Device control method, apparatus, and storage medium

Abstract

The embodiment of the present disclosure provides a device control method, device and storage medium, and relates to the technical field of automatic control. The device control method comprises the following steps: determining a control parameter of a movable device according to a first planning track of the movable device at a first time, the control parameter comprising at least one of a target speed, a target acceleration and a target heading angle used for controlling the movable device to travel; at a second time after the first time, generating a second planning track of the movable device according to a position of the movable device and the first planning track, the second planning track comprising at least a specified track overlapping with the first planning track in a longitudinal direction, the specified track being laterally offset from the first planning track by less than or equal to a preset lateral offset threshold, the longitudinal direction being a traveling direction of the movable device; updating the control parameter of the movable device according to the second planning track; and controlling the movable device to travel based on the control parameter.

Description

Technical Field

[0001] This disclosure relates to the field of automatic control technology, and more specifically, to a device control method, apparatus, and storage medium. Background Technology

[0002] For mobile devices such as vehicles, a driving trajectory can be automatically planned and generated based on the device's own status and surrounding environmental information, and the mobile device can be automatically controlled to drive according to the planned trajectory. In a dynamically changing environment, the mobile device can dynamically plan a driving trajectory based on environmental information. However, the driving trajectory planned and generated in related technologies may change abruptly in scenarios such as lane changing or obstacle avoidance, affecting the stability of vehicle control and the user's riding experience. Summary of the Invention

[0003] In view of this, the present disclosure proposes a new technical solution for device control.

[0004] According to a first aspect of the present disclosure, a device control method is provided, the method comprising:

[0005] The control parameters of the mobile device are determined based on the first planned trajectory of the mobile device at a first moment; wherein the control parameters include at least one of the target speed, target acceleration, and target heading angle used to control the movement of the mobile device.

[0006] At a second time after the first time, a second planned trajectory for the mobile device is generated based on the location of the mobile device and the first planned trajectory; wherein the second planned trajectory includes at least a designated trajectory that overlaps with the first planned trajectory in the longitudinal direction, the lateral offset of the designated trajectory from the first planned trajectory is less than or equal to a preset lateral offset threshold, and the longitudinal direction is the driving direction of the mobile device;

[0007] Update the control parameters of the mobile device according to the second planned trajectory;

[0008] The mobile device is controlled to move based on the control parameters.

[0009] Optionally, the designated trajectory of the second planned trajectory includes at least a first part of the trajectory line, which is the trajectory line located between the first trajectory point and the second trajectory point in the first planned trajectory; the first trajectory point is the trajectory point on the first planned trajectory that has the same longitudinal coordinate as the position of the mobile device at the second time moment, and the second trajectory point is the trajectory point determined according to the curvature parameter of the first planned trajectory.

[0010] Optionally, the trajectory length of the first part of the trajectory line is the second trajectory length, which is the length determined according to the third trajectory length from the first trajectory point to the third trajectory point in the first planned trajectory, and the third trajectory point is the trajectory point with the largest curvature between the first trajectory point and the trajectory endpoint of the first planned trajectory.

[0011] Optionally, if the sum of the third trajectory length and the specified length is less than or equal to a preset minimum inheritance length, the second trajectory length is the preset minimum inheritance length, and the specified length is the pre-set length by which the first portion of the trajectory line continues to extend after covering the third trajectory point; or...

[0012] If the sum of the third trajectory length and the specified length is greater than the preset minimum inheritance length and less than or equal to the preset maximum inheritance length, then the second trajectory length is equal to the sum of the third trajectory length and the specified length; or,

[0013] If the sum of the third trajectory length and the specified length is greater than the preset maximum inheritance length, then the second trajectory length is the preset maximum inheritance length.

[0014] Optionally, the specified trajectory of the second planned trajectory may include at least a second part of the trajectory line, which is planned and generated with the second trajectory point as the starting point, and the lateral offset of the second part of the trajectory line from the first planned trajectory is less than or equal to a preset lateral offset threshold.

[0015] Optionally, the cost function used when planning and generating the second part of the trajectory line includes at least a first consistency cost function. The first consistency cost function is a cost function determined based on a first lateral offset and a second lateral offset between the second part of the trajectory line and the first planned trajectory. The first lateral offset is used to characterize the lateral offset between the endpoint of the second part of the trajectory line and the endpoint of the first planned trajectory, and the second lateral offset is used to characterize the lateral offset between each trajectory point of the second part of the trajectory line and the first planned trajectory.

[0016] Optionally, the lateral offset between each trajectory point of the second part of the trajectory line and the first planned trajectory is determined by Gaussian convolution calculation.

[0017] Optionally, the designated trajectory of the second planned trajectory is a trajectory planned and generated starting from a first trajectory point, where the first trajectory point is a trajectory point on the first planned trajectory that has the same longitudinal coordinate as the position of the mobile device at the second time point; the cost function used in planning and generating the designated trajectory includes at least a second consistency cost function, which is a cost function determined based on a third lateral offset and a fourth lateral offset between the designated trajectory and the first planned trajectory, where the third lateral offset is used to characterize the lateral offset between the endpoint of the designated trajectory and the endpoint of the first planned trajectory, and the fourth lateral offset is used to characterize the lateral offset between each trajectory point of the designated trajectory and the first planned trajectory.

[0018] According to a second aspect of the present disclosure, a device control apparatus is provided, including a memory and a processor, the memory being configured to store computer instructions, and the processor being configured to invoke the computer instructions from the memory to perform the method as described in the first aspect.

[0019] According to a third aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0020] Based on the device control method provided in this disclosure, the lateral offset between the specified trajectory of the second planned trajectory generated at the second time and the first planned trajectory generated at the first time is less than or equal to a preset lateral offset threshold, which can enhance the consistency of the planned trajectories at the first and second times. Since the control parameters are generated based on the planned trajectory, the updated control parameters and the control parameters before the update also have a certain consistency, thereby improving the continuity and stability of trajectory planning in dynamic environments and also improving the stability of device control.

[0021] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0023] Figure 1 This is a schematic diagram of an intelligent connected system to which the methods provided in the embodiments of this disclosure can be applied.

[0024] Figure 2 It is based on Figure 1 The illustrated embodiment provides a schematic diagram of a mobile device.

[0025] Figure 3This is a schematic flowchart of a device control method provided in an embodiment of this disclosure.

[0026] Figure 4 This is a schematic diagram of the first and second planning trajectories in related technologies.

[0027] Figure 5 This is a schematic diagram of a first planned trajectory and a second planned trajectory provided in an embodiment of this disclosure.

[0028] Figure 6 This is a schematic flowchart of a trajectory planning method provided in an embodiment of this disclosure.

[0029] Figure 7 This is a schematic diagram of the structure of a device control apparatus provided in an embodiment of this disclosure. Detailed Implementation

[0030] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0031] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0032] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0033] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0035] The elements involved in the embodiments of this disclosure may represent part or all of an element. For example, the elements involved in the embodiments of this disclosure may be at least a part of an element or all of an element.

[0036] The elements involved in the embodiments of this disclosure may be one or more, such as "a", "the", "the above", "the", "the foregoing", etc., which are used to indicate that the corresponding element is mentioned for the first time or is mentioned again, and do not have the meaning of limiting the number.

