Control method and control device of movable platform, movable platform and storage medium

Abstract

The invention discloses a control method and a control device of a movable platform, the movable platform and a storage medium. The method comprises the following steps: acquiring a target path of movement of the movable platform; target information is obtained, the target information comprises high-precision map information and historical motion information, and the high-precision map information and the historical motion information are associated with the target path; and generating a control instruction based on the target information, wherein the control instruction is used for controlling the movable platform to move along the target path. The movable platform can obtain the target path of the movement of the movable platform and the target information which is associated with the target path and comprises the high-precision map information and the historical movement information, and flexibly generates the control instruction for controlling the movable platform to move along the target path based on the target information. Therefore, autonomous navigation of the movable platform along the target path is safer and more reasonable, and the accuracy is higher.

Description

Control method and device for movable platform, movable platform and storage medium Technical Field

[0001] The embodiments of the present application relate to the technical field of mobile platforms, and in particular, to a control method, a control device, a mobile platform, and a storage medium for a mobile platform. Background Art

[0002] Mobile platforms, such as ground platforms and aircraft, are widely used in this field. Intelligent and efficient autonomous navigation is essential. For example, autonomous driving on urban roads presents significant technical challenges for vehicles as ground platforms. Current assisted driving solutions are limited to low-speed driving on complex urban roads, where GPS signal interference is significant. This can lead to inaccurate positioning, making it easy to miss intersections or navigate to unintended roads. The accuracy of autonomous navigation needs to be improved.

[0003] Summary of the Invention

[0004] In view of this, the present application provides a control method, a control device and a storage medium for a mobile platform, aiming to improve the autonomous navigation capability of the mobile platform.

[0005] According to a first aspect of the present application, a control method for a movable platform is provided, the control method comprising:

[0006] Obtaining a target path for movement of the movable platform;

[0007] Acquiring target information, the target information including high-precision map information and historical movement information, wherein the high-precision map information and the historical movement information are associated with the target path;

[0008] A control instruction is generated based on the target information, where the control instruction is used to control the movable platform to move along the target path.

[0009] According to a second aspect of the present application, a control method for a movable platform is provided, the control method comprising:

[0010] Get the target location;

[0011] determining a target path for movement of the movable platform based on the target position;

[0012] Acquiring real-time perception information associated with the movable platform and high-precision map information associated with the target path;

[0013] Matching the real-time perception information with the high-precision map information to determine the positioning information of the movable platform;

[0014] Obtaining historical motion information associated with the target path;

[0015] A control instruction is generated based on the positioning information and the historical movement information, where the control instruction is used to control the movable platform to move along the target path.

[0016] According to a third aspect of the present application, a control device for a mobile platform is provided, the control device comprising a processor and a memory for storing processor executable program instructions, wherein the processor executes the control method of any embodiment of the specification when calling the executable program instructions.

[0017] According to the fourth aspect of the present application, a movable platform is provided, which includes a main body, a power component and a control device of the movable platform, the control device includes a processor and a memory for storing processor executable program instructions, wherein the processor executes the control method of any embodiment of the specification when calling the executable program instructions.

[0018] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the control method mentioned in any embodiment of the specification is implemented.

[0019] By applying the solution provided by the present disclosure, it is possible to obtain the target path of the movable platform's movement, as well as target information associated with the target path, including high-precision map information and historical movement information, and flexibly generate control instructions for controlling the movable platform's movement along the target path based on the target information, thereby making the movable platform's autonomous navigation along the target path safer, more reasonable, and more accurate.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0022] FIG1 is a schematic diagram of an application scenario of an embodiment of the present application.

[0023] FIG2 is a flow chart of a method for controlling a movable platform according to an embodiment of the present application.

[0024] FIG3 is a flowchart of generating a control instruction based on target information according to an embodiment of the present application.

[0025] FIG4 is a flowchart of determining the positioning information of a movable platform according to an embodiment of the present application.

[0026] FIG5 is a schematic diagram of positioning based on information matching according to an embodiment of the present application.

[0027] FIG6 is a schematic diagram of indicating information on an interactive control according to an embodiment of the present application.

[0028] FIG7 is a schematic diagram of indicating information on an interactive control according to another embodiment of the present application.

[0029] FIG8 is a schematic diagram of indicating information on an interactive control according to another embodiment of the present application.

[0030] FIG9 is a schematic diagram of indicating information on an interactive control according to another embodiment of the present application.

[0031] FIG10 is a schematic diagram of generating a differentiated identifier according to an embodiment of the present application.

[0032] FIG11 is a schematic structural diagram of a control device for a movable platform according to an embodiment of the present application.

[0033] FIG12 is a structural block diagram of a movable platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] Mobile platforms, such as ground platforms and aircraft, are widely used in this field, and achieving more efficient and accurate autonomous navigation is an essential component. For example, using vehicles as ground platforms presents significant technical challenges in autonomous driving, particularly on urban roads. Current assisted driving solutions are limited to low-speed driving on complex urban roads, where GPS signal interference is significant. This can lead to inaccurate positioning, making it easy to miss intersections or navigate to unintended roads. The accuracy of autonomous navigation needs to be improved.

[0036] Among some related technologies, there are solutions that use high-precision maps to assist mobile platform navigation. High-precision maps are highly accurate, but their construction requires the use of dedicated data acquisition equipment to collect data. Dedicated data acquisition equipment usually needs to drive on the same road multiple times under smooth traffic conditions to collect sufficient data. The high-precision map is then constructed after massive back-end data processing. The current coverage of high-precision maps is relatively limited, and coverage of multiple urban areas in the entire region has not yet been achieved. For example, only the main roads in a few first-tier cities are covered by high-precision maps, and some other urban roads are not covered by high-precision maps. In addition, the update frequency of high-precision maps is slow, and many changing traffic scenarios such as road construction and diversions cannot be quickly perceived.

[0037] Some other related technologies also use solutions that use memory routes to assist navigation on mobile platforms. Memory routes record the routes that users often use every day, such as a fixed route from home to the company. While driving along this route, not only can various road conditions, large and small, be recorded, but decision preferences and global path planning information can also be recorded. Navigation can be assisted based on the information recorded in the memory routes. On a fixed route, you may pass through various types of road sections, such as community roads, urban roads, urban avenues, expressways, highways, and internal roads. Some sections may be covered by high-precision maps, such as urban avenues, expressways, and highways, but the rest of the sections require manual driving by the user. Memory routes can cover the above-mentioned various sections, but the positioning accuracy of the sections based on the information recorded in the memory routes is not enough.

[0038] Based on this, an embodiment of the present application provides a control method for a movable platform, which can obtain the target path of the movable platform's movement, as well as target information associated with the target path, including high-precision map information and historical movement information, and flexibly generate control instructions for controlling the movable platform to move along the target path based on the target information, thereby making the autonomous navigation of the movable platform along the target path safer, more reasonable, and more accurate.

[0039] In some scenarios, the mobile platform control method of the embodiment of the present application can be executed by the mobile platform, for example, it can be executed by a control device built into the mobile platform, and the control device can be a processor or a chip. In some scenarios, the mobile platform control method of the embodiment of the present application can also be executed by a control device connected to the mobile platform, and the control device can also be a cloud server, various mobile terminals (for example, mobile phones), etc. The mobile platform can send the collected environmental information to the control device, and the control device determines the target feasible channel and generates a control instruction for controlling the movement of the mobile platform, and then returns it to the mobile platform. In some scenarios, the mobile platform control method of the embodiment of the present application can also be that some steps are executed by the mobile platform, and some steps are executed by the control device connected to the mobile platform. The specific steps can be flexibly set based on actual needs, and the embodiment of the present application does not impose any restrictions.

[0040] The movable platform of the embodiment of the present application includes a power component for driving the movable platform to move. The movable platform can be a movable device such as a vehicle, an aircraft, a ship, an intelligent robot, etc. The movable platform can be a manned movable platform or an unmanned movable platform. Optionally, the movable platform includes a variety of sensors for sensing environmental information. Optionally, the movable platform includes a load for performing operations, and the load can be another movable platform, a shooting device, a robotic arm, a hanging system, a spraying system, etc. The embodiment of the present application does not specifically limit the type of load.

