Vehicle driving track correction method and device and train

Abstract

The invention provides a vehicle driving track correction method which can be applied to the technical field of urban traffic. The vehicle driving track correction method comprises the steps that the Kth carriage of a vehicle serves as a reference carriage, track information of a reference point is acquired through a positioning device installed at the reference point between the Kth carriage and the (K + 1) th carriage, and K is a positive integer larger than or equal to 1; according to the track information of the reference point, a reference track of the Kth carriage and a calculation track of the (K + 1) th carriage are obtained through calculation; on the basis of the calculation track of the (K + 1)-th carriage, calculation tracks of multiple carriages behind the (K + 1)-th carriage are obtained through calculation; determining a track deviation between a target calculation track of any target carriage in the multiple carriages starting from the (K + 1)-th carriage and a reference track of the Kth carriage; and performing trajectory correction on the target calculation trajectory based on the trajectory deviation. The invention further provides a vehicle traveling track correction device and a train.

Description

Technical Field

[0001] This disclosure relates to the field of urban transportation technology, specifically to a vehicle trajectory correction method, device, and train. Background Technology

[0002] Multi-car articulated vehicles are vehicles that connect multiple independent carriages through an articulation device. These vehicles have the advantages of flexible formation and strong maneuverability. However, their physical structure causes the front and rear carriages to have different trajectories when driving, especially when turning. This can easily lead to tail-end drifting, carriage folding, and oversteering. It is necessary to intervene in carriages with large trajectory deviations to improve driving safety.

[0003] Traditional methods involve installing water spray nozzles on the axles to spray water droplets onto a test surface to mark the travel trajectories of the first and last axles. However, this method requires dry ground; if the surface is wet or has standing water, the water droplet markings will be diluted or covered, making it difficult to form clear tracks and accurately determine the trajectory deviation between the front and rear axles, thus affecting driving safety. Summary of the Invention

[0004] In view of the above problems, this disclosure provides a vehicle trajectory correction method, device and train.

[0005] According to a first aspect of this disclosure, a method for correcting vehicle driving trajectory is provided, comprising: using the Kth carriage of a vehicle as a reference carriage, acquiring trajectory information of the reference point using a positioning device installed at a reference point between the Kth carriage and the (K+1)th carriage, where K is a positive integer greater than or equal to 1; calculating the reference trajectory of the Kth carriage and the calculated trajectory of the (K+1)th carriage based on the trajectory information of the reference point; calculating the calculated trajectories of multiple carriages following the (K+1)th carriage based on the calculated trajectory of the (K+1)th carriage; determining the trajectory deviation between the target calculated trajectory of any target carriage among the multiple carriages starting from the (K+1)th carriage and the reference trajectory of the Kth carriage; and correcting the target calculated trajectory based on the trajectory deviation.

[0006] According to an embodiment of this disclosure, based on the calculated trajectory of the (K+1)th carriage, the calculated trajectories of multiple carriages following the (K+1)th carriage are calculated, including: calculating the calculated trajectory of any Mth carriage among the multiple carriages includes: based on the calculated trajectory of the (M-1)th carriage, the calculated trajectory of the Mth carriage is calculated, where M is greater than or equal to K+1.

[0007] According to an embodiment of this disclosure, the calculation trajectory of the Mth car is calculated based on the calculation trajectory of the M-1th car, including: calculating the position of at least one preset point of the Mth car based on the position of at least one trajectory point on the calculation trajectory of the M-1th car, the longitudinal relative distance between a predetermined part on the Mth car and at least one trajectory point on the calculation trajectory of the M-1th car, and the angle between the M-1th car and the Mth car; and generating the calculation trajectory of the Mth car based on the position of the preset point of the at least one Mth car.

[0008] According to an embodiment of this disclosure, the preset point is the axle of the carriage.

[0009] According to an embodiment of this disclosure, the trajectory information of the reference point includes the position information of the reference point. Based on the trajectory information of the reference point, the reference trajectory of the Kth car and the calculated trajectory of the K+1th car are calculated, including: based on the position information of the reference point, the relative longitudinal distance between the reference point and the preset point on the Kth car, and the offset angle of the Kth car in the vertical direction, the position of the preset point on the Kth car is calculated.

