safe area that the vehicle with a tire blowout can enter based on the vehicle with a tire blowout and obstacle vehicles around the vehicle with a tire blowout includes:

[0045] In the case that the safety area does not exist in the side lane, the area in front of the current lane where the vehicle with the tire burst is located is determined as the safety area of ​​the vehicle, and the side lane is adjacent to the current lane.

[0046] An embodiment of the present application provides an electronic device, which includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method in any of the above embodiments are implemented.

[0047] An embodiment of the present application provides a vehicle, which includes the electronic device as described in the above embodiment.

[0048] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0049] An embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of any of the above embodiments are implemented.

[0050] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0052] Figure 1 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0053] Figure 2 is a schematic diagram of a vehicle with a flat tire, an obstacle vehicle, and a target trajectory according to certain embodiments of the present application;

[0054] Figure 3 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0055] Figure 4 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0056] Figure 5 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0057] Figure 6 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0058] Figure 7 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0059] Figure 8 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0060] Fig. 9 is a schematic diagram of a target trajectory obtained by static planning in certain embodiments of the present application;

[0061] Fig.10 is a schematic diagram of a target trajectory obtained by dynamic programming in certain embodiments of the present application;

[0062] Fig.11 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0063] Fig.12is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0064] Fig.13 is a schematic diagram of a vehicle with a flat tire and an obstacle vehicle according to certain embodiments of the present application;

[0065] Fig.14 is a flow chart of a trajectory planning method according to certain embodiments of the present application;

[0066] Fig.15 It is a flowchart of a trajectory planning method of certain embodiments of the present application. DETAILED DESCRIPTION

[0067] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0068] The moment of a tire blowout when a car is driving at high speed is highly uncertain. If the driver fails to operate in time or too aggressively, the vehicle may lose control or even roll over, which will seriously threaten the life and property of people in the car and other vehicles. In the related art, there is a lack of trajectory planning methods for vehicles with tire blowouts.

[0069] Based on the above unresolved issues, please refer to Figure 1 The embodiment of the present application provides a trajectory planning method for a vehicle 100 with a tire blowout, and the trajectory planning method includes:

[0070] 01: Determine the target trajectory 110 of the vehicle with a tire blowout 100 according to preset constraints, where the preset constraints are determined according to the vehicle state parameters of the vehicle with a tire blowout 100 .

[0071] The embodiment of the present application provides an electronic device, the electronic device includes one or more processors and a memory, the memory stores a computer program, and the computer program can be executed by the processor. The processor can be used to determine the target trajectory 110 of the tire-punctured vehicle 100 according to preset constraints.

[0072] The embodiment of the present application provides a trajectory planning device, which includes a first determination module. The first determination module can be used to determine a target trajectory 110 of a vehicle 100 with a tire blowout according to preset constraints.

[0073] Specifically, when a tire blows out, the stable area for the tire blowout vehicle 100 is reduced and the robustness is deteriorated. In the related art, the path planning for the tire blowout vehicle 100 is still carried out according to the state parameters when the vehicle is in a normal state, and the planned path may not meet the stability requirements of the tire blowout vehicle 100. In other words, when the tire blowout vehicle 100 travels along the planned path, it may exceed the stability requirements of the tire blowout vehicle 100, causing the tire blowout vehicle 100 to lose balance and cause safety problems. Therefore, the path planned according to the normal vehicle characteristics is not achievable for the tire blowout vehicle 100.

[0074] In the embodiment of the present application, the target trajectory 110 of the vehicle with a tire blowout 100 is determined according to preset constraints determined based on the vehicle state parameters of the vehicle with a tire blowout 100, so that the determined target trajectory 110 meets the stability requirements of the vehicle with a tire blowout 100 and is capable of driving the vehicle with a tire blowout 100.

[0075] The preset constraint conditions are determined according to the vehicle state parameters of the tire-bursting vehicle 100. The vehicle state parameters include the steering wheel rotation angle of the tire-bursting vehicle 100, the front and rear wheelbases of the tire-bursting vehicle 100, the moment of inertia, the vehicle mass, etc. By determining the preset constraint conditions according to the vehicle state parameters, the stability range that the tire-bursting vehicle 100 can meet can be obtained. The target trajectory 110 is the trajectory that best meets the characteristics of the tire-bursting vehicle 100 and has the lowest collision possibility.

[0076] For example, since a tire blowout mainly affects the lateral stability of the vehicle, the lateral acceleration of the tire blowout vehicle 100 can be constrained. That is, the preset constraint condition includes a lateral acceleration constraint condition, and the lateral acceleration constraint condition is determined according to the longitudinal speed, front and rear wheelbase, preset maximum steering wheel rotation angle, and minimum steering wheel rotation angle of the tire blowout vehicle 100. That is, if the lateral acceleration of the tire blowout vehicle 100 meets the lateral acceleration constraint condition when traveling along the planned path, the planned path can meet the stability of the tire blowout vehicle 100.

[0077] Thus, in the trajectory planning method, electronic device, vehicle, computer-readable storage medium, and computer program product of the embodiments of the present application, by determining the preset constraint conditions according to the vehicle state parameters of the tire-bursting vehicle 100, it is possible to obtain the constraint conditions set for the characteristics of the tire-bursting vehicle 100. The target trajectory 110 planned and determined on the basis of the preset constraint conditions is a trajectory that is more capable of satisfying the characteristics of the tire-bursting vehicle 100, and can prevent the tire-bursting vehicle 100 from exceeding the unique constraints of the tire-bursting vehicle 100 for safe obstacle avoidance when the tire-bursting vehicle 100 is running along the target trajectory 110, thereby avoiding damage to the tire integrity and running stability of the tire-bursting vehicle 100.

[0078] See also Figure 3In some embodiments, the preset constraint condition includes a first preset constraint condition and a second preset constraint condition. Step 01, according to the preset constraint condition, determines the target trajectory 110 of the vehicle with a flat tire 100, including:

[0079] 011: Determine a candidate trajectory of the vehicle 100 with a tire burst according to a first preset constraint condition;

[0080] 012: Determine a target trajectory 110 from the candidate trajectories according to the second preset constraint condition.

[0081] In some embodiments, the processor may be configured to: determine candidate trajectories of the vehicle 100 with a tire blowout according to a first preset constraint; and determine the target trajectory 110 among the candidate trajectories according to a second preset constraint.

[0082] In some embodiments, the first determination module includes a first determination submodule and a second determination submodule. The first determination submodule can be used to determine the candidate trajectory of the tire-burst vehicle 100 according to the first preset constraint condition, and the second determination submodule can be used to determine the target trajectory 110 among the candidate trajectories according to the second preset constraint condition.