[0041] In some embodiments, vehicles may include autonomous vehicles, manually driven vehicles, and vehicles with human-machine co-driving. Optionally, the vehicles may be used in one or more scenarios, such as passenger vehicles, logistics vehicles, and sanitation vehicles. For example, an autonomous vehicle may include a perception system, a control system, and a mechanical system. The perception system is used to measure the autonomous vehicle's state information, namely, the autonomous vehicle's perception data. This perception data may represent the autonomous vehicle's location and / or state information. The perception system may, for example, include at least one of a visual sensor, lidar, millimeter-wave radar, inertial measurement unit, global navigation satellite system, gyroscope, ultrasonic sensor, electronic compass, and barometer. The control system is used to make decisions about how to control the autonomous vehicle based on the perception data. The control system may, for example, include a computing platform, such as an onboard supercomputing platform, or at least one of a central processing unit (CPU) and a distributed processing unit (DPU) with processing capabilities. The control system may also include communication links on the vehicle for transmitting various data. The control system may output one or more control instructions to the mechanical system based on the determined decision. The mechanical system is used to control the autonomous vehicle in response to the one or more control instructions from the control system to achieve the aforementioned decision. The mechanical system may include, for example, at least one of a mechanical vehicle engine / motor, a control-by-wire system, etc. It should be understood that the aforementioned naming of the components of the autonomous vehicle is for identification purposes only and should not be construed as limiting the embodiments of this application.

[0042] In some embodiments, the aircraft may include a rotary-wing aircraft, such as a quadrotor, a hexacopter, or an octorotor; a fixed-wing aircraft; or a combination of a rotary-wing aircraft and a fixed-wing aircraft. Optionally, the aircraft includes an unmanned aerial vehicle. The aircraft may include, but is not limited to, any of manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industrial rescue aircraft. The above is merely illustrative, and the embodiments of this application do not specifically limit the type of aircraft.

[0043] Any description of a vehicle in this application may be applicable to and used for any movable object, such as any vehicle. In addition, the methods and devices disclosed in this application in the context of terrestrial motion may also be applicable to other types of motion, such as motion in the air, on / under water, or in space.

[0044] As shown in FIG1 , FIG1 is a schematic diagram of an application scenario provided by the present application, in which a movable platform can autonomously navigate from a starting location to a target location. Exemplarily, the movable platform is a vehicle, and the vehicle can autonomously navigate from the user's residence to the user's company location. The vehicle can obtain the target path of movement, as well as target information associated with the target path, including high-precision map information and historical movement information, and flexibly generate control instructions for controlling the vehicle's movement along the target path based on the target information, thereby making the vehicle's autonomous navigation along the target path safer, more reasonable, and more accurate.

[0045] Specifically, as shown in FIG2 , the control method of the movable platform may include the following steps:

[0046] S210, obtaining a target path for the movable platform to move;

[0047] In step S210, the target path may be segmented based on the target information that can be obtained on the target path. For example, the target path may include a first path, a second path, and a third path. Optionally, the mobile platform may obtain the expected target location and, based on the current location of the mobile platform, automatically determine the target path from the current location to the target location. Optionally, the target path for the mobile platform's movement may be determined based on user input information. Optionally, a road-level navigation path from the current location of the mobile platform to the target location, as well as road condition information on the road-level navigation path, may be obtained based on a navigation map to determine the target path. Due to the low accuracy of the navigation map, a road-level navigation path can be determined based on this, but a lane-level or waterway-level navigation path cannot be accurately generated based on the navigation map. That is, on a road with multiple feasible paths, it is impossible to accurately select a target feasible path for the mobile platform to control the autonomous movement of the mobile platform along the target feasible path. It is understood that any method for obtaining the target path for the mobile platform's movement is applicable to the embodiments of the present application, and the embodiments of the present application are not limited thereto.

[0048] S220: Acquire target information, where the target information includes high-precision map information and historical movement information, wherein the high-precision map information and historical movement information are associated with the target path;

[0049] In step S220, on the one hand, the high-precision map information and historical movement information associated with the target path can complement each other. For example, the high-precision map information can also make up for the problem of incomplete roadside information on the target path collected by the historical movement information, and the historical movement information can make up for the problem of insufficient coverage and update frequency of the high-precision map on the target path, so as to improve the autonomous navigation capability of the mobile platform on the target path.

[0050] Secondly, the high-precision map information and historical movement information associated with the target path can be used to verify each other's validity to verify the accuracy of the information. For example, if it is determined based on the high-precision map information that there is a landmark building B at position A of the target path, and it is also determined based on the historical movement information that the landmark building B exists at position A, then it can be represented that the positioning accuracy of the landmark building B in the high-precision map information and the historical movement information is high, and it can be used as an effective reference for subsequent navigation of the movable platform. However, if it is determined based on the historical movement information that there is the landmark building at position C, and the distance between position C and position A exceeds the preset error range, then the confidence level of the positioning of the landmark building B in the high-precision map information and the historical movement information is not high, and it needs to be further re-positioned and the relevant errors corrected before it can be used for navigation of the movable platform.

[0051] Third, high-precision map information and historical motion information can work together to further enhance the user experience in complex scenarios. High-precision map information can provide relatively accurate global prior information. For example, when high-precision map information can be used to determine that the mobile platform is about to reach an intersection, the historical motion information acquisition module can be activated. This not only saves background computing resources, but also allows for local decision-making at the intersection based on empirical information from historical motion information. This ensures that the autonomous motion of the mobile platform is more accurate and more consistent with or closer to the user's personal daily driving habits, making it more user-friendly and improving the user experience in complex scenarios.

[0052] In some embodiments, the movable platform can independently use the high-precision map information and historical motion information associated with the target path for motion control. In other embodiments, the high-precision map information associated with the target path can be fused with the historical motion information to generate fused electronic map information, and the movable platform can perform motion control based on the fused electronic map information. The fusion can be performed in at least one manner such as GPS coordinate positioning and feature matching. In some embodiments, the high-precision map information and the historical motion information can be fused according to different confidence levels or weights. Furthermore, the weight of the fusion of the two can be adjusted dynamically. Among them, the factors that affect the dynamic change of the weight include one or more influencing factors such as coverage, information density, update frequency, and road conditions. For example, when moving from an urban road to a construction road, the confidence level or weight based on the historical motion information can be increased to prevent the insufficient update frequency of the high-precision map information from causing the road change information to be not known in a timely manner, thereby affecting the movement safety of the movable platform.

[0053] In some embodiments, the mobile platform can automatically determine whether the target information can be obtained. The target information can be determined by retrieving the target information portion associated with the target path pre-stored on the storage device on the mobile platform. The target information can also be received and / or updated from a third-party device through a receiving device. Exemplarily, the third-party device includes at least one external device such as a cloud, a control terminal or other mobile platform. It is not difficult to understand that any method of obtaining the target information is applicable to the solution of the embodiment of the present application, and the embodiment of the present application is not limited.

[0054] S230 : Generate a control instruction based on the target information, where the control instruction is used to control the movable platform to move along the target path.

[0055] In step S230, the movable platform can automatically generate control instructions based on the target information, and control the movable platform to move along the target path to complete a specific task without the user noticing. In some embodiments, after setting the target location, the user can follow the road-level navigation path to perform manual control on the target path. When the target information associated with the target path is obtained, the target information includes high-precision map information and historical movement information, which can prompt the user to switch the control mode of the movable platform to automatic control. Optionally, the prompt method may include one or more methods such as pop-up windows, voice, and touch. For example, the user can be prompted by voice "The movable platform can be automatically controlled, is it necessary?" In some embodiments, the control mode of the movable platform can be switched automatically or prompted to the user on different segments of the target path according to the different confidence levels of the target information that can be obtained on the target path.

[0056] In an embodiment of the present application, the target path of the movable platform's movement, as well as target information associated with the target path, including high-precision map information and historical movement information, can be obtained, and control instructions for controlling the movable platform's movement along the target path can be flexibly generated based on the target information, thereby making autonomous navigation of the movable platform along the target path safer, more reasonable, and more accurate.

[0057] In some embodiments, a target path for a movable platform to move can be obtained, the target path including a first path, a second path, and a third path. If it is determined that high-precision map information associated with the first path can be obtained, a control instruction is generated for the first path based on the high-precision map information. If it is determined that historical movement information associated with the second path can be obtained, a control instruction is generated for the second path based on the historical movement information. If it is determined that high-precision map information and historical movement information associated with the third path can be obtained, a control instruction is generated for the third path based on the high-precision map information and historical movement information. Based on the control instruction, the movable platform is controlled to move along the target path to select a target channel. Wherein, there are multiple feasible channels on the target path, and the target channel is a target channel determined from the multiple feasible channels.