[0010] According to an embodiment of this disclosure, the trajectory information of the reference point is collected using a positioning device installed at a reference point between the Kth car and the K+1th car, including: collecting the latitude and longitude information of the reference point using the positioning device installed at the reference point between the Kth car and the K+1th car; and calculating the coordinate information of the reference point based on the latitude and longitude information of the reference point.

[0011] According to embodiments of this disclosure, the coordinate information of a reference point is calculated based on its latitude and longitude information, including: calculating the coordinate information of the reference point based on its latitude and longitude information and its radius of curvature.

[0012] The second aspect of this disclosure provides a vehicle trajectory correction device, comprising: a data acquisition module, used to acquire trajectory information of a reference point by using the Kth carriage of a vehicle as a reference carriage and employing a positioning device installed at a reference point between the Kth and K+1th carriages, where K is a positive integer greater than or equal to 1; a first calculation module, used to calculate the reference trajectory of the Kth carriage and the calculated trajectory of the K+1th carriage based on the trajectory information of the reference point; a second calculation module, used to calculate the calculated trajectories of multiple carriages following the K+1th carriage based on the calculated trajectory of the K+1th carriage; a determination module, used to determine the trajectory deviation between the target calculated trajectory of any target carriage among the multiple carriages starting from the K+1th carriage and the reference trajectory of the Kth carriage; and a correction module, used to correct the target calculated trajectory based on the trajectory deviation.

[0013] A third aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the vehicle trajectory correction method described above.

[0014] A fourth aspect of this disclosure also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the above-described vehicle trajectory correction method.

[0015] The fifth aspect of this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle trajectory correction method.

[0016] The sixth aspect of this disclosure also provides a train, including a vehicle trajectory correction device to implement the above-described vehicle trajectory correction method.

[0017] According to embodiments of this disclosure, starting from the Kth reference car, the calculated trajectories of all subsequent cars can be generated sequentially using reference point trajectory information. Whether it's a 2-car or 4-car trainset, the trajectory of each car between the first and last cars can be calculated. This eliminates the need to install high-precision positioning equipment on each car and is unaffected by environmental factors such as terrain or signal obstruction, solving the problem in related technologies where accurate real-time position information of multiple cars is difficult to obtain due to trajectory acquisition challenges. Furthermore, by monitoring and correcting trajectory deviations in real time, collisions and scrapes caused by trajectory divergence in subsequent cars can be avoided. Especially in turns or complex road conditions, each car can travel along the expected trajectory as much as possible, reducing accident risks and improving vehicle driving safety and stability. Attached Figure Description

[0018] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0019] Figure 1 This diagram schematically illustrates an application scenario of the vehicle trajectory correction method according to an embodiment of the present disclosure.

[0020] Figure 2 A flowchart illustrating a vehicle trajectory correction method according to an embodiment of the present disclosure is shown schematically.

[0021] Figure 3 A schematic diagram of a multi-unit articulated vehicle according to an embodiment of the present disclosure is shown.

[0022] Figure 4AThe diagram illustrates the calculation of the position of a preset point on the Kth car according to one embodiment of the present disclosure;

[0023] Figure 4B This illustration schematically shows a diagram of calculating the position of a preset point on the Kth car according to another embodiment of the present disclosure;

[0024] Figure 5 A flowchart illustrating a method for calculating the trajectory of the Mth carriage according to an embodiment of the present disclosure is shown schematically.

[0025] Figure 6 The diagram illustrates the calculation trajectory of the Mth carriage according to an embodiment of the present disclosure.

[0026] Figure 7 A schematic diagram illustrating a comparison between a base trajectory curve and a calculated trajectory curve according to an embodiment of the present disclosure is shown.

[0027] Figure 8A and Figure 8B This schematically illustrates another comparative diagram of the base trajectory curve and the calculated trajectory curve according to an embodiment of the present disclosure.

[0028] Figure 9 A schematic diagram illustrating the structure of a vehicle trajectory correction device according to an embodiment of the present disclosure is shown; and

[0029] Figure 10 A block diagram schematically illustrates an electronic device suitable for implementing a vehicle trajectory correction method according to an embodiment of the present disclosure. Detailed Implementation

[0030] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0032] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0033] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0034] It should be noted that the vehicle trajectory correction method and device disclosed herein can be used in the field of intelligent oxygen supply technology, or in any field other than intelligent oxygen supply. The application field of the vehicle trajectory correction method and device disclosed herein is not limited.