[0037] It should be noted that all actions involving the collection, storage, use, processing, transmission, provision, disclosure, and deletion of data in this disclosure are carried out in accordance with the relevant data protection laws and regulations of the country or region where the data is located, and with the full authorization of the relevant data owner.

[0038] First, the application scenarios of the embodiments of this disclosure will be described.

[0039] Figure 1 This is a schematic diagram of an intelligent connected system 100 to which the methods provided in the embodiments of this disclosure can be applied. Figure 1 As shown, the intelligent connected system 100 may include: a mobile device 101, a server 102, and a user terminal 103.

[0040] In some examples, the mobile device 101 can be a vehicle, robot, ship, or other mobile device, such as a vehicle with autonomous driving capabilities or a robot capable of autonomous movement. Autonomous driving, also known as driverless or intelligent driving, refers to a vehicle with autonomous driving capabilities that can perform driving tasks such as environmental perception, decision-making, planning, and control execution. The levels of autonomous driving can refer to the vehicle intelligence classification standards established by the Society of Automotive Engineers (SAE), for example, L0 is manual driving, L1 is driver assistance, L2 is partial autonomous driving, L3 is conditional autonomous driving, L4 is highly automated driving, and L5 is fully automated driving. The above classification of autonomous driving levels is merely an example, and this disclosure does not limit the classification standards and levels of autonomous driving.

[0041] In some examples, server 102 can be a single server or a distributed server cluster consisting of multiple servers, and its deployment method can include local servers or cloud servers. Server 102 can communicate with mobile device 101 and / or user terminal 103 via a communication network, providing various services to mobile device 101 and / or user terminal 103. For example, the server can receive sensing data sent by mobile device 101, provide services such as high-precision maps, data analysis, and decision planning for mobile device 101, or receive query commands or control commands sent by user terminal 102, providing corresponding services to the user.

[0042] In some examples, the user terminal 103 can be any form of electronic device that provides services to the user, such as a personal computer, laptop, smart tablet, smartphone, smart wearable device, etc. The user can interact with the mobile device or server through the human-computer interaction terminal configured on the mobile device 101, or through the user terminal 103. For example, the user terminal can query the status and / or parameters of the mobile device, or control the mobile device to perform set tasks and / or modify configuration parameters, etc. The user terminal runs an application based on the intelligent network system to achieve interaction with the mobile device or server. This application can be a local application, a web application, or a mini-program, etc., without limitation.

[0043] In some examples, the aforementioned application running on the user's terminal can provide authentication or authorization services to the user. The user who is successfully authenticated and granted the corresponding permissions can query and / or control the mobile device within the scope of the granted permissions.

[0044] The mobile device 101, server 102, and user terminal 103 can communicate via a communication link provided by communication network 104. This communication network 104 can include one or more networks of any type, such as the Internet, Local Area Network (LAN), Wide Area Network (WAN), Virtual Private Network (VPN), Public Switched Telephone Network (PSTN), satellite communication network, Wi-Fi, 2G, 3G, 4G, 5G, 6G, NB-IoT, eMTC, infrared, Bluetooth, NFC, or a combination of these networks. The communication networks between mobile device 101 and server 102, between user terminal 103 and server 102, and between user terminal 103 and mobile device 101 can be the same or different.

[0045] It should be noted that, Figure 1 The structure of the intelligent connected system 100 shown is merely illustrative. The intelligent connected system in this embodiment is not limited to the above structure and may include more or fewer devices as needed, and the devices may be combined or split. For example, the intelligent connected system may not include user terminals and / or servers; as another example, user terminals and servers may be deployed together.

[0046] Figure 2 It is based on Figure 1 The illustrated embodiment provides a schematic diagram of a mobile device 101. As shown... Figure 2As shown, the mobile device 101 may include a sensing component 1011, a computing platform 1012, an execution component 1013, etc. The sensing component 1011, the computing platform 1012, and the execution component 1013 may be connected via a bus or other means.

[0047] In some examples, the sensing component 1011 can be used to collect information about the mobile device itself or externally. The sensing component 1011 may include at least one of a visual sensing unit, radar, a positioning and navigation unit, an inertial measurement unit (IMU), or other sensing units. The visual sensor unit may include one or more cameras, the radar may include at least one of lidar, millimeter-wave radar, ultrasonic radar, or other radar, and the positioning and navigation unit may include at least one of a GPS system, a BeiDou system, or other global positioning systems.

[0048] In some examples, the computing platform 1012 may include a computing-capable device for processing the sensing information collected by the sensing component 1011 to obtain control information, and sending corresponding control commands to the execution component 1013 to cause the execution component 1013 to perform corresponding actions, thereby realizing the control of the mobile device 101. For example, the computing platform 1012 can perform one or more of the following actions on the mobile device: Simultaneous Localization and Mapping (SLAM), information collection and processing, decision-making, planning, and control, thereby realizing autonomous control of the mobile device. The computing platform 1012 may include at least one processor and at least one memory, and each processor can individually or jointly execute instructions stored in the memory to implement the methods provided in the embodiments of this disclosure. The processor in this disclosure embodiment may include at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Neural-network Processing Unit (NPU), Tensor Processing Unit (TPU), Data Processing Unit (DPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), System on Chip (SOC), Application Specific Integrated Circuit (ASIC), Micro Controller Unit (MCU), or other processors. The memory may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), Magnetic Storage, Flash Memory, Disk, or Optical Disk. In addition to storing instructions, the memory may also store data, such as high-precision maps, path information, and data on the location, direction, and speed of mobile devices. Data stored in memory can be accessed and used by the processor.

[0049] In some examples, the computing platform of a mobile device can perform computing tasks independently or communicate with a server to complete computing tasks. For example, the computing platform of a mobile device can cooperate with a server to complete the corresponding computing tasks.

[0050] The computing platform 1012 can be located in the mobile device 101. Some or all of the computing platform 1012 can also be located in the server corresponding to the mobile device. For example, some functions of the computing platform 1012 with high real-time requirements can be located in the mobile device, while other functions with low real-time requirements can be located in the server corresponding to the mobile device.

[0051] In some examples, the execution component 1013 is used to perform corresponding actions based on the control of the computing platform 1012, enabling the mobile device 101 to complete the movement task. The execution component 1013 may include, for example, a power component, a braking component, a transmission component, a steering component, etc.

[0052] It should be noted that, Figure 2 The structure of the mobile device 101 shown is merely illustrative. The mobile device in this embodiment is not limited to the above structure and may include more or fewer components as needed. The device may also be combined or disassembled. For example, the mobile device may not include the aforementioned computing platform. Furthermore, the mobile device may also include communication components, interface components, multimedia components, input components, output components, etc.

[0053] The embodiments disclosed herein can be applied to device control scenarios, particularly scenarios involving trajectory planning for mobile devices to control device movement. In dynamically changing environments, mobile devices can dynamically plan their driving trajectories based on environmental information. However, in related technologies, the planned driving trajectories may abruptly change during lane changes or obstacle avoidance, affecting the stability of device control.

