Terminal equipment control method and device, storage medium and electronic equipment

Abstract

The invention relates to a control method and device of terminal equipment, a storage medium and electronic equipment, and relates to the technical field of terminal, and the method comprises the following steps: when the terminal equipment runs according to a target path, obtaining running information of the terminal equipment; and determining a target path point from a plurality of preset path points of the target path according to the operation information. The target waypoint is a preset waypoint located in front of the terminal equipment based on the running direction of the terminal equipment. And determining a target path interval where the target path point is located from the plurality of path intervals of the target path. And determining a target speed limit corresponding to the target path interval from the interval speed limits corresponding to the plurality of path intervals. The plurality of path intervals and the interval speed limits corresponding to the plurality of path intervals are determined according to the curvatures of the plurality of preset path points. And controlling the terminal equipment to operate according to the target speed limit. The vehicle is controlled to limit the speed in advance before entering the curve, so that the running stability and safety of the terminal equipment are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of terminals, and specifically, to a control method, apparatus, storage medium, and electronic device for a terminal device. Background Art

[0002] With the rapid development of robot technology, the safety and stability of mobile robots have received increasing attention. In related technologies, the speed control of a robot is achieved by a controller calling a robot control algorithm to calculate a speed control instruction. Therefore, the function of curve speed adjustment is coupled in different control algorithms. When the applied control algorithm is changed, it will directly affect the effect of curve speed adjustment. Moreover, in current robot navigation algorithms, the curvature speed limit is realized by calculating the speed in real time according to the robot pose and path. When the pose of the robot changes frequently, the calculated curvature speed limit also changes frequently, which affects the stability and safety of the robot's operation. And when the robot is moving at a high speed, it cannot decelerate in advance when entering a curve, resulting in a poor curve tracking effect of the robot. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a control method, apparatus, storage medium, and electronic device for a terminal device, which are used to improve the stability and safety of the operation of the terminal device.

[0004] According to a first aspect of an embodiment of the present disclosure, a control method for a terminal device is provided. The method includes: When the terminal device runs according to a target path, obtain the operation information of the terminal device; According to the operation information, determine a target path point from multiple preset path points of the target path; the target path point is a preset path point located in front of the terminal device based on the running direction of the terminal device; Determine a target path interval where the target path point is located from multiple path intervals of the target path; Determine a target speed limit corresponding to the target path interval from the interval speed limits corresponding to the multiple path intervals; the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined according to the curvatures of the multiple preset path points; Control the operation of the terminal device according to the target speed limit.

[0005] Optionally, the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined by the following method: Obtain the curvature of each preset path point in the target path; According to the curvature of each preset path point, determine multiple path intervals and a target speed limit corresponding to each path interval.

[0006] Optionally, determining a plurality of path intervals and a target speed limit corresponding to each of the path intervals according to the curvature of each preset path point includes: Dividing the target path into the plurality of path intervals according to the curvature of each preset path point; For each of the path intervals, taking the maximum value of the curvatures of the plurality of preset path points in the path interval as the maximum curvature of the path interval; Determining the target speed limit corresponding to the path interval according to the maximum curvature.

[0007] Optionally, dividing the target path into the plurality of path intervals according to the curvature of each preset path point includes: Starting from the starting point of the target path, sequentially traversing all the preset path points in the target path; Taking the preset path point with a curvature greater than a first preset curvature as a starting point, and taking the first preset path point with a curvature less than a second preset curvature after the starting point as an ending point, and continuing to take the preset path points after the ending point as new path points to be traversed, and repeating the step of taking the preset path point with a curvature greater than the first preset curvature as the starting point, and the step of taking the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point until all the preset path points are traversed, obtaining a plurality of the starting points and a plurality of the ending points; Dividing the target path into the plurality of path intervals according to the plurality of starting points and the plurality of ending points.

[0008] Optionally, dividing the target path into the plurality of path intervals according to the plurality of starting points and the plurality of ending points includes: Determining a target splitting point from the adjacent starting point and ending point, where among the adjacent starting point and ending point, the ending point is before the starting point; Dividing the target path into the plurality of path intervals according to the first starting point, the last ending point, and the target splitting point.

[0009] Optionally, determining the target speed limit corresponding to the path interval according to the maximum curvature includes: Determining the target speed limit according to the maximum curvature, a preset curvature set, and a preset speed limit set, where the preset curvature set includes a plurality of preset curvature values, and the preset speed limit set includes a plurality of preset speed limit values.

[0010] Optionally, determining the target speed limit according to the maximum curvature, the preset curvature set, and the preset speed limit set includes: Determining the magnitude relationship between the maximum curvature and the plurality of preset curvature values; Determine a target correspondence from multiple preset correspondences according to the size relationship, where the preset correspondences include the correspondence between curvature and speed limit; Determine the target speed limit corresponding to the maximum curvature according to the target correspondence.

[0011] Optionally, the operation information includes position information and speed information; the determining a target path point from multiple preset path points of the target path according to the operation information includes: Determine a preview distance according to the position information and speed information of the terminal device; Starting from the target position represented by the position information, sequentially traverse the preset path points in the target path, and use the first preset path point whose accumulated path length is greater than the preview distance as the target path point, where the accumulated path length represents the path length determined along the target path starting from the target position as the starting point.