[0083] Specifically, the preset constraint condition may be used to plan a plurality of candidate trajectories for the vehicle 100 with a tire blowout, and may also be used to determine the target trajectory 110 among the plurality of candidate trajectories.

[0084] The preset constraint condition includes a first preset constraint condition and a second preset constraint condition. The first preset constraint condition is used to determine multiple candidate trajectories of the tire-bursting vehicle 100, so as to perform trajectory planning for the tire-bursting vehicle 100 from the initial position to the target terminal, and obtain multiple candidate trajectories that can be selected. The target terminal may include multiple. When performing trajectory planning, multiple candidate trajectories may be planned for each target terminal, or only one candidate trajectory may be planned.

[0085] The second preset constraint condition is used to determine the target trajectory 110 from multiple candidate trajectories, that is, to select one of the multiple selectable candidate trajectories as the target trajectory 110 and provide it to the tire-punctured vehicle 100. According to the second preset constraint condition, the trajectory that best matches the state of the tire-punctured vehicle 100 can be selected from the candidate trajectories, thereby implementing the screening of the multiple candidate trajectories obtained by planning.

[0086] In this way, multiple candidate trajectories can be planned according to the first preset constraint condition, and the target trajectory 110 can be determined from the multiple candidate trajectories according to the second preset constraint condition, so that the target trajectory 110 can better fit the characteristics of the vehicle 100 with a tire blowout and meet the stability requirements of the vehicle 100 with a tire blowout.

[0087] See also Figure 4In some embodiments, step 011, determining a candidate trajectory of the tire-punctured vehicle 100 according to a first preset constraint condition, comprises:

[0088] 0111: Determine a longitudinal trajectory according to the longitudinal parameters of the vehicle with a tire blowout 100 and a longitudinal fitting algorithm;

[0089] 0112: Determine a lateral trajectory according to the lateral parameters of the vehicle with a tire blowout 100 and a lateral fitting algorithm;

[0090] 0113: Determine candidate trajectories based on the longitudinal trajectory and the lateral trajectory.

[0091] In some embodiments, the processor may be configured to: determine a longitudinal trajectory based on longitudinal parameters and a longitudinal fitting algorithm; determine a lateral trajectory based on lateral parameters and a lateral fitting algorithm; and determine a candidate trajectory based on the longitudinal trajectory and the lateral trajectory.

[0092] In some embodiments, the first determination submodule includes a first determination unit, a second determination unit, and a third determination unit. The first determination unit can be used to determine the longitudinal trajectory according to the longitudinal parameters and the longitudinal fitting algorithm; the second determination unit can be used to determine the lateral trajectory according to the lateral parameters and the lateral fitting algorithm; and the third determination unit can be used to determine the candidate trajectory according to the longitudinal trajectory and the lateral trajectory.

[0093] Specifically, both the longitudinal fitting algorithm and the transverse fitting algorithm can be N-order polynomials. N-order polynomials include cubic polynomials, quartic polynomials, quintic polynomials, etc. This embodiment is described by taking the N-order polynomials as quintic polynomials.

[0094] Longitudinal fitting algorithm and lateral fitting algorithm for:

[0095]

[0096] in, is a longitudinal quintic polynomial used to determine the longitudinal trajectory. is a lateral fifth-order polynomial used to determine the lateral trajectory. For time. to is the longitudinal trajectory parameter, to is the lateral trajectory parameter.

[0097] According to the longitudinal parameters of the tire-punctured vehicle 100, the longitudinal trajectory parameters of the longitudinal fitting algorithm can be determined, thereby determining the longitudinal trajectory. According to the transverse parameters of the tire-punctured vehicle 100, the transverse trajectory parameters of the transverse fitting algorithm can be determined, thereby determining the transverse trajectory. By combining the longitudinal trajectory and the transverse trajectory, a candidate trajectory can be obtained.

[0098] The longitudinal parameters include the longitudinal position, longitudinal speed, and longitudinal acceleration of the tire-bursting vehicle 100. The lateral parameters include the lateral position, lateral speed, and lateral acceleration of the tire-bursting vehicle 100. At least some of the longitudinal parameters and at least some of the lateral parameters can be determined at least in part by the first constraint condition.

[0099] It should be noted that the longitudinal trajectory and the lateral trajectory are planned and determined for the same target terminal, so the target terminal of the candidate trajectory determined according to the longitudinal trajectory and the lateral trajectory is the same as the target terminal of the longitudinal trajectory and the target terminal of the lateral trajectory.

[0100] In this way, the target trajectory 110 can be determined through the longitudinal parameters, the lateral parameters, the longitudinal fitting algorithm and the lateral fitting algorithm of the tire-punctured vehicle 100 , thereby completing the planning of the target trajectory 110 .

[0101] See also Figure 5 In some embodiments, step 0111, determining the longitudinal trajectory according to the longitudinal parameters of the tire-bursting vehicle 100 and the longitudinal fitting algorithm, comprises:

[0102] 01111: Determine the longitudinal trajectory based on the initial longitudinal position, initial longitudinal velocity, initial longitudinal acceleration, terminal longitudinal position, terminal longitudinal velocity, terminal longitudinal acceleration and longitudinal fitting algorithm. The longitudinal parameters are all related to time.

[0103] In some embodiments, the processor may be configured to determine a candidate trajectory based on the initial longitudinal position, the initial longitudinal velocity, the initial longitudinal acceleration, the terminal longitudinal position, the terminal longitudinal velocity, the terminal longitudinal acceleration, and a longitudinal fitting algorithm.

[0104] In some embodiments, the first determination unit includes a first determination subunit. The first determination subunit is configured to determine the longitudinal trajectory according to the initial longitudinal position, the initial longitudinal velocity, the initial longitudinal acceleration, the terminal longitudinal position, the terminal longitudinal velocity, the terminal longitudinal acceleration, and the longitudinal fitting algorithm.

[0105] Specifically, according to the initial longitudinal position , initial longitudinal velocity , initial longitudinal acceleration , Terminal longitudinal position , terminal longitudinal velocity , terminal longitudinal acceleration , the longitudinal trajectory parameters of the longitudinal trajectory can be determined. The method for determining the longitudinal trajectory parameters is:

[0106]

[0107] Where T is time, , and The initial longitudinal position, initial longitudinal velocity and initial longitudinal acceleration given by the perception system and chassis sensor of the vehicle 100 with a current tire blowout; , and are the terminal longitudinal position, terminal longitudinal velocity, and terminal longitudinal acceleration of the target terminal.

[0108] Further, It can be determined based on the target terminal location; It can be determined by dividing the grid into the longitudinal speed range given by the road speed limit and the tire burst vehicle 100 state. It is obtained by dividing the grid within the acceleration range given by the driving ability of the vehicle after a tire burst. Among them, the road speed limit can be obtained by real-time recognition of road traffic signs, or by obtaining road speed limit information in the map through the vehicle computer.