[0054] Mobile devices can periodically perform trajectory planning based on their own state and surrounding environment information. For example, a mobile device can perform trajectory planning every N seconds, generating a planned trajectory for M seconds each time, where M is greater than N; for example, N can be 1 and M can be 8. The starting point of each planning cycle is the current position of the mobile device, and the trajectory for that cycle is planned based on the current orientation angle, speed, acceleration, and other device state information. In transient scenarios such as lane changes or obstacle avoidance, this planning method has a high probability of producing significant differences between the trajectories planned in consecutive cycles, leading to problems such as discontinuity between trajectories and device control jitter.

[0055] To address the problems in related technologies, this disclosure provides a device control method. When planning the trajectory of a mobile device, this method introduces trajectory splicing and a consistency cost function to comprehensively optimize the safety, smoothness, and real-time performance of the trajectory. This solves the problems of discontinuity between trajectories and control jitter in traditional trajectory planning scenarios such as lane changing and obstacle avoidance, improves the continuity and stability of trajectory planning in dynamic environments, and also enhances the stability of device control.

[0056] Figure 3 This is a schematic flowchart of a device control method provided in an embodiment of this disclosure. The device control method can be... Figure 1 The illustrated mobile device and / or server execute. For example... Figure 3 As shown, the device control method of this embodiment may include the following steps S310 to S340.

[0057] Step S310: Determine the control parameters of the mobile device based on the first planned trajectory of the mobile device at the first moment.

[0058] The control parameter may include at least one of a target speed, a target acceleration, and a target heading angle for controlling the movement of the mobile device. For example, the control parameter may include only the target speed and the target heading angle, or it may include only the target acceleration and the target heading angle. Alternatively, the control parameter may indicate that it includes only the target speed or the target acceleration (e.g., straight-line travel with a constant heading angle), or it may include only the target heading angle (e.g., uniform motion with constant speed and zero acceleration).

[0059] In some examples, the planned trajectory of the mobile device (such as the first planned trajectory mentioned above) has temporal and spatial attributes. Based on the first planned trajectory, it can be predicted at what time and what spatial location the mobile device will arrive at, thereby determining what control parameters the mobile device needs to use to drive, that is, determining at least one of the target speed, target acceleration and target heading angle that meet the requirements of the first planned trajectory.

[0060] Step S320: At the second time after the first time, generate the second planned trajectory of the mobile device based on the location of the mobile device and the first planned trajectory.

[0061] The second planned trajectory may include at least a designated trajectory that overlaps with the first planned trajectory in the longitudinal direction, wherein the lateral offset of the designated trajectory from the first planned trajectory is less than or equal to a preset lateral offset threshold. This preset lateral offset threshold can be used to characterize the consistency between the designated trajectory and the first planned trajectory; a lateral offset less than or equal to the preset lateral offset threshold indicates that the consistency between the designated trajectory and the first planned trajectory is higher than the threshold. For example, the preset lateral offset threshold can be any pre-set value to accommodate different consistency requirements. For example, the preset lateral offset threshold can be 0.5 meters or 1 meter, or half the width of the vehicle body.

[0062] In some examples, the aforementioned longitudinal direction can be the travel direction of the mobile device, which is the extension direction of the navigation reference line or the center line of the road. This navigation reference line can be a global reference path from the current location of the mobile device to the target location, which can be the destination the mobile device intends to reach. This navigation reference line can be generated by the mobile device or a server based on a navigation map. For example, a two-dimensional device coordinate system is established with the center point of the mobile device as the origin, the travel direction of the mobile device (i.e., the extension direction of the navigation reference line) as the longitudinal direction, and the direction perpendicular to the longitudinal direction as the lateral direction, thereby determining the aforementioned two mutually perpendicular directions. Optionally, the positive direction of the longitudinal direction is the travel direction of the mobile device, and the positive direction of the lateral direction can be the right-hand side perpendicular to the longitudinal direction.

[0063] The aforementioned preset lateral offset threshold can be a pre-set threshold or a value determined by sorting the offsets of multiple candidate trajectories. For example, if multiple candidate trajectories that meet the safety and smooth line conditions are planned, the minimum offset of the multiple candidate trajectories can be used as the preset lateral offset threshold, thus obtaining the planned trajectory with the smallest lateral offset.

[0064] In some examples, the time difference between the first and second moments can be the trajectory planning cycle of the mobile device. The first and second moments can be the start times of two adjacent trajectory planning cycles (i.e., the times when trajectory planning is executed). For example, the first moment can be the time when the first trajectory planning is executed, and the second moment can be the time when the second trajectory planning is executed. For instance, the mobile device can perform trajectory planning every N seconds, generating a planned trajectory of M seconds each time, where M is greater than N; for example, N can be 1, and M can be 8. The time difference between the first and second moments can be N seconds. The first and second moments can be the start times of any two adjacent cycles of trajectory planning for the mobile device.

[0065] In some examples, the first planned trajectory at the first moment can be called the planned trajectory of the previous period, and the second planned trajectory at the second moment can be called the planned trajectory of the current period.

[0066] In some examples, the first and second planned trajectories can be displayed on a display component, such as on a display component of a mobile device or server, so that the user can visually observe the planned trajectory.

[0067] Step S330: Update the control parameters of the mobile device according to the second planned trajectory.

[0068] For example, based on the second planned trajectory, it is possible to predict when the mobile device will arrive at what spatial location, thereby determining what control parameters the mobile device needs to use to travel, that is, to determine at least one of the target speed, target acceleration, and target heading angle that meet the requirements of the second planned trajectory.

[0069] It should be noted that the control parameters updated according to the second planned trajectory in step S330 may be the same as or different from the control parameters determined according to the first planned trajectory in step S310.

[0070] Step S340: Control the movement of the mobile device based on control parameters.

[0071] For example, at least one of the target speed, target acceleration, or target heading angle of the mobile device can be controlled based on the control parameter so that the mobile device travels based on a second planned trajectory.

[0072] In some examples, between the first and second time points, control parameters of the mobile device can be determined based on the first planned trajectory, and the mobile device can be controlled to move based on the control parameters; after the second time point until a new planned trajectory is generated, control parameters of the mobile device can be determined or updated based on the second planned trajectory, and the mobile device can be controlled to move based on the control parameters.

[0073] By using this method, since the lateral offset between the specified trajectory of the second planned trajectory and the first planned trajectory is less than or equal to the preset lateral offset threshold, the consistency of the planned trajectory at the first and second moments can be enhanced. Since the control parameters are generated based on the planned trajectory, the updated control parameters and the control parameters before the update also have a certain consistency. This can improve the continuity and stability of trajectory planning in dynamic environments, and also improve the stability of equipment control.

[0074] To more clearly illustrate the device control method provided in the embodiments of this disclosure, the first planned trajectory and the second planned trajectory will be described in detail below.

[0075] Figure 4 This is a schematic diagram of a first planned trajectory and a second planned trajectory provided in related technologies. For example... Figure 4 As shown, the longitudinal direction can be the driving direction of the mobile device 101, such as the extension direction of the navigation reference line or the center line of the road. The positive direction of the longitudinal direction is the front of the mobile device's driving direction. The lateral direction is the direction perpendicular to the longitudinal direction. The positive direction of the lateral direction can be the right-hand side perpendicular to the longitudinal direction. The moment when the mobile device 101 is located at position point 40 shown in the figure is the first moment. The mobile device plans the first planned trajectory 411 (shown in gray) in the figure at the first moment. At the second moment after the first moment, the mobile device is located at position point 41 shown in the figure. The mobile device plans the planned trajectory 413 (shown in blue) in the figure at the second moment. The related technology does not consider the consistency of the two planned trajectories. Under the influence of the obstacle Q in front, the first planned trajectory 411 generated at the first moment goes around the right side of the obstacle Q, and the planned trajectory 413 generated at the second moment goes around the right side of the obstacle Q. The lateral offset between the two planned trajectories is very large, resulting in discontinuity between the trajectories, large changes in control parameters, and affecting the stability of the mobile device control.