[0012] Optionally, the determining the target path includes the following method: Generate a global path according to the target task to be executed; In the case where the length of the global path is greater than the preset path length, perform smoothing processing on the global path to obtain the target path.

[0013] Optionally, the method further includes: In the case where the length of the global path is less than or equal to the preset path length, determine the target speed limit according to the length of the global path and the preset deceleration parameter.

[0014] Optionally, the controlling the operation of the terminal device according to the target speed limit includes: Obtain the operation speed determined by the terminal device; In the case where the operation speed is greater than the target speed limit, control the terminal device to operate at the target speed limit; In the case where the operation speed is less than or equal to the target speed limit, control the terminal device to operate at the operation speed.

[0015] According to a second aspect of the embodiments of the present disclosure, there is provided a control device for a terminal device, the device includes: An acquisition module, configured to acquire the operation information of the terminal device when the terminal device operates according to a target path; A first determination module, configured to determine a target path point from multiple preset path points of the target path according to the operation information; the target path point is a preset path point located in front of the terminal device based on the operation direction of the terminal device; A second determination module, configured to determine a target path interval where the target path point is located from multiple path intervals of the target path; A third determination module, configured to determine a target speed limit corresponding to the target path interval from interval speed limits corresponding to the multiple path intervals; the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined according to the curvatures of the multiple preset path points; A control module, configured to control the operation of the terminal device according to the target speed limit.

[0016] Optionally, the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined in the following manner: Obtain the curvature of each preset path point in the target path; Determine multiple path intervals and a target speed limit corresponding to each path interval according to the curvature of each preset path point.

[0017] Optionally, the determining multiple path intervals and a target speed limit corresponding to each path interval according to the curvature of each preset path point includes: Divide the target path into the multiple path intervals according to the curvature of each preset path point; For each path interval, use the maximum value among the curvatures of multiple preset path points in the path interval as the maximum curvature of the path interval; Determine the target speed limit corresponding to the path interval according to the maximum curvature.

[0018] Optionally, the dividing the target path into the multiple path intervals according to the curvature of each preset path point includes: Starting from the starting point of the target path, sequentially traverse all preset path points in the target path; Use a preset path point with a curvature greater than a first preset curvature as a starting point, and use the first preset path point with a curvature less than a second preset curvature after the starting point as an ending point, and continue to use the preset path points after the ending point as new path points to be traversed, and repeat the step of using a preset path point with a curvature greater than the first preset curvature as a starting point, and the step of using the first preset path point with a curvature less than the second preset curvature after the starting point as an ending point until all preset path points are traversed, obtaining multiple starting points and multiple ending points; Divide the target path into the multiple path intervals according to the multiple starting points and multiple ending points.

[0019] Optionally, the dividing the target path into the multiple path intervals according to the multiple starting points and multiple ending points includes: Determine a target segmentation point from the adjacent starting point and the ending point, where the ending point is before the starting point among the adjacent starting point and the ending point; Divide the target path into the multiple path intervals according to the first starting point, the last ending point, and the target segmentation point.

[0020] Optionally, the determining the target speed limit corresponding to the path interval according to the maximum curvature includes: Determine the target speed limit according to the maximum curvature, a preset curvature set, and a preset speed limit set, where the preset curvature set includes multiple preset curvature values, and the preset speed limit set includes multiple preset speed limit values.

[0021] Optionally, the determining the target speed limit according to the maximum curvature, the preset curvature set, and the preset speed limit set includes: Determine the magnitude relationship between the maximum curvature and the multiple preset curvature values; Determine a target corresponding relationship from multiple preset corresponding relationships according to the magnitude relationship, where the preset corresponding relationship includes the corresponding relationship between curvature and speed limit; Determine the target speed limit corresponding to the maximum curvature according to the target corresponding relationship.

[0022] Optionally, the operation information includes position information and speed information; the first determining module is configured to include: Determine a preview distance according to the position information and the speed information of the terminal device; Starting from the target position represented by the position information, sequentially traverse the preset path points in the target path, and use the first preset path point whose accumulated path length is greater than the preview distance as the target path point, where the accumulated path length represents the path length determined along the target path with the target position as the starting point.

[0023] Optionally, the target path is determined by the following method: Generate a global path according to the target task to be executed; In the case where the length of the global path is greater than the preset path length, perform smoothing processing on the global path to obtain the target path.

[0024] Optionally, the apparatus further includes: A fourth determining module, configured to determine the target speed limit according to the length of the global path and a preset deceleration parameter in the case where the length of the global path is less than or equal to the preset path length.

[0025] Optionally, the control module is configured to: Obtain the running speed determined by the terminal device; When the running speed is greater than the target speed limit, control the terminal device to run at the target speed limit; When the running speed is less than or equal to the target speed limit, control the terminal device to run at the running speed.

[0026] According to the third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in the first aspect of the embodiments of the present disclosure are implemented.

[0027] According to the fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method described in the first aspect of the embodiments of the present disclosure.

[0028] According to the fifth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect of the embodiments of the present disclosure are implemented.

