Track switching method and device, equipment and medium

Abstract

The invention relates to the field of intelligent driving, in particular to a track switching method, device and equipment and a medium, and the method comprises the steps that when a track switching request is received, first driving track information under a current working condition and second driving track information under a target working condition are quickly responded and acquired, and the driving track information is polynomial curves; according to a plurality of first coefficients of the first driving track information and a plurality of second coefficients of the second driving track information, transition track information is constructed, each transition coefficient of the transition track information comprises a sub-coefficient composed of a time variable, and the sub-coefficient changes continuously along with the time variable. The vehicle can be stably switched from the current working condition to the target working condition along the transition track, smooth transition of the driving track is achieved, and driving safety and comfort are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to a trajectory switching method, device, equipment and medium. Background Art

[0002] With the rapid development of intelligent driving technology, vehicle autonomous navigation and path planning have become one of the core functions of intelligent driving systems. In the process of intelligent driving control, trajectory generation is a key link to ensure safe and efficient driving of vehicles.

[0003] In the process of intelligent driving control, there are many schemes for trajectory generation. For example, the traffic congestion assistance function is to fit the trajectory line based on the historical position of the front vehicle, and the vehicle drives according to the historical trajectory line of the front vehicle; another example is to generate a target trajectory based on the center line of the lane for lane keeping assistance function; or the automatic lane change condition plans a target trajectory based on the lane lines of the two lanes.

[0004] However, in the related technology, under automatic lane changing conditions, the system will comprehensively consider the lane line information of the current lane and the adjacent lane, plan a safe and feasible lane change trajectory, and then directly switch the trajectory. Due to the uneven switching, it will be reflected in the control and cause steering wheel shaking problems. Summary of the invention

[0005] The purpose of the present application is to provide a trajectory switching method, device, equipment and medium, which can enable the vehicle to smoothly switch from the current operating condition to the target operating condition along the transition trajectory as the time variable continuously changes, thereby achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.

[0006] In a first aspect, a track switching method is provided, comprising:

[0007] When receiving a trajectory switching request, obtaining first driving trajectory information under a current working condition and second driving trajectory information under a target working condition, wherein the first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients;

[0008] Constructing transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable;

[0009] The vehicle driving is controlled according to the transition trajectory information so that the vehicle switches from the current operating condition to the target operating condition as the time variable changes.

[0010] In a preferred example, the present application may be further configured as follows: constructing transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, including:

[0011] Determine a plurality of transition coefficients according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient includes a sub-coefficient composed of a time variable;

[0012] Transition trajectory information is constructed according to the multiple transition coefficients.

[0013] In a preferred example, the present application may be further configured as follows: the sub-coefficient is at least a linear function composed of time variables.

[0014] In a preferred example, the present application may be further configured as follows: controlling the vehicle driving according to the transition trajectory information includes:

[0015] Get the total transition time;

[0016] Determine whether the total transition time from the switching moment to the current moment has been reached;

[0017] If not, the transition trajectory information is substituted according to the current time to obtain actual transition trajectory information, and the vehicle is controlled to travel according to the actual transition trajectory information until the total transition time is reached.

[0018] In a preferred example, the present application may be further configured as follows: the obtaining of the total transition time includes:

[0019] Acquire a preset corresponding relationship, where the preset corresponding relationship is a corresponding relationship between a change working condition and a transition time, where the change working condition represents a change from a first working condition to a second working condition;

[0020] The total transition time is determined according to the preset corresponding relationship, the current operating condition and the target operating condition.

[0021] In a preferred example, the present application may be further configured as follows: the receiving of the track switching request includes at least one of the following:

[0022] Get the track switching request sent by the user;

[0023] The current road condition is obtained, and a track switching request is automatically generated according to the current road condition.

[0024] In a preferred example, the present application may be further configured as follows: the first driving trajectory information and the second driving trajectory information are both trajectory cubic equations.

[0025] In a second aspect, a track switching device is provided, comprising:

[0026] an acquisition module, configured to acquire, when receiving a trajectory switching request, first driving trajectory information under a current working condition and second driving trajectory information under a target working condition, wherein the first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients;

[0027] A construction module, configured to construct transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable;

[0028] The control module is used to control the vehicle driving according to the transition trajectory information so that the vehicle switches from the current working condition to the target working condition as the time variable changes.

