Method, device and equipment for determining mass center position of vehicle, vehicle and medium

Abstract

The embodiment of the invention relates to a method, device and equipment for determining the mass center position of a vehicle, the vehicle and a medium. The method includes determining a first distance of the vehicle to the target at a second time based on visual sensing information of a first time of travel of the vehicle toward the target, where the first time is earlier than the second time. The method further includes determining a second distance from the vehicle to the target at a second moment based on radar detection information of the vehicle at the second moment during driving. The method further includes determining a centroid position of the vehicle at the second time based on the first distance and the second distance. In this manner, it is possible to quickly and accurately determine the position of the center of mass of the vehicle using a delay mechanism between the visual sensing information and the radar detection information in order to improve the performance of the driving system.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of driving, and in particular to a method, a device, a apparatus, a vehicle, and a medium for determining a center of mass position of a vehicle. Background Art

[0002] Driving assistance systems (e.g., advanced driver assistance systems (ADAS)) use various sensors (e.g., on-board sensors or external sensors) to control vehicles through advanced communications, computers, networks, and control technologies to assist or even eliminate the need for human driving. For ADAS, an important implementation is that the vehicle's central computing unit receives environmental information, vehicle body motion status information, etc. from various sensors, and then performs prediction, planning, control, etc., and finally sends control commands to the actuator to complete the ADAS function.

[0003] Lane keeping is one of the functions of ADAS. When a vehicle deviates from the marked lane, it will prompt the driver or automatically drive the vehicle back to the original lane. The implementation of ADAS lane keeping can reduce the burden on the driver and improve driving safety. Summary of the invention

[0004] Embodiments of the present disclosure provide a method, an apparatus, a device, a vehicle, and a medium for determining the center of mass position of a vehicle.

[0005] According to a first aspect of the present disclosure, a method for determining the center of mass position of a vehicle is provided. The method includes determining a first distance from the vehicle to the target at a second moment based on visual sensing information at a first moment during the vehicle's driving process toward the target, wherein the first moment is earlier than the second moment. The method also includes determining a second distance from the vehicle to the target at the second moment based on radar detection information at a second moment during the vehicle's driving process. The method also includes determining the center of mass position of the vehicle at the second moment based on the first distance and the second distance.

[0006] According to a second aspect of the present disclosure, a device for determining the center of mass position of a vehicle is provided. The device includes a first ranging unit, which is configured to determine a first distance from the vehicle to the target at a second moment based on visual sensing information at a first moment when the vehicle is traveling toward the target, wherein the first moment is earlier than the second moment. The device also includes a second ranging unit, which is configured to determine a second distance from the vehicle to the target at a second moment based on radar detection information at a second moment when the vehicle is traveling. The device also includes a center of mass determination unit, which is configured to determine the center of mass position of the vehicle at the second moment based on the first distance and the second distance.

[0007] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, causes the device to perform the steps of the method in the first aspect of the present disclosure.

[0008] According to a fourth aspect of the present disclosure, a vehicle is provided. The vehicle includes the electronic device in the third aspect of the present disclosure.

[0009] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein computer-executable instructions are stored on the computer-readable storage medium, wherein the computer-executable instructions are executed by a processor to implement the steps of the method in the first aspect of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0011] Figure 1 A schematic diagram illustrating an example environment in which devices and / or methods according to embodiments of the present disclosure may be implemented;

[0012] Figure 2 A flow chart illustrating a method for determining the center of mass position of a vehicle according to an embodiment of the present disclosure is illustrated;

[0013] Figure 3 A diagram illustrating a configuration for a vehicle according to an embodiment of the present disclosure;

[0014] Figure 4 A diagram illustrating a process for determining a center of mass position of a vehicle according to an embodiment of the present disclosure;

[0015] Figure 5 A diagram illustrating a Cartesian coordinate system established for a vehicle according to an embodiment of the present disclosure;

[0016] Figure 6 A schematic diagram illustrating an apparatus for determining a center of mass position of a vehicle according to an embodiment of the present disclosure; and

[0017] Figure 7 A schematic block diagram of an example device suitable for implementing embodiments of the present disclosure is illustrated.

[0018] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0019] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0020] In the description of the embodiments of the present disclosure, the term "including" and its variations should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects, unless explicitly indicated to be different.