[0076] Figure 5 This is a schematic diagram of a first planned trajectory and a second planned trajectory provided in an embodiment of this disclosure. Figure 5 As shown, using the method provided in this embodiment, the moment when the mobile device 101 is located at position point 40 shown in the figure is the first moment. The mobile device plans a first planned trajectory 411 (indicated in gray) in the figure at the first moment. At the second moment after the first moment, the mobile device is located at position point 41 shown in the figure, and the mobile device plans a second planned trajectory 412 (indicated in red) in the figure at the second moment. Since the consistency of the two planned trajectories is considered, even if there is an obstacle Q in front, both the first and second planned trajectories go around the right side of the obstacle Q, so that the second planned trajectory includes at least a specified trajectory that overlaps with the first planned trajectory in the longitudinal direction. The lateral offset of the specified trajectory from the first planned trajectory is less than or equal to a preset lateral offset threshold, which improves the continuity of the planned trajectory. The control parameters determined based on the planned trajectory change less, thereby improving the stability of the mobile device control.

[0077] The above figure illustrates the case where the position of the mobile device at the second moment is located at a certain trajectory point on the first planned trajectory. It can be understood that if the position of the mobile device at the second moment deviates from the first planned trajectory, then the above position point 41 can be a trajectory point on the first planned trajectory with the same longitudinal coordinate as the position of the mobile device at the second moment. That is, position point 41 is also the first trajectory point 41 on the first planned trajectory.

[0078] In some examples, the first planned trajectory may include at least one of a trajectory start point 40, a first trajectory point 41, a second trajectory point 42, a third trajectory point 43, and a trajectory end point 48. Wherein: the trajectory start point 40 and the trajectory end point 48 may be the start and end points of the trajectory planned for the mobile device at a first time point; the first trajectory point 41 may be a trajectory point on the first planned trajectory with the same longitudinal coordinate as the position of the mobile device at a second time point; the second trajectory point 42 and the third trajectory point 43 may be trajectory points determined according to the curvature parameters of the first planned trajectory.

[0079] For example, the third trajectory point 43 can be the trajectory point with the largest curvature among multiple trajectory points between the first trajectory point 41 and the trajectory endpoint 48 of the first planned trajectory. Curvature is a geometric parameter used to measure the degree of curvature of the planned trajectory. The curvature corresponding to a trajectory point on the planned trajectory can characterize the rate of change of the tangent direction angle (the angle between the tangent and the reference direction) of that trajectory point with respect to the arc length, and can be calculated by numerical differentiation or geometric fitting. The larger the curvature, the more drastic the change of the tangent direction angle per unit arc length, and the higher the degree of curvature of the curve. When a vehicle passes through a trajectory point with a large curvature, it means that a larger steering angle or a lower driving speed is required to meet the vehicle dynamics constraints. Therefore, the part with the largest curvature in the first planned trajectory is often the part where the control parameters and driving state of the mobile device are most unstable, and corresponding changes and controls to the steering angle and speed are required.

[0080] Furthermore, the second trajectory point 42 can be a trajectory point determined based on the third trajectory point 43, used to generate the second planned trajectory at the second time step. For example, the second trajectory point 42 can be a trajectory point after the third trajectory point 43, and the trajectory length distance between the second trajectory point and the third trajectory point is greater than or equal to a specified length. In this way, the second planned trajectory generated based on the second trajectory point can retain the part with the largest curvature in the preceding first planned trajectory. The consistency of retaining this part of the high curvature trajectory in the two planning processes can also keep the control parameters determined based on the planned trajectory stable, improving the stability of equipment control. Conversely, if the second planned trajectory generated by the second trajectory point cannot retain the part with the largest curvature in the preceding first planned trajectory, it will cause a large change in the curvature of the two planned trajectories, and the control parameters determined based on the planned trajectory will also change significantly, affecting the stability of equipment control and even causing vibration problems during equipment operation.

[0081] Continue as Figure 5 As shown, the second planning trajectory 412 in this embodiment includes at least a designated trajectory that overlaps with the first planning trajectory 411 in the longitudinal direction. This designated trajectory can be, for example, as shown in the diagram. Figure 5The red trajectory line between the vertical coordinates S1 and S2 shown can have a lateral offset from the first planned trajectory that is less than or equal to a preset lateral offset threshold.

[0082] In some examples, the specified trajectory of the second planned trajectory may include at least one of the first and second portion of the trajectory line. For example... Figure 5 As shown, the first part of the trajectory line can be the red schematic trajectory line between the first trajectory point 41 and the second trajectory point 42, that is, the red trajectory line between the vertical coordinates S1 and S4; the second part of the trajectory line can be the red schematic trajectory line between the second trajectory point 42 and the fourth trajectory point 44, that is, the red trajectory line between the vertical coordinates S4 and S2.

[0083] Furthermore, the endpoint of the second planned trajectory can be... Figure 5 The trajectory point 49 shown means that the second planned trajectory can include the first part of the trajectory line, the second part of the trajectory line, and the third part of the trajectory line between the fourth trajectory point 44 and the trajectory point 49. The third part of the trajectory line is the red trajectory line between the vertical coordinates S2 and S3.

[0084] The first part of the trajectory line mentioned above can also be called the splicing line. This splicing line can directly inherit part of the trajectory of the first planned trajectory, that is, the lateral offset from the first planned trajectory is zero. The second and third parts of the trajectory line can be called the strongly planned trajectory line. This strongly planned trajectory line can be the trajectory line re-planned and generated at the second time. In the process of planning the second and third parts of the trajectory line, consistency constraints can be introduced to ensure that the lateral offset of the planned trajectory line from the first planned trajectory line is less than or equal to a preset lateral offset threshold, thereby improving the consistency of trajectory planning.

[0085] In some examples, such as Figure 5 As shown, the specified trajectory of the second planned trajectory includes at least a first part of the trajectory line. This first part of the trajectory line can be the trajectory line located between the first trajectory point 41 and the second trajectory point 42 in the first planned trajectory, that is, the first part of the trajectory line starts from the first trajectory point 41 and ends at the second trajectory point 42. The first trajectory point can be a trajectory point on the first planned trajectory that has the same longitudinal coordinate as the position of the mobile device at the second time point.

[0086] In this way, the lateral offset between the first part of the trajectory and the first planned trajectory is zero, that is, the first part of the trajectory directly inherits a part of the first planned trajectory, thereby ensuring the consistency between the initial part of the second planned trajectory and the first planned trajectory, and improving the stability of the control parameters determined based on the planned trajectory.

[0087] The second trajectory point mentioned above can be determined in any of the following ways:

[0088] In one implementation, the second trajectory point can be a trajectory point determined based on a preset inheritance length. For example, a trajectory point located after the first trajectory point and at a distance of the preset inheritance length from the first trajectory point can be used as the second trajectory point. The preset inheritance length is the trajectory length that the mobile device can travel within a preset time. The preset time can be a pre-set time, such as 1 second, 2 seconds, or 5 seconds.