[0029] In a third aspect, an electronic device is provided, including:

[0030] one or more processors;

[0031] Memory;

[0032] One or more applications, wherein one or more applications are stored in a memory and configured to be executed by one or more processors, and one or more programs are configured to: perform operations corresponding to the method shown in any possible implementation of the first aspect.

[0033] In a fourth aspect, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded by a processor and executes the steps of the method shown in any possible implementation of the first aspect.

[0034] In a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, operations corresponding to the method shown in any possible implementation manner in the first aspect are implemented.

[0035] In summary, the track switching method provided by the present application includes the following beneficial technical effects:

[0036] When receiving a trajectory switching request, the system quickly responds and obtains the first driving trajectory information under the current working condition and the second driving trajectory information under the target working condition, wherein the driving trajectory information is a polynomial curve; according to the multiple first coefficients of the first driving trajectory information and the multiple second coefficients of the second driving trajectory information, the system constructs the transition trajectory information, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable, and as the time variable continuously changes, the vehicle can smoothly switch from the current working condition to the target working condition along the transition trajectory, thereby achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.

[0037] In addition, the present application also provides a track switching device, equipment and medium, all of which have the above-mentioned beneficial technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a schematic diagram of a trajectory switching method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a smooth transition process provided in an embodiment of the present application;

[0041] Figure 3 is a structural schematic diagram of a track switching device provided in an embodiment of the present application;

[0042] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, a person skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by the patent law as long as they are within the scope of the present application.

[0044] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0047] The trajectory equation is a cubic polynomial equation. The control module calculates the target's lateral deviation, heading angle deviation, curvature, and curvature change rate based on the cubic polynomial equation for control. However, the cubic equations planned for different working conditions are different, and the switching process of several equations will cause control jitter. The previous method is to add filtering to the output of the control to solve this problem. This method is relatively lagging and the effect is not particularly ideal. A better method is to solve this problem from the input of the control module, that is, the smooth transition of the trajectory.

[0048] Based on this, the present application embodiment provides a track switching method, such as Figure 1 As shown, the method provided in the embodiment of the present application can be executed by an electronic device, and the electronic device is a server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, an intelligent driving system, etc., but is not limited to this. The embodiment of the present application is not limited here. The method includes:

[0049] S101, when receiving a track switching request, obtaining first driving track information under a current working condition and second driving track information under a target working condition;

[0050] The first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients.

[0051] Among them, the trajectory switching request represents a request signal for switching from the driving trajectory of the current working condition to the driving trajectory of the target working condition, which is input by the user or automatically generated by the electronic device according to the current road conditions collected by the sensor in the intelligent driving system. The first driving trajectory information under the current working condition refers to the information that the vehicle is about to switch to the second driving trajectory under the target working condition, which is expressed in the form of a polynomial curve. The first driving trajectory information includes multiple first coefficients, and the first coefficients are parameters of the polynomial curve. The second driving trajectory information under the target working condition refers to the target driving trajectory that the vehicle is about to switch to, which is in the form of a polynomial curve. The second driving trajectory information includes multiple second coefficients, which are also parameters of the polynomial curve and are used to determine the shape and position of the target trajectory.

[0052] Specifically, when the electronic device receives a track switching request, it immediately starts the track switching process.

[0053] In some possible implementations, receiving the track switching request includes obtaining the track switching request sent by the user. In other possible implementations, the current road condition is obtained, and the track switching request is automatically generated according to the current road condition. The specific method is not limited in the embodiments of the present application.

[0054] It should be noted that the embodiment of the present application does not limit the polynomial, and the first vehicle trajectory information and the second vehicle trajectory information are both trajectory cubic equations, or the first vehicle trajectory information and the second vehicle trajectory are both trajectory quintic equations.

[0055] Exemplarily, taking the cubic equation as an example, the first trajectory information under the current working condition is: ; The second trajectory information under the target condition is: The plurality of first coefficients include: ; The plurality of second coefficients include: .

[0056] Taking the quintic equation as an example, the first trajectory information under the current working condition is: ; The second trajectory information under the target condition is: The plurality of first coefficients include: ; The plurality of second coefficients include: .

[0057] S102, constructing transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable;

[0058] It can be understood that the transition trajectory information and the first driving trajectory information or the second driving trajectory information in the embodiment of the present application are all in polynomial form.