[0035] In the technical solution of this invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information) and data (including but not limited to data used for analysis, stored data, and displayed data) involved are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of related data all comply with the relevant laws, regulations, and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entry points for users to choose to authorize or refuse.

[0036] Traditional vehicle positioning systems primarily focus on individual truck beds, using GPS or Real-Time Kinematic (RTK) technology to obtain vehicle location. However, for multi-cabin trucks, there is a lack of effective processing for the positional relationships between the cabs. For example, in a typical freight truck, only the position of the cab can be determined; the positional information of other parts of the cab cannot be accurately obtained, let alone analyzed for the relative positions and movements between the cabs. Consequently, it is difficult to calculate the position of each point on multiple cabs.

[0037] The water spray method can only mark the two trajectories of the first and last axles of the vehicle, and cannot obtain the motion information of the middle carriage at all. For multi-group articulated vehicles, the trajectory deviation of the middle carriage due to the articulation structure is a key factor affecting the overall driving stability. The lack of these data will make it impossible to accurately analyze the coupling relationship between the vehicle's steering characteristics and trajectory.

[0038] In view of this, embodiments of the present disclosure provide a vehicle trajectory correction method, comprising: using the Kth carriage of the vehicle as a reference carriage, acquiring trajectory information of the reference point using a positioning device installed at a reference point between the Kth carriage and the K+1th carriage, where K is a positive integer greater than or equal to 1; calculating the reference trajectory of the Kth carriage and the calculated trajectory of the K+1th carriage based on the trajectory information of the reference point; calculating the calculated trajectories of multiple carriages following the K+1th carriage based on the calculated trajectory of the K+1th carriage; determining the trajectory deviation between the target calculated trajectory of any target carriage among the multiple carriages starting from the K+1th carriage and the reference trajectory of the Kth carriage; and correcting the target calculated trajectory based on the trajectory deviation.

[0039] Figure 1 The illustration schematically depicts an application scenario of a vehicle trajectory correction method, apparatus, device, medium, program product, and train according to embodiments of the present disclosure.

[0040] like Figure 1 As shown, application scenario 100 according to this embodiment may include a first terminal device 101, a second terminal device 102, a server 103, and a network 104. The network 104 serves as a medium for providing a communication link between the first terminal device 101, the second terminal device 102, and the server 103. The network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc. The first terminal device 101 may be transportation equipment, such as a train.

[0041] Users can use the first terminal device 101 and the second terminal device 102 to interact with the server 103 via the network 104 to receive or send messages, etc. Various communication client applications, such as data analysis software, can be installed on the first terminal device 101 and the second terminal device 102 (for example only).

[0042] The second terminal device 102 can be various electronic devices with a display screen, including but not limited to smartphones, tablets, laptops, and desktop computers.

[0043] Server 103 can be a server that provides various services, such as a back-end management server that supports the vehicle trajectory correction device used by the user using the first terminal device 101 and the second terminal device 102 (this is just an example). The back-end management server can analyze and process received user requests or trajectory deviation data from sensors, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal devices.

[0044] It should be noted that the vehicle trajectory correction method provided in this embodiment can generally be executed by server 103. Correspondingly, the vehicle trajectory correction device provided in this embodiment can generally be located in server 103. The vehicle trajectory correction method provided in this embodiment can also be executed by a server or server cluster that is different from server 103 and capable of communicating with the first terminal device 101, the second terminal device 102, and / or server 103. Correspondingly, the vehicle trajectory correction device provided in this embodiment can also be located in a server or server cluster that is different from server 103 and capable of communicating with the first terminal device 101, the second terminal device 102, and / or server 103. Alternatively, the vehicle trajectory correction device provided in this embodiment can also be located in a terminal device and executed directly by the terminal device.

[0045] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0046] The following will be based on Figure 1 The described scene, through Figure 2 The vehicle trajectory correction method of the disclosed embodiments is described in detail.

[0047] Figure 2 A flowchart illustrating a vehicle trajectory correction method according to an embodiment of the present disclosure is shown schematically. Figure 3 A schematic diagram of a multi-unit articulated vehicle according to an embodiment of the present disclosure is shown. The following is in conjunction with... Figure 2 and Figure 3 Detailed explanation.