[0089] In another implementation, the second trajectory point can be a trajectory point determined based on the curvature parameters of the first planned trajectory. For example, a third trajectory point with the largest curvature between the first trajectory point and the endpoint of the first planned trajectory can be determined based on the curvature parameters of the first planned trajectory, and then the second trajectory point can be determined based on the third trajectory point. For instance, a trajectory point a specified length ahead of the third trajectory point can be used as the second trajectory point.

[0090] In another implementation, since the first trajectory point is the starting point of the first part of the trajectory line and the second trajectory point is the ending point of the first part of the trajectory line, the position of the second trajectory point can be determined after determining the trajectory length of the first part of the trajectory line. For example, the trajectory length of the first part of the trajectory line is the second trajectory length. This second trajectory length can be determined based on the third trajectory length between the first trajectory point and the third trajectory point in the first planned trajectory. The third trajectory point is the trajectory point with the largest curvature between the first trajectory point and the endpoint of the first planned trajectory. Figure 5 The third trajectory point 43 is shown.

[0091] In some examples, the second trajectory length can be equal to the sum of the third trajectory length and a specified length. This specified length can be a pre-defined extension of the first portion of the trajectory line after the third trajectory point; this specified length can also be called a compensation length. This specified length allows the first portion of the trajectory line to inherit a sufficient amount of the high-curvature region of the first planned trajectory. The specified length can be any pre-defined length, such as 0 meters, 1 meter, or 2 meters, or it can be the distance the mobile device can travel within a specified time period, which can be 0 seconds, 0.1 seconds, or 0.5 seconds. In this way, the sum of the third trajectory length and the specified length can be used as the trajectory length of the first portion of the trajectory line, ensuring that the first portion of the second planned trajectory line includes the third trajectory point with the largest curvature on the first planned trajectory and covers a sufficient amount of the high-curvature region.

[0092] In other examples, the length of the second trajectory can be determined based on the length of the third trajectory and a preset maximum inheritance length. For instance, if the length of the third trajectory is less than or equal to the preset maximum inheritance length, the length of the second trajectory can be greater than or equal to the length of the third trajectory, ensuring that the first portion of the trajectory line includes at least the third trajectory point with the greatest curvature. As another example, if the length of the third trajectory is greater than the preset maximum inheritance length, the length of the second trajectory can be equal to the preset maximum inheritance length to avoid the second planned trajectory inheriting an excessively large length from the first planned trajectory, thus improving the flexibility of trajectory planning.

[0093] In other examples, the second trajectory length can be determined based on the third trajectory length, a specified length, a preset minimum inheritance length, and a preset maximum inheritance length. For example, the method for determining the second trajectory length can include one or more of the following:

[0094] Method 1: If the sum of the third trajectory length and the specified length is less than or equal to the preset minimum inheritance length, the second trajectory length is the preset minimum inheritance length. This specified length can be the length by which the first part of the trajectory line continues to extend after the third trajectory point. This ensures that the first part of the second planned trajectory line includes the third trajectory point with the largest curvature on the first planned trajectory, while also ensuring that the second planned trajectory inherits a sufficient trajectory length from the first planned trajectory, avoiding an excessively small inheritance length that could affect trajectory consistency.

[0095] Method 2: If the sum of the third trajectory length and the specified length is greater than the preset minimum inheritance length and less than or equal to the preset maximum inheritance length, the second trajectory length is equal to the sum of the third trajectory length and the specified length. This ensures that the first part of the second planned trajectory includes the third trajectory point with the largest curvature on the first planned trajectory and covers a sufficient amount of high-curvature regions.

[0096] Method 3: If the sum of the third trajectory length and the specified length is greater than the preset maximum inheritance length, the second trajectory length is the preset maximum inheritance length. This avoids the second planned trajectory inheriting too much length from the first planned trajectory, thus improving the flexibility of trajectory planning.

[0097] The specified length, preset minimum inheritance length, and preset maximum inheritance length can all be preset values, and their order can be: the specified length is less than the preset minimum inheritance length, and the preset minimum inheritance length is less than the preset maximum inheritance length. Optionally, the above lengths can be determined based on the length of the second planned trajectory (i.e., the trajectory length that needs to be planned in each cycle). For example, 1 / 8 of the length of the second planned trajectory can be used as the preset minimum inheritance length, 1 / 4 of the length of the second planned trajectory can be used as the preset minimum inheritance length, and 1 / 16 of the length of the second planned trajectory can be used as the specified length.

[0098] In the above - mentioned manner, based on curvature, specified length, preset minimum inheritance length, and preset maximum inheritance length, the trajectory length of the first - part trajectory line (i.e., the splicing line) can be flexibly determined, so that when generating the second planned trajectory at the subsequent second moment, the high - curvature trajectory interval of the first planned trajectory generated at the previous first moment can be inherited to the greatest extent, avoiding sudden changes or frequent adjustments of control parameters caused by excessive differences in curvature before and after, reducing equipment jitter, and improving the stability of equipment control. Further, since the control algorithms for high - curvature trajectories are often more complex, retaining high - curvature trajectories can also reduce the adjustment of control algorithms and improve equipment control efficiency.

[0099] In some examples, the trajectory length of the first - part trajectory line (i.e., the second trajectory length) can be represented by a trajectory duration, and based on this trajectory duration, the spatial length of the trajectory that the movable device can travel within this trajectory duration can be determined. This trajectory duration can be determined by the following formula (1):

[0100]

[0101] where, ΔT

[0099] represents the trajectory duration of the first - part trajectory line, that is, the duration from the first - planned trajectory planned at the first moment spliced to the second - planned trajectory planned at the second moment. Based on this trajectory duration, the second trajectory length can be determined. T max,κ represents the time corresponding to the third trajectory point with the maximum curvature (κ) in the first - planned trajectory, which can be used to determine the time point with the most drastic change in trajectory curvature. Δt represents the specified duration, that is, the compensation time, which is used to ensure that the spliced trajectory covers enough high - curvature regions. T1 represents the preset minimum inheritance duration, which can determine the preset minimum inheritance length, and T2 represents the preset maximum inheritance duration, which can determine the preset maximum inheritance length. By different value conditions of T1 and T2, the splicing duration can be restricted within a reasonable range to ensure the continuity and stability of the trajectory. In some examples, the preset minimum inheritance duration can be 1 / 8 of the total planned duration of the cycle, and the preset maximum inheritance duration can be 1 / 4 of the total planned duration of the cycle. For example, if the trajectory is planned for 8 seconds in each cycle, then the preset minimum inheritance duration can be 1 second, that is, the preset minimum inheritance length is the distance that the movable device travels within the preset minimum inheritance duration (1 second); the preset maximum inheritance duration can be 2 seconds, that is, the preset maximum inheritance length is the distance that the movable device travels within the preset maximum inheritance duration (2 seconds).

[0102] Based on the above formula, if condition one ((T max,κ +Δt)<T1) is satisfied, then the trajectory duration of the first - part trajectory line is T1; if condition two (T1<(T max,κ +Δt)≤T2) is satisfied, then the trajectory duration of the first - part trajectory line is T max,κ+Δt; if condition three ((T) is satisfied max,κ If +Δt)>T2), then the trajectory duration of the first part of the trajectory line is T2.

[0103] By using the above method to determine the trajectory length of the first part of the trajectory line (i.e. the splicing line), a portion of the trajectory can be extracted from the first planned trajectory based on the curvature parameter as the first part of the second planned trajectory line, ensuring the consistency between the first part of the trajectory line and the first planned trajectory, and reducing the discontinuity problem when switching between trajectories.

[0104] In some embodiments of this disclosure, the designated trajectory of the second planned trajectory further includes at least a second portion of the trajectory line; that is, the designated trajectory of the second planned trajectory includes a first portion of the trajectory line and a second portion of the trajectory line. Continuing as... Figure 5 As shown, the first part of the trajectory line is the trajectory line between the first trajectory point 41 and the second trajectory point 42. The second part of the trajectory line can be planned and generated with the second trajectory point 42 as the starting point. For example, the second part of the trajectory line can be the trajectory line shown in red between the second trajectory point 42 and the fourth trajectory point 44. The lateral offset of the second part of the trajectory line from the first planned trajectory is less than or equal to a preset lateral offset threshold.

[0105] In some examples, the generation of the second part of the trajectory line may include the following steps S11 and S12.

[0106] Step S11: Starting from the second trajectory point, generate multiple candidate trajectories based on a preset polynomial programming.

[0107] The second trajectory point is the endpoint of the first part of the trajectory line.

[0108] For example, starting from the second trajectory point, multiple horizontal and vertical trajectories can be generated based on a preset polynomial programming, thus obtaining multiple candidate trajectories. Different candidate trajectories can correspond to different target location points.

[0109] In some examples, the preset polynomial can be a cubic polynomial or a quintic polynomial. For example, a candidate trajectory can be generated based on the quintic polynomial of the following formula (2).

[0110] l(s) = c0 + c1s + c2s 2 +c3s 3 +c4s 4 +c5s 5 (2)

[0111] Where s represents the longitudinal displacement of the trajectory point, and the longitudinal direction can be the travel direction of the mobile device, such as the extension direction of the navigation reference line or the center line of the road; l(s) represents the lateral displacement of the trajectory point; and the coefficients c0, c1, c2, c3, c4, and c5 represent the coefficients of the fifth-order polynomial, which can be calculated based on the current state of the mobile device (e.g., position, velocity, acceleration, heading angle, etc.) and the target state to ensure the smoothness of the trajectory. This fifth-order polynomial has sufficient degrees of freedom to satisfy the continuity constraints of the initial and target states.

[0112] The candidate trajectory may include a second portion of the planned trajectory, or it may include both a second portion and a third portion. The second portion of the trajectory may be, for example... Figure 5 The trajectory line shown between the vertical coordinates S4 and S2, the third part of the trajectory line can be, for example... Figure 5 The trajectory line shown between the vertical coordinates S2 and S3 can be represented by the following: vertical coordinate S4 can be the starting point coordinate of the second part of the trajectory line, which is also the ending point coordinate of the first part of the trajectory line; vertical coordinate S2 can be the ending point coordinate of the first planned trajectory; and vertical coordinate S3 can be the ending point coordinate of the second planned trajectory.

[0113] In some examples, feasibility verification can be performed on candidate trajectories, and candidate trajectories that fail the feasibility verification are discarded as invalid trajectories. Conditions for failure of feasibility verification may include at least one of the following: the candidate trajectory collides with an obstacle or the collision probability is greater than a preset collision threshold; the candidate trajectory contains trajectory points with a curvature greater than the preset maximum curvature of the mobile device; the candidate trajectory contains trajectory points with a speed greater than the preset maximum speed of the mobile device; or the candidate trajectory contains trajectory points with an acceleration greater than the preset maximum acceleration of the mobile device. The preset maximum curvature, preset maximum speed, and preset maximum acceleration can all be determined based on the specifications of the mobile device.

[0114] Step S12: Determine the second part of the trajectory line based on multiple candidate trajectories.

[0115] For example, a second part of the trajectory can be determined from multiple candidate trajectories based on a target cost function. For instance, the target cost of each candidate trajectory can be calculated based on the target cost function, and the candidate trajectory with the minimum target cost can be selected as the second part of the trajectory.

[0116] The objective cost function used to determine the second part of the trajectory line may include one or more of the following: a safety cost function, a smoothness cost function, and a consistency cost function. The smoothness cost function may include a longitudinal smoothness cost function and a lateral smoothness cost function.

[0117] For example, the objective cost function can be determined based on the following formula (3):

[0118] Cost total =W sl (Cost s +Cost l )+W col Cost col +W con Cost icon (3)

[0119] Cost total Cost represents the target cost. s Cost represents the cost of longitudinal smoothness. i Cost represents the cost of lateral smoothness. col This represents the safety cost, which can be the collision risk cost, reflecting the proximity of the trajectory to obstacles; Cost icon W represents the consistency cost, reflecting the similarity between the candidate trajectory and the first planned trajectory of the previous period; sl W col W con These are the weighting coefficients for smoothness cost, safety cost, and consistency cost, respectively, used to balance the impact of different costs on trajectory planning.

[0120] In some examples, such as obstacle avoidance scenarios, the weight of consistency cost can be greater than the weight of smoothness cost and safety cost in order to improve the continuity of the trajectory.

[0121] It should be noted that when determining the second part of the trajectory line from multiple candidate trajectories based on the objective cost function, the objective cost function can be calculated only for each candidate trajectory, or the objective cost function can be calculated as a whole after merging each candidate trajectory with the first part of the trajectory line.

[0122] In some examples, the cost function used in planning and generating the second portion of the trajectory may include a first consistency cost function, which is a cost function determined based on a first lateral offset and / or a second lateral offset between the second portion of the trajectory and the first planned trajectory, wherein:

[0123] The first lateral offset can be used to characterize the lateral offset between the endpoint of the second part of the trajectory and the endpoint of the first planned trajectory.

[0124] The second lateral offset can be used to characterize the lateral offset between each trajectory point of the second portion of the trajectory line and the first planned trajectory. For example, the lateral offset between each trajectory point of the second portion of the trajectory line and the first planned trajectory can be determined separately, and then the average, weighted average, or integral value of the lateral offset of each trajectory point can be calculated as part of the first consistency cost function. Optionally, the lateral offset between each trajectory point of the second portion of the trajectory line and the first planned trajectory can be determined by Gaussian convolution calculation, and the standard deviation of the Gaussian distribution used for the Gaussian convolution calculation can be a pre-set value, such as 0.5 or 0.6.

[0125] In some examples, the first consistency cost function may include only the first lateral offset; for example, the square of the first lateral offset may be calculated as the consistency cost.

[0126] In other examples, the first consistency cost function may include only the second lateral offset; for example, the square of the second lateral offset may be calculated as the consistency cost.