[0059] A possible implementation of the embodiment of the present application is to construct transition trajectory information according to multiple first coefficients and multiple second coefficients, including: determining multiple transition coefficients according to multiple first coefficients and multiple second coefficients, wherein each transition coefficient includes a sub-coefficient composed of a time variable; and constructing transition trajectory information according to multiple transition coefficients. Determining multiple transition coefficients according to multiple first coefficients and multiple second coefficients ensures that the transition trajectory can gradually transition from the current working condition to the target working condition, and constructing complete transition trajectory information according to these transition coefficients makes the construction process of the transition trajectory more efficient and accurate.

[0060] Exemplarily, taking a cubic equation as an example, the transition trajectory information may be: , the transition coefficients include: ;

[0061] in, ;

[0062] ;

[0063] ;

[0064] ;

[0065] K is a sub-coefficient of the transition coefficient.

[0066] In a possible embodiment, the sub-coefficient is at least a function of a time variable, which can be , or, n can be 1, 2, 3, 4, 5, etc., t represents the time variable, is the total transition time.

[0067] In another possible embodiment, the sub-coefficients may be , or, the sub-coefficients can be , t represents the time variable, is the total transition time.

[0068] It can be understood that the sub-coefficients in each coefficient may be completely the same or may not be completely the same, and this embodiment is not limited thereto.

[0069] S103: Control the vehicle driving according to the transition trajectory information, so that the vehicle switches from the current operating condition to the target operating condition as the time variable changes.

[0070] In an embodiment of the present application, the vehicle driving is controlled according to the transition trajectory information, and it is possible to measure the vehicle changing according to the transition trajectory information that changes over time, so that the obtained new trajectory has a tendency to first approach the old trajectory and then gradually switch to the new trajectory line, thereby achieving a smooth transition of the trajectory, making the switching of the entire driving assistance system in different working conditions smoother and the driving experience more comfortable.

[0071] It can be seen that in the embodiment of the present application, when receiving a trajectory switching request, the first driving trajectory information under the current working condition and the second driving trajectory information under the target working condition are quickly responded to and obtained, and the driving trajectory information are all polynomial curves; according to the multiple first coefficients of the first driving trajectory information and the multiple second coefficients of the second driving trajectory information, the transition trajectory information is constructed, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable, and as the time variable continuously changes, the vehicle can smoothly switch from the current working condition to the target working condition along the transition trajectory, thereby achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.

[0072] A possible implementation of the embodiment of the present application is to control the vehicle driving according to the transition trajectory information, including:

[0073] Get the total transition time;

[0074] Determine whether the total transition time from the switching moment to the current moment has been reached;

[0075] If not, the transition trajectory information is substituted according to the current time to obtain the actual transition trajectory information, and the vehicle is controlled to travel according to the actual transition trajectory information until the total transition time is reached.

[0076] Among them, a total transition time is preset in the electronic device , which is the total time required from the switching moment to the end of transition control. Total transition time can be set based on experience.

[0077] Record the time difference t from the switching moment to the current moment in real time, and compare the time difference t with the preset total transition time. Compare; if t is less than , indicating that the total transition time has not been reached and transition control needs to be continued; if t is equal to or greater than , it means that the transition process has been completed, and the transition control can be ended and switched to the driving control of the target working condition.

[0078] It can be seen that in the embodiment of the present application, by obtaining the preset total transition time and monitoring the time difference from the switching moment (i.e., the moment when the transition control starts to be executed) to the current moment in real time, it is determined whether the predetermined transition stage has been reached; if it has not been reached, the actual transition trajectory to be executed is calculated based on the current moment and the preset transition trajectory information, and the driving state of the vehicle is controlled accordingly until the entire transition process is completed.

[0079] A possible implementation method of an embodiment of the present application is to obtain the total transition time, including: obtaining a preset corresponding relationship, the preset corresponding relationship is the corresponding relationship between the change operating condition and the transition time, the change operating condition represents the change from the first operating condition to the second operating condition; determining the total transition time according to the preset corresponding relationship, the current operating condition and the target operating condition.

[0080] In an embodiment of the present application, a correspondence table or function is pre-stored, and the correspondence represents the mapping relationship between the change working condition (i.e., the change from one working condition to another working condition) and the required transition time, and each change working condition corresponds to one or more reasonable transition time ranges. The preset correspondence can be determined by experimental data, vehicle dynamics model or expert experience, and is stored in the electronic device. According to the current working condition and the target working condition, the corresponding change working condition is found in the preset correspondence, and the corresponding total transition time is obtained. It can be seen that in an embodiment of the present application, the preset correspondence directly links the change working condition with the transition time. When a trajectory switching request is received, the corresponding total transition time is quickly found from the preset correspondence according to the current working condition and the target working condition.

[0081] In a possible implementation of the embodiment of the present application, receiving a track switching request includes at least one of the following:

[0082] Get the track switching request sent by the user;

[0083] Get the current road conditions and automatically generate a track switching request based on the current road conditions.

[0084] Specifically, when the vehicle is in intelligent driving mode or advanced assisted driving mode, the vehicle sensor system collects road environment data in real time, including information on obstacles ahead detected by radar, road signs and traffic signal information captured by the camera, and vehicle position and speed information provided by GPS, as the current operating condition. Then, it automatically analyzes the current operating condition to determine whether the operating condition needs to be switched. If the operating condition needs to be switched, a trajectory switching request including the target operating condition and corresponding driving trajectory parameters is automatically generated.

[0085] For example, suppose the vehicle is currently traveling on a highway and is in a lane keeping assist condition. At the current moment, there is a traffic jam in front of the lane and the adjacent lane is relatively unobstructed. At this time, the vehicle's sensor system detects the congestion ahead and recognizes that the adjacent lane is more unobstructed. Based on this information, the electronic device automatically generates a trajectory switching request, instructing the vehicle to switch from the current lane keeping assist condition to the traffic congestion assist condition or to the automatic lane change condition. When determining the switching condition, a second driving trajectory information corresponding to the target condition is also generated.

[0086] It can be seen that in the embodiment of the present application, the receiving method of the track switching request supports the user to directly issue the track switching request. It can also automatically generate a track switching request according to the current road conditions, so that the vehicle can make intelligent judgments according to the real-time road conditions and autonomously adjust the driving trajectory to adapt to the ever-changing traffic environment.

[0087] Based on any of the above embodiments, the present application provides a specific track switching method, including:

[0088] The trajectory cubic equation can be written in the following form: ;

[0089] The Cartesian coordinate system is constructed with the center point of the rear axle of the vehicle as the origin, the direction of the front of the vehicle as the x-axis, and the parallel line of the rear axle as the y-axis. The vehicle travels forward for a distance of x meters, and the distance the vehicle has offset laterally can be calculated according to the formula. Taking the vehicle as the reference system, in the trajectory equation, It can be regarded as the lateral deviation between the vehicle and the target trajectory. It can be regarded as the heading angle deviation. It can be regarded as curvature deviation. It can be regarded as the curvature change rate deviation.

[0090] Therefore, the smooth transition of direct switching between different trajectories can be regarded as the smooth switching of trajectory equation coefficients. Taking the trajectory transition between TJA (Traffic Jam Assit) and LKS (Lane keeping Support) as an example, assuming that the trajectory cubic equation obtained under TJA condition is: ;

[0091] The trajectory equation of LKS is: ;

[0092] The purpose of this embodiment of the application is to Smooth transition to . Design a function output coefficient k, k can smoothly transition from 1 to 0, and obtain a new transition trajectory information: ,

[0093] in: ,

[0094] ,

[0095] ,

[0096] ,

[0097] Considering the smoothness and timeliness of the switching, it is best for k to change slowly at first and then quickly. Then the total transition time is designed to be duration. The total transition time can be modified by real-time calibration to test the quality of vehicle control. The software operation cycle is cycleTime, which can be set to 0.02s. Then the total number of operations required is step.

[0098] design ;or, , m from 1 to ;or, , , i ranges from 0 to ; Flowchart as Figure 2 shown.

[0099] In the embodiment of the present application, the function characteristic of k is a parabola opening downward, and has a tendency to change slowly first and then quickly, so that the obtained new trajectory has a tendency to first approach the old trajectory, and then gradually switch to the new trajectory line; when the embodiment of the present application is verified on a real vehicle, the transition time can be changed to condition the speed of the transition, so that the switching of the entire driving assistance system under different working conditions is smoother and the driving experience is more comfortable.

[0100] A track switching device provided in an embodiment of the present application is introduced below. The track switching device described below and the method described above can be referred to each other. The track switching device of this embodiment is set in an electronic device. Figure 3 , Figure 3 : is a structural block diagram of a track switching device according to one embodiment of the present application, comprising:

[0101] An acquisition module 210 is used to acquire first driving trajectory information under a current working condition and second driving trajectory information under a target working condition when receiving a trajectory switching request, wherein the first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients;

[0102] A construction module 220, configured to construct transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable;

[0103] The control module 230 is used to control the vehicle driving according to the transition trajectory information so that the vehicle switches from the current operating condition to the target operating condition as the time variable changes.

[0104] In a preferred example, the present application can be further configured as follows: constructing transition trajectory information according to a plurality of first coefficients and a plurality of second coefficients, including:

[0105] Determine a plurality of transition coefficients according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient includes a sub-coefficient composed of a time variable;

[0106] According to multiple transition coefficients, transition trajectory information is constructed.

[0107] In a preferred example, the present application can be further configured as follows: the sub-coefficient is at least a linear function composed of time variables.

[0108] In a preferred example, the present application can be further configured as: a control module 230 for:

[0109] Get the total transition time;

[0110] Determine whether the total transition time from the switching moment to the current moment has been reached;

[0111] If not, the transition trajectory information is substituted according to the current time to obtain the actual transition trajectory information, and the vehicle is controlled to travel according to the actual transition trajectory information until the total transition time is reached.

[0112] In a preferred example, the present application can be further configured as: a control module 230 for:

[0113] Obtaining a preset corresponding relationship, where the preset corresponding relationship is a corresponding relationship between a change working condition and a transition time, and the change working condition indicates a change from a first working condition to a second working condition;

[0114] The total transition time is determined based on the preset correspondence, current operating conditions and target operating conditions.

[0115] In a preferred example, the present application may be further configured as follows: an acquisition module 210 is used to:

[0116] Get the track switching request sent by the user;

[0117] Get the current road conditions and automatically generate a track switching request based on the current road conditions.

[0118] In a preferred example, the present application can be further configured as follows: the first vehicle trajectory information and the second vehicle trajectory information are both trajectory cubic equations.

[0119] An electronic device is provided in an embodiment of the present application, such as Figure 4 As shown, Figure 4 The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0120] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0121] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0123] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0124] Figure 4 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0126] An embodiment of the present application provides a computer program product, including a computer program, which implements the corresponding contents of the aforementioned method embodiment when the computer program is executed by a processor.

[0127] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0128] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A track switching method, characterized in that: include: When receiving a trajectory switching request, obtaining first driving trajectory information under a current working condition and second driving trajectory information under a target working condition, wherein the first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients; Constructing transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable; The vehicle driving is controlled according to the transition trajectory information so that the vehicle switches from the current operating condition to the target operating condition as the time variable changes.

2. The method according to claim 1, characterized in that Constructing transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, including: Determine a plurality of transition coefficients according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient includes a sub-coefficient composed of a time variable; Transition trajectory information is constructed according to the multiple transition coefficients.

3. The method according to claim 1, characterized in that The sub-coefficients are at least a linear function composed of time variables.

4. The method according to claim 1, characterized in that The controlling the vehicle driving according to the transition trajectory information includes: Get the total transition time; Determine whether the total transition time from the switching moment to the current moment has been reached; If not, the transition trajectory information is substituted according to the current time to obtain actual transition trajectory information, and the vehicle is controlled to travel according to the actual transition trajectory information until the total transition time is reached.

5. The method according to claim 4, characterized in that The obtaining of the total transition time comprises: Acquire a preset corresponding relationship, where the preset corresponding relationship is a corresponding relationship between a change working condition and a transition time, where the change working condition represents a change from a first working condition to a second working condition; The total transition time is determined according to the preset corresponding relationship, the current operating condition and the target operating condition.

6. The method according to claim 1, characterized in that The receiving of the track switching request includes at least one of the following: Get the track switching request sent by the user; The current road condition is obtained, and a track switching request is automatically generated according to the current road condition.

7. The method according to claim 1, characterized in that The first driving trajectory information and the second driving trajectory information are both trajectory cubic equations.

8. A track switching device, characterized in that: include: an acquisition module, configured to acquire, when receiving a trajectory switching request, first driving trajectory information under a current working condition and second driving trajectory information under a target working condition, wherein the first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes a plurality of first coefficients, and the second driving trajectory information includes a plurality of second coefficients; A construction module, configured to construct transition trajectory information according to the plurality of first coefficients and the plurality of second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable; The control module is used to control the vehicle driving according to the transition trajectory information so that the vehicle switches from the current working condition to the target working condition as the time variable changes.

9. An electronic device, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to: perform the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded by the processor and executes the steps of the method according to any one of claims 1 to 7.

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