[0048] like Figure 2 As shown, the vehicle trajectory correction method in this embodiment includes operations S210 to S250.

[0049] In operation S210, the Kth car of the vehicle is used as the reference car. The trajectory information of the reference point is collected by the positioning device installed at the reference point between the Kth car and the K+1th car. K is a positive integer greater than or equal to 1.

[0050] According to embodiments of this disclosure, the aforementioned vehicle is a multi-unit articulated vehicle, and more specifically, it can also be a multi-unit articulated rubber-tired vehicle. For example... Figure 3As shown, a multi-car articulated rubber-tired vehicle is a special type of vehicle that connects multiple independent carriages via articulation devices and uses rubber tires as its running gear. Because the multiple carriages are connected by articulated structures (such as articulated plates, articulated pins, etc.), and each carriage has rubber tires installed at its bottom, a "multi-car tandem" vehicle configuration is formed, allowing each carriage to rotate relative to its articulation point. Unlike multi-car trains used in rail transit, the multi-car articulated rubber-tired vehicle disclosed herein can operate in various ground environments, such as concrete roads, asphalt roads, and dirt roads.

[0051] According to embodiments of this disclosure, if the offset of the rear carriage relative to the first carriage is measured during vehicle operation, then K equals 1, meaning the first carriage of the vehicle is used as the reference carriage. If the offset test is performed on any carriage in the vehicle and the carriages after it, then K is any natural number greater than 1, and K is less than the number of carriages in the formation, meaning any middle carriage of the vehicle is used as the reference carriage. With the vehicle's direction of travel as forward, the Kth carriage is used as the reference carriage, and the trajectories generated by the (K+1)th carriage and each carriage after the (K+1)th carriage need to be compared and referenced with the trajectory generated by the reference carriage.

[0052] According to embodiments of this disclosure, the Kth car and the K+1th car are connected by a hinged structure. A positioning device is installed at the hinged location to acquire the trajectory information of the reference point. The positioning device can be any device capable of outputting centimeter-level position and velocity information of the vehicle, such as a single inertial sensor, a Global Positioning System (GPS), or a combined inertial navigation system. The trajectory information of the reference point includes the position and velocity of multiple trajectory points generated at different times.

[0053] During operation S220, the baseline trajectory of the Kth carriage and the calculated trajectory of the (K+1)th carriage are calculated based on the trajectory information of the reference point.

[0054] According to embodiments of this disclosure, since the reference point is located between the Kth car and the (K+1)th car, that is, the reference point is adjacent to both the Kth and (K+1)th cars, the reference trajectory of the Kth car is calculated using the reference point trajectory information and the structural parameters (such as wheelbase) of the first adjacent Kth car. Similarly, the reference trajectory of the (K+1)th car is calculated using the reference point trajectory information and the structural parameters (such as wheelbase) of the second adjacent K+1th car.

[0055] In operation S230, based on the calculated trajectory of the (K+1)th carriage, the calculated trajectories of the multiple carriages following the (K+1)th carriage are obtained.

[0056] According to embodiments of this disclosure, using the calculated trajectory of the (K+1)th carriage as a new starting point, the calculated trajectories of multiple carriages following the (K+1)th carriage are calculated. One embodiment may involve calculating the calculated trajectories of the (K+2), (K+3), and (K+4)th carriages, etc., based on the calculated trajectory of the (K+1)th carriage. Another embodiment may involve calculating the calculated trajectory of the (K+2)th carriage based on the calculated trajectory of the (K+1)th carriage; calculating the calculated trajectory of the (K+3)th carriage based on the calculated trajectory of the (K+3)th carriage; calculating the calculated trajectory of the (K+4)th carriage based on the calculated trajectory of the (K+3)th carriage, and so on.

[0057] In operation S240, the trajectory deviation between the target calculated trajectory of any target car in a multi-car fleet starting from car K+1 and the reference trajectory of car K is determined.