[0127] In other examples, the first consistency cost function may include a first lateral offset and a second lateral offset. For example, the first consistency cost function for a candidate trajectory may be the following formula (4):

[0128]

[0129] Cost icon The value of ΔD represents the consistency cost between the candidate trajectory and the first planned trajectory. A larger offset results in a higher consistency cost and lower consistency. ΔD represents the first lateral offset, which is the lateral offset between the endpoint of the candidate trajectory and the endpoint of the first planned trajectory. icon This represents the consistency convolution value determined by the Gaussian convolution based on the second lateral offset. For example, it could be the convolution value of the lateral offset between each trajectory point of the candidate trajectory and the first planned trajectory. The larger the consistency convolution value, the higher the consistency. To avoid the cost function becoming invalid due to a consistency convolution value of 0, this formula uses a calculation method of incrementing the consistency convolution value by 1.

[0130] In this way, the consistency cost function amplifies the proportion of the lateral offset of the endpoint through the squared term, which better reflects the consistency of the trajectory.

[0131] Furthermore, the aforementioned consistent convolution value can be calculated based on the following formulas (5) and (6):

[0132]

[0133] Among them, J icon Represents the consistent convolution value; N represents the number of sampled trajectory points on the candidate trajectory; This indicates whether the lateral offset between the j-th trajectory point of the candidate trajectory and a trajectory point with the same vertical coordinate on the first planned trajectory is less than a preset threshold (i.e., whether the lateral coordinates are consistent). The lateral offset between the j-th trajectory point and the first planned trajectory can be the lateral offset between the j-th trajectory point and the k-th trajectory point of the first planned trajectory. The j-th trajectory point of the candidate trajectory has the same vertical coordinate as the k-th trajectory point of the first planned trajectory. The value can be 0 or 1. 0 means that the lateral offset is less than the preset threshold, that is, the lateral coordinates are basically the same. 1 means that the lateral offset is not less than the preset threshold, that is, the lateral coordinates are not the same. G(j) represents the Gaussian convolution kernel, which is used to calculate the lateral offset similarity between adjacent trajectories (candidate trajectory and first planned trajectory). For example, G(j) can be used to calculate the lateral offset convolution value between the j-th trajectory point of the candidate trajectory and the first planned trajectory through the Gaussian convolution kernel.

[0134] The specific implementation of the Gaussian convolution kernel can be shown in the following formula (6):

[0135]

[0136] Where G(j) represents the Gaussian convolution kernel; σ represents the standard deviation of the Gaussian distribution, which can be used to adjust the influence range of trajectory consistency. The larger σ is, the wider the Gaussian function, the larger the influence range, and the stronger the correlation between trajectory points; the smaller σ is, the narrower the Gaussian function, the smaller the influence range, and the stronger the correlation between trajectory points. Optionally, σ can be a set value, such as 0.5; Δd lat (j) represents the lateral offset between the j-th trajectory point of the candidate trajectory and the first planned trajectory. For example, it can be the lateral offset between the j-th trajectory point of the candidate trajectory and the k-th trajectory point of the first planned trajectory. The j-th trajectory point of the candidate trajectory and the k-th trajectory point of the first planned trajectory have the same vertical coordinate.

[0137] Thus, by using the above method, the second part of the trajectory line of the second planning trajectory can be generated based on the first consistency cost function, which can further improve the consistency between the second planning trajectory and the first planning trajectory, and also make the control parameters determined based on the planning trajectory remain stable, thereby improving the stability of equipment control.

[0138] In some embodiments of this disclosure, the designated trajectory of the second planned trajectory can be a trajectory directly planned and generated with the first trajectory point as the starting point. The first trajectory point is a trajectory point on the first planned trajectory that has the same longitudinal coordinate as the position of the mobile device at the second time moment, for example... Figure 5 The first trajectory point 41 is shown.

[0139] In some examples, the cost function used to plan and generate the specified trajectory may include one or more of a safety cost function, a smoothness cost function, and a consistency cost function. The smoothness cost function may include a longitudinal smoothness cost function and a lateral smoothness cost function.

[0140] For example, the cost function used in planning and generating the specified trajectory may include a second consistency cost function, which may be a cost function determined based on a third and a fourth lateral offset between the specified trajectory and the first planned trajectory, wherein:

[0141] The third lateral offset is used to characterize the lateral offset between the endpoint of the specified trajectory and the endpoint of the first planned trajectory.

[0142] The fourth lateral offset is used to characterize the lateral offset between each trajectory point of the specified trajectory and the first planned trajectory. For example, the lateral offset between each trajectory point of the specified trajectory and the first planned trajectory can be determined separately, and then the average, weighted average, or integral value of the lateral offset of each trajectory point can be calculated as the fourth lateral offset. Optionally, the fourth lateral offset can be a lateral offset determined based on Gaussian convolution.

[0143] It should be noted that the implementation method of the second consistency cost function can refer to the specific implementation method of the first consistency cost function described in the foregoing embodiments of this disclosure, and will not be repeated here.

[0144] Using this method, based on the second consistency cost function, it is also possible to ensure that the lateral offset between the specified trajectory of the second planned trajectory and the first planned trajectory is less than or equal to a preset lateral offset threshold, thereby enhancing the consistency of the planned trajectories at the first and second time moments.

[0145] In some examples, Figure 3 In step S320 of the illustrated embodiment, at a second time after the first time, the method for generating a second planned trajectory of the mobile device based on the location of the mobile device and the first planned trajectory may include the following steps S321 to S323.

[0146] Step S321: Generate the first part of the trajectory line based on the first planned trajectory.

[0147] This first part of the trajectory line can also be called the spliced ​​trajectory. In some examples, a portion of the trajectory line can be extracted from the first planned trajectory based on the position of the mobile device at the second time point to serve as the first part of the trajectory line, in order to ensure the temporal consistency between the first part of the trajectory line and the first planned trajectory.

[0148] The length of the first part of the trajectory line can be determined based on the curvature parameter of the first planned trajectory, and can be dynamically adjusted at different times.

[0149] For details on the specific implementation of the first part of the trajectory line, please refer to the description in the foregoing embodiments of this disclosure, which will not be repeated here.

[0150] Step S322: Generate the second part of the trajectory line based on the first part of the trajectory line and the first planned trajectory line.

[0151] The first part of the trajectory line can also be called the strongly planned trajectory. For example, the endpoints of the first part of the trajectory line (such as...) Figure 5 The second trajectory point shown is used as the planning starting point to generate multiple candidate trajectories; the second part of the trajectory line is determined based on the multiple candidate trajectories.

[0152] For details on the specific implementation of the second part of the trajectory line, please refer to the description in the foregoing embodiments of this disclosure, which will not be repeated here.

[0153] Step S323: Generate a second planned trajectory based on the first part of the trajectory line and the second part of the trajectory line.

[0154] For example, the first part of the trajectory line and the second part of the trajectory line can be merged to obtain the second planned trajectory.

[0155] Using this method, a second planned trajectory for the mobile device is generated based on the location of the mobile device and the first planned trajectory, which can enhance the consistency between the second planned trajectory generated in the second time step and the first planned trajectory generated in the first time step.

[0156] Figure 6 This is a flowchart illustrating a trajectory planning method provided in an embodiment of this disclosure. Figure 6 As shown, the method may include steps S610 to S620.

[0157] Step S610: Obtain the first planned trajectory of the mobile device at the first moment.

[0158] Step S620: At the second time after the first time, generate the second planned trajectory of the mobile device based on the location of the mobile device and the first planned trajectory.