[0058] In some embodiments, control instructions may be generated in a variety of ways. For example, control instructions may be generated based on high-precision map information, historical motion information, or real-time perception information, or a combination of these. All of these are applicable to the embodiments of this application and are not limiting.

[0059] In some embodiments, the target information also includes real-time perception information associated with the mobile platform. Optionally, control instructions for the mobile platform can be generated based on real-time perception information, high-precision map information, and historical motion information. Optionally, the real-time perception information includes environmental information of the mobile platform and / or status information of the mobile platform. For example, the environmental information may include one or more static environmental information such as high-rise buildings, dead ends, traffic lights, entrances and exits, berths, charging stations, etc. around the mobile platform, and may also include one or more dynamic environmental information such as pedestrians and other mobile platforms around the mobile platform. For example, the status information of the mobile platform may represent one or more information such as the position, angle, speed, acceleration, and angular velocity of the mobile platform. Optionally, the target information can be determined based on a perception system, which may include, for example, at least one of a visual sensor (e.g., including multiple monocular or binocular vision devices), a lidar, a millimeter-wave radar, an inertial measurement unit, a global navigation satellite system, a gyroscope, an ultrasonic sensor, an electronic compass, and a barometer. For example, the global navigation satellite system may be a global positioning system or a Beidou satellite navigation system.

[0060] It is worth noting that real-time perception can be interpreted as online perception. Real-time perception information can be the perception information determined by the mobile platform at the current moment, or it can be the perception information determined after the mobile platform has moved for a period of time, for example, derived from the sum of the perception information over a period of time. Optionally, the sum of the perception information over a period of time can be derived from the total perception information over a period of time, for example, by superimposing and fusing the perception information over the entire time period to ensure richer and more usable perception information. Optionally, the sum of the perception information over a period of time can be derived from the selective selection of segments within a time period, for example, by selectively deleting the beginning and ending time segments, retaining only the middle time segments. This can intelligently remove unstable perception information collection caused by the mobile platform starting or stopping, while retaining the perception information collected during the middle time period while the mobile platform is moving smoothly, to ensure the accuracy of the perception information. Optionally, real-time perception information can be determined by the mobile platform's onboard sensors, or it can be determined by other external third-party devices through online perception and sent to the mobile platform.

[0061] In an embodiment of the present application, by superimposing the real-time perception information of the mobile platform, the target information can be made richer and more accurate based on the high-precision map information and historical movement information, thereby making the path planning of the mobile platform for navigation based on the target information safer and more reliable.

[0062] As shown in FIG3 , in some embodiments, generating a control instruction based on target information may include the following steps:

[0063] S310: Determine positioning information of the movable platform based on at least one of high-precision map information and historical movement information;

[0064] S320: Generate a control instruction based on the positioning information.

[0065] Optionally, based on the acquired positioning information, control instructions may be further generated by combining at least one of historical motion information and real-time perception information associated with the mobile platform. Optionally, the mobile platform includes a positioning module based on high-precision map information and / or a positioning module based on historical motion information. Optionally, if either positioning module successfully locates the mobile platform, the positioning information of the mobile platform can be determined. If both the positioning module based on high-precision map information and the positioning module based on historical motion information successfully locate the mobile platform, a corresponding positioning strategy may be set to fuse the two types of information. In some embodiments, different priorities may be set for the positioning modules. For example, if the positioning module based on high-precision map information is given a higher priority, the positioning module based on high-precision map information will be given priority in determining the positioning information of the mobile platform, while the positioning information determined by the positioning module based on historical information can be used as an auxiliary or calibration. In other embodiments, different confidence levels or weights may be set for the two positioning modules. For example, the positioning information determined by the positioning module based on high-precision map information and the positioning information determined by the positioning module based on historical motion information can be fused according to different confidence levels or weights to ultimately determine the positioning information of the mobile platform. Optionally, the confidence levels or weights can also be dynamically adjusted. Among them, factors that influence the dynamic adjustment of weights include one or more factors such as coverage, information density, update frequency, and road conditions. For example, weights can be dynamically adjusted based on changes in the target path. For example, if a vehicle moves from an urban road to a construction road, the confidence or weight of the positioning module based on historical movement information can be increased to prevent the lack of timely notification of road changes due to insufficient high-precision map information updates, which can lead to inaccurate positioning. Optionally, users can also adjust the fusion method of high-precision map information and historical movement information through interactive controls.

[0066] In actual working conditions, the environmental information on the target path is complex and changeable, and the information obtained by the mobile platform may also differ or change in real time. The existing methods of independently navigating based on high-precision map information or based on historical motion information may not be understood by ordinary users, and users do not know how to choose when using them independently. However, the embodiments of the present application can, based on corresponding positioning strategies, automatically determine the positioning information of the mobile platform based on target information covered on the target path, such as high-precision map information and historical motion information, without the user's awareness. Control instructions are generated based on at least the positioning information, which are used to control the movement of the mobile platform along the target path, making the autonomous navigation of the mobile platform more accurate and more convenient and reasonable. In the embodiments of the present application, the accurate positioning of the mobile platform can be determined in complex and changeable scenarios, thereby generating safer and more reasonable control instructions, which not only improves the autonomous navigation accuracy of the mobile platform, but also better adapts to user habits and enhances the user experience. Furthermore, it can effectively solve the problem of autonomous driving in urban areas where high-precision map coverage is limited and historical motion information is insufficiently accurate. It can also automatically perform autonomous navigation with higher accuracy based on the acquired information without the user's awareness.

[0067] In some embodiments, the overall planning, control, and decision-making information of each movement of the movable platform on the target path can be recorded, and optimization analysis can be performed based on the information of multiple historical records. The information can be stored as historical movement information, or the stored historical movement information can be updated, so that the historical movement information can provide a more reasonable reference for the subsequent movement of the movable platform on the target path. For example, if the movable platform is automatically controlled based on the last driving trajectory, resulting in a failed lane change and manual takeover, the movable platform will change lanes in advance and prepare to turn right next time. For example, if there is congestion due to construction ahead, the next time will also pay attention to driving to another feasible channel as much as possible.

[0068] As shown in FIG4 , in some embodiments, determining the location information of the movable platform may include the following steps:

[0069] S410: Acquire real-time perception information associated with the mobile platform;

[0070] S420: Match the real-time perception information with at least one of the high-precision map information and the historical movement information to determine the positioning information of the movable platform.

[0071] Optionally, the real-time perception information of the mobile platform includes the current environmental information of the mobile platform and / or the status information of the mobile platform. Optionally, the target path includes multiple road sections. On the first path of the target path, the real-time perception information of the mobile platform can be matched with the high-precision map information; on the second path of the target path, the real-time perception information of the mobile platform can be matched with the historical motion information; on the third path of the target path, the real-time perception information of the mobile platform can be matched with the fused high-precision map information and historical motion information. Taking a vehicle as an example, the mobile platform can match the real-time perception information with at least one of the high-precision map information and the historical motion information to determine the channel-level positioning information of the vehicle on the target path, such as positioning the vehicle in the first lane on the first path.

[0072] As shown in Figure 5, in some embodiments, matching includes performing a more refined local search based on the known rough position information of the mobile platform. Optionally, the initial position can be determined based on the satellite positioning system or inertial navigation system onboard the mobile platform to determine the local search range of the high-precision map information and / or historical motion information. The real-time perception information and the high-precision map information and / or historical motion information are then transformed into the same coordinate system for matching. If the match is successful, more accurate positioning information of the mobile platform can be determined. Optionally, the high-precision map information and / or historical motion information can include semantic information and / or statistical information. For example, the semantic information can include semantic feature information of one or more road environments such as lane lines, waterway lines, stop lines, guide lines, street lights, and utility poles. The statistical information can include statistically significant information such as average reflectance value, variance, and average height value. For example, the mobile platform can detect environmental features based on real-time perception information, with the detection objects including lane lines and poles, and extract corresponding elements from the corresponding position range in the high-precision map information and / or historical motion information. During one aspect of the matching process, the mobile platform can compare or match road elements such as lane lines and guardrails detected based on real-time perception information with road features provided by high-precision map information and / or historical motion information to correct the lateral positioning of the mobile platform. During another aspect of the matching process, the mobile platform can compare or match road elements such as billboards, traffic lights, and traffic signs detected based on real-time perception information with road features provided by high-precision map information and / or historical motion information to correct the longitudinal positioning of the mobile platform.