[0029] Through the above technical solutions, the present disclosure pre-determines multiple path intervals and the interval speed limits corresponding to the multiple path intervals according to the curvatures of multiple preset path points in the target path. When the terminal device runs along the target path, the target path point in front of the terminal device and the target speed limit corresponding to the target path interval where the target path point is located are determined according to the running information of the terminal device, so as to control the vehicle to reduce the speed in advance before entering the curve according to the target speed limit, avoiding the problem that the terminal device cannot decelerate in advance when entering the curve when the speed is relatively fast, thereby improving the running stability of the terminal device, and the terminal device can better track the target path in the curve, thereby improving the running safety of the terminal device. And the present disclosure does not need to calculate the curvature speed limit according to the pose of the terminal device, and the curvature speed limit of the terminal device in a path interval is fixed, avoiding the problem that the curvature speed limit changes frequently when the pose changes frequently, thereby improving the running stability of the terminal device. And the present disclosure has no coupling relationship with the control algorithm of the terminal device, so it has stronger portability and better adaptability, further improving the running stability and safety of the terminal device.

[0030] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the accompanying drawings: Figure 1 is a schematic flowchart of the speed control of a terminal device in the related art.

[0032] Figure 2 is a schematic flowchart of the speed control of a terminal device shown according to an exemplary embodiment.

[0033] Figure 3 is a flowchart of a control method of a terminal device shown according to an exemplary embodiment.

[0034] Figure 4 is a flowchart of a method for determining a target path shown according to an exemplary embodiment.

[0035] Figure 5 is according to Figure 4 the embodiment shows a schematic diagram of the cumulative chord length.

[0036] Figure 6 is a method for determining a path interval and interval speed limit shown according to an exemplary embodiment.

[0037] Figure 7 is according to Figure 6 the embodiment shows a schematic diagram of a starting point and an ending point.

[0038] Figure 8 is according to Figure 7 the embodiment shows a schematic diagram of multiple path intervals.

[0039] Figure 9 is according to Figure 8 the embodiment shows a schematic diagram of the maximum curvature of a path interval.

[0040] Figure 10 is a schematic flowchart of determining a target speed limit shown according to an exemplary embodiment.

[0041] Figure 11 is a block diagram of a control device of a terminal device shown according to an exemplary embodiment.

[0042] Figure 12 is a block diagram of another control device of a terminal device shown according to an exemplary embodiment.

[0043] Figure 13 is a block diagram of an electronic device shown according to an exemplary embodiment. Specific Embodiments

[0044] The following will describe in detail the specific embodiments of the present disclosure with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present disclosure, and are not intended to limit the present disclosure.

[0045] Before introducing a control method, device, storage medium, and electronic device for a terminal device shown in the embodiments of the present disclosure, the application scenarios of the embodiments of the present disclosure will be introduced first.

[0046] As Figure 1 shown, in the existing navigation software architecture, the speed control of the terminal device is realized by the controller calling the terminal device control algorithm to calculate the speed control instruction. Therefore, the function of curve speed adjustment is coupled in different control algorithms. When changing the control algorithm of the application, it will directly affect the effect of curve speed adjustment. As Figure 2 shown, the method of segmenting speed limits for the path according to curvature in the present disclosure is designed as a separate module, which can be configured by the user whether to enable it or not, and this module exists independently and has no coupling relationship with the navigation control algorithm. Therefore, it has stronger portability and better adaptability.

[0047] In the existing terminal device navigation algorithms, the curvature speed limit is realized by calculating the speed in real time according to the pose and path of the terminal device. In this way, when the pose of the terminal device changes frequently, the calculated curvature speed limit also changes frequently, which affects the effect of the curvature speed limit. Moreover, when the terminal device speed is relatively fast, it is impossible to decelerate in advance before entering the curve, resulting in a poor curve tracking effect of the terminal device.

[0048] To address the above problems, the present disclosure proposes a method of segmenting speed limits for the path according to curvature. After the path is generated, the curvature of each path point is calculated, and the path is segmented according to the curvature to obtain multiple path intervals. A fixed limit speed is set for each path interval. Therefore, the curvature speed limit does not change when the terminal device leaves a path interval, and the speed control of the terminal device is more stable. Similarly, since each path interval has a fixed curvature speed limit, during the operation of the terminal device, the target path point in the front can be pre-viewed in real time to obtain the target speed limit, so that deceleration can be carried out in advance before entering the curve, avoiding the problem that the speed cannot be reduced in time when entering the curve, thus ensuring the stability of the terminal device speed control, and enabling the terminal device to better track the path in the curve to ensure the safety of the terminal device.

[0049] Figure 3 is a flowchart of a control method for a terminal device shown according to an exemplary embodiment. As Figure 3 shown, the method may include: Step S101, when the terminal device runs according to the target path, obtain the running information of the terminal device.

[0050] Step S102: Determine a target path point from multiple preset path points on the target path according to the running information. The target path point is a preset path point that is in front of the terminal device based on the running direction of the terminal device.