[0159] The second planned trajectory may include a designated trajectory that overlaps with the first planned trajectory in the longitudinal direction. The lateral offset of the designated trajectory from the first planned trajectory is less than or equal to a preset lateral offset threshold. The longitudinal direction is the driving direction of the mobile device.

[0160] It should be noted that the specific implementation methods of the second planning trajectory and the first planning trajectory can be referred to the description in the foregoing embodiments of this disclosure, and will not be repeated here.

[0161] In some examples, between a first time point and a second time point, control parameters for the mobile device can be determined based on a first planned trajectory, and the mobile device can be controlled to move based on these control parameters. The control parameters include at least one of a target speed, a target acceleration, and a target heading angle for controlling the movement of the mobile device. After the second time point and before a new planned trajectory is generated, the control parameters for the mobile device can be determined or updated based on the second planned trajectory, and the mobile device can be controlled to move based on these control parameters.

[0162] Using this method, the consistency between the second planning trajectory generated in the second time step and the first planning trajectory generated in the first time step can be enhanced.

[0163] Figure 7 This is a schematic diagram of the structure of a device control apparatus provided in an embodiment of this disclosure. Figure 7 As shown, the device control apparatus 1000 may include a memory 1010 and a processor 1020. The memory 1010 may be used to store computer instructions, and the processor 1020 may be used to retrieve computer instructions from the memory 1010 to execute all or part of the steps of any of the methods in the foregoing embodiments of this disclosure. The processor may be one or more processors, which may execute instructions individually or jointly. Similarly, the memory may be one or more memories, which may store the aforementioned computer instructions individually or jointly.

[0164] In some examples, the device control unit may be Figure 1 The server and / or mobile device in the context. In other examples, the device controller can also be any electronic device, such as a controller for a mobile device or a user terminal.

[0165] This disclosure also provides a mobile device that may include a memory and a processor. The memory may be used to store computer instructions, and the processor may be used to retrieve the computer instructions from the memory to perform all or part of the steps of any of the methods in the foregoing embodiments of this disclosure. The processor may be one or more processors, which may execute the instructions individually or jointly. Similarly, the memory may be one or more memories, which may store the aforementioned computer instructions individually or jointly.

[0166] In some examples, the mobile device can be a vehicle, which can be an electric vehicle, a hybrid vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle can be an autonomous vehicle or a non-autonomous vehicle. For example, the mobile device provided in this embodiment can be... Figure 1 or Figure 2 The mobile device shown.

[0167] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods in the foregoing embodiments of this disclosure. Optionally, the computer-readable storage medium may be a non-transitory storage medium, but is not limited thereto; it may also be a temporary storage medium.

[0168] This disclosure also provides a chip that may include a processing unit, which can be used to execute all or part of the steps of any of the methods in the foregoing embodiments of this disclosure. The chip may be in the form of an Application-Specific Integrated Circuit (ASIC), a System-on-Chip (SOC), a Field-Programmable Gate Array (FPGA), etc., and this embodiment is not limited to this. Optionally, the chip may further include a storage unit, which can be used to store computer instructions. The processing unit can be used to retrieve the computer instructions from the storage unit to execute all or part of the steps of any of the methods in the foregoing embodiments of this disclosure.

[0169] This disclosure also provides a computer program product that may include a computer program that, when executed by a processor, can implement any of the methods described in the foregoing embodiments of this disclosure.

[0170] This disclosure may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement any of the methods in the foregoing embodiments of this disclosure.

[0171] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0172] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0173] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status 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 the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving 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., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0174] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0175] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0176] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0177] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It should be noted that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are all equivalent.

[0178] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A device control method, characterized in that, The method includes: The control parameters of the mobile device are determined based on the first planned trajectory of the mobile device at the first moment. At a second time after the first time, a second planned trajectory for the mobile device is generated based on the position of the mobile device and the first planned trajectory. The second planned trajectory includes at least a designated trajectory that overlaps with the first planned trajectory in the longitudinal direction. The lateral offset of the designated trajectory from the first planned trajectory is less than or equal to a preset lateral offset threshold. The longitudinal direction is the travel direction of the mobile device. The designated trajectory includes at least a first portion of a trajectory line inherited from the first planned trajectory. The trajectory length of the first portion of the trajectory line is a second trajectory length, determined based on the third trajectory length from the first trajectory point to the third trajectory point in the first planned trajectory. The first trajectory point is a trajectory point on the first planned trajectory with the same longitudinal coordinate as the position of the mobile device at the second time. The third trajectory point is the trajectory point with the largest curvature between the first trajectory point and the endpoint of the first planned trajectory. The first portion of the trajectory line is a trajectory line located between the first trajectory point and the second trajectory point in the first planned trajectory. The second trajectory point is a trajectory point determined based on the third trajectory point. Update the control parameters of the mobile device according to the second planned trajectory; The mobile device is controlled to move based on the control parameters.

2. The method according to claim 1, characterized in that, If the sum of the third trajectory length and the specified length is less than or equal to a preset minimum inheritance length, the second trajectory length is the preset minimum inheritance length, and the specified length is the pre-defined length by which the first portion of the trajectory line continues to extend after covering the third trajectory point; or... If the sum of the third trajectory length and the specified length is greater than the preset minimum inheritance length and less than or equal to the preset maximum inheritance length, then the second trajectory length is equal to the sum of the third trajectory length and the specified length; or, If the sum of the third trajectory length and the specified length is greater than the preset maximum inheritance length, then the second trajectory length is the preset maximum inheritance length.

3. The method according to claim 1 or 2, characterized in that, The specified trajectory of the second planned trajectory also includes at least a second part of the trajectory line, which is planned and generated with the second trajectory point as the starting point, and the lateral offset of the second part of the trajectory line from the first planned trajectory is less than or equal to a preset lateral offset threshold.

4. The method according to claim 3, characterized in that, The cost function used in planning and generating the second part of the trajectory line includes at least a first consistency cost function. The first consistency cost function is a cost function determined based on a first lateral offset and a second lateral offset between the second part of the trajectory line and the first planned trajectory. The first lateral offset is used to characterize the lateral offset between the endpoint of the second part of the trajectory line and the endpoint of the first planned trajectory, and the second lateral offset is used to characterize the lateral offset between each trajectory point of the second part of the trajectory line and the first planned trajectory.

5. The method according to claim 4, characterized in that, The lateral offset between each trajectory point of the second part of the trajectory line and the first planned trajectory is determined by Gaussian convolution calculation.

6. The method according to claim 1, characterized in that, The designated trajectory of the second planned trajectory is a trajectory planned and generated starting from the first trajectory point, where the first trajectory point is a trajectory point on the first planned trajectory that has the same longitudinal coordinate as the position of the mobile device at the second time point; the cost function used in planning and generating the designated trajectory includes at least a second consistency cost function, which is a cost function determined based on the third and fourth lateral offsets between the designated trajectory and the first planned trajectory, where the third lateral offset is used to characterize the lateral offset between the endpoint of the designated trajectory and the endpoint of the first planned trajectory, and the fourth lateral offset is used to characterize the lateral offset between each trajectory point of the designated trajectory and the first planned trajectory.

7. A device control apparatus, characterized in that, It includes a memory and a processor, the memory being used to store computer instructions, and the processor being used to retrieve the computer instructions from the memory to perform the method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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