[0073] Traditional positioning methods based on satellite positioning systems or inertial navigation systems often result in large errors, causing the positioning results to deviate from the actual position of the mobile platform. However, the introduction of real-time perception information and matching it with at least one of high-precision map information and historical motion information can effectively reduce positioning errors and correct the positioning information of the mobile platform back to the correct lane or channel to improve positioning accuracy. In particular, high-precision map information and historical motion information can be fused, and the target information obtained after fusion can be matched with real-time perception information, which can further improve positioning accuracy and positioning reliability. Accurate and reliable positioning results can be used as input for perception, planning, and navigation control of the mobile platform, so that the mobile platform can better complete autonomous operations.

[0074] In some embodiments, the real-time perception information is determined based on the preset distance / preset time that the movable platform travels on the target path. Optionally, the historical motion information may include map information associated with the target path. The map information may include, for example, an environmental feature map around the movable platform. Optionally, features may be extracted using image data or point cloud data to determine the environmental feature map. The feature extraction method is not limited in this embodiment and may be implemented using a neural network or other methods. For example, ORB features may be extracted and matched, wherein the ORB features may be extracted in real time, and the extracted features may be subjected to optical flow tracking and descriptor matching. In particular, the point cloud data collected by the lidar may be combined to determine the depth feature information of the pixel points in the image, and the features of the point cloud may be extracted from the point cloud data, etc. These features may be used as descriptive information and stored as part of the map data. When the map data is subsequently used for navigation, feature matching may be performed with the environmental information collected in real time by the movable platform.

[0075] In some real-world scenarios, such as on highways, the mobile platform may only have a single piece of environmental information around it, such as guardrails and trees. Alternatively, the historical motion information recorded during historical driving is refined and processed to be key information, while other information is simplified, resulting in a relatively sparse feature map. Alternatively, the pre-recorded historical information may contain sparse data for certain locations in the traffic scene, resulting in less information at those locations. This results in less available feature point information when the historical motion information is subsequently used. Alternatively, the environmental conditions when the historical motion information was recorded differ significantly from those when the historical motion information is currently being used. For example, historical motion information recorded during daytime conditions with good lighting may now be used at night. Therefore, in such scenarios, the mobile platform may travel a preset distance to determine real-time perception information. The preset driving distance may be a preset distance value, such as 10m, 20m, 50m, 75m, or 100m. The preset driving distance may also be a preset distance interval, such as greater than 10m, greater than 20m and less than 100m, or greater than 100m. Optionally, matching the real-time perception information determined when the movable platform travels a preset distance on the target path with the environmental feature map in the historical motion information can ensure that there is sufficient real-time perception information to match the historical motion information, thereby improving the success rate or accuracy of matching positioning.

[0076] In some embodiments, historical motion information records may give priority to recording some information that is not easily obtained from high-precision map information, in order to complement the existing high-precision map information. Exemplarily, high-precision map information may include information such as the topological relationship between channels, road markings, road facilities, road attributes, traffic lights, traffic signs, landmark buildings, etc. Historical motion information can record, for example, some user-personalized decision information or operation information, information related to key nodes on the target path, obstacle information, information under special environmental conditions, temporary traffic control information, movable platform driving status information, etc. This can not only avoid occupying massive memory and reduce computing resource consumption, but also record key information to make up for the missing information in high-precision maps.

[0077] In some embodiments, historical movement information includes one or more of the following: environmental information, historical driving trajectory information, and user-related decision-making information. Optionally, environmental information may include information about the surrounding environment of the mobile platform during historical driving on the target path, such as one or more information about road models, road facilities, traffic guidance, environmental obstacles, and abnormal road occupation. Optionally, historical driving trajectory information may include historical driving trajectory information of the mobile platform on the target path, such as one or more information about navigation steering information, path length information, vehicle speed information, lane information, and intersection location information on the target path. Optionally, user-related decision-making information may include decision-making habit information determined based on the historical movement information of the mobile platform on the target path, such as one or more information about speed habits, lane occupation habits (e.g., habit of occupying the left / right lane, turning to occupy the lane, etc.), flashing lights and honking habits, following vehicle gap habits, and overtaking gap habits. Optionally, historical movement information may be generated based on the surrounding environment and driving trajectory collected during the mobile platform's historical driving on the target path. Historical movement information may include one or more information associated with the target path, such as steering navigation information, abnormal obstacle information, or driving behavior habit information.

[0078] In some embodiments, if the mobile platform has not previously traveled on the target path, the mobile platform can autonomously move on the target path based on high-precision map information, or the user manually controls the mobile platform to move on the target path. The mobile platform can then record historical motion information while traveling along the target path, and extract key information from the recorded historical motion information for storage. For example, the mobile platform can use a visual odometry to record key information such as the following during driving: 25 meters from the current mobile platform, specifically in the left lane or channel, turning left / right / going straight; making a U-turn 50 meters from the current mobile platform's forward direction, and other decision-making key information. Optionally, these recorded key information can also be integrated or verified with the onboard navigation map to obtain a navigation assistance map. The navigation assistance map can, for example, be a simplified version of an Advanced Driver Assistance System (ADAS) map. In some embodiments, key information related to the preferences of the movable platform for movement on the target path can be recorded during driving, such as starting movement about 2 seconds after the green light comes on, stopping 10 meters in front of the zebra crossing, braking or detouring when encountering obstacles, using the middle lane on highways, and driving speeds of 25 km / h on urban roads. This type of recorded information can be stored as historical movement information, and the stored historical movement information can also be updated. This type of key information may not be strongly associated with the target path, but can be generalized and applied to other sections of the road, that is, this type of key information can be referenced on all sections of the road. Therefore, decisions that are more suitable for user habits can be made on any section of the road, and navigation can be more intelligent and rational, thereby improving the autonomous driving experience.

[0079] In an embodiment of the present application, control instructions can be generated based on target information including high-precision map information and historical motion information. Since the historical motion information can include at least one of environmental information, historical driving trajectory information, and user-related decision-making information, the mobile platform can automatically generate control instructions for planning paths, speed control, etc. based on the historical motion information without the need for user participation, so that the mobile platform can complete specific tasks more reasonably and conveniently. Furthermore, when high-precision map information and historical motion information can be obtained at the same time, an interface for information selection can be opened to the user, so that the user can use the interface to select which specific information in the high-precision map information and / or historical motion information to add as a reference for influencing factors of the control instructions, and can also set different degrees of influence for them, making the navigation control of the mobile platform more flexible.

[0080] In some embodiments, the mobile platform is equipped with sensors, and target information is determined based on the sensors; and / or the mobile platform is equipped with a communication device, and target information is obtained from a third-party device using the communication device. In other words, any of the high-precision map information, historical movement information, and real-time perception information can be determined in any of the following ways: through data collected by sensors on the mobile platform itself, or obtained or determined from a third-party device other than the mobile platform itself.

[0081] In some embodiments, the third-party device includes an airborne mobile terminal and / or a ground mobile terminal. Exemplarily, the airborne mobile terminal can be an airborne vehicle, such as an aircraft, a launch vehicle, etc. The ground mobile terminal can be a ground vehicle, such as a vehicle, a ship, etc. In one implementation scenario, the movable platform itself is a ground vehicle, and any of the high-precision map information, historical movement information, and real-time perception information can be obtained from the aircraft in the air through its own communication device, while ensuring high precision, and effectively saving the computing power and storage space of the movable platform itself. Optionally, any of the above information can be updated online or offline.

[0082] Optionally, the aforementioned sensors may include, but are not limited to, image sensors, microwave radars, lidars, ultrasonic sensors, and the like. Images captured by the image sensors, and / or echoes captured by the microwave radars, and / or point clouds captured by the lidars, and / or ultrasonic data captured by the ultrasonic sensors may be used to determine any of high-precision map information, historical movement information, and real-time perception information. For example, the image sensor may capture images of the vehicle's surroundings while the mobile platform is traveling along a target path. Based on at least one image captured by the image sensor, any of high-precision map information, historical movement information, and real-time perception information may be determined. Traffic guidance information for the target path may be constructed based on any of the high-precision map information, historical movement information, and real-time perception information, such as one or more information including road topology, traffic signs, traffic information, and environmental features. Optionally, the communication device may include, for example, V2X (vehicle-to-everything) communication equipment, Internet of Vehicles communication equipment, wireless radio frequency communication equipment, or Bluetooth communication equipment. Any of the high-precision map information, historical movement information, and real-time perception information may be descriptive information associated with the target path received from a third-party device via the communication device. For example, the reception may be performed using short-range wireless communication or P2P (peer to peer) communication. Optionally, the third-party device may be at least one external device such as another mobile platform, a mobile platform service provider, a cloud, or a control terminal.