[0109] Will determine the , , , , and Substituting into equation (3), we can solve for the longitudinal parameter to , and then the longitudinal parameters to Substituting into equation (1), we can get the longitudinal trajectory.

[0110] In this way, the longitudinal parameters of the longitudinal fitting algorithm can be determined according to the initial longitudinal position, the initial longitudinal velocity, the initial longitudinal acceleration, the terminal longitudinal position, the terminal longitudinal velocity, and the terminal longitudinal acceleration, and the candidate trajectory can be determined according to the longitudinal parameters and the longitudinal fitting algorithm.

[0111] In some embodiments, the first preset constraint condition includes a longitudinal speed constraint condition, and the longitudinal speed of the terminal is determined according to the speed constraint condition.

[0112] Specifically, the first constraint condition includes a longitudinal speed constraint condition. The longitudinal speed constraint condition provides a range of longitudinal speed values. When the longitudinal speed of the tire-punctured vehicle 100 is within the range of the longitudinal speed constraint condition, the stability requirement of the tire-punctured vehicle 100 can be met, so that the tire-punctured vehicle 100 will not become unstable due to excessive longitudinal speed, leading to safety problems. For example, the longitudinal speed constraint condition can be:

[0113]

[0114] That is to say, It can be determined according to the given longitudinal velocity constraint. For example, the longitudinal velocity range given by the longitudinal velocity constraint can be gridded to determine the terminal longitudinal velocity. .

[0115] In this way, by determining the terminal longitudinal speed according to the longitudinal speed constraint, and then determining the candidate trajectory according to the terminal longitudinal speed, the determined candidate trajectory can meet the longitudinal speed limit of the tire-punctured vehicle 100, so that the tire-punctured vehicle 100 will not be unbalanced due to excessive longitudinal speed when traveling along the candidate trajectory.

[0116] See also Figure 5 In some embodiments, step 0112, determining a lateral trajectory according to the lateral parameters of the tire-punctured vehicle 100 and a lateral fitting algorithm, comprises:

[0117] 01121: Determine a lateral trajectory according to an initial lateral position, an initial lateral velocity, an initial lateral acceleration, a terminal lateral position, a terminal lateral velocity, a terminal lateral acceleration and a lateral fitting algorithm, wherein the lateral parameters are all related to the longitudinal position of the vehicle 100 with a tire burst.

[0118] In certain embodiments, the processor may be configured to determine the lateral trajectory based on the initial lateral position, the initial lateral velocity, the initial lateral acceleration, the terminal lateral position, the terminal lateral velocity, the terminal lateral acceleration, and a lateral fitting algorithm.

[0119] In some embodiments, the second determination unit includes a second determination subunit. The second determination subunit is configured to determine the lateral trajectory according to the initial lateral position, the initial lateral velocity, the initial lateral acceleration, the terminal lateral position, the terminal lateral velocity, the terminal lateral acceleration, and the lateral fitting algorithm.

[0120] Specifically, according to the initial lateral position , initial lateral velocity , initial lateral acceleration , terminal horizontal position , terminal lateral speed , terminal lateral acceleration , the lateral trajectory parameters of the lateral trajectory can be determined. The method for determining the lateral trajectory parameters is:

[0121]

[0122] Where S is the longitudinal position, , and The initial lateral position, initial lateral velocity and initial lateral acceleration given by the perception system and chassis sensor of the vehicle 100 with a current tire blowout; , and are the terminal lateral position, terminal lateral velocity, and terminal lateral acceleration of the target terminal.

[0123] Further, According to the target terminal, It can be obtained by dividing the lateral speed range given by the road speed limit and vehicle status into grids. The road speed limit can be determined according to the first preset constraint condition. The road speed limit can be obtained by real-time recognition of road traffic signs, or by obtaining road speed limit information in a map through the vehicle computer.

[0124] Will determine the , , , , and Substituting into equation (5), we can solve for the lateral parameter to , and then the lateral parameters to Substituting into equation (2), we can get the lateral trajectory.

[0125] It should be noted that, since the longitudinal position is related to time, the lateral parameter is related to the longitudinal position, and the lateral parameter can also be related to time. In one embodiment, taking the current moment and the next moment as an example, if you want to reach 5m in the longitudinal direction in the next second, and deviate 0.01m in the lateral direction at 5m in the longitudinal direction, then you can get the longitudinal speed by 5÷1, and control the vehicle speed to achieve the longitudinal position of the vehicle at 5m in the next second, and the steering wheel angle can be calculated geometrically in the lateral direction. In this way, you can accelerate or brake the vehicle, control the longitudinal speed, and turn the steering wheel at the same time to achieve "the vehicle reaches 5m in the next second, and deviates 0.01 in the lateral direction".

[0126] The candidate trajectory can be determined based on the obtained transverse trajectory and longitudinal trajectory. After solving equations (3) and (5), we can obtain longitudinal sequences and transverse sequences of equal length to obtain longitudinal trajectories and transverse trajectories. The values ​​at the same position in the transverse sequence and the longitudinal sequence are the longitudinal position and transverse position at a certain moment, thereby determining the position on the candidate trajectory at a certain moment.

[0127] In this way, the lateral parameters of the lateral fitting algorithm can be determined according to the initial lateral position, the initial lateral velocity, the initial lateral acceleration, the terminal lateral position, the terminal lateral velocity, and the terminal lateral acceleration, and the lateral trajectory can be determined according to the lateral parameters and the lateral fitting algorithm.

[0128] In some embodiments, the first preset constraint condition includes an acceleration constraint condition, and the terminal lateral acceleration is determined according to the acceleration constraint condition.

[0129] Specifically, the first constraint condition includes a lateral acceleration constraint condition. The lateral acceleration constraint condition provides a range of values ​​for the lateral acceleration. When the lateral acceleration of the tire-bursting vehicle 100 is within the range of the lateral acceleration constraint condition, the stability requirement of the tire-bursting vehicle 100 can be met, so that the tire-bursting vehicle 100 will not become unstable due to excessive lateral acceleration, leading to safety problems. For example, the lateral acceleration constraint condition can be:

[0130]

[0131] That is to say, It can be determined according to the given lateral acceleration constraint. For example, the lateral acceleration range given by the lateral acceleration constraint can be gridded to determine the terminal lateral acceleration .

[0132] In this way, by determining the terminal lateral acceleration according to the lateral acceleration constraint, and then determining the candidate trajectory according to the terminal lateral acceleration, the determined candidate trajectory can meet the lateral acceleration limit of the tire-punctured vehicle 100, so that the tire-punctured vehicle 100 will not be unbalanced due to excessive lateral acceleration when traveling along the candidate trajectory.

[0133] See also Figure 6 In some embodiments, step 012, determining a target trajectory 110 from a plurality of candidate trajectories according to a second preset constraint condition, includes:

[0134] 0121: Determine a cost function according to a second preset constraint condition;

[0135] 0122: Determine the target trajectory 110 according to the cost function and the candidate trajectories.

[0136] In some implementations, the processor may be configured to: determine a cost function according to the second preset constraint; and determine the target trajectory 110 according to the cost function and the candidate trajectories.

[0137] In some embodiments, the second determination submodule includes a fourth determination unit and a fifth determination unit. The fourth determination unit can be used to determine the cost function according to the second preset constraint condition; the fifth determination unit can be used to determine the target trajectory 110 according to the cost function and the candidate trajectory.

[0138] Specifically, the second preset constraint condition may be a curvature constraint. The curvature constraint condition provides a range of curvature values. When the curvature of the tire-punctured vehicle 100 is within the range of the curvature constraint condition, the stability requirement of the tire-punctured vehicle 100 can be met, so that the tire-punctured vehicle 100 will not become unstable due to excessive track curvature, leading to safety problems. For example, the curvature constraint condition may be:

[0139]

[0140] A cost function may be determined according to the curvature constraint, so that the cost function may screen out a trajectory satisfying the curvature constraint from the candidate trajectories to serve as the target trajectory 110 .

[0141] In this way, by determining the cost function according to the second preset constraint condition, the cost function can be used to screen out the trajectory that meets the second preset constraint condition from the candidate trajectories, and obtain the target trajectory 110, thereby implementing the screening of the candidate trajectories.

[0142] See also Figure 7 In some implementations, step 0121, determining a cost function according to a second preset constraint condition, includes:

[0143] 01211: Determine a collision detection cost function according to the size information and position information of the tire-bursting vehicle 100 and the size information and position information of the surrounding obstacle vehicles 200;

[0144] 01212: Determine a cost function based on the collision detection cost function and the second preset constraint condition.

[0145] In some embodiments, the processor may be used to: determine a collision detection cost function based on size information and position information of the tire-punctured vehicle 100 and size information and position information of surrounding obstacle vehicles 200; determine a cost function based on the collision detection cost function and a second preset constraint.

[0146] In some embodiments, the fourth determination unit includes a third determination subunit and a fourth determination subunit. The third determination subunit can be used to determine the collision detection cost function according to the size information and position information of the tire-bursting vehicle 100 and the size information and position information of the surrounding obstacle vehicles 200; the fourth determination subunit can be used to determine the cost function according to the collision detection cost function and the second preset constraint condition.

[0147] Specifically, the obstacle vehicle 200 refers to a vehicle that is around the vehicle 100 with a tire burst and may form an obstacle to the travel of the vehicle 100 with a tire burst.

[0148] The size information of the tire-bursting vehicle 100 is a pre-stored value. The size information and position information of the surrounding obstacle vehicles 200 can be obtained by real-time detection. The position information includes the longitudinal position and lateral position of the vehicle. That is, the position information of the tire-bursting vehicle 100 includes the longitudinal position and lateral position of the tire-bursting vehicle 100. The position information of the obstacle vehicle 200 includes the longitudinal position and lateral position of the obstacle vehicle 200.

[0149] According to the size information and position information of the tire-bursting vehicle 100 and the size information and position information of the surrounding obstacle vehicles 200, the collision detection cost function can be determined:

[0150]

[0151] in, and are the longitudinal position and the lateral position of the obstacle vehicle 200; and are the length and width of the obstacle vehicle 200; and To prevent the target detection angle from causing the denominator ( or ) is the smallest supplementary parameter that is zero. is the first cost parameter, according to the adjustment This allows the collision detection cost function to better screen candidate trajectories.

[0152] According to the collision detection cost function and the second constraint condition, the cost function can be determined:

[0153]

[0154] in, is the second cost parameter, according to the adjustment This allows the cost function to better screen candidate trajectories. is a soft constraint that satisfies the second preset constraint (curvature constraint):

[0155]

[0156] in, To adjust the parameter for the cost of violating curvature, A parameter that adjusts how quickly the penalty for violating curvature acts.

[0157] By using the cost function shown in formula (10), the target trajectory 110 can be screened out from multiple candidate trajectories to achieve trajectory planning.

[0158] Thus, according to the collision detection cost function and the second preset constraint condition, the cost function can be determined. According to the cost function, the target trajectory 110 that is least likely to collide and meets the second preset constraint condition can be screened from multiple candidate trajectories, thereby determining the target trajectory 110.

[0159] See also Figure 8 In some embodiments, the majority of candidate trajectories include multiple, step 0122, determining the target trajectory 110 according to the cost function and the candidate trajectories, including:

[0160] 01221: Determine a trajectory cost value corresponding to each candidate trajectory according to the cost function and each candidate trajectory;

[0161] 01222: The candidate trajectory corresponding to the minimum value among the multiple trajectory cost values ​​is used as the target trajectory 110.

[0162] In some implementations, the processor may be configured to: determine a trajectory cost value corresponding to each candidate trajectory according to the cost function and each candidate trajectory; and use a candidate trajectory corresponding to a minimum value among multiple trajectory cost values ​​as the target trajectory 110 .

[0163] In some embodiments, the fifth determination unit includes a fifth determination subunit and a sixth determination subunit. The fifth determination subunit may be used to determine a trajectory cost value corresponding to each candidate trajectory according to the cost function and each candidate trajectory; and the sixth determination subunit may be used to select a candidate trajectory corresponding to a minimum value among multiple trajectory cost values ​​as the target trajectory 110.

[0164] Specifically, each candidate trajectory is substituted into the cost function (10) to determine its corresponding trajectory cost value J, where the trajectory cost value corresponds to the candidate trajectory one by one.

[0165] Among all trajectory cost values, the minimum value is selected, and the candidate trajectory corresponding to the minimum trajectory cost value is used as the target trajectory 110 , thereby achieving the selection of the target trajectory 110 .

[0166] By using the cost function determined according to the collision detection function and the curvature constraint to filter the candidate trajectories, an objective function with the lowest collision probability and satisfying the curvature constraint can be obtained from multiple candidate trajectories.

[0167] See also Fig. 9 and Fig.10 The implementation methods of the present application can achieve target path planning when there is no obstacle vehicle 200, when there is an obstacle vehicle 200 on a straight road, and when there is an obstacle vehicle 200 on a curve, and the planned target trajectory 110 can safely avoid obstacles in a solid line.

[0168] exist Fig.10 In the figure, the dotted line is the trajectory planned by the trajectory planning method of the related art, and the solid line is the trajectory planned by the trajectory planning method of the embodiment of the present application. It can be seen that compared with the path planned by the related art, the trajectory of the trajectory planning method of the embodiment of the present application has a softer curvature, and the distance between vehicles is larger when changing lanes during obstacle avoidance, which can avoid exceeding the unique constraints of the tire-punctured vehicle 100 for safe obstacle avoidance and avoid damaging the tire integrity and operating stability of the tire-punctured vehicle 100.

[0169] In this way, by obtaining the trajectory cost value of each candidate trajectory according to the cost function and selecting the candidate trajectory corresponding to the minimum value as the target trajectory 110, the target trajectory 110 can best meet the curvature constraint condition and have the lowest collision possibility.

[0170] In some embodiments, the first preset constraint includes a longitudinal speed constraint, which is determined based on at least one of the front axle vehicle cornering stiffness, rear axle wheel cornering stiffness, rear axle to center of mass length, front axle to center of mass length, moment of inertia, and vehicle mass of the tire-punctured vehicle 100.

[0171] Specifically, the dynamic model of the vehicle 100 with a tire blowout can be expressed as:

[0172]

[0173] in, is the yaw rate of the vehicle, is the steering wheel rotation angle. , , , , , They are:

[0174]

[0175] in, is the front axle wheel cornering stiffness, is the rear axle wheel cornering stiffness, is the length from the front axle to the center of mass, is the length from the rear axle to the center of mass, is the vehicle moment of inertia, is the longitudinal velocity and m is the mass of the vehicle.

[0176] If the system matrix The eigenvalues ​​of have negative real parts, then the system is in a stable state. The eigenvalues ​​of can be obtained by solving the following characteristic polynomial:

[0177]

[0178] According to the system stability condition, if and only if and When , the tire blowout vehicle 100 system is stable. After sorting, the following stability criterion can be obtained:

[0179]

[0180] After sorting, we can get:

[0181]

[0182] Therefore, the longitudinal velocity constraint condition can be obtained as:

[0183]

[0184] Furthermore, the longitudinal velocity in equation (3) It can be obtained by gridding the range of values ​​provided by the longitudinal velocity constraint.

[0185] In this way, the longitudinal speed constraint of the tire-punctured vehicle 100 may be determined so that the trajectory determined according to the bus speed constraint can meet the stability requirement of the tire-punctured vehicle 100 in terms of the longitudinal speed.

[0186] In some embodiments, the first preset constraint condition includes a lateral acceleration constraint condition, which is determined based on at least one of a preset minimum turning angle, a preset maximum turning angle, a front and rear wheelbase of the vehicle 100 with a tire burst, and a longitudinal speed of the vehicle 100 with a tire burst.

[0187] Specifically, the preset minimum turning angle and the preset maximum turning angle are both preset steering wheel rotation angle values. The preset minimum turning angle is the minimum steering wheel rotation angle that can be achieved when the tire-punctured vehicle 100 maintains stable driving without derailing. The preset maximum turning angle is the maximum steering wheel rotation angle that can be achieved when the tire-punctured vehicle 100 maintains stable driving.

[0188] After a tire blowout, the air pressure inside the tire will experience a sharp drop, causing the tire's support performance and driving stability to be significantly weakened. As a result, the rubber surface of the tire will be squeezed by both the ground and the rim, causing deformation. During this process, the rim is very likely to come into direct contact with the ground in a very short period of time. This change increases the risk of the tire being caught in the road groove and separating from the wheel hub. If the vehicle turns the steering wheel significantly after a tire blowout in an attempt to adjust the vehicle's driving trajectory, this will cause the tire to be subjected to more significant lateral force, thereby increasing the possibility of the tire separating from the wheel hub.

[0189] Therefore, it is necessary to limit the steering wheel rotation angle of the tire-punctured vehicle 100:

[0190]

[0191] in, is the steering wheel rotation angle, To preset the minimum turning angle, The preset maximum rotation angle.

[0192] For trajectory planning, the constraint of the steering wheel angle can be transformed into a constraint on the trajectory. The calculation relationship between the steering wheel angle and the trajectory radius is:

[0193]

[0194] Where L is the front and rear wheelbase of the vehicle, and R is the track radius. The relationship between the track radius and the steering wheel turning angle can be obtained as follows:

[0195]

[0196] The lateral acceleration calculation formula of the tire blown vehicle 100 is:

[0197]

[0198] in, is the lateral acceleration of the tire, is the longitudinal speed of the tire, is the yaw angular velocity of the vehicle.

[0199] Also because

[0200]

[0201] Therefore, the lateral acceleration constraint condition of the tire-punctured vehicle 100 is:

[0202]

[0203] Furthermore, the lateral acceleration in equation (3) It can be obtained by meshing the range of values ​​provided by the lateral acceleration constraint.

[0204] In this way, the lateral acceleration of the vehicle with a tire burst 100 can be determined based on the preset minimum turning angle, the preset maximum turning angle, the front and rear wheelbases of the vehicle with a tire burst 100, and the longitudinal speed of the vehicle with a tire burst 100, and the trajectory can be planned based on the lateral acceleration constraint so that the planned trajectory can meet the lateral acceleration requirement of the vehicle with a tire burst 100.

[0205] In some embodiments, the first preset constraint condition includes a longitudinal acceleration constraint condition, and the longitudinal acceleration constraint condition is determined according to at least one of a road adhesion coefficient, a lateral acceleration of the vehicle 100 with a tire burst, and a gravity acceleration.

[0206] Specifically, the dynamic performance of the tire-punctured vehicle 100 is not only restricted by the driving capacity, but also by the adhesion conditions between the tire and the ground. In order to ensure that the tire-punctured vehicle 100 can continue to drive safely to a safe area (target terminal) and avoid adverse phenomena such as slipping and scratching, the relationship between the lateral and longitudinal accelerations and the road adhesion coefficient needs to be considered:

[0207]

[0208] in, is the longitudinal acceleration of the vehicle 100 with a flat tire, is the lateral acceleration of the vehicle 100 with a flat tire, is the road adhesion coefficient, is the acceleration due to gravity.

[0209] Combining formula (11), the limit range of the longitudinal acceleration of the tire-bursting vehicle 100 under the condition of ensuring the adhesion coefficient can be derived:

[0210]

[0211] in, is the minimum value of the lateral acceleration of the vehicle 100 with a tire blowout, is the maximum value of the lateral acceleration of the vehicle 100 with a tire blowout, is the scaling factor after a vehicle has a tire blowout, which can be obtained by calibrating the vehicle before it leaves the factory.

[0212] Furthermore, the longitudinal acceleration in equation (3) It can be obtained by meshing the range of values ​​provided by the longitudinal acceleration constraint.

[0213] In this way, the longitudinal acceleration constraint of the tire-punctured vehicle 100 can be determined according to the road adhesion coefficient, the lateral acceleration of the tire-punctured vehicle 100, and the gravity acceleration, so that the candidate path planned according to the longitudinal acceleration constraint can meet the stability requirement of the tire-punctured vehicle 100.

[0214] In some embodiments, the second preset constraint condition includes a curvature constraint condition, and the curvature constraint condition is determined according to at least one of a preset minimum turning angle, a preset maximum turning angle, and a front and rear wheelbase of the vehicle 100 with a flat tire.

[0215] The relationship between the curvature of the trajectory and the trajectory radius is:

[0216]

[0217] Therefore, in order to avoid tire unbending after a tire blowout, the curvature constraint condition can be obtained:

[0218]

[0219] In this way, a cost function can be determined according to the curvature constraint, so that multiple trajectories can be screened to obtain a target trajectory 110 that satisfies the curvature constraint.

[0220] See also Fig.11 In some embodiments, the trajectory planning method further comprises:

[0221] 02: Determine a safe area that the tire-punctured vehicle 100 can enter based on the tire-punctured vehicle 100 and the obstacle vehicles 200 around the tire-punctured vehicle 100;

[0222] Step 01, determining the target trajectory 110 of the tire-burst vehicle 100 according to preset constraints, including:

[0223] 013: According to the preset constraints and the safety area, the target trajectory 110 of the tire-punctured vehicle 100 is determined. The target trajectory 110 is the optimal trajectory of the tire-punctured vehicle 100 from the initial position to the target terminal, and the target terminal is within the safety area.

[0224] In some embodiments, the processor may be used to: determine a safe area that the tire-punctured vehicle 100 can enter based on the tire-punctured vehicle 100 and the obstacle vehicles 200 around the tire-punctured vehicle 100; and determine a target trajectory 110 of the tire-punctured vehicle 100 based on preset constraints and the safe area.

[0225] In some embodiments, the trajectory planning device further includes a second determination module, and the first determination module further includes a third determination submodule. The second determination module can be used to determine a safe area that the tire-bursting vehicle 100 can enter according to the tire-bursting vehicle 100 and the obstacle vehicles 200 around the tire-bursting vehicle 100; the third determination submodule can be used to determine the target trajectory 110 of the tire-bursting vehicle 100 according to the preset constraint conditions and the safe area.

[0226] Specifically, in the related art, when planning the trajectory of the vehicle 100 with a tire burst, points are scattered in all spaces around the vehicle 100 with a tire burst to plan the trajectory, which results in a long time consumption of the trajectory planning.

[0227] In the embodiment of the present application, the safe area that the tire-bursting vehicle 100 can enter is first determined based on the tire-bursting vehicle 100 and the obstacle vehicles 200 around the tire-bursting vehicle 100, and then the trajectory planning is performed on these safe areas based on the preset constraint conditions. This makes the trajectory planning more targeted and greatly reduces the calculation amount and calculation time of the trajectory planning of the tire-bursting vehicle 100.

[0228] Among them, whether the area around the obstacle vehicle 200 is a safe area can be determined based on the speed and acceleration of the tire-bursting vehicle 100 and the speed and acceleration of the obstacle vehicle 200. After determining the safe area and the obstacle avoidable lane, points can be scattered in the safe area, and combined with preset constraints, a polynomial can be used to fit the trajectory of the target terminal of the tire-bursting vehicle 100 entering the safe area at the current position.

[0229] In this way, by determining a safe area for the tire-bursting vehicle 100 and the obstacle vehicles 200 around the tire-bursting vehicle 100, and then performing trajectory planning for the safe area according to preset constraints, the amount of calculation for trajectory planning can be reduced.

[0230] See also Fig.12 In some embodiments, the obstacle vehicle 200 includes a plurality of obstacle vehicles 200. Step 02, according to the tire-bursting vehicle 100 and the obstacle vehicles 200 around the tire-bursting vehicle 100, determines a safe area that the tire-bursting vehicle 100 can enter, including:

[0231] 021: In the SL coordinate system, according to the status information of the vehicle with a flat tire 100, the status information of the obstacle vehicle 200, the first preset condition and the second preset condition, determine the safety area of ​​the vehicle with a flat tire in the side lane, and the side lane is adjacent to the current lane where the vehicle with a flat tire is located.

[0232] Specifically, at time t, the vehicle 100 with a flat tire is located in a certain lane Lane i When a vehicle encounters an obstacle and needs to avoid the obstacle, there will be Figure 4 The different trajectories shown in ① can change lanes by accelerating, keeping a constant speed, or decelerating. No matter which obstacle avoidance method the tire-punctured vehicle 100 chooses, it must maintain safety relative to other surrounding vehicles. Therefore, these potential obstacle avoidance trajectories are judged and screened in combination with the safe vehicle distance.

[0233] In the Cartesian coordinate system, the lateral motion of the vehicle is the dependent motion caused by the longitudinal motion, while the longitudinal motion and lateral motion of the vehicle in the vehicle coordinate system can be decoupled.

[0234] Since only the longitudinal motion of the vehicle needs to be considered, the tire-punctured vehicle and the obstacle vehicle in the Cartesian coordinate system can be projected into the SL coordinate system, thereby eliminating some unreasonable obstacle avoidance areas and their corresponding obstacle avoidance trajectories, leaving only Fig.13According to the first approach distance between the tire-bursting vehicle 100 and the first obstacle vehicle and the second approach distance between the tire-bursting vehicle 100 and the second obstacle vehicle, the possible safety area around the tire-bursting vehicle 100 can be further determined. Fig.13 As shown in ③, the safety area can be determined according to the status information of the tire-bursting vehicle 100 and the obstacle vehicle 200 and the first preset condition and the second preset condition.

[0235] The state information includes the bus position, speed and acceleration of the vehicle. The S coordinate of the flat tire vehicle 100 on the projected road is defined as: , the S coordinate of the obstacle vehicle 200 on the projected road, the vehicle speed and acceleration are ,in, is the number of obstacle vehicles 200, and .

[0236] It should be noted that the obstacle vehicle 200 is in the current lane where the tire-punctured vehicle 100 is located. Lane i , Side Lane Lane i+1 or Lane i-1 The vehicle on.

[0237] In the SL coordinate system, according to the state information of the tire-bursting vehicle 100 and the state information of the obstacle vehicle 200, it can be determined whether the first preset condition and the second preset condition are met, thereby determining whether the tire-bursting vehicle is in the side lane. Lane i+1 or Lane i-1 safe area.

[0238] In this way, the safety area can be determined based on the longitudinal state information of the vehicle 100 with a tire burst and the obstacle vehicle 200 in the SL coordinate system.

[0239] See also Fig.14 In some embodiments, step 021, based on the status information of the tire-bursting vehicle 100, the status information of the obstacle vehicle 200, the first preset condition and the second preset condition, determines the safety area of ​​the tire-bursting vehicle in the side lane, including:

[0240] 0211: When the state information of the vehicle with a flat tire 100 and the state information of the obstacle vehicle 200 meet a first preset condition, determining that the rear side of the obstacle vehicle 200 is an optional safety area;

[0241] 0212: When the state information of the vehicle with a flat tire 100 and the state information of the obstacle vehicle 200 meet a second preset condition, determining that the front side of the obstacle vehicle 200 is an optional safety area;

[0242] 0213: When the rear side of the first obstacle vehicle is an optional safety area and the front side of the second obstacle vehicle is an optional safety area, the area between the first obstacle vehicle and the second obstacle vehicle is determined as the safety area. On the S axis of the SL coordinate system, the first obstacle vehicle is in front of the second obstacle vehicle.

[0243] Specifically, the distance between the position of the i-th obstacle vehicle 200 after traveling for time t and the position of the tire-punctured vehicle 100 after traveling for time t is ,definition is a feasible obstacle avoidance input position for the tire-bursting vehicle 100. That is, the rear side of the i-th obstacle vehicle 200 is an optional safety area for the tire-bursting vehicle 100.

[0244] The distance between the positions of the (i+1)th obstacle vehicle 200 and the tire-punctured vehicle 100 after traveling for time t ,definition is a feasible obstacle avoidance input position for the tire-bursting vehicle 100. That is, the front side of the i+1th obstacle vehicle 200 is an optional safety area for the tire-bursting vehicle 100. In the S-axis direction, the i-th obstacle vehicle 200 is in front of the i+1th obstacle vehicle 200.

[0245] Since the rear side of the i-th obstacle vehicle 200 and the front side of the i+1-th obstacle vehicle 200 are both optional safety areas, and there is no other obstacle vehicle 200 between the i-th obstacle vehicle 200 and the i+1-th obstacle vehicle 200, the area between the i-th obstacle vehicle 200 and the i+1-th obstacle vehicle 200 is These are all safe areas. In this case, it can be considered that there is a safe area in the side lane.

[0246] In the driving direction of the vehicle 100 with a flat tire, the front side of the obstacle vehicle 200 is in front of the obstacle vehicle 200 , and the rear side of the obstacle vehicle 200 is behind the obstacle vehicle 200 .

[0247] In this way, according to whether the state information of the tire-punctured vehicle 100 and the state information of the obstacle vehicle 200 meet the first preset condition and / or the second preset condition, it can be determined whether the front side and / or the rear side of the obstacle vehicle 200 is an optional safety area. And when the area between two adjacent obstacle vehicles 200 is an optional safety area, the area between the two obstacle vehicles 200 is determined to be a safety area.

[0248] In some embodiments, the first preset condition is that within the preset time, the sum of the travel distance of the obstacle vehicle 200 and the preset distance is greater than or equal to the travel distance of the tire-punctured vehicle 100; the second preset condition is that within the preset time, the sum of the travel distance of the tire-punctured vehicle 100 and the preset distance is greater than or equal to the travel distance of the obstacle vehicle 200.

[0249] Specifically, when the longitudinal speed and longitudinal acceleration of the i-th obstacle vehicle 200 and the longitudinal speed and longitudinal acceleration of the tire-punctured vehicle 100 meet the first preset condition, the rear side of the i-th obstacle vehicle 200 is the optional safety area. The first preset condition is:

[0250]

[0251] in, It is the preset safety distance value, which can be set according to engineering experience. is the acceleration of the i-th obstacle vehicle 200, is the speed of the vehicle 10 having a tire blowout, is the acceleration of the vehicle 100 with a flat tire, The lane change time.

[0252] When the longitudinal speed and longitudinal acceleration of the i-th obstacle vehicle 200 and the longitudinal speed and longitudinal acceleration of the tire-punctured vehicle 100 meet the second preset condition, the front side of the i-th obstacle vehicle 200 is the optional safety area. The second preset condition is:

[0253]

[0254] in, It is a preset safety distance value, which can be set according to engineering experience.

[0255] In this way, the optional safety area can be determined according to the first preset condition and the second preset condition, and when the area between two adjacent obstacle vehicles 200 is the optional safety area, the area between the two obstacle vehicles 200 is determined as the safety area.

[0256] See also Fig.15 In some embodiments, step 02, based on the tire-bursting vehicle 100 and the obstacle vehicles 200 around the tire-bursting vehicle 100, determines a safe area that the tire-bursting vehicle 100 can enter, including:

[0257] 022: When there is no safety area in the side lane, determine that the area in front of the current lane where the vehicle with a flat tire 100 is located is the safety area of ​​the vehicle, and the side lane is adjacent to the current lane.

[0258] In some embodiments, the processor may be configured to determine that the area ahead of the current lane where the vehicle 100 with a tire burst is located is a safety area for the vehicle when there is no safety area in the side lane.

[0259] In some embodiments, the second determination module further includes a seventh determination submodule. The seventh determination submodule can be used to determine that the area ahead of the current lane where the tire-punctured vehicle 100 is located is a safety area for the vehicle when there is no safety area in the side lane.

[0260] Specifically, in In this case, it can be considered that there is no safe area in the side lanes. At this time, the front area of ​​the current lane is used as the safe area, and the vehicle 100 with a tire blowout will continue to travel along the current lane.

[0261] That is to say, if there is a non-selectable safety zone in the area between any two adjacent obstacle vehicles 200, it can be considered that there is no safety zone in the side lanes. The tire-punctured vehicle 100 cannot change lanes safely at this time, so it continues to drive in the current lane.

[0262] In this way, when there is no safety area in the side lane, the area in front of the current lane where the vehicle with a tire blowout 100 is located is determined as the vehicle's safety area to avoid safety problems caused by forced lane changes of the vehicle with a tire blowout 100.

[0263] An embodiment of the present application provides a vehicle, and the vehicle includes the electronic device as described in the above embodiment.

[0264] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0265] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of any of the above embodiments when the computer program is executed by a processor.

[0266] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0267] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0268] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0269] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0270] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A trajectory planning method for a vehicle with a tire blowout, characterized in that: The trajectory planning method comprises: Determining a target trajectory of the vehicle with a tire blowout according to preset constraints, wherein the preset constraints are determined according to vehicle state parameters of the vehicle with a tire blowout; The preset constraint condition includes a first preset constraint condition and a second preset constraint condition, and determining the target trajectory of the vehicle with a tire burst according to the preset constraint condition includes: Determining a candidate trajectory of the vehicle with a tire burst according to the first preset constraint condition; According to the second preset constraint condition, the target trajectory is determined among the candidate trajectories.

2. The trajectory planning method according to claim 1, characterized in that: The step of determining the candidate trajectory of the vehicle with a tire burst according to the first preset constraint condition comprises: Determining a longitudinal trajectory according to the longitudinal parameters of the vehicle with a tire blowout and a longitudinal fitting algorithm; Determining a lateral trajectory according to the lateral parameters of the vehicle with a tire burst and a lateral fitting algorithm; The candidate trajectory is determined according to the longitudinal trajectory and the transverse trajectory.

3. The trajectory planning method according to claim 2, characterized in that: The determining of the longitudinal trajectory according to the longitudinal parameters of the vehicle with a tire burst and a longitudinal fitting algorithm comprises: The longitudinal trajectory is determined according to the initial longitudinal position, the initial longitudinal velocity, the initial longitudinal acceleration, the terminal longitudinal position, the terminal longitudinal velocity, the terminal longitudinal acceleration and the longitudinal fitting algorithm, wherein the longitudinal parameters are time-dependent.

4. The trajectory planning method according to claim 2, characterized in that: The determining of the lateral trajectory according to the lateral parameters of the vehicle with a tire burst and a lateral fitting algorithm comprises: The lateral trajectory is determined according to the initial lateral position, the initial lateral velocity, the initial lateral acceleration, the terminal lateral position, the terminal lateral velocity, the terminal lateral acceleration and the lateral fitting algorithm, and the lateral parameters are related to the longitudinal position of the vehicle with a tire burst.

5. The trajectory planning method according to claim 1, characterized in that: The step of determining the target trajectory from the candidate trajectories according to the second preset constraint condition includes: Determining a cost function according to the second preset constraint condition; The target trajectory is determined according to the cost function and the candidate trajectories.

6. The trajectory planning method according to claim 5, characterized in that: The step of determining a cost function according to the second preset constraint condition comprises: Determine a collision detection cost function according to the size information and position information of the vehicle with a tire burst, and the size information and position information of obstacle vehicles around the vehicle with a tire burst; The cost function is determined according to the collision detection cost function and the second preset constraint condition.

7. The trajectory planning method according to claim 5, characterized in that: The candidate trajectories include a plurality of trajectories, and determining the target trajectory according to the cost function and the candidate trajectories includes: Determine a trajectory cost value corresponding to each candidate trajectory according to the cost function and each candidate trajectory; The candidate trajectory corresponding to the minimum value among the plurality of trajectory cost values ​​is used as the target trajectory.

8. The trajectory planning method according to claim 1, characterized in that: The first preset constraint condition includes a longitudinal speed constraint condition, which is determined based on at least one of the front axle vehicle cornering stiffness, rear axle wheel cornering stiffness, rear axle to center of mass length, front axle to center of mass length, moment of inertia and mass of the vehicle with a tire burst.

9. The trajectory planning method according to claim 1, characterized in that: The first preset constraint condition includes a longitudinal acceleration constraint condition, and the longitudinal acceleration constraint condition is determined according to at least one of a road adhesion coefficient, a lateral acceleration of the vehicle with a tire burst, and a gravity acceleration.

10. The trajectory planning method according to claim 1, characterized in that: The first preset constraint condition includes a lateral acceleration constraint condition, and the lateral acceleration constraint condition is determined according to at least one of a preset minimum turning angle, a preset maximum turning angle, a front and rear wheelbase of the vehicle with a tire burst, and a longitudinal speed of the vehicle with a tire burst.

11. The trajectory planning method according to claim 1, characterized in that: The second preset constraint condition includes a curvature constraint condition, and the curvature constraint condition is determined according to at least one of a preset minimum turning angle, a preset maximum turning angle, and a front and rear wheelbase of the vehicle with a tire burst.

12. The trajectory planning method according to claim 1, characterized in that: The trajectory planning method further includes: Determining a safe area that the vehicle with a tire burst can enter based on the vehicle with a tire burst and obstacle vehicles around the vehicle with a tire burst; Determining the target trajectory of the vehicle with a tire blowout according to the preset constraint conditions includes: According to the preset constraint conditions and the safety area, a target trajectory of the vehicle with a tire burst is determined, the target trajectory being an optimal trajectory of the vehicle with a tire burst from an initial position to a target terminal, and the target terminal is within the safety area.

13. The trajectory planning method according to claim 12, characterized in that: The obstacle vehicles include a plurality of vehicles, and determining the safe area that the vehicle with a tire burst can enter according to the vehicle with a tire burst and the obstacle vehicles around the vehicle with a tire burst, comprises: In the Station-Lateral coordinate system, the safety area of ​​the vehicle with a tire burst in a side lane is determined according to the state information of the vehicle with a tire burst, the state information of the obstacle vehicle, the first preset condition and the second preset condition, and the side lane is adjacent to the current lane where the vehicle with a tire burst is located.

14. The trajectory planning method according to claim 13, characterized in that: The step of determining the safety area of ​​the vehicle with a tire burst in the side lane according to the state information of the vehicle with a tire burst, the state information of the obstacle vehicle, a first preset condition, and a second preset condition comprises: When the state information of the vehicle with a flat tire and the state information of the obstacle vehicle meet a first preset condition, determining the rear side of the obstacle vehicle as an optional safety area; When the state information of the vehicle with a flat tire and the state information of the obstacle vehicle meet a second preset condition, determining the front side of the obstacle vehicle as an optional safety area; When the rear side of the first obstacle vehicle is the optional safety area and the front side of the second obstacle vehicle is the optional safety area, the area between the first obstacle vehicle and the second obstacle vehicle is determined as the safety area, and the first obstacle vehicle is in front of the second obstacle vehicle in the S-axis direction along the Station-Lateral coordinate system.

15. The trajectory planning method according to claim 14, characterized in that: The first preset condition is that: within a preset time, the sum of the travel distance of the obstacle vehicle and the preset distance is greater than or equal to the travel distance of the vehicle with a flat tire; The second preset condition is that within a preset time, the sum of the travel distance of the vehicle with a tire blowout and a preset distance is greater than or equal to the travel distance of the obstacle vehicle.

16. The trajectory planning method according to claim 12, characterized in that: The step of determining a safe area that the vehicle with a tire burst can enter based on the vehicle with a tire burst and obstacle vehicles around the vehicle with a tire burst includes: In the case that the side lane does not have the safety area, the area in front of the current lane where the vehicle with the tire burst is located is determined as the safety area for the vehicle with the tire burst, and the side lane is adjacent to the current lane.

17. An electronic device, characterized in that: The electronic device includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 16 are implemented.

18. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 17.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

20. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

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