[0058] According to an embodiment of this disclosure, after calculating the trajectory corresponding to each carriage according to operation S230, a carriage is selected from the multiple carriages starting from carriage K+1 as the target carriage, and the calculation trajectory corresponding to the target carriage is determined as the target calculation trajectory. When K equals 1, the target calculation trajectory corresponding to carriage 2 is compared with the reference trajectory to generate the trajectory deviation of the target calculation trajectory of carriage 2 relative to the basic trajectory of carriage 1; when K equals 2, the target calculation trajectory corresponding to carriage 3 is compared with the reference trajectory to generate the trajectory deviation of the target calculation trajectory of carriage 3 relative to the basic trajectory of carriage 1.

[0059] In operation S250, trajectory correction is performed on the target trajectory based on trajectory deviation.

[0060] According to embodiments of this disclosure, whether in a test scenario or a vehicle driving scenario, the trajectory deviation obtained through real-time calculation can correct the target calculated trajectory, making it close to or infinitely close to the reference trajectory, thereby avoiding situations such as tail-end drifting, vehicle body folding, and oversteering.

[0061] According to embodiments of this disclosure, starting from the Kth reference car, the calculated trajectories of all subsequent cars can be generated sequentially using reference point trajectory information. Whether it's a 2-car or 4-car trainset, the trajectory of each car between the first and last cars can be calculated. This eliminates the need to install high-precision positioning equipment on each car and is unaffected by environmental factors such as terrain or signal obstruction, solving the problem in related technologies where accurate real-time position information of multiple cars is difficult to obtain due to trajectory acquisition challenges. Furthermore, by monitoring and correcting trajectory deviations in real time, collisions and scrapes caused by trajectory divergence in subsequent cars can be avoided. Especially in turns or complex road conditions, each car can travel along the expected trajectory as much as possible, reducing accident risks and improving vehicle driving safety and stability.

[0062] According to embodiments of this disclosure, acquiring trajectory information of a reference point using a positioning device installed at a reference point between the Kth and K+1th carriages may include the following steps: acquiring the latitude and longitude information of the reference point using the positioning device installed at the reference point between the Kth and K+1th carriages; and calculating the coordinate information of the reference point based on the latitude and longitude information of the reference point.

[0063] Specifically, a point with known latitude and longitude is selected as the origin of the Cartesian coordinate system, and its latitude and longitude are denoted as ( ). ), corresponding to Cartesian coordinates ( The coordinates are usually set to (0,0) for ease of calculation. The x-axis points east (increasing longitude), and the y-axis points north (increasing latitude), forming a Cartesian coordinate system. The latitude and longitude of the reference point are known. ), calculate the difference in latitude and longitude between it and the origin: Longitude difference = - Latitude difference = - .

[0064] The coordinate information of the reference point is calculated based on its latitude and longitude information, including: the coordinate information of the reference point is calculated based on the latitude and longitude information and the radius of curvature of the reference point.

[0065] Specifically, based on the difference in latitude and longitude between the origin and the reference point, and the radius of curvature of the reference point, the change in coordinates of the reference point relative to the origin is calculated, referring to formulas (1) and (2):

[0066] Formula (1)

[0067] Formula (2)

[0068] in, Let the radius of curvature of the origin in the east-west direction be given by formula (3):

[0069] Formula (3)

[0070] Let the radius of curvature of the origin in the north-south direction be given by formula (4):

[0071] Formula (4)

[0072] Where a is the Earth's equatorial radius; f is the Earth's oblateness.

[0073] According to an embodiment of this disclosure, based on the coordinate information of the reference point calculated from the latitude and longitude information of the reference point, the position of the preset point on the Kth car is further calculated based on the position information of the reference point, the relative longitudinal distance between the reference point and the preset point on the Kth car, and the offset angle of the Kth car in the vertical direction.

[0074] According to embodiments of this disclosure, the preset point can be any point on any carriage, or it can be the axle position of the carriage, more specifically, it can be the front axle or the rear axle. Furthermore, there is no limitation on the number of preset points on the Kth carriage; it can be one, two, or more.

[0075] Figure 4A The diagram illustrates the calculation of a preset point position on the Kth car according to one embodiment of the present disclosure.