[0083] In some embodiments, high-precision map information includes offline high-precision map information or online high-precision map information. For example, offline high-precision map information can be more global and contain more data, ensuring comprehensiveness and richness of information. For example, online high-precision map information enables more efficient dynamic map information to be published in real time from the cloud to mobile platforms such as vehicle computers, effectively addressing the issue of growing map data volumes and providing strong support for diverse applications in scenarios such as ADAS, embedded navigation, and autonomous driving.

[0084] In some embodiments, in response to obtaining high-precision map information and / or historical motion information, the movable platform can be controlled to enter an automatic control mode. After obtaining the target location, the user can be prompted to follow the road-level navigation path to perform manual control or semi-automatic control on the target path. In response to obtaining high-precision map information and / or historical motion information, the movable platform can be automatically controlled to enter an automatic control mode, or the user can be prompted through one or more prompts such as pop-up windows, voice, and touch to switch the control mode of the movable platform to an automatic control mode. Optionally, the user can switch the control mode of the movable platform through the vehicle's setting operating components, such as at least one of the driving status switch button, light pole, brake pedal, accelerator, and steering wheel.

[0085] In some embodiments, in response to a failure to acquire target information, or a failure to meet a preset confidence level for the acquired target information, one or more of the following operations are performed: determining position change information of the mobile platform and generating control instructions based on the position change information; generating a safety prompt for a user; or generating a control mode switching instruction for switching the control mode of the mobile platform. Optionally, the confidence level of the acquired target information may not meet a preset condition, including if the confidence level falls below a predetermined confidence threshold. Alternatively, the mobile platform may still generate control instructions based on the position change information, allowing the mobile platform to maintain relatively safe autonomous navigation for a period of time. The mobile platform may also promptly issue a prompt to the user, prompting them to enter a focused state and prepare to take over manual control of the mobile platform. Of course, if the mobile platform is already in manual control, no prompt may be provided. If the mobile platform has a high degree of autonomous authorization, the mobile platform may also automatically exit autonomous driving mode or slow down / stop movement.

[0086] In the embodiments of the present application, the mobile platform can autonomously and smoothly switch its control mode based on the acquired target information, thereby improving the efficiency and reliability of the mobile platform in completing specific tasks. If it is determined that the target information has not been acquired, or the confidence level of the acquired target information does not meet the preset conditions, it indicates that the target information for the road section is less reliable and the risk of automatic control or autonomous driving based on this target information is greater. In this case, other flexible solutions can be adopted to ensure the safe operation of the mobile platform.

[0087] In some embodiments, the mobile platform is equipped with a visual sensor, and the position change information of the mobile platform is determined based on the environmental information collected by the visual sensor. Optionally, environmental features collected by at least two visual sensors can be obtained during the driving of the mobile platform to determine the relative position change information of the mobile platform during the driving process. In some embodiments, generating a control instruction based on the position change information includes: determining the positioning information of the mobile platform at the second moment based on the positioning information of the mobile platform at the first moment, and the position change information of the mobile platform at the second moment relative to the first moment; and generating a control instruction based on the positioning information of the mobile platform at the second moment. Optionally, the positioning information of the mobile platform can be determined based on the accumulated positioning of the visual odometry. In the absence of high-precision map information and historical motion information, or when absolute positioning is lost, the mobile platform can still determine the positioning information based on the position change information to generate control instructions. The use of this relative positioning method allows the mobile platform to maintain relatively safe autonomous navigation over a period of time or a distance.

[0088] In some embodiments, based on environmental information collected by sensors onboard the mobile platform, multiple feasible pathways are identified in the area surrounding the mobile platform; the control instructions are further used to determine at least one target feasible pathway from the multiple feasible pathways and control the mobile platform to move along the target feasible pathway. Optionally, when the mobile platform is performing a U-turn, steering, or other control, the locally planned path may not be well matched to the preset path. In this case, the road structure at the intersection can be inferred through the mobile platform's real-time perception to better control the mobile platform to enter the corresponding feasible pathway and / or to turn within the corresponding feasible pathway.

[0089] In some embodiments, while the movable platform is moving along the target path, one or more of the following information is indicated on the interactive control:

[0090] A picture used to represent the relative position and / or height relationship between the movable platform and other surrounding objects;

[0091] An identifier generated based on the control instruction and used to represent the planned path of the movable platform on the target path;

[0092] An identifier for representing the traffic status of the channel where the movable platform is located, wherein the traffic status identifier is represented differently from the traffic status identifiers of other channels on the target path;

[0093] The prompt information is used to represent a specific position on the prompt target path, and the prompt information is generated before the movable platform moves to the specific position.

[0094] Optionally, the user can communicate with the interactive controls of the mobile platform through various interaction methods, such as voice commands, gesture control, virtual reality (VR), augmented reality (AR), haptics, etc. Exemplarily, the interactive controls may include one or more controls such as a display screen, a windshield, a remote control, and a mobile terminal.

[0095] As shown in FIG6 , in some embodiments, an image representing the relative positional relationship between the mobile platform and other surrounding objects can be displayed on the interactive control. For example, an image can be displayed showing the relative positional relationship between the mobile platform and surrounding objects such as mobile platforms, pedestrians, buildings, and traffic devices, so that the user can perceive the environmental information surrounding the mobile platform at its current location. For example, whether there are moving obstacles around the mobile platform, whether there are any safety hazards, and whether the movement path is reasonable.

[0096] As shown in FIG6 , in some embodiments, an identifier generated based on a control instruction and used to characterize the path planned by the movable platform on the target path may be indicated on the interactive control. Optionally, the identifier may be displayed in the front area in the speed direction of the movable platform. Optionally, a three-dimensional simulation space that maps the real relationship between the movable platform and the surrounding environment may be displayed on the interactive control, and the local path planned by the movable platform may be projected onto the three-dimensional simulation space to indicate the azimuth information of the next movement path of the movable platform, so as to facilitate the determination of whether the planned local path matches the global path planned on the target path, and to remind the user to pay attention to objects near the local path.

[0097] As shown in Figure 7, in some embodiments, an image representing the relative height relationship between the movable platform and other surrounding objects can be displayed on the interactive control. Optionally, the relative height is determined based on environmental information perceived in real time by the movable platform and / or pre-stored map information. Optionally, the height of other objects in the vicinity of the target path can be indicated. Optionally, the other objects can be columnar structures, such as one or more of height limit poles, utility poles, streetlights, traffic sign poles, and the supports of road traffic cameras. This relative height information can indicate whether the movable platform and the object are close in height, which may pose a safety risk. For example, if the height of the movable platform is very close to that of the height limit pole, it indicates that the movable platform may contact the height limit pole when passing through the height limit pole, or the movable platform's accessible height may be restricted. For example, if the height of the movable platform is close to that of a utility pole, it indicates that the movable platform may contact the power lines between the poles when passing near the pole. In this case, the movable platform can generate corresponding safety warning information and display it on the interactive interface. It can also automatically control the movable platform to adjust its movement path to ensure operational safety.

[0098] As shown in FIG8 , in some embodiments, an indicator representing the traffic status of the channel in which the mobile platform is located can be displayed on the interactive control. This traffic status indicator is represented differently from the traffic status indicators for other channels on the target path. Optionally, the traffic light status indicator is displayed in the area above the speed direction of the mobile platform. Exemplarily, the traffic status indicator includes a traffic light indicator. For example, only the traffic light information for the channel in which the mobile platform is located can be displayed, while traffic light information for channels preceding the channel in which the mobile platform is located can be omitted. Alternatively, the traffic light information for the channel in which the mobile platform is located can be highlighted, for example, by increasing the display brightness, while the traffic light information for other channels can be de-emphasized, for example, by decreasing the display brightness. By associating the display of the traffic status indicator with the channel in which the mobile platform is located and representing the traffic status indicator differently from the traffic status indicators for other channels, a better visual fit can be achieved, allowing users to focus on the traffic availability of the channel in which the mobile platform is currently located. This can, to a certain extent, prevent users from mistaking traffic conditions in other channels for the current channel due to fatigue or distraction, and then directly controlling the mobile platform, potentially violating relevant laws and regulations.