[0021] As mentioned above, ADAS lane keeping is a function of ADAS. When the vehicle deviates from the marked lane, it will prompt the driver or take direct measures to drive the vehicle back to the original lane. For ADAS lane keeping, the control module is one of the most core modules in ADAS. For ADAS control modules based on modern control methods such as linear quadratic regulator (LQR), the determination of the center of mass state is crucial. In ADAS, the information used to determine the center of mass state comes from, for example, body sensors such as cameras, radars, yaw rate sensors, wheel end angle sensors, steering wheel angle sensors, wheel speed sensors, etc.

[0022] In a vehicle, data and information from various sensors (such as environmental information, etc.) are transmitted through the vehicle body network via the computing unit of the corresponding sensor and the vehicle center computing unit. Therefore, compared with the real-time information of the real world, the sensor information received by the vehicle center computing unit has different degrees of delay. By way of example, the vehicle center computing unit may be integrated into the sensor, such as the ADAS lane keeping system of the 1R1V (radar × 1 + camera × 1) scheme, and the lateral control module may be integrated into the camera sensor or the radar sensor.

[0023] Due to the existence of time-consuming software / hardware modules based on computer vision, such as the large delay in the camera sensor sensing lane information, the lateral performance of the ADAS lane keeping function is greatly affected. For example, the camera sensor detects the lateral distance of the vehicle from the center line of the lane at time t0 as LateralDist t0 After a certain delay, the control module of the vehicle center computing unit receives the information. Due to the existence of this delay, it is already time t1, and the lateral distance between the vehicle and the center line of the lane is actually LateralDistt1 The center of mass state information received by the control module is different from the actual center of mass state information of the vehicle. t1 -LateralDist t0 .

[0024] For ADAS that uses camera sensors to identify lane lines (e.g., lane center lines), information latency may reach several hundred milliseconds. Therefore, if the control module uses historical information LateralDist t0 If the center of mass state of the vehicle is used as the input of the control logic algorithm, the control output value for the actual center of mass state may not be accurately calculated, so the optimal control performance of the system cannot be obtained.

[0025] For some traditional ADAS lane keeping systems, the method of center of mass estimation mostly adopts the preview point method, that is, previewing a fixed time distance forward from the position of the vehicle. However, the selection of the preview point time distance mostly adopts software parameters, which depends on the specific calibration of engineers. This type of method cannot obtain accurate prediction time, and the calibration results vary from person to person due to the dependence on the experience and ability of engineers, resulting in the inability to ensure the optimal performance of the ADAS lane keeping function.

[0026] At least to address the above and other potential problems, an embodiment of the present disclosure provides a solution for determining the center of mass position of a vehicle. The solution includes determining a first distance from the vehicle to the target at a second moment based on visual sensing information at a first moment in the process of the vehicle traveling toward the target, wherein the first moment is earlier than the second moment. The solution also includes determining a second distance from the vehicle to the target at a second moment based on radar detection information at a second moment in the process of the vehicle traveling. The solution also includes determining the center of mass position of the vehicle at the second moment based on the first distance and the second distance. In this way, the delay mechanism between the visual sensing information and the radar detection information can be utilized to quickly and accurately determine the center of mass position of the vehicle so as to improve the performance of the driving system. Below, the embodiments of the present disclosure will be further described in detail in conjunction with the accompanying drawings.

[0027] Figure 1 1 is a schematic diagram of an example environment 100 in which methods and / or processes according to embodiments of the present disclosure may be implemented. Figure 1 As shown in the example environment 100, a vehicle 110 is traveling relative to a lane defined by lane lines 121 and 122, wherein the lane includes a lane center line 120. It should be understood that for the purpose of ease of illustration and ease of description, Figure 1The example environment 100 shown in the example embodiment includes only one vehicle (ie, vehicle 110) and one lane. However, this is merely exemplary and not limiting, and the example environment 100 according to an embodiment of the present disclosure may include a greater number of vehicles and lanes, and the present disclosure is not limited thereto.

[0028] According to an embodiment of the present disclosure, the vehicle 110 refers to any type of motorized or non-motorized vehicle that can carry people and / or objects and is movable. The vehicle 110 generally includes one or more wheels, one or more seats, one or more load-bearing structures (such as a carriage, a cabin, etc.), one or more power systems (such as an engine, an electric motor, etc.), one or more control systems (such as a steering wheel, an accelerator pedal, etc.), and one or more safety systems (such as seat belts, airbags, etc.), etc.

[0029] According to an embodiment of the present disclosure, the vehicle 110 includes a plurality of sensors and a central computing unit, etc., for implementing driving-specific functions such as autonomous driving or assisted driving functions. These sensors and the central computing unit can work together to provide accurate perception and decision control of the environment around the vehicle 110. This will be further described in detail below. It should be understood that the configuration of the vehicle 110 is not limited to the above and can be selected according to actual needs.

[0030] According to an embodiment of the present disclosure, the vehicle 110 may be a vehicle operated by a driver and driven based on an assisted driving system. Such a vehicle may provide some assisted driving functions, such as but not limited to automatic emergency braking, lane keeping, adaptive cruise control, etc. These functions can help the driver to better control the vehicle and reduce the burden on the driver in some cases. In addition, the vehicle 110 may also include an autonomous driving vehicle based on an autonomous driving system and not dependent on the driver. Such a vehicle may not require the driver to perform operations, but may completely control the vehicle based on, for example, computer vision, various sensors and algorithms, so that it is possible to ensure safe control of the vehicle and make correct decisions. Such a vehicle can complete all driving tasks, including acceleration, deceleration, steering, obstacle avoidance, etc. It should be understood that the vehicle 110 according to an embodiment of the present disclosure is not limited to the description herein, and may also include other different vehicles, and the embodiment of the present disclosure is not limited to this.

[0031] like Figure 1As shown in , the vehicle 110 is illustrated as a car. However, this is exemplary only and not restrictive. By way of example, the vehicle 110 may include, but is not limited to, a bus, a truck, an off-road vehicle, a sports car, a motorcycle, and the like. In addition, the vehicle 110 may be based on fossil energy or based on clean energy or a combination thereof. Fossil energy-based vehicles mainly refer to vehicles that use fossil fuels such as oil and natural gas as a power source, such as traditional gasoline vehicles, diesel vehicles, and the like. Clean energy-based vehicles refer to vehicles that use clean energy as a power source, such as electric vehicles, hydrogen fuel cell vehicles, solar vehicles, and the like.

[0032] like Figure 1 As exemplarily shown in FIG. 1 , vehicle 110 is traveling forward in a lane defined by lane lines 121 and 122. Hereinafter, lane line 121 is also referred to as a left lane line, and lane line 122 is also referred to as a right lane line. Lane center line 120 of the lane is located between lane lines 121 and 122 and is parallel to lane lines 121 and 122, wherein the distance between lane center line 120 and lane line 121 is equal to the distance between lane center line 120 and lane line 122. It should be understood that lane center line 120 may be a real road marking that exists on the lane and is used to indicate the center line of the lane, or it may be a virtual road marking that does not exist on the lane and needs to be identified to facilitate autonomous driving, assisted driving, and the like.

[0033] It should be understood that Figure 1 The driving of the vehicle 110 relative to the lane shown in the figure is exemplary and not restrictive. For example, the vehicle 110 may deviate from the lane at a certain moment and return to the original lane with the help of the ADAS lane keeping function. In addition, for the purpose of ease of illustration and explanation, Figure 1 The example environment 100 shown in the figure only includes limited elements, and the example environment 100 may also include other different elements, such as pedestrians, obstacles (such as roadblocks, etc.), traffic lights and traffic signs, etc. Alternatively, the example environment 100 may also include weather and environmental conditions, such as rain, snow, fog, etc., and even potholes on the road, etc. Further, the example environment 100 may also consider or reflect road condition information, such as traffic congestion, traffic accidents, etc.

[0034] Combined with the above Figure 1 An example environment 100 is described in which methods and / or processes according to embodiments of the present disclosure may be implemented. Figure 2A flowchart of a method 200 for determining the center of mass position of a vehicle 110 according to an embodiment of the present disclosure is described. Through the method 200 for determining the center of mass position of a vehicle 110 according to an embodiment of the present disclosure, the center of mass position of the vehicle 110 can be determined quickly and accurately without configuring complex hardware components, thereby improving the driving performance of the vehicle 110.

[0035] At box 210, based on the visual sensing information of the first moment of the vehicle 110 during the driving process toward the target, the first distance from the vehicle to the target is determined at a second moment, wherein the first moment is earlier than the second moment. According to an embodiment of the present disclosure, the vehicle 110 is traveling toward the target relative to the lane, wherein the vehicle 110 may have a certain degree of deflection, that is, the direction of travel of the vehicle 110 may be at a certain angle to the center line 120 of the lane. In some embodiments, during the driving process of the vehicle 110 toward the target, the target may be stationary, and the vehicle 110 may travel in a straight line toward the target at a fixed speed. In other words, the vehicle 110 may travel toward the target at a constant predetermined speed at a constant speed.

[0036] According to an embodiment of the present disclosure, here, the first moment may indicate a historical moment of the vehicle 110 in the process of traveling toward the target, and the second moment may indicate a current moment of the vehicle 110 in the process of traveling toward the target, wherein the central computing unit of the vehicle 110 may receive the visual sensing information of the first moment at the second moment. Based on the visual sensing information sensed by a visual sensor (such as a camera sensor, a camera sensor, etc.) on the vehicle at the first moment, for example, a first distance from the vehicle 110 to the target is determined at the second moment. The first distance determination process according to an embodiment of the present disclosure will be further described in detail below.

[0037] At block 220, based on the radar detection information at the second moment during the driving process of the vehicle 110, a second distance from the vehicle 110 to the target is determined at the second moment. According to an embodiment of the present disclosure, based on the radar detection information at the second moment, for example, detected by a radar device (such as a laser radar, an ultrasonic radar, a millimeter wave radar, etc.) on the vehicle 100, the second distance from the vehicle 110 to the target is determined at the second moment. The second distance determination process according to an embodiment of the present disclosure will be further described in detail below.

[0038] At box 230, based on the first distance and the second distance, the center of mass position of the vehicle 110 at the second moment is determined. According to an embodiment of the present disclosure, in response to determining the first distance based on the visual sensing information at the second moment and the second distance based on the radar detection information at the second moment, the center of mass position of the vehicle 110 at the second moment is determined. In this way, the delay mechanism between the visual sensing information and the radar detection information can be utilized to quickly and accurately determine the center of mass position of the vehicle 110 to promote performance improvements of ADAS functions such as ADAS lane keeping. The center of mass position determination process according to an embodiment of the present disclosure will be further described in detail below.

[0039] Figure 3 FIG. 1 is a diagram illustrating a configuration of a vehicle 110 according to an embodiment of the present disclosure. Figure 3 As shown in , the vehicle 110 may include a central computing unit 310, a camera sensor 321, and a radar sensor 322. It should be noted that the camera sensor 321 and the radar sensor 322 are only two non-limiting sensors among the multiple sensors on the vehicle 110, and the vehicle 110 may also include other different sensors, such as a speed sensor, an acceleration sensor, a pressure sensor, a temperature sensor, a humidity sensor, a gyroscope, etc. These sensors on the vehicle 110 can be used to detect and measure, for example, environmental parameters around the vehicle 110 and state parameters of the vehicle 110 itself, so as to provide a richer information input for the driving system to improve the accuracy and reliability of driving control.

[0040] According to an embodiment of the present disclosure, the central computing unit 310 of the vehicle 110 may be configured to receive various sensed or detected data and information from multiple sensors including a camera sensor 321 and a radar sensor 322, and perform prediction, planning, control, etc. based on the received data and information, and finally send a control command to the actuator to complete the ADAS function. It should be noted that the embodiment of the present disclosure does not limit the specific type or model of the central computing unit 310.

[0041] According to an embodiment of the present disclosure, the camera sensor 321 may be configured to sense visual sensing information. For example, the camera sensor 321 may capture an image and calculate the distance to a corresponding object (e.g., the road centerline 120, a destination or target, etc.) based on the captured image. The camera sensor 321 may be based on computer vision, etc., and its delay in sensing lane information may be relatively large. By way of example and not limitation, the camera sensor detects at time t0 that the lateral distance of the vehicle 110 itself from the lane centerline 120 is LateralDist t0After a certain delay, the vehicle center calculation unit 310 receives the information. Due to the existence of this delay, it is already time t1, and the lateral distance between the vehicle 110 and the lane centerline 120 is actually LateralDist t1 It should be noted that the embodiments of the present disclosure do not limit the specific type or model of the camera sensor 321. Hereinafter, the visual sensing information according to the embodiments of the present disclosure will be described in further detail.

[0042] According to an embodiment of the present disclosure, the radar sensor 322 can be configured to detect radar detection information. Compared with the camera sensor 321, the radar sensor 322 has a relatively high accuracy in detecting longitudinal distance, and the delay introduced is relatively small, which can be almost negligible in most cases. In some embodiments, the longitudinal distance relative to the target detected by the radar sensor 322 can be corresponded to the actual longitudinal distance of the center of mass of the actual vehicle 110 relative to the target. It should be noted that the embodiment of the present disclosure does not limit the specific type or model of the radar sensor 322. Hereinafter, the radar detection information according to the embodiment of the present disclosure will be further described in detail.

[0043] like Figure 3 As shown in FIG. 1 , the central computing unit 310, the camera sensor 321, and the radar sensor 322 in the vehicle 110 are communicatively coupled to each other (e.g., via a network (such as a vehicle body network or a local area network, etc.) or a line, etc.). It should be understood that other components on the vehicle 110, such as other sensors (not shown), are also similarly coupled for data exchange, cooperative operation, etc. Figure 4 The center of mass position determination for the vehicle 110 according to embodiments of the present disclosure is described in further detail.

[0044] Figure 4 4 is a diagram illustrating a process 400 for determining a center of mass position of a vehicle 110 according to an embodiment of the present disclosure. Figure 4 As shown in FIG. 1 , the vehicle 110 is moving at a constant speed toward the stationary target 430 with a certain deflection relative to the lane. That is, the vehicle 110 forms an angle θ402 with the center line 120 of the lane and moves at a fixed speed V ego Travel toward a stationary target 430. Target 430 may be a destination of driving. By way of example, target 430 may be a passenger waiting for a bus, another vehicle waiting to join, etc.

[0045] When the vehicle 110 is traveling toward the target 430, the camera sensor 321 configured on the vehicle 110 may sense visual sensing information at a first time t0 (when the vehicle 110 is actually located at the position 410). The visual sensing information according to an embodiment of the present disclosure may include the lateral distance from the vehicle 110 to the lane centerline 120 sensed by the camera sensor 321 on the vehicle 110 at the first time t0, such as Figure 4 The visual sensing information may also include the angle θ402 between the driving route of the vehicle 110 toward the target 430 and the lane centerline 120 sensed by the camera sensor 321 at the first time t0. When the visual sensing information including the distance 401 and the angle θ402 is received, the time may have changed from the first time t0 to the second time t1. At the first time t0, the actual distance between the vehicle 110 and the target 430 is Figure 1 405. Hereinafter, the distance 405 is also referred to as the first distance. It should be understood that the visual sensing information is not limited thereto, and may also include other different information.

[0046] At the same time, the radar sensor 322 configured on the vehicle 110 detects radar detection information at the second time t1 (when the vehicle 110 is located at the position 420). The radar detection information according to an embodiment of the present disclosure may include the longitudinal distance from the vehicle 110 to the target 430 detected by the radar sensor 322 on the vehicle 110 at the second time t1, such as Figure 4 The distance 404 is shown in bold in the figure. Hereinafter, the distance 404 is also referred to as the second distance. According to an embodiment of the present disclosure, at the second time t1, the distance 404 to the target 430 detected or detected by the radar sensor 322 may correspond to the actual distance from the center of mass of the vehicle 110 to the target 430 at the second time t1. In order to more intuitively determine the position information and distance information of the vehicle 110 in the environment, and to facilitate the calculation of the center of mass position of the vehicle 110, the following is combined with Figure 5 A Cartesian coordinate system 500 established for vehicle 110 is depicted.

[0047] Figure 5 1 shows a diagram of a Cartesian coordinate system 500 established for the vehicle 110. According to an embodiment of the present disclosure, the Cartesian coordinate system 500 may be established with the center of the rear axle of the vehicle 110. In the Cartesian coordinate system 500, the origin of the coordinate system may correspond to the position of the vehicle 110 at the first time t0, and the longitudinal axis may correspond to the driving route of the vehicle 110 toward the target 430 (e.g., Figure 5 y in the figure), and the horizontal axis can be perpendicular to the defined vertical axis (as shown in Figure 5 (as indicated by the arrow x in the figure).

[0048] According to an embodiment of the present disclosure, in the Cartesian coordinate system 500 established for the vehicle 110, the lateral distance from the vehicle 110 to the lane centerline 120 sensed by the camera sensor 321 on the vehicle 110 at the first moment t0 may be the distance in the horizontal axis direction of the Cartesian coordinate system 500, and the longitudinal distance from the vehicle 110 to the target 430 detected by the radar sensor 322 on the vehicle 110 at the second moment t1 may be the distance in the longitudinal axis direction of the Cartesian coordinate system 500.

[0049] According to an embodiment of the present disclosure, the vehicle 110 driving in a straight line toward the target 430 may include keeping the angle θ402 between the driving route sensed by the camera sensor 321 configured on the vehicle 110 at the first moment t0 and the lane centerline 120 unchanged during the vehicle 110 driving toward the target 430. Since the vehicle 110 and the lane centerline 120 drive in a straight line toward the target 430 at a fixed angle θ402, in most cases, the camera's detection fluctuation of the heading angle (HeadingAngle) on the straight path is very small and almost constant. Therefore, there is no heading angle error caused by sensor input delay, that is, the heading angle detected by the camera on the travel path is the same as the actual heading angle of the center of mass.

[0050] According to an embodiment of the present disclosure, determining the first distance from the vehicle 110 to the target 430 may include: calculating the lateral distance Dist of the vehicle 110 in the horizontal direction sensed at the first time t0 by: cg_lat_history 401 divided by the angle HeadingAngle between the driving route of the vehicle 110 toward the target 430 and the lane centerline 120 cg_history 402 to obtain the historical distance of the vehicle 110 to the target 430 in the longitudinal direction, that is, the first distance Dist cg_long_history 405. The following equation (1) indicates the first distance Dist cg_long_history 405 calculation process:

[0051]

[0052] After the central computing unit 310 of the vehicle 110 receives the corresponding visual sensing information from the camera sensor 321, due to the existence of delay, the time has changed from the first moment t0 to the second moment t1. According to an embodiment of the present disclosure, based on the radar detection information of the vehicle 110 at the second moment t1 during the driving process toward the target 430 (for example, obtained by the radar sensor 322), the current distance of the vehicle 110 to the target 430 in the longitudinal direction at the second moment t1 can be determined, that is, the second distance Dist cg_long_current 404.

[0053] According to an embodiment of the present disclosure, the first distance Dist cg_long_history 405 minus the second distance Dist cg_long_current 404, to obtain the driving distance Dist of the vehicle 110 from the first time t0 to the second time t1 during the driving process toward the target 430 cg_long 403. The driving distance Dist cg_long 403 can be determined as the longitudinal center of mass displacement of the vehicle 110 from the first time t0 to the second time t1. The following equation (2) indicates the travel distance Dist cg_long 403 calculation process:

[0054] Dist cg_long =Dist cg_long_history -Dist cg_long_current (2)

[0055] As described above, the vehicle 110 may travel toward the stationary target 430 at a fixed speed Vego, wherein the vehicle 110 maintains a fixed angle θ402 with the lane centerline 120. According to an embodiment of the present disclosure, the travel distance Dist of the vehicle 110 from the first moment t0 to the second moment t1 during the travel process is calculated. cg_long 403 is divided by the vehicle speed Vego to obtain the time difference between the first moment t0 and the second moment t1, which is also referred to as the time parameter Parameter below. t_cg The following equation (3) indicates the time parameter Parameter t_cg The calculation process:

[0056]

[0057] After confirming the delay time due to sensor error, that is, the above time difference or time parameter Parameter t_cg , which can then be used to determine the center of mass position of the vehicle 110 when it is traveling at any speed, in a straight line or on a curve. According to an embodiment of the present disclosure, based on the determined time difference and the speed of the vehicle 110, the distance Dist of the center of mass of the vehicle 110 in the longitudinal direction can be determined. cg_long (ie, the longitudinal coordinate value). This distance can be determined as the longitudinal center of mass position of the vehicle 110. The following equation (4) indicates the distance Dist of the center of mass of the vehicle 110 in the longitudinal direction: cg_long The calculation process:

[0058] Dist cg_long =Parameter t_cg ×V (4)

[0059] Parameter t_cg is the above time difference, and V is the speed of the vehicle 110 at a certain moment, that is, the vehicle 110 travels at a speed of V.

[0060] According to an embodiment of the present disclosure, the curvature of the driving trajectory of the vehicle 110 can be obtained based on the yaw rate and the vehicle speed of the vehicle 110. In the vehicle coordinate system, for example, the Cartesian coordinate system 500 established for the vehicle 110, the following formula (5) indicates the calculation process of the curvature:

[0061]

[0062] Yawrate indicates the yaw rate of the vehicle 110 on the driving trajectory.

[0063] According to an embodiment of the present disclosure, based on the longitudinal center of mass position of the vehicle 110 and the curvature of the driving trajectory, the driving trajectory y of the vehicle 110 can be determined. ego_trajectory The following formula (6) indicates the driving trajectory y ego_trajectory The calculation process:

[0064]

[0065] According to an embodiment of the present disclosure, the driving trajectory y ego_trajectory Determined as the distance Dist of the center of mass of the vehicle 110 in the horizontal direction cg_lateral (ie, the lateral coordinate value). This distance can be determined as the lateral center of mass position of the vehicle 110. The following equation (7) indicates the distance Dist of the center of mass of the vehicle 110 in the lateral direction: cg_lateral The calculation process:

[0066] Dist cg_lateral =y ego_trajectory (7)

[0067] According to an embodiment of the present disclosure, determining the center of mass position of the vehicle 110 may include determining the center of mass position of the vehicle 110 based on the longitudinal center of mass position Dist cg_long and the lateral center of mass position Dist cg_lateral To determine the center of mass position of vehicle 110, that is, (Dist cg_long ,Dist cg_lateral ).

[0068] According to the method for determining the center of mass position of the vehicle 110 according to the embodiment of the present disclosure, the delay mechanism between the visual sensing information and the radar detection information can be used to quickly and accurately determine the center of mass position of the vehicle so as to improve the performance of the driving system. Without configuring complex hardware components, the driving performance of the vehicle 110 is improved. For example, the control precision and accuracy of ADAS lane keeping is improved.

[0069] Figure 6 1 further shows a schematic diagram of an apparatus 600 for determining the center of mass position of a vehicle according to an embodiment of the present disclosure. The apparatus 600 may include a plurality of units or modules for performing the following steps: Figure 2 The corresponding steps in the method 200 discussed in Figure 6 As shown in, the device 600 includes: a first ranging unit 610, configured to determine a first distance from the vehicle to the target at a second moment based on visual sensing information at a first moment when the vehicle is traveling toward the target, wherein the first moment is earlier than the second moment; a second ranging unit 620, configured to determine a second distance from the vehicle to the target at a second moment based on radar detection information at a second moment when the vehicle is traveling; and a center of mass determination unit 630, configured to determine the center of mass position of the vehicle at the second moment based on the first distance and the second distance.

[0070] In some embodiments, during the driving process, the target may be stationary and the vehicle may travel in a straight line toward the target at a fixed vehicle speed.

[0071] In some embodiments, the device 600 may also include a coordinate system establishing unit, which is configured to: establish a Cartesian coordinate system based on the center of the rear axle of the vehicle, wherein the origin of the Cartesian coordinate system corresponds to the position of the vehicle at the first moment, the longitudinal axis of the Cartesian coordinate system corresponds to the vehicle's driving route toward the target, and the horizontal axis of the Cartesian coordinate system is perpendicular to the longitudinal axis.

[0072] In some embodiments, the visual sensing information at the first moment may include: the lateral distance of the vehicle to the center line of the lane in the transverse direction sensed by a camera sensor on the vehicle at the first moment; and the angle between the driving route and the center line of the lane sensed by the camera sensor at the first moment.

[0073] In some embodiments, wherein the vehicle travels in a straight line toward the target may include: an angle between the travel route sensed by the camera sensor at a first moment and the center line of the lane remains unchanged during the travel process.

[0074] In some embodiments, determining a first distance from the vehicle to the target may include: obtaining the first distance by dividing the lateral distance by a tangent value of an included angle.

[0075] In some embodiments, the radar detection information at the second moment may include: a longitudinal distance from the vehicle to the target in the longitudinal axis direction detected by a radar sensor on the vehicle at the second moment.

[0076] In some embodiments, the device 600 may also include a longitudinal center of mass displacement determination unit, which is configured to: obtain the driving distance of the vehicle from a first moment to a second moment during driving by subtracting the second distance from the first distance; and determine the driving distance as the longitudinal center of mass displacement of the vehicle from the first moment to the second moment.

[0077] In some embodiments, the apparatus 600 may further include a time difference determination unit, and the time difference determination unit further includes: obtaining the time difference between the first moment and the second moment by dividing the travel distance by a fixed speed of the vehicle.

[0078] In some embodiments, the device 600 may also include: a longitudinal center of mass position determination unit, which is configured to determine the longitudinal center of mass position of the vehicle based on the determined time difference and the vehicle speed; and a lateral center of mass position determination unit, which is configured to obtain the curvature of the vehicle's driving trajectory from a first moment to a second moment during driving based on the vehicle's yaw rate and speed, and determine the lateral center of mass position of the vehicle at the second moment based on the curvature and the driving distance.

[0079] In some embodiments, determining the center of mass position of the vehicle may include determining the center of mass position of the vehicle based on the longitudinal center of mass position and the lateral center of mass position of the vehicle.

[0080] Figure 7 Schematic block diagram of an example device 700 that can be used to implement embodiments of the present disclosure is shown. Figure 7 As shown in FIG. 7 , the device 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0081] A number of components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a memory 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0082] The various processes and processing described above, such as method 200, may be performed by processing unit 701. For example, in some embodiments, method 200 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by CPU 701, one or more actions of method 200 described above may be performed.

[0083] The present disclosure may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present disclosure.

[0084] Computer readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (non-exhaustive list) of computer readable storage medium include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination of the above. The computer readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (e.g., a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0085] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0086] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0087] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0088] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0089] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0090] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0091] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining the center of mass position of a vehicle, comprising: Determining a first distance from the vehicle to the target at a second time based on visual sensing information at a first time when the vehicle is traveling toward the target, wherein the first time is earlier than the second time; determining, at the second moment, a second distance from the vehicle to the target based on radar detection information at the second moment during the driving process of the vehicle; as well as Based on the first distance and the second distance, the center of mass position of the vehicle is determined.

2. The method according to claim 1, wherein: During the driving process, the target is stationary and the vehicle travels in a straight line toward the target at a fixed vehicle speed.

3. The method according to claim 1, further comprising: Based on the center of the rear axle of the vehicle, a Cartesian coordinate system is established. wherein the origin of the Cartesian coordinate system corresponds to the position of the vehicle at the first moment, The longitudinal axis of the Cartesian coordinate system corresponds to the driving path of the vehicle towards the target, and The horizontal axis of the Cartesian coordinate system is perpendicular to the vertical axis.

4. The method according to claim 3, wherein the visual sensing information at the first moment comprises: a lateral distance of the vehicle from the center line of the lane in the transverse direction, sensed by a camera sensor on the vehicle at the first moment; as well as The angle between the driving route sensed by the camera sensor at the first moment and the center line of the lane.

5. The method according to claim 4, further comprising: The angle is kept constant during the driving process.

6. The method of claim 4, determining the first distance from the vehicle to the target comprises: The first distance is obtained by dividing the lateral distance by the tangent value of the angle.

7. The method according to claim 3, wherein the radar detection information at the second moment comprises: A longitudinal distance of the vehicle from the target in the longitudinal axis direction detected by a radar sensor on the vehicle at the second time.

8. The method according to claim 7, further comprising: Obtaining a travel distance of the vehicle from the first moment to the second moment during the travel by subtracting the second distance from the first distance; as well as The travel distance is determined as the longitudinal center of mass displacement of the vehicle from the first time to the second time.

9. The method according to claim 8, further comprising: The time difference between the first moment and the second moment is obtained by dividing the travel distance by the fixed speed of the vehicle.

10. The method according to claim 9, further comprising: Determining a longitudinal center of mass position of the vehicle based on the time difference and the speed of the vehicle; Determining the curvature of the vehicle's driving trajectory based on the vehicle's yaw rate and the vehicle speed; Based on the longitudinal center-of-mass position and the curvature, the vehicle lateral center-of-mass position is determined.

11. The method of claim 10, determining the center of mass position of the vehicle comprises: The center of mass position of the vehicle is determined based on the longitudinal center of mass position and the lateral center of mass position of the vehicle.

12. An apparatus for determining the center of mass position of a vehicle, comprising: A first distance measuring unit is configured to determine a first distance from the vehicle to the target at a second time based on visual sensing information at a first time when the vehicle is traveling toward the target, wherein the first time is earlier than the second time; a second distance measuring unit, for determining a second distance from the vehicle to the target at the second moment based on radar detection information of the vehicle at the second moment during the driving process; as well as A center of mass determination unit is configured to determine the center of mass position of the vehicle based on the first distance and the second distance.

13. An electronic device, comprising: at least one processor; as well as A memory coupled to the at least one processor and having instructions stored thereon, which when executed by the at least one processor cause the apparatus to perform the method according to any one of claims 1-12.

14. A vehicle comprising the electronic device according to claim 13.

15. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method according to any one of claims 1 to 12.

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