[0051] Exemplarily, the terminal device in the embodiments of the present disclosure may be a device that runs along a pre-planned path, such as a robot, a drone, a driverless vehicle, etc. The terminal device may pre-generate a target path and run according to the target path. During the process of the terminal device running according to the target path, the running information of the terminal device can be obtained in real time. The running information may include position information and speed information. The position information may represent the target position where the terminal device is currently located on the target path, and the speed information may represent the actual speed of the terminal device currently.

[0052] In some embodiments, the preview distance may be determined in real time according to the position information and speed information of the terminal device, and then starting from the target position represented by the position information, the preset path points in the target path are traversed in sequence, and the first preset path point whose cumulative path length is greater than the preview distance is used as the target path point. The cumulative path length may represent the path length determined along the target path starting from the target position as the starting point.

[0053] In a possible implementation manner, the preview distance may be calculated by formula 1: (Formula 1) Wherein, is the preview distance, is the minimum preview distance parameter, is the actual speed of the robot, is the preview time parameter.

[0054] Step S103: Determine the target path interval where the target path point is located from multiple path intervals on the target path.

[0055] Step S104: Determine the target speed limit corresponding to the target path interval from the interval speed limits corresponding to the multiple path intervals. The multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined according to the curvatures of the multiple preset path points.

[0056] For example, the curvature of each preset path point in the target path can be obtained in advance, and the target path can be divided into multiple path intervals according to the curvature of each preset path point. Then, for each path interval, the maximum value among the curvatures of multiple preset path points in the path interval is used as the maximum curvature of the path interval, and the target speed limit corresponding to the path interval is determined according to the maximum curvature and the preset corresponding relationship. Among them, the preset corresponding relationship can be a corresponding relationship between curvature and speed limit, the preset corresponding relationship can be a functional relationship between curvature and speed limit, substituting the maximum curvature into the functional relationship can obtain the target speed limit, and the preset corresponding relationship can also be a pre-trained relationship model, and the maximum curvature is input into the relationship model to obtain the target speed limit output by the relationship model. The present disclosure does not make specific limitations on this.

[0057] After determining the target path point, the target path interval where the target path point is located can be determined from multiple path intervals of the target path, and the target speed limit corresponding to the target path interval can be determined from the interval speed limits corresponding to the multiple path intervals. Since a fixed interval speed limit is set for each path interval, the curvature speed limit of the terminal device will not change when it leaves a path interval, and the speed control of the terminal device is more stable. In addition, since each path interval has a fixed interval speed limit, during the operation of the terminal device, the target path point ahead can be pre-aimed in real time to obtain the target speed limit, so that the speed can be slowed down in advance before entering the curve, avoiding the problem of the speed not being able to be reduced in time when entering the curve, thereby ensuring the stability of the speed control of the terminal device, and the terminal device can better track the path on the curve, thereby ensuring the safety of the terminal device.

[0058] Step S105, controlling the operation of the terminal device according to the target speed limit.

[0059] For example, the running speed determined by the terminal device can be obtained, where the running speed can be understood as the speed calculated by the controller according to the preset navigation control algorithm. When the running speed is greater than the target speed limit, the terminal device is controlled to run according to the target speed limit. When the running speed is less than or equal to the target speed limit, the terminal device is controlled to run according to the running speed. In this way, there is no coupling relationship between the determination of the target speed limit and the navigation control algorithm, so it will not affect the effect of the curve speed adjustment, and it is more portable and adaptable.

[0060] In summary, the present disclosure determines multiple path intervals and the interval speed limits corresponding to the multiple path intervals in advance according to the curvatures of multiple preset path points in the target path. When the terminal device runs along the target path, the target path point located in front of the terminal device and the target speed limit corresponding to the target path interval where the target path point is located are determined according to the running information of the terminal device. Thus, the vehicle is controlled to reduce its speed in advance before entering a curve according to the target speed limit, avoiding the problem that the terminal device cannot decelerate in advance to enter the curve when its speed is relatively high, thereby improving the running stability of the terminal device. Moreover, the terminal device can better track the target path in the curve, thus improving the running safety of the terminal device. And the present disclosure does not need to calculate the curvature speed limit according to the pose of the terminal device. The curvature speed limit of the terminal device within a path interval is fixed and unchanged, avoiding the problem that the curvature speed limit changes frequently when the pose changes frequently, thereby improving the running stability of the terminal device. And the present disclosure has no coupling relationship with the control algorithm of the terminal device, so it has stronger portability and better adaptability, further improving the running stability and safety of the terminal device.

[0061] Figure 4 is a flowchart of a method for determining a target path shown according to an exemplary embodiment, as Figure 4 shown, the method may include: Step S201, generating a global path according to a target task to be executed.

[0062] Step S202, when the length of the global path is greater than a preset path length, performing smoothing processing on the global path to obtain a target path.

[0063] Exemplarily, the terminal device may generate a global path according to a target task to be executed. For example, if the target task is to move from position A to position B, then the terminal device may generate a movement path from position A to position B according to a map as the global path. If the robot replans the path during the process of moving from position A to position B due to obstacle avoidance or other situations, the target task at this time may be an obstacle avoidance task, and a movement path from the current position to position B is re-determined according to the obstacle avoidance task as the new global path.

[0064] If the global path is empty, then the target speed limit may be output as zero. If the global path is not empty and the length of the global path is less than or equal to the preset path length, then the target speed limit may be determined according to the length of the global path and the preset deceleration parameter. Wherein, the preset path length may be 0.5 m, and the target speed limit may be obtained by formula 2.

[0065] (Formula 2) Wherein, is the output target speed limit, is the speed at the end point of the target path, which is 0. is the deceleration parameter when stopping at the preset end point. is the remaining path length.

[0066] If the global path is not empty and the length of the global path is greater than the preset path length, then the global path can be smoothed to obtain the target path. For example, path smoothing can be performed by means of cubic spline curves, polynomial interpolation, Bezier curves, etc.

[0067] In a possible implementation, cubic spline curves can be used to smooth the global path. Specifically, the global path can be sampled at path points at intervals of the preset sampling length. Among them, the preset sampling length can be 0.5m, and then cubic parametric spline curve fitting is used for smoothing processing. Among them, the principle of cubic parametric spline implementation is to perform parametric solution on the basis of the cubic spline function and adopt the chord length accumulation method. As Figure 5 shown, assuming that the coordinates of the control points on the plane are P(x i , y i ), i = 0, 1, 2,... n. The accumulated chord lengths at each point can be expressed as:

[0068]

[0069]

[0070]

[0071] Among them, s0 is the accumulated chord length at point p0, s1 is the accumulated chord length at point p1, that is, the chord length l1 from point p0 to point p1, s2 is the accumulated chord length at point p2, that is, the chord length from point p0 to point p2, that is, the sum of the chord length l1 from point p0 to point p1 and the chord length l2 from point p1 to point p2, s k is the accumulated chord length at point p k point, that is, the chord length from point p0 to point p k point.

[0072] Therefore, the coordinate components of point P(x, y) can be expressed in parametric form as x = x(s) and y = y(s), and a data table with the accumulated chord length s as the parameter as shown in Table 1 is obtained. In this way, the target path after smoothing can be obtained by using the cubic spline function with s as the variable and x and y as the functions respectively.

[0073]

[0074] Table 1 Figure 6A method for determining a path interval and an interval speed limit shown according to an exemplary embodiment is as follows Figure 6 As shown, the method may include: Step S301: Obtain the curvature of each preset path point in the target path.

[0075] In a possible implementation, the curvature of each preset path point in the target path can be calculated according to the path point coordinates P(x, y) and the expressions x = x(s) and y = y(s) regarding the path length s through Formula 3.

[0076] (Formula 3) Where k is the curvature, is the first derivative of is the second derivative of is the first derivative of is the second derivative of.

[0077] Step S302: Determine a plurality of path intervals and the target speed limit corresponding to each path interval according to the curvature of each preset path point.

[0078] Exemplarily, first, the target path can be divided into a plurality of path intervals according to the curvature of each preset path point.

[0079] In some embodiments, all the preset path points in the target path can be traversed in sequence starting from the starting point of the target path. Among them, the preset path point with a curvature greater than the first preset curvature is used as the starting point, and the first preset path point with a curvature less than the second preset curvature after the starting point is used as the ending point. Then, the preset path point after the ending point is used as the new path point to be traversed, and the steps of using the preset path point with a curvature greater than the first preset curvature as the starting point and the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point are repeatedly executed until all the preset path points are traversed, obtaining a plurality of starting points and a plurality of ending points.

[0080] In other embodiments, the target path can be divided into a plurality of path intervals according to the plurality of starting points and the plurality of ending points. In a possible implementation, the target segmentation point can be determined from the adjacent starting point and ending point, where among the adjacent starting point and ending point, the ending point is before the starting point. Then, the target path is divided into a plurality of path intervals according to the first starting point, the last ending point, and the target segmentation point.

[0081] For example, as Figure 7As shown, for each bend, the starting curvature of the bend entry can be set as start_kappa, and the terminal curvature of the bend exit can be set as end_kappa. Multiple starting points and multiple ending points can be obtained according to the magnitude relationship between the path point curvature, start_kappa, and end_kappa. Specifically, all preset path points can be traversed from front to back. When the curvature of a preset path point is greater than the first preset curvature start_kappa, this preset path point is regarded as the starting point of the bend and saved to the starting point sequence. Starting from this point, continue to traverse the subsequent preset path points. When the curvature of a certain preset path point is less than the second preset curvature end_kappa, it is regarded as the ending point of the bend and saved to the ending point sequence. Then continue to traverse the preset path points and perform the same operation as above to obtain all path segmentation points, as Figure 8 shown. Among a group of starting points and ending points that are adjacent and the ending point is before the starting point, select a point as the target segmentation point. Based on the first starting point, the last ending point, and the target segmentation point, the target path can be segmented into multiple path intervals.

[0082] Exemplarily, referring to Figure 9 , for each path interval, multiple path points of each path interval can be traversed to obtain the maximum curvature of each path interval. Figure 9 In [reference], the maximum curvature of path interval S1 is k_max_1, the maximum curvature of path interval S2 is k_max_2, the maximum curvature of path interval S3 is k_max_3, and the maximum curvature of path interval S4 is k_max_4. Then, based on the maximum curvature, the preset curvature set, and the preset speed limit set, the target speed limit corresponding to the path interval can be determined. Among them, the preset curvature set includes multiple preset curvature values, and the preset speed limit set includes multiple preset speed limit values.

[0083] In some embodiments, the magnitude relationship between the maximum curvature and multiple preset curvature values can be determined first, and then the target corresponding relationship can be determined from multiple preset corresponding relationships according to the magnitude relationship, and the target speed limit corresponding to the maximum curvature can be determined according to the target corresponding relationship. Among them, the preset corresponding relationship can include the corresponding relationship between curvature and speed limit.

[0084] In a possible implementation manner, a curvature array and a speed limit array can be preset. Among them, the multiple preset curvature values included in the curvature array are arranged in ascending order, and the preset speed limit values in the speed limit array are arranged in descending order, that is, the greater the curvature, the smaller the corresponding speed limit. The target corresponding relationship can be determined according to the magnitude relationship between the maximum curvature of each and the multiple preset curvature values included in the curvature array, and the target speed limit corresponding to the maximum curvature can be determined according to the target corresponding relationship v .

[0085] Exemplarily, the preset correspondence can be as shown in Formula 4. The maximum curvature of a certain path segment is k, and the target correspondence can be determined according to the magnitude relationship between k and . When , the target correspondence is . When , the target correspondence is . When , , the target correspondence is

[0086] (Formula 4) Taking a terminal device as a robot as an example, a specific embodiment is provided below.

[0087] As Figure 10 shown, first, it is judged whether the global path is empty. If the global path is empty, then the target speed limit can be output as zero. If the global path is not empty, then it can be judged whether the path length of the global path meets the smoothing condition. When the length of the global path is less than or equal to the preset path length, it can be determined that the path length of the global path does not meet the smoothing condition, then the target speed limit can be determined according to the length of the global path. When the length of the global path is greater than or equal to the preset path length, it can be determined that the path length of the global path meets the smoothing condition, then the global path can be smoothed by a cubic spline curve to obtain the target path, and the curvature of each preset path point in the target path can be calculated. Then, further segment the target path according to the curvature of each preset path point to obtain multiple path intervals, and calculate the maximum curvature of each path interval. The interval speed limit corresponding to the path interval can be calculated according to the maximum curvature of each path interval. During the process of the robot running along the target path, the preview point (i.e., the target path point) can be obtained from multiple preset path points of the target path according to the robot position information and speed information, and then the interval speed limit of the path interval where the point is located is used as the target speed limit.

[0088] In summary, the present disclosure pre-determines multiple path intervals and the interval speed limits corresponding to the multiple path intervals according to the curvatures of multiple preset path points in the target path. When the terminal device runs along the target path, the target path point located in front of the terminal device is determined according to the running information of the terminal device, and the target speed limit corresponding to the target path interval where the target path point is located. Thus, the vehicle is controlled to reduce speed in advance before entering the curve according to the target speed limit, avoiding the problem that the terminal device cannot decelerate in advance when entering the curve at a high speed, thereby improving the running stability of the terminal device. And the terminal device can better track the target path in the curve, thereby improving the running safety of the terminal device. And the present disclosure does not need to calculate the curvature speed limit according to the pose of the terminal device, and the curvature speed limit of the terminal device in a path interval is fixed, avoiding the problem that the curvature speed limit changes frequently when the pose changes frequently, thereby improving the running stability of the terminal device. And the present disclosure has no coupling relationship with the control algorithm of the terminal device, so it has stronger portability and better adaptability, further improving the running stability and safety of the terminal device.

[0089] Figure 11 is a block diagram of a control device for a terminal device shown according to an exemplary embodiment, as Figure 11 shown. The device 400 may include: An acquisition module 401, configured to acquire the running information of the terminal device when the terminal device runs along the target path.

[0090] A first determination module 402, configured to determine a target path point from multiple preset path points of the target path according to the running information. The target path point is a preset path point located in front of the terminal device based on the running direction of the terminal device.

[0091] A second determination module 403, configured to determine the target path interval where the target path point is located from multiple path intervals of the target path.

[0092] A third determination module 404, configured to determine the target speed limit corresponding to the target path interval from the interval speed limits corresponding to the multiple path intervals. The multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined according to the curvatures of the multiple preset path points.

[0093] A control module 405, configured to control the operation of the terminal device according to the target speed limit.

[0094] In some embodiments, the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined by the following method: Acquire the curvature of each preset path point in the target path.

[0095] Determine a plurality of path intervals and a target speed limit corresponding to each path interval according to the curvature of each preset path point.

[0096] In some other embodiments, determining a plurality of path intervals and a target speed limit corresponding to each path interval according to the curvature of each preset path point includes: Divide the target path into a plurality of path intervals according to the curvature of each preset path point.

[0097] For each path interval, use the maximum value among the curvatures of the plurality of preset path points in the path interval as the maximum curvature of the path interval.

[0098] Determine the target speed limit corresponding to the path interval according to the maximum curvature.

[0099] In some other embodiments, dividing the target path into a plurality of path intervals according to the curvature of each preset path point includes: Starting from the starting point of the target path, sequentially traverse all the preset path points in the target path.

[0100] Use the preset path point with a curvature greater than the first preset curvature as the starting point, and use the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point, and continue to use the preset path points after the ending point as the new path points to be traversed, and repeat the step of using the preset path point with a curvature greater than the first preset curvature as the starting point, and the step of using the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point until all the preset path points are traversed, obtaining a plurality of starting points and a plurality of ending points.

[0101] Divide the target path into a plurality of path intervals according to the plurality of starting points and the plurality of ending points.

[0102] In some other embodiments, dividing the target path into a plurality of path intervals according to the plurality of starting points and the plurality of ending points includes: Determine a target splitting point from adjacent starting points and ending points, where among the adjacent starting points and ending points, the ending point is before the starting point.

[0103] Divide the target path into a plurality of path intervals according to the first starting point, the last ending point, and the target splitting point.

[0104] In some other embodiments, determining the target speed limit corresponding to the path interval according to the maximum curvature includes: Determine the target speed limit according to the maximum curvature, a preset curvature set, and a preset speed limit set. The preset curvature set includes a plurality of preset curvature values, and the preset speed limit set includes a plurality of preset speed limit values.

[0105] In some other embodiments, determining the target speed limit according to the maximum curvature, the preset curvature set, and the preset speed limit set includes: Determining the magnitude relationship between the maximum curvature and multiple preset curvature values.

[0106] Determining a target correspondence relationship from multiple preset correspondence relationships according to the magnitude relationship, where the preset correspondence relationship includes the correspondence relationship between curvature and speed limit.

[0107] Determining the target speed limit corresponding to the maximum curvature according to the target correspondence relationship.

[0108] In some other embodiments, the operation information includes position information and speed information. The first determination module is configured to include: Determining the preview distance according to the position information and speed information of the terminal device.

[0109] Starting from the target position represented by the position information, sequentially traversing the preset path points in the target path, and taking the first preset path point whose accumulated path length is greater than the preview distance as the target path point, where the accumulated path length represents the path length determined along the target path starting from the target position.

[0110] In some other embodiments, determining the target path includes the following steps: Generating a global path according to the target task to be executed.

[0111] When the length of the global path is greater than the preset path length, performing smoothing processing on the global path to obtain the target path.

[0112] Figure 12 It is a block diagram of another control device for a terminal device shown according to an exemplary embodiment, as Figure 12 shown. The device 400 further includes: A fourth determination module 406, configured to determine the target speed limit according to the length of the global path and the preset deceleration parameter when the length of the global path is less than or equal to the preset path length.

[0113] In some other embodiments, the control module 405 is configured to: Obtain the running speed determined by the terminal device.

[0114] When the running speed is greater than the target speed limit, controlling the terminal device to run at the target speed limit.

[0115] When the running speed is less than or equal to the target speed limit, controlling the terminal device to run at the running speed.

[0116] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0117] In summary, the present disclosure pre-determines multiple path intervals and the interval speed limits corresponding to the multiple path intervals according to the curvatures of multiple preset path points in the target path. When the terminal device runs along the target path, it determines the target path point in front of the terminal device according to the running information of the terminal device, and the target speed limit corresponding to the target path interval where the target path point is located, so as to control the vehicle to reduce speed in advance before entering the curve according to the target speed limit, avoiding the problem that the terminal device cannot decelerate and enter the curve in advance when the speed is relatively high, thereby improving the running stability of the terminal device, and the terminal device can better track the target path in the curve, thereby improving the running safety of the terminal device. And the present disclosure does not need to calculate the curvature speed limit according to the pose of the terminal device, and the curvature speed limit of the terminal device in a path interval is fixed and unchanged, avoiding the problem that the curvature speed limit changes frequently when the pose changes frequently, thereby improving the running stability of the terminal device. And the present disclosure has no coupling relationship with the control algorithm of the terminal device, so it has stronger portability and better adaptability, further improving the running stability and safety of the terminal device.

[0118] Figure 13 is a block diagram of an electronic device 500 shown according to an exemplary embodiment. As Figure 13 shown, the electronic device 500 may include: a processor 501, a memory 502. The electronic device 500 may further include one or more of a multimedia component 503, an input / output (I / O) interface 504, and a communication component 505.

[0119] Among them, the processor 501 is used to control the overall operation of the electronic device 500 to complete all or part of the steps in the above-mentioned control method of the terminal device. The memory 502 is used to store various types of data to support the operation of the electronic device 500. These data may include, for example, instructions for any application or method operating on the electronic device 500, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, and so on. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM for short), electrically erasable programmable read-only memory (EEPROM for short), erasable programmable read-only memory (EPROM for short), programmable read-only memory (PROM for short), read-only memory (ROM for short), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. Among them, the screen can be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone, and the microphone is used to receive external audio signals. The received audio signals can be further stored in the memory 502 or sent through the communication component 505. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 504 provides an interface between the processor 501 and other interface modules, and the above-mentioned other interface modules can be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC for short), 2G, 3G or 4G, or a combination of one or more of them. Therefore, the corresponding communication component 505 may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0120] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the control method of the above terminal device.

[0121] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, and when the program instructions are executed by a processor, the steps of the control method of the above terminal device are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 502 including program instructions, and the above program instructions may be executed by the processor 501 of the electronic device 500 to complete the control method of the above terminal device.

[0122] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0123] In addition, it should be noted that, in the various specific technical features described in the above specific embodiments, without conflict, they can be combined in any appropriate manner. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0124] Furthermore, any combination can be made between various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A control method for a terminal device, characterized in that, The method includes: When the terminal device runs according to the target path, obtaining the running information of the terminal device; Based on the running information, determining a target path point from multiple preset path points of the target path; the target path point is a preset path point located in front of the terminal device based on the running direction of the terminal device; Determining the target path interval where the target path point is located from multiple path intervals of the target path; Determining the target speed limit corresponding to the target path interval from the interval speed limits corresponding to the multiple path intervals; the multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined according to the curvature of the multiple preset path points; Controlling the operation of the terminal device according to the target speed limit.

2. The method according to claim 1, wherein The multiple path intervals and the interval speed limits corresponding to the multiple path intervals are determined by the following method: Obtaining the curvature of each preset path point in the target path; Based on the curvature of each preset path point, determining multiple path intervals and the target speed limit corresponding to each path interval.

3. The method according to claim 2, wherein The determining multiple path intervals and the target speed limit corresponding to each path interval based on the curvature of each preset path point includes: Dividing the target path into the multiple path intervals based on the curvature of each preset path point; For each path interval, taking the maximum value of the curvatures of the multiple preset path points in the path interval as the maximum curvature of the path interval; Determining the target speed limit corresponding to the path interval according to the maximum curvature.

4. The method according to claim 3, wherein The dividing the target path into the multiple path intervals based on the curvature of each preset path point includes: Starting from the starting point of the target path, sequentially traversing all preset path points in the target path; Taking the preset path point with a curvature greater than the first preset curvature as the starting point, and taking the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point, and continuing to take the preset path points after the ending point as new path points to be traversed, and repeating the step of taking the preset path point with a curvature greater than the first preset curvature as the starting point and the step of taking the first preset path point with a curvature less than the second preset curvature after the starting point as the ending point until all preset path points are traversed, obtaining multiple starting points and multiple ending points; Dividing the target path into the multiple path intervals according to the multiple starting points and multiple ending points.

5. The method according to claim 4, wherein The dividing the target path into the multiple path intervals according to the multiple starting points and multiple ending points includes: Determining a target splitting point from adjacent starting points and ending points, among the adjacent starting points and ending points, the ending point is before the starting point; Dividing the target path into the multiple path intervals according to the first starting point, the last ending point, and the target splitting point.

6. The method according to claim 3, wherein The determining the target speed limit corresponding to the path interval according to the maximum curvature includes: Determine the target speed limit according to the maximum curvature, the preset curvature set, and the preset speed limit set, where the preset curvature set includes a plurality of preset curvature values, and the preset speed limit set includes a plurality of preset speed limit values.

7. The method according to claim 6, wherein The determining the target speed limit according to the maximum curvature, the preset curvature set, and the preset speed limit set includes: Determine the magnitude relationship between the maximum curvature and the plurality of preset curvature values; Determine a target correspondence relationship from a plurality of preset correspondence relationships according to the magnitude relationship, where the preset correspondence relationship includes the correspondence relationship between curvature and speed limit; Determine the target speed limit corresponding to the maximum curvature according to the target correspondence relationship.

8. The method according to claim 1, wherein The operation information includes position information and speed information; the determining a target path point from a plurality of preset path points of the target path according to the operation information includes: Determine a preview distance according to the position information and the speed information; Starting from the target position represented by the position information, sequentially traverse the preset path points in the target path, and use the first preset path point whose cumulative path length is greater than the preview distance as the target path point, where the cumulative path length represents the path length determined along the target path starting from the target position.

9. The method according to claim 1, characterized in that The target path is determined by the following method including: Generate a global path according to the target task to be executed; In the case where the length of the global path is greater than the preset path length, smooth the global path to obtain the target path.

10. The method according to claim 9, wherein The method further includes: In the case where the length of the global path is less than or equal to the preset path length, determine the target speed limit according to the length of the global path and the preset deceleration parameter.

11. The method according to any one of claims 1-10, characterized in that, The controlling the terminal device to run according to the target speed limit includes: Obtain the running speed determined by the terminal device; In the case where the running speed is greater than the target speed limit, control the terminal device to run at the target speed limit; In the case where the running speed is less than or equal to the target speed limit, control the terminal device to run at the running speed.

12. A control device for a terminal device, characterized in that, The device includes: When the terminal device runs according to the target path, obtain the operation information of the terminal device; According to the operation information, determine a target path point from a plurality of preset path points of the target path; the target path point is a preset path point in front of the terminal device based on the running direction of the terminal device; Determine the target path interval where the target path point is located from a plurality of path intervals of the target path; Determine the target speed limit corresponding to the target path interval from the interval speed limits corresponding to the plurality of path intervals; the plurality of path intervals and the interval speed limits corresponding to the plurality of path intervals are determined according to the curvature of the plurality of preset path points; Control the terminal device to run according to the target speed limit.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-11.

14. An electronic device, characterized in that, Including: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1-11.

15. A computer program product, characterized in that, Comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

Images