[0099] As shown in Figure 9, in some embodiments, prompt information for characterizing a specific location on the target path can be indicated on the interactive control. Optionally, a specific location that may require the user to take over can be prompted on the global planned section and / or the local planned section of the movable platform. For example, the relative position relationship between the specific location and the current position of the movable platform can be indicated on the interactive control. For example, the specific location can be marked or highlighted on the interactive interface to remind the user that takeover may be required. For example, the user can be prompted through the interactive interface or voice to indicate how many miles or how long the movable platform will reach the specific location. Since the prompt information is generated before the movable platform moves to the specific location, the user can be reminded to prepare for takeover before reaching the specific location to ensure driving safety.

[0100] As shown in FIG10 , in some embodiments, as a movable platform moves along a target path, differentiated identifiers are generated based on the varying degrees of constraint imposed on the movable platform's movement by surrounding objects. For example, identifier A in FIG10 and identifier B in FIG10 are two different identifiers. Exemplarily, objects surrounding the movable platform may include vehicles, walls, pillars, signs, lights, pedestrians, parking lot gates, etc., or they may also include monitoring equipment deployed within a traffic scene, markers on walls, markers on parking spaces, etc. Optionally, if a moving object is detected around the movable platform that meets a preset orientation condition and / or a preset distance condition, the moving object is displayed differently from other objects around the movable platform on the interactive control, and control instructions for adjusting the motion state of the movable platform are generated. For example, if a moving object, such as a pedestrian or other movable platform, is detected 50 meters ahead in the direction of the planned local path of the movable platform, the moving object may be highlighted, for example, by being marked or highlighted. Optionally, the highlighted moving object may be one or more moving objects. Objects 100 meters ahead of the mobile platform's planned local path and objects on the left channel of the mobile platform's planned local path are displayed but not highlighted, for example, by dimming the display brightness or graying out the objects. This method can highlight to the user which objects or traffic participants are affecting the mobile platform's current control behavior or decision, so that the mobile platform can make corresponding path adjustments or speed controls on the target path.

[0101] In some embodiments, the differentiated identification changes dynamically according to the change in the degree of constraint. As the status information of the movable platform and / or the status information of the objects surrounding the movable platform changes, the degree of constraint of the objects surrounding the movable platform on the movement of the movable platform on the target path will also change. For example, if the movable platform changes its direction of movement, or if the surrounding objects have left the preset distance range of the movable platform due to movement, or due to one or more factors, the identification of object A will change from a prominent mark to a weakened mark, while the identification of another object B will change from a weakened mark to a prominent mark. By dynamically changing the differentiated identification, the constraint change information of the objects surrounding the current movable platform on the movement of the movable platform on the target path can be represented in real time, so that the user can be reminded to focus on the objects that currently need more attention to ensure driving safety.

[0102] In addition, the present application also provides a control method for a mobile platform, the method comprising:

[0103] Get the target location;

[0104] determining a target path for movement of the movable platform based on the target position;

[0105] Acquire real-time perception information associated with the mobile platform and high-precision map information associated with the target path;

[0106] Matching real-time perception information with high-precision map information to determine the positioning information of the mobile platform;

[0107] Obtaining historical motion information associated with a target path;

[0108] A control instruction is generated based on the positioning information and the historical motion information, and the control instruction is used to control the movable platform to move along the target path.

[0109] Optionally, the historical motion information is generated based on the surrounding environment and driving trajectory collected when the mobile platform has historically driven on the target path and / or other sections. Optionally, the historical motion information includes one or more of the following information: environmental information, historical driving trajectory information, and user-related decision-making information. Exemplarily, the historical motion information may include steering navigation information of the mobile platform on the target path, abnormal obstacle information on the target path, or user driving behavior habit information. Optionally, control instructions for controlling the automatic driving of the mobile platform are generated based on at least the positioning information of the mobile platform, the steering navigation information on the target path, the abnormal obstacle information on the target path, and the user driving behavior habit information.

[0110] Optionally, in response to obtaining high-precision map information and / or historical motion information, the movable platform is controlled to enter an automatic control mode. Optionally, in response to not obtaining real-time perception information, high-precision map information, and historical motion information, or the confidence level of the obtained real-time perception information, high-precision map information, and historical motion information does not meet preset conditions, one or more of the following operations are performed: determining the position change information of the movable platform and generating a control instruction based on the position change information; generating a safety prompt information, the safety prompt information being used to prompt the user; generating a control mode switching instruction, the switching instruction being used to switch the control mode of the movable platform.

[0111] In this application, an autonomous navigation solution based on the fusion of historical motion information and high-precision map information is proposed. This solution can accurately determine the position of a mobile platform in complex scenarios and generate safer and more reasonable control instructions. This not only improves the accuracy of the mobile platform's autonomous navigation, but also better adapts to user habits and enhances the user experience. Furthermore, it can effectively address the problem of autonomous driving in urban areas where high-precision map information coverage is limited and historical motion information is insufficiently accurate. It can also automatically perform autonomous navigation with higher accuracy based on the acquired information without the user's awareness.

[0112] In some embodiments, any of the real-time perception information, high-precision map information, and historical movement information is determined based on at least one of the following methods: if the mobile platform is equipped with a sensor, any of the information is determined based on the sensor; if the mobile platform is equipped with a communication device, any of the information is obtained from a third-party device based on the communication device. Optionally, the third-party device includes an aerial mobile terminal and / or a ground mobile terminal. Optionally, the high-precision map information includes offline high-precision map information or online high-precision map information.

[0113] In some embodiments, the real-time perception information is determined based on the movable platform traveling a predetermined distance on the target path.

[0114] In some embodiments, if there is no historical motion information available, but there is high-precision map information, the control system of the mobile platform automatically degenerates into autonomous driving based on the high-precision map information, and records relevant information in the background to generate historical motion information. If there is no historical motion information available and no high-precision map information, the user is prompted to manually take over. During the process of autonomous or manual driving of the mobile platform, the surrounding environment and driving trajectory can be collected to generate historical motion information associated with the target path.

[0115] The specific details of implementing the above control method can be referred to the description in the above embodiment and will not be repeated here.

[0116] In addition, the present application also provides a control method for a mobile platform, the method comprising:

[0117] A target path for the mobile platform's movement can be obtained, along with target information. The target information includes high-precision map information and historical movement information, which are associated with the target path. Control instructions are generated based on the target information, and the control instructions are used to control the movement of the mobile platform along the target path. Optionally, before obtaining the target path, a target position can also be obtained, and the target path for the mobile platform's movement is then determined based on the target position. Optionally, the target information includes at least high-precision map information, historical movement information, and real-time perception information. Optionally, the mobile platform is equipped with a sensor, and the target information is determined based on the sensor; and / or the mobile platform is equipped with a communication device, and the real-time perception information is obtained from a third-party device using the communication device. Optionally, the third-party device includes an aerial mobile terminal and / or a ground mobile terminal. Optionally, the high-precision map information includes offline high-precision map information or online high-precision map information. Optionally, the mobile platform's positioning information can be determined based on at least one of the high-precision map information and the historical movement information. Optionally, the real-time perception information can be matched with the high-precision map information to determine the mobile platform's positioning information. Optionally, determining the positioning information of the movable platform may include: obtaining real-time perception information associated with the movable platform, matching the real-time perception information with at least one of high-precision map information and historical motion information to determine the positioning information of the movable platform. Optionally, a control instruction may be generated based on the positioning information and the historical motion information, and the control instruction is used to control the movable platform to move along the target path. Optionally, the real-time perception information is determined based on the movable platform traveling a preset distance on the target path. Optionally, the historical motion information includes one or more of the following information: environmental information, historical driving trajectory information, and user-related decision information. Optionally, the movable platform is equipped with a sensor, and the historical motion information is determined based on the sensor. Optionally, the movable platform is equipped with a communication device, and the historical motion information is determined based on the communication device. Optionally, in response to obtaining at least one of the target information, the movable platform may be controlled to enter an automatic control mode. Optionally, in response to the failure to obtain target information, or the confidence level of the obtained target information not meeting preset conditions, one or more of the following operations are performed: determining the posture change information of the movable platform, generating control instructions based on the posture change information, generating safety prompt information, and the safety prompt information is used to prompt the user; generating a control mode switching instruction, and the switching instruction is used to switch the control mode of the movable platform.Optionally, during the movement of the movable platform along the target path, one or more of the following information may be indicated on the interactive control: a screen used to represent the relative position relationship and / or relative height relationship between the movable platform and other surrounding objects; an identifier generated based on a control instruction and used to represent the path planned by the movable platform on the target path; an identifier used to represent the traffic status of the channel where the movable platform is located, the traffic status identifier being represented differently from the traffic status identifiers of other channels on the target path; prompt information used to represent a specific position on the target path, the prompt information being generated before the movable platform moves to the specific position. Optionally, during the movement of the movable platform along the target path, a differentiated identifier may be generated based on the degree of constraint imposed by the objects surrounding the movable platform on the movement of the movable platform on the target path. Optionally, the differentiated identifier may change dynamically based on the change in the degree of constraint.

[0118] The specific details of implementing the above control method can be referred to the description in the above embodiment and will not be repeated here.

[0119] In an embodiment of the present application, if high-precision map information and historical movement information associated with the target path are obtained, control instructions for controlling the movement of the movable platform along the target path can be flexibly generated based on the high-precision map information and historical movement information, thereby making the autonomous navigation of the movable platform along the target path safer, more reasonable and more accurate.

[0120] Furthermore, in an embodiment of the present application, the mobile platform can be positioned based on a positioning module based on high-precision map information and / or historical motion information. If any positioning module successfully locates the mobile platform, the mobile platform can automatically enter automatic control mode. If both positioning modules are successful, different weights can be assigned to the two modules for fused positioning, thereby improving positioning accuracy and flexibility. If a positioning module failure is detected or the positioning module is unable to determine positioning information, for example, if the mobile platform currently enters a narrow alley, the mobile platform can be temporarily positioned based on posture change information or automatically prompted to take over or automatically switch control mode until the positioning module can reacquire positioning information. It can then autonomously switch back to automatic control mode. That is, the mobile platform can smoothly switch between automatic modes on sections covered by high-precision map information and sections covered by historical motion information without the user noticing. High-precision map information and historical motion information can be fused and verified with each other to obtain map information associated with the target path that is more suitable for the application scenario. It can also be further combined with online perception information to determine more accurate channel-level positioning information of the mobile platform on the target path. Based on this map information and / or positioning information, the mobile platform can be controlled to move autonomously along the target path safely and reasonably. This allows accurate positioning of the mobile platform in complex scenarios, generating safer and more reasonable control commands. This not only improves the mobile platform's autonomous navigation accuracy but also better adapts to user habits, enhancing the user experience. Furthermore, it effectively addresses the challenges of autonomous driving in urban areas, where high-precision map coverage is limited and historical motion information is inaccurate. It also enables even more accurate autonomous navigation based on acquired information, without the user's awareness.

[0121] Furthermore, in an embodiment of the present application, corresponding user interactions are designed during the movement of the movable platform along the target path. One or more types of information can be indicated on the interactive control, which can more intuitively and conveniently indicate the status of the movable platform, the surrounding environment of the movable platform, and traffic conditions, etc., thereby prompting the user to perform corresponding operations or assist in the formulation of control strategies for the movable platform to ensure the safety and rationality of the movable platform's travel along the target path.

[0122] The specific details of implementing the above control method can be referred to the description in the above embodiment and will not be repeated here.

[0123] It is not difficult to understand that the methods described in the above embodiments can be combined if there is no conflict, and they are not listed one by one in the embodiments of this application.

[0124] Furthermore, as shown in FIG11 , an embodiment of the present application provides a control device for a mobile platform, the control device comprising a processor, a memory, and computer program instructions stored in the memory and executable by the processor, wherein the processor and the memory are connected via a bus. When the processor invokes the executable computer program instructions, it can execute the control method of any embodiment of the present application.

[0125] Specifically, the processor may be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor 501 (DSP). Specifically, the memory may be a Flash chip, a read-only memory 502 (ROM), a disk, an optical disk, a USB flash drive, or a mobile hard disk. Specifically, the bus may be an I2C (Inter-Integrated Circuit) bus.

[0126] Specifically, in some embodiments, when the processor calls the executable computer program instructions, the following steps may be implemented:

[0127] Obtaining the target path of the movable platform;

[0128] Obtaining target information, the target information including high-precision map information and historical movement information, wherein the high-precision map information and historical movement information are associated with the target path;

[0129] A control instruction is generated based on the target information, and the control instruction is used to control the movable platform to move along the target path.

[0130] In some embodiments, the target information also includes real-time perception information associated with the movable platform.

[0131] In some embodiments, the movable platform is equipped with a sensor, and the target information is determined based on the sensor; and / or, the movable platform is equipped with a communication device, and the target information is obtained from a third-party device based on the communication device.

[0132] In some embodiments, the third-party device includes an airborne mobile terminal and / or a ground mobile terminal.

[0133] In some embodiments, the high-precision map information includes offline high-precision map information or online high-precision map information.

[0134] In some embodiments, when the processor is configured to generate a control instruction based on the target information, the processor is specifically configured to:

[0135] Based on at least one of high-precision map information and historical movement information, determine the positioning information of the movable platform; and generate a control instruction based on the positioning information.

[0136] In some embodiments, when the processor is configured to determine the location information of the movable platform, it is specifically configured to:

[0137] Acquire real-time perception information of the mobile platform; match the real-time perception information with at least one of high-precision map information and historical motion information to determine positioning information of the mobile platform.

[0138] In some embodiments, the historical motion information includes one or more of the following information: environmental information, historical driving trajectory information, and decision-making information related to the user.

[0139] In some embodiments, the movable platform is equipped with a sensor, and the historical motion information is determined based on the sensor; and / or the movable platform is equipped with a communication device, and the historical motion information is determined based on the communication device.

[0140] In some embodiments, the processor is further configured to: in response to obtaining at least one type of target information, control the movable platform to enter an automatic control mode.

[0141] In some embodiments, the processor is further configured to: in response to failure to obtain target information, or the confidence level of the obtained target information not meeting a preset condition, perform one or more of the following operations:

[0142] Determining posture change information of the movable platform and generating control instructions based on the posture change information;

[0143] Generate a safety reminder message, which is used to remind the user;

[0144] A control mode switching instruction is generated, where the switching instruction is used to switch the control mode of the movable platform.

[0145] In some embodiments, the movable platform is equipped with a visual sensor, and the posture change information of the movable platform is determined based on the environmental information collected by the visual sensor.

[0146] In some embodiments, when the processor is used to generate a control instruction based on the posture change information, it is specifically used to:

[0147] Determining the positioning information of the movable platform at the second moment based on the positioning information of the movable platform at the first moment and the position change information of the movable platform at the second moment relative to the first moment;

[0148] A control instruction is generated based on the positioning information of the movable platform at the second moment.

[0149] In some embodiments, the processor is further configured to: indicate one or more of the following information on the interactive control while the movable platform is moving along the target path:

[0150] A picture used to represent the relative position and / or height relationship between the movable platform and other surrounding objects;

[0151] An identifier generated based on the control instruction and used to represent the planned path of the movable platform on the target path;

[0152] A sign used to represent the traffic status of the channel where the movable platform is located, and the traffic status sign is represented differently from the traffic status signs of other channels on the target path;

[0153] The prompt information is used to represent a specific position on the prompt target path, and the prompt information is generated before the movable platform moves to the specific position.

[0154] In some embodiments, the processor is further configured to: generate a differentiated identification according to different degrees of constraint imposed by objects surrounding the movable platform on the movement of the movable platform on the target path during the movement of the movable platform along the target path.

[0155] In some embodiments, the differential identifier changes dynamically according to changes in the degree of constraint.

[0156] In some embodiments, when the processor calls the executable computer program instructions, it may further implement the following steps:

[0157] Get the target location;

[0158] determining a target path for movement of the movable platform based on the target position;

[0159] Obtain real-time perception information of the mobile platform and high-precision map information associated with the target path;

[0160] Matching real-time perception information with high-precision map information to determine the positioning information of the mobile platform;

[0161] Obtaining historical motion information associated with a target path;

[0162] A control instruction is generated based on the positioning information and the historical motion information, and the control instruction is used to control the movable platform to move along the target path.

[0163] In some embodiments, any one of the real-time perception information, high-precision map information, and historical motion information is determined based on at least one of the following methods:

[0164] The movable platform is equipped with sensors, and any information is determined based on the sensors;

[0165] The movable platform is equipped with a communication device, and any information is obtained from a third-party device based on the communication device.

[0166] In some embodiments, the third-party device includes an airborne mobile terminal and / or a ground mobile terminal.

[0167] In some embodiments, the high-precision map information includes offline high-precision map information or online high-precision map information.