[0076] According to embodiments of this disclosure, when the preset point is the axle position of the carriage, such as Figure 4A As shown, preset points 1 and 2 are the front axle position and rear axle position, respectively. Based on the position information of the reference point, the relative longitudinal distance between the reference point and the preset point on the Kth car, and the offset angle of the Kth car in the vertical direction, the position of the preset point on the Kth car is calculated. This can be achieved using the following method: where the relative longitudinal distance between the reference point and preset point 1 on the Kth car is L1, and the relative longitudinal distance between the reference point and preset point 2 is L2. Based on the coordinates of the reference point, the relative longitudinal distance L1, and the offset angle of the Kth car in the vertical direction... Calculate the coordinates of the preset point 1, referring to formula (5).

[0077] Formula (5)

[0078] Based on the coordinates of the reference point, the relative longitudinal distance L2, and the offset angle of the Kth carriage in the vertical direction... The calculation of the coordinates of preset point 2 is the same as the calculation of the coordinates of preset point 1, and will not be repeated here.

[0079] Figure 4B The diagram illustrates the calculation of the position of a preset point on the Kth car according to another embodiment of the present disclosure.

[0080] According to embodiments of this disclosure, when the preset point is a non-axle position on the carriage, such as Figure 4B As shown, preset point 3 is any point on the Kth carriage. Based on the location information of the reference point, the relative longitudinal distance between the reference point and the preset point on the Kth carriage, and the offset angle of the Kth carriage in the vertical direction, the position of the preset point on the Kth carriage can be calculated. This can include the following method: where the relative longitudinal distance between the reference point and preset point 3 is L3, and the relative lateral distance between the reference point and preset point 3 is d3. Based on the coordinates of the reference point, the relative longitudinal distance L3, the relative lateral distance d3, and the offset angle of the Kth carriage in the vertical direction... Calculate the coordinates of the preset point 3, referring to formula (6).

[0081] Formula (6)

[0082] According to an embodiment of this disclosure, based on the calculated trajectory of the (K+1)th carriage, the calculated trajectories of multiple carriages following the (K+1)th carriage are calculated, including: calculating the calculated trajectory of any Mth carriage among the multiple carriages, specifically: based on the calculated trajectory of the (M-1)th carriage, the calculated trajectory of the Mth carriage is calculated, where M is greater than or equal to K+1.

[0083] According to embodiments of this disclosure, the calculated trajectory of the (K+1)th carriage is taken as the new starting point. The trajectory of each subsequent carriage depends on the calculation result of the previous carriage, forming a "chain-like recursive" relationship. The trajectories of the (K+2), (K+3), and so on carriages are calculated sequentially to ensure the continuity of the overall trajectory of the multi-car train. For example, when M=3, K=2, that is, the calculated trajectory of the third carriage is calculated based on the calculated trajectory of the second carriage; M is incremented, that is, when M=4, K=3, that is, the calculated trajectory of the fourth carriage is calculated based on the calculated trajectory of the third carriage; and so on.

[0084] Figure 5 A flowchart illustrating a method for calculating the trajectory of the Mth carriage according to an embodiment of the present disclosure is shown. Figure 6 A schematic diagram illustrating the calculation trajectory of the Mth carriage according to an embodiment of the present disclosure is shown below. Figure 5 and Figure 6 Provide an explanation.

[0085] like Figure 5As shown, the calculated trajectory of the Mth car is obtained based on the calculated trajectory of the M-1th car, specifically including operations S510 to S520.

[0086] Operation S510 calculates the position of at least one preset point of the Mth car based on the position of at least one trajectory point on the calculated trajectory of the M-1th car, the longitudinal relative distance between the predetermined part on the Mth car and at least one trajectory point on the calculated trajectory of the M-1th car, and the angle between the M-1th car and the Mth car.

[0087] Operation S520 generates the calculated trajectory of the Mth car based on the position of at least one preset point of the Mth car.

[0088] According to embodiments of this disclosure, such as Figure 6 As shown, the angle between car M-1 and car M is... The angle between the central axes of the two carriages reflects the relative deflection of the rear carriage relative to the front carriage when the vehicle turns. This angle can be measured in real time by sensors such as gyroscopes and angle encoders.

[0089] According to embodiments of this disclosure, such as Figure 6 As shown, the position of at least one trajectory point on the calculated trajectory of the (M-1)th carriage ( The corresponding predetermined point M-1, the predetermined location (preset point) M on the Mth car, and the longitudinal relative distