A trajectory switching method, apparatus, device and medium
By constructing transition trajectory information and using polynomial curve coefficients to generate time variable sub-coefficients, the problem of uneven trajectory switching was solved, enabling smooth vehicle switching and improving driving safety and comfort.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- IMOTION AUTOMOTIVE TECH (SUZHOU) CO LTD
- Filing Date
- 2025-01-23
- Publication Date
- 2026-05-15
AI Technical Summary
In automatic lane changing mode, uneven trajectory switching can cause steering wheel vibration, affecting driving safety and comfort.
By constructing transition trajectory information and utilizing the polynomial curve coefficients of the current and target operating conditions, time variable sub-coefficients are generated to enable the vehicle to smoothly switch from the current operating condition to the target operating condition.
It achieves a smooth transition of driving trajectory, improving driving safety and comfort.
Smart Images
Figure CN119796251B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent driving, and in particular to a trajectory switching method, apparatus, device, and medium. Background Technology
[0002] With the rapid development of intelligent driving technology, autonomous vehicle 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 crucial step in ensuring safe and efficient vehicle operation.
[0003] In the process of intelligent driving control, there are multiple schemes for trajectory generation. For example, the traffic jam assist function fits the trajectory line from the historical position of the preceding vehicle, and the vehicle drives according to the historical trajectory line of the preceding vehicle; another example is to generate a target trajectory based on the center line of the lane for lane keeping assist function; or the automatic lane change mode plans a target trajectory based on the lane lines of two lanes.
[0004] However, in related technologies, 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 changing trajectory, and then directly switch the trajectory. Due to the unevenness of the switch, the control will be affected by the vibration of the steering wheel. Summary of the Invention
[0005] The purpose of this application is to provide a trajectory switching method, device, equipment, and medium that enables a vehicle to smoothly switch from the current operating condition to the target operating condition along a transition trajectory as the time variable changes continuously, achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.
[0006] Firstly, a trajectory switching method is provided, including:
[0007] When a trajectory switching request is received, the first driving trajectory information under the current working condition and the second driving trajectory information under the target working condition are obtained. Both the first driving trajectory information and the second driving trajectory information are polynomial curves. The first driving trajectory information includes multiple first coefficients, and the second driving trajectory information includes multiple second coefficients.
[0008] Transition trajectory information is constructed based on 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 time variables;
[0009] The vehicle is controlled to move according to the transition trajectory information so that, as the time variable changes, the vehicle can switch from the current operating condition to the target operating condition.
[0010] In a preferred embodiment, this application can be further configured to: construct transition trajectory information based on the plurality of first coefficients and the plurality of second coefficients, including:
[0011] Based on the plurality of first coefficients and the plurality of second coefficients, a plurality of transition coefficients are determined, wherein each transition coefficient includes a sub-coefficient consisting of a time variable;
[0012] Transition trajectory information is constructed based on the multiple transition coefficients.
[0013] In a preferred embodiment, this application may be further configured such that the sub-coefficients are at least linear functions of time variables.
[0014] In a preferred embodiment, this application can be further configured such that controlling vehicle movement according to transition trajectory information includes:
[0015] Get the total transition time;
[0016] Determine whether the total transition time has been reached from the switching moment to the current moment;
[0017] If not, the actual transition trajectory information is obtained by substituting the current time into the transition trajectory information, and the vehicle is controlled to drive according to the actual transition trajectory information until the total transition time is reached.
[0018] In a preferred embodiment, this application can be further configured such that obtaining the total transition time includes:
[0019] Obtain a preset correspondence, which is a correspondence between changing working conditions and transition time, wherein the changing working condition represents the change from the first working condition to the second working condition;
[0020] The total transition time is determined based on the preset correspondence, the current operating condition, and the target operating condition.
[0021] In a preferred embodiment, this application can be further configured such that the receiving trajectory switching request includes at least one of the following:
[0022] Get the user's route switching request;
[0023] Obtain the current road conditions and automatically generate a trajectory switching request based on the current road conditions.
[0024] In a preferred embodiment, this application can be further configured such that both the first driving trajectory information and the second driving trajectory information are cubic equations of trajectory.
[0025] Secondly, a trajectory switching device is provided, comprising:
[0026] The acquisition module is used to acquire first driving trajectory information under the current working condition and second driving trajectory information under the target working condition when a trajectory switching request is received. Both the first driving trajectory information and the second driving trajectory information are polynomial curves, and the first driving trajectory information includes multiple first coefficients, and the second driving trajectory information includes multiple second coefficients.
[0027] A construction module is used to construct transition trajectory information based on 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's movement according to the transition trajectory information, so that the vehicle can switch from the current working condition to the target working condition as the time variable changes.
[0029] Thirdly, an electronic device is provided, comprising:
[0030] One or more processors;
[0031] Memory;
[0032] One or more applications, wherein the applications are stored in memory and configured to be executed by one or more processors, the applications being configured to: perform operations corresponding to the methods shown in any possible implementation of the first aspect.
[0033] Fourthly, a computer-readable storage medium is provided, the storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded by a processor and performs the steps of the method shown in any possible implementation of the first aspect.
[0034] Fifthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements operations corresponding to the methods shown in any possible implementation of the first aspect.
[0035] In summary, the trajectory switching method provided in this application has the following beneficial technical effects:
[0036] Upon receiving a trajectory switching request, the system quickly responds and acquires the first driving trajectory information under the current operating condition and the second driving trajectory information under the target operating condition. Both driving trajectory information are polynomial curves. Based on multiple first coefficients of the first driving trajectory information and multiple second coefficients of the second driving trajectory information, transition trajectory information is constructed. Each transition coefficient of the transition trajectory information includes a sub-coefficient composed of time variables. As the time variables change continuously, the vehicle can smoothly switch from the current operating condition to the target operating condition along the transition trajectory, achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.
[0037] In addition, this application also provides a trajectory switching device, equipment, and medium, all of which have the aforementioned beneficial technical effects. Attached Figure Description
[0038] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 This is a schematic flowchart of a trajectory switching method provided in an embodiment of this application;
[0040] Figure 2 This is a schematic diagram illustrating a smooth transition process provided in an embodiment of this application;
[0041] Figure 3 This is a schematic diagram of the structure of a trajectory switching device provided in an embodiment of this application;
[0042] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0043] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.
[0044] It should be noted that, in the optional embodiments of this application, the data related to object information, when applied to specific products or technologies, requires the permission or consent of the object. Furthermore, the collection, use, and processing of this data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to an object, it must be obtained with the object's authorization and consent, the authorization and consent of relevant departments, and in accordance with the relevant laws, regulations, and standards of the country and region. If the embodiments involve personal information, the acquisition of all personal information requires the individual's consent. If sensitive information is involved, the separate consent of the information subject is required. The embodiments also need to be implemented with the object's authorization and consent.
[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0046] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have 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 rate of curvature change based on this equation for control. However, the planned cubic equation differs depending on the operating conditions. Switching between these equations can cause control jitter. Previous methods addressed this by adding filters to the control output, but this approach is slow and not particularly effective. A better approach is to address this issue by smoothing the trajectory transition at the control module's input.
[0048] Based on this, embodiments of this application provide a trajectory switching method, such as... Figure 1 As shown, the method provided in this application embodiment can be executed by an electronic device, which is a server. This server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, intelligent driving system, etc., but is not limited to these. This application embodiment does not impose any limitations on these. The method includes:
[0049] S101. When a trajectory switching request is received, the first driving trajectory information under the current working condition and the second driving trajectory information under the target working condition are obtained.
[0050] The first and second vehicle trajectory information are both polynomial curves, and the first vehicle trajectory information includes multiple first coefficients, while the second vehicle trajectory information includes multiple second coefficients.
[0051] In this context, a trajectory switching request refers to a signal generated by the user or electronic device based on current road conditions collected by sensors in an intelligent driving system, requesting a switch from the current driving trajectory to a target driving trajectory. The first driving trajectory information under the current condition refers to the information about the vehicle's upcoming switch to the second driving trajectory under the target condition. This information is represented in the form of a polynomial curve and includes multiple first coefficients, which are parameters of the polynomial curve. The second driving trajectory information under the target condition refers to the target driving trajectory that the vehicle is about to switch to. This information is also represented in the form of a polynomial curve and includes multiple second coefficients, which are also parameters of the polynomial curve, used to determine the shape and position of the target trajectory.
[0052] Specifically, when an electronic device receives a trajectory switching request, it will immediately initiate the trajectory switching process.
[0053] In some possible implementations, receiving a trajectory switching request includes obtaining a trajectory switching request sent by the user. In other possible implementations, current traffic conditions are obtained, and a trajectory switching request is automatically generated based on the current traffic conditions. The specific method used is not limited in the embodiments of this application.
[0054] It should be noted that the embodiments of this application do not limit the polynomial. The first vehicle trajectory information and the second vehicle trajectory information are both cubic equations of trajectory, or the first vehicle trajectory information and the second vehicle trajectory are both quintic equations of trajectory.
[0055] For example, taking a cubic equation as an example, the first trajectory information under the current working condition is: The second trajectory information under the target working condition is as follows: Several first coefficients include: Multiple second coefficients include: .
[0056] Taking a quintic equation as an example, the first trajectory information under the current working condition is: The second trajectory information under the target working condition is as follows: Several first coefficients include: Multiple second coefficients include: .
[0057] S102. Based on multiple first coefficients and multiple second coefficients, construct transition trajectory information. Each transition coefficient of the transition trajectory information includes a sub-coefficient composed of time variables.
[0058] It is understood that the transition trajectory information and the first or second vehicle trajectory information in the embodiments of this application are all in polynomial form.
[0059] One possible implementation of this application embodiment involves constructing transition trajectory information based on multiple first coefficients and multiple second coefficients. This includes: determining multiple transition coefficients based on the 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 based on the multiple transition coefficients. Determining multiple transition coefficients based on the multiple first coefficients and multiple second coefficients ensures that the transition trajectory can gradually transition from the current operating condition to the target operating condition. Constructing complete transition trajectory information based on these transition coefficients makes the transition trajectory construction process more efficient and accurate.
[0060] For example, taking a cubic equation as an example, the transition trajectory information can be: The transition coefficient includes: ;
[0061] in, ;
[0062] ;
[0063] ;
[0064] ;
[0065] K is a sub-coefficient of the transition coefficient.
[0066] In one possible embodiment, the sub-coefficients are at least linear functions composed of time variables, and can be... Alternatively, n can take values such as 1, 2, 3, 4, 5, etc., and t represents the time variable. This represents the total transition time.
[0067] In another possible embodiment, the sub-coefficients can be Alternatively, the sub-coefficients can be t represents the time variable. This represents the total transition time.
[0068] It is understood that the sub-coefficients in each coefficient can be completely identical or not completely identical, and this embodiment does not limit this.
[0069] S103. Control the vehicle's movement according to the transition trajectory information so that the vehicle can switch from the current working condition to the target working condition as the time variable changes.
[0070] In this embodiment, controlling vehicle driving according to transition trajectory information can actually measure the vehicle changing according to the transition trajectory information that changes over time. This results in the new trajectory having a tendency to first approach the old trajectory and then gradually switch to the new trajectory line, achieving a smooth trajectory transition. This makes the switching of the entire driving assistance system under different working conditions smoother and the driving experience more comfortable.
[0071] As can be seen, in this embodiment, upon receiving a trajectory switching request, the system quickly responds and acquires the first driving trajectory information under the current operating condition and the second driving trajectory information under the target operating condition. Both driving trajectory information are polynomial curves. Based on multiple first coefficients of the first driving trajectory information and multiple second coefficients of the second driving trajectory information, transition trajectory information is constructed. Each transition coefficient of the transition trajectory information includes a sub-coefficient composed of a time variable. As the time variable changes continuously, the vehicle can smoothly switch from the current operating condition to the target operating condition along the transition trajectory, achieving a smooth transition of the driving trajectory and significantly improving driving safety and comfort.
[0072] One possible implementation of this application embodiment, controlling vehicle movement according to transition trajectory information, includes:
[0073] Get the total transition time;
[0074] Determine whether the total transition time has been reached from the switching moment to the current moment;
[0075] If not, substitute the transition trajectory information into the current time to obtain the actual transition trajectory information, and control the vehicle to drive according to the actual transition trajectory information until the total transition time is reached.
[0076] In this context, a total transition time is preset in the electronic device. This time is the total duration required from the start of the switching moment to the end of the transition control. Total transition time It can be set based on experience.
[0077] Real-time recording of the time difference t from the switching moment to the current moment, and the time difference t is compared with the preset total transition time. Compare; if t is less than This indicates that the total transition time has not yet been reached, and transition control needs to continue; if t is equal to or greater than 1, the transition time is not yet reached. If the transition is complete, the transition control can be terminated and the driving control of the target condition can be switched to the target condition.
[0078] As can be seen, in this embodiment of the application, by obtaining the preset total transition time and monitoring the time difference from the switching time (i.e. the time when the transition control is started) to the current time 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 time and the preset transition trajectory information, and the driving state of the vehicle is controlled accordingly until the entire transition process is completed.
[0079] One possible implementation of this application embodiment is to obtain the total transition time, including: obtaining a preset correspondence, which is a correspondence between changing working conditions and transition time, where changing working conditions means changing from a first working condition to a second working condition; and determining the total transition time based on the preset correspondence, the current working condition, and the target working condition.
[0080] In this embodiment, a pre-stored correspondence table or function represents the mapping relationship between a change in operating condition (i.e., a change from one operating condition to another) and the required transition time. Each change in operating condition corresponds to one or more reasonable transition time ranges. The pre-set correspondence can be determined through experimental data, vehicle dynamics models, or expert experience and is stored in the electronic device. Based on the current operating condition and the target operating condition, the corresponding change in operating condition is found in the pre-set correspondence, and the corresponding total transition time is obtained. Therefore, in this embodiment, the pre-set correspondence directly associates the change in operating condition with the transition time. When a trajectory switching request is received, the corresponding total transition time is quickly found from the pre-set correspondence based on the current operating condition and the target operating condition.
[0081] One possible implementation of this application embodiment includes receiving a trajectory switching request, comprising at least one of the following:
[0082] Get the user's route switching request;
[0083] Get the current traffic conditions and automatically generate a trajectory switching request based on the current traffic conditions.
[0084] Specifically, when the vehicle is in intelligent driving mode or advanced driver assistance mode, the vehicle's sensor system collects road environment data in real time, including information on obstacles ahead detected by radar, road signs and traffic signals captured by cameras, and vehicle position and speed information provided by GPS, as the current operating condition. Then, based on the current operating condition, it automatically analyzes and determines whether it is necessary to switch operating conditions. If it is necessary to switch operating conditions, it automatically generates a trajectory switching request containing the target operating condition and corresponding driving trajectory parameters.
[0085] For example, suppose a vehicle is currently driving on a highway in lane keeping assist mode. At the current moment, traffic congestion occurs ahead of the vehicle, while the adjacent lane is relatively clear. At this time, the vehicle's sensor system detects the congestion ahead and identifies the adjacent lane as clearer. Based on this information, the electronic device automatically generates a trajectory switching request, instructing the vehicle to switch from the current lane keeping assist mode to traffic congestion assist mode or to automatic lane changing mode. When determining the switching mode, a second driving trajectory information corresponding to the target mode is also generated.
[0086] As can be seen, in this embodiment, the trajectory switching request receiving method supports users directly issuing trajectory switching requests. It can also automatically generate trajectory switching requests based on current road conditions, enabling vehicles to make intelligent judgments based on real-time road conditions and autonomously adjust their driving trajectory to adapt to the constantly changing traffic environment.
[0087] Based on any of the above embodiments, this application provides a specific trajectory switching method, including:
[0088] The cubic equation of a trajectory can be simplified to the following form: ;
[0089] Construct a Cartesian coordinate system with the center point of the vehicle's rear axle as the origin, the vehicle's direction of travel as the x-axis, and the parallel line to the rear axle as the y-axis. If the vehicle travels x meters forward, the lateral offset can be calculated using a formula. Using the vehicle as the reference frame, in the trajectory equation... This can be viewed as the lateral deviation between the trajectory of the vehicle and the target trajectory. This can be viewed as a deviation in heading angle. This can be viewed as a curvature deviation. This can be viewed as a deviation in the rate of change of curvature.
[0090] Therefore, the smooth transition between different trajectories can be viewed as a smooth transition of trajectory equation coefficients. Taking the trajectory transition between TJA (Traffic Jam Assist) and LKS (Lane Keeping Support) as an example, assuming the cubic trajectory equation obtained under the TJA condition is: ;
[0091] The trajectory equation of LKS is: ;
[0092] The purpose of this application's embodiments is to... Smooth transition to Design a function to output coefficient k, which can smoothly transition from 1 to 0, to obtain new transition trajectory information: ,
[0093] in: ,
[0094] ,
[0095] ,
[0096] ,
[0097] Considering the smoothness and timeliness of the transition, the change of k should ideally be slow at first and then fast. Therefore, the total transition time is designed as duration. This total transition time can be tested by adjusting the vehicle control in real-time through calibration. The software's runtime is cycleTime, which can be set to 0.02 seconds. Therefore, the total runtime required is... step.
[0098] design ;or, m from 1 to ;or, , i from 0 to ; Flowchart as Figure 2 As shown.
[0099] In this embodiment, the function characteristic of k is a downward-opening parabola with a tendency to change slowly at first and then quickly, so that the obtained new trajectory tends to approach the old trajectory first and then gradually switches to the new trajectory line. In the real vehicle verification of this embodiment, the transition time can be changed to adjust the speed of the transition, making the switching of the entire driving assistance system under different working conditions smoother and the driving experience more comfortable.
[0100] The following describes a trajectory switching device provided in an embodiment of this application. The trajectory switching device described below can be referred to in correspondence with the method described above. The trajectory switching device in this embodiment is installed in an electronic device. Figure 3 , Figure 3 This is a structural block diagram of a trajectory switching device according to one embodiment of this application, comprising:
[0101] The acquisition module 210 is used to acquire the first driving trajectory information under the current working condition and the second driving trajectory information under the target working condition when a trajectory switching request is received. The first driving trajectory information and the second driving trajectory information are both polynomial curves, and the first driving trajectory information includes multiple first coefficients and the second driving trajectory information includes multiple second coefficients.
[0102] The construction module 220 is used to construct transition trajectory information based on multiple first coefficients and multiple second coefficients, wherein each transition coefficient of the transition trajectory information includes a sub-coefficient composed of time variables.
[0103] The control module 230 is used to control the vehicle's movement according to the transition trajectory information, so that the vehicle can switch from the current working condition to the target working condition as the time variable changes.
[0104] In a preferred example, this application can be further configured to: construct transition trajectory information based on multiple first coefficients and multiple second coefficients, including:
[0105] Multiple transition coefficients are determined based on multiple first coefficients and multiple second coefficients, wherein each transition coefficient includes a sub-coefficient consisting of a time variable;
[0106] Transition trajectory information is constructed based on multiple transition coefficients.
[0107] In a preferred example, this application can be further configured such that the sub-coefficients are at least linear functions of time variables.
[0108] In a preferred embodiment, this application can be further configured as follows: control module 230, for:
[0109] Get the total transition time;
[0110] Determine whether the total transition time has been reached from the switching moment to the current moment;
[0111] If not, substitute the transition trajectory information into the current time to obtain the actual transition trajectory information, and control the vehicle to drive according to the actual transition trajectory information until the total transition time is reached.
[0112] In a preferred embodiment, this application can be further configured as follows: control module 230, for:
[0113] Obtain the preset correspondence, which is the correspondence between the changing working condition and the transition time. The changing working condition means changing from the first working condition to the second working condition.
[0114] The total transition time is determined based on the preset correspondence, the current operating condition, and the target operating condition.
[0115] In a preferred example, this application can be further configured such that: module 210 is used for:
[0116] Get the user's route switching request;
[0117] Get the current traffic conditions and automatically generate a trajectory switching request based on the current traffic conditions.
[0118] In a preferred embodiment, this application can be further configured such that both the first and second vehicle trajectory information are cubic equations of trajectory.
[0119] This application provides an electronic device, such as... Figure 4 As shown, Figure 4 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.
[0120] 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 can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
[0121] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0122] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.
[0123] The memory 303 is used to store application code that executes the solution of this application, and its 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 content shown in the foregoing method embodiments.
[0124] Figure 4 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0125] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.
[0126] This application provides a computer program product, including a computer program that, when executed by a processor, implements the corresponding content in the aforementioned method embodiments.
[0127] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.
[0128] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A trajectory switching method, characterized in that, include: When a trajectory switching request is received, the vehicle obtains the first driving trajectory information under the current operating condition and the second driving trajectory information under the target operating condition. Both the first driving trajectory information and the second driving trajectory information are polynomial curves. The first driving trajectory information includes multiple first coefficients, and the second driving trajectory information includes multiple second coefficients. The second driving trajectory information under the target operating condition refers to the target driving trajectory that the vehicle is about to switch to. Transition trajectory information is constructed based on 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 time variables; The vehicle is controlled to drive according to the transition trajectory information so that the vehicle can switch from the current working condition to the target working condition as the time variable changes. The method of controlling vehicle movement according to transition trajectory information includes: Get the total transition time; Determine whether the total transition time has been reached from the switching moment to the current moment; If not, the actual transition trajectory information is obtained by substituting the current time into the transition trajectory information, and the vehicle is controlled to drive according to the actual transition trajectory information until the total transition time is reached.
2. The method according to claim 1, characterized in that, Transition trajectory information is constructed based on the plurality of first coefficients and the plurality of second coefficients, including: Based on the plurality of first coefficients and the plurality of second coefficients, a plurality of transition coefficients are determined, wherein each transition coefficient includes a sub-coefficient consisting of a time variable; Transition trajectory information is constructed based on the multiple transition coefficients.
3. The method according to claim 1, characterized in that, The sub-coefficients are at least linear functions composed of time variables.
4. The method according to claim 1, characterized in that, The process of obtaining the total transition time includes: Obtain a preset correspondence, which is a correspondence between changing working conditions and transition time, wherein the changing working condition represents the change from the first working condition to the second working condition; The total transition time is determined based on the preset correspondence, the current operating condition, and the target operating condition.
5. The method according to claim 1, characterized in that, The received trajectory switching request includes at least one of the following: Get the user's route switching request; Obtain the current road conditions and automatically generate a trajectory switching request based on the current road conditions.
6. The method according to claim 1, characterized in that, Both the first and second vehicle trajectory information are cubic equations of trajectory.
7. A trajectory switching device, characterized in that, include: The acquisition module is used to acquire, when receiving a trajectory switching request, the first driving trajectory information under the current operating condition and the second driving trajectory information under the target operating condition. Both the first driving trajectory information and the second driving trajectory information are polynomial curves. The first driving trajectory information includes multiple first coefficients, and the second driving trajectory information includes multiple second coefficients. The second driving trajectory information under the target operating condition refers to the target driving trajectory that the vehicle is about to switch to. A construction module is used to construct transition trajectory information based on 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's movement according to the transition trajectory information, so that the vehicle can switch from the current working condition to the target working condition as the time variable changes; The control module is used to obtain the total transition time; Determine whether the total transition time has been reached from the switching time to the current time; if not, substitute the transition trajectory information into the current time to obtain the actual transition trajectory information, and control the vehicle to drive according to the actual transition trajectory information until the total transition time is reached.
8. 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, the one or more applications being configured to: perform the steps of the method according to any one of claims 1 to 6.
9. 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 a processor and executed according to the steps of the method according to any one of claims 1 to 6.