[0168] In some embodiments, the real-time perception information is determined based on the movable platform traveling a predetermined distance on the target path.

[0169] In some embodiments, the processor is further configured to: in response to obtaining high-precision map information and / or historical driving information and historical motion information, control the movable platform to enter an automatic control mode.

[0170] In some embodiments, the processor is further configured to: in response to not acquiring real-time perception information, high-precision map information, and historical motion information, or in response to the confidence level of the acquired real-time perception information, high-precision map information, and historical motion information not meeting a preset condition, perform one or more of the following operations:

[0171] Determining the posture change information of the movable platform and generating a control instruction based on the posture change information;

[0172] Generate a safety reminder message, which is used to remind the user;

[0173] A control mode switching instruction is generated, where the switching instruction is used to switch the control mode of the movable platform.

[0174] Furthermore, an embodiment of the present application provides a movable platform, as shown in FIG12 , wherein the movable platform includes a main body; a power assembly; and a control device for the movable platform. The control device includes a processor and a memory for storing program instructions executable by the processor, and the control device includes the control device for the movable platform mentioned in any embodiment of the present application. The processor executes the control method of any embodiment of the present application when calling the executable program instructions. The movable platform can be a movable device such as a vehicle, an aircraft, a ship, or an intelligent robot. The movable platform can be a manned movable platform or an unmanned movable platform.

[0175] Accordingly, an embodiment of the present application further provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the method in any embodiment of the present application is implemented.

[0176] The embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0177] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0178] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0179] The above is a detailed introduction to the methods and devices provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A control method for a movable platform, characterized in that: The method comprises: Acquiring a target path for movement of the movable platform; Acquire target information, the target information including high-precision map information and historical movement information, wherein the high-precision map information and the historical movement information are associated with the target path; A control instruction is generated based on the target information, where the control instruction is used to control the movable platform to move along the target path.

2. The control method according to claim 1, characterized in that: The target information also includes real-time perception information associated with the movable platform.

3. The control method according to claim 1 or 2, characterized in that: The movable platform is equipped with a sensor, and the target information is determined based on the sensor; and / or, The movable platform is equipped with a communication device, and the target information is obtained from a third-party device based on the communication device.

4. The control method according to claim 3, characterized in that: The third-party device includes an air mobile terminal and / or a ground mobile terminal.

5. The control method according to claim 1, characterized in that: The high-precision map information includes offline high-precision map information or online high-precision map information.

6. The control method according to claim 1 or 2, characterized in that: Generating a control instruction based on the target information includes: Determining positioning information of the movable platform based on at least one of the high-precision map information and the historical movement information; The control instruction is generated based on the positioning information.

7. The control method according to claim 6, characterized in that: The determining the positioning information of the movable platform includes: Acquiring real-time perception information associated with the movable platform; The real-time perception information is matched with at least one of the high-precision map information and the historical motion information to determine the positioning information of the movable platform.

8. The control method according to claim 2 or 7, characterized in that: The real-time perception information is determined based on the movable platform traveling a preset distance on the target path.

9. The control method according to claim 1, characterized in that: The historical movement information includes one or more of the following information: Environmental information, historical driving trajectory information, and user-related decision information.

10. The control method according to claim 1, characterized in that: The method further comprises: In response to acquiring at least one of the target information, the movable platform is controlled to enter an automatic control mode.

11. The control method according to claim 1, characterized in that: The method further comprises: In response to the target information not being acquired, or the confidence level of the acquired target information not meeting a preset condition, performing one or more of the following operations: Determining the position change information of the movable platform, and generating the control instruction based on the position change information; Generate a safety prompt message, wherein the safety prompt message is used to prompt a user; A control mode switching instruction is generated, where the switching instruction is used to switch the control mode of the movable platform.

12. The control method according to claim 11, characterized in that: The movable platform is equipped with a visual sensor, and the position change information of the movable platform is determined based on the environmental information collected by the visual sensor.

13. The control method according to claim 11, characterized in that: The generating the control instruction based on the posture change information comprises: Determine the positioning information of the movable platform at a second moment based on the positioning information of the movable platform at a first moment and the position change information of the movable platform at a second moment relative to the first moment; The control instruction is generated based on the positioning information of the movable platform at the second moment.

14. The control method according to claim 1, characterized in that: The method further comprises: During the movement of the movable platform along the target path, one or more of the following information is indicated on the interactive control: A picture used to represent the relative position relationship and / or relative height relationship between the movable platform and other surrounding objects; An identifier generated based on the control instruction and used to characterize a path planned by the movable platform on the target path; An identifier for representing the traffic status of the channel where the movable platform is located, wherein the traffic status identifier is represented differently from the traffic status identifiers of other channels on the target path; The prompt information is used to represent a specific position on the target path, and the prompt information is generated before the movable platform moves to the specific position.

15. The control method according to claim 1, characterized in that: The method further comprises: During the movement of the movable platform along the target path, a differential identification is generated according to different degrees of constraint imposed by objects around the movable platform on the movement of the movable platform on the target path.

16. The control method according to claim 15, characterized in that: in, The differential identification changes dynamically according to the change of the constraint degree.

17. A control method for a movable platform, characterized in that: The method comprises: Get the target location; determining a target path for movement of the movable platform based on the target position; Acquire real-time perception information associated with the mobile platform and high-precision information associated with the target path Map information; Matching the real-time perception information with the high-precision map information to determine the positioning information of the movable platform; Acquiring historical motion information associated with the target path; A control instruction is generated based on the positioning information and the historical movement information, where the control instruction is used to control the movable platform to move along the target path.

18. The control method according to claim 17, characterized in that: Any one of the real-time perception information, the high-precision map information, and the historical motion information is determined based on at least one of the following methods: The movable platform is equipped with a sensor, and any one of the information is determined based on the sensor; The movable platform is equipped with a communication device, and any one of the information is obtained from a third-party device based on the communication device.

19. The control method according to claim 18, characterized in that: The third-party device includes an air mobile terminal and / or a ground mobile terminal.

20. The control method according to claim 17, characterized in that: The high-precision map information includes offline high-precision map information or online high-precision map information.

21. The control method according to claim 17, characterized in that: The real-time perception information is determined based on the movable platform traveling a preset distance on the target path.

22. The control method according to claim 17, characterized in that: The historical movement information includes one or more of the following information: Environmental information, historical driving trajectory information, and user-related decision information.

23. The control method according to claim 17, characterized in that: The method further comprises: In response to acquiring the high-precision map information and / or the historical movement information, the movable platform is controlled to enter an automatic control mode.

24. The control method according to claim 17, characterized in that: The method further comprises: In response to not obtaining the real-time perception information, the high-precision map information, and the historical motion information, or the confidence of the obtained real-time perception information, the high-precision map information, and the historical motion information does not meet a preset condition, performing one or more of the following operations: Determining the position change information of the movable platform, and generating the control instruction based on the position change information; Generate a safety prompt message, wherein the safety prompt message is used to prompt a user; A control mode switching instruction is generated, where the switching instruction is used to switch the control mode of the movable platform.

25. The control method according to claim 17, characterized in that: The method further comprises: During the movement of the movable platform along the target path, one or more of the following information is indicated on the interactive control: A picture used to represent the relative position relationship and / or relative height relationship between the movable platform and other surrounding objects; An identifier generated based on the control instruction and used to characterize a path planned by the movable platform on the target path; An identifier for representing the traffic status of the channel where the movable platform is located, wherein the traffic status identifier is represented differently from the traffic status identifiers of other channels on the target path; The prompt information is used to represent a specific position on the target path, and the prompt information is generated before the movable platform moves to the specific position.

26. The control method according to claim 17, characterized in that: The method further comprises: During the movement of the movable platform along the target path, a differential identification is generated according to different degrees of constraint imposed by objects around the movable platform on the movement of the movable platform on the target path.

27. The control method according to claim 26, characterized in that: in, The differential identification changes dynamically according to the change of the constraint degree.

28. A control device for a movable platform, characterized in that: include: processor; a memory for storing processor-executable program instructions; Wherein, when the processor calls the executable program instructions, it executes the control method described in any one of claims 1 to 27.

29. A movable platform, characterized in that: include: ontology; Power components; A control device for a movable platform, the control device comprising a processor and a memory for storing processor executable program instructions, wherein the processor executes the control method described in any one of claims 1 to 27 when calling the executable program instructions.

30. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to execute the control method described in any one of claims 1 to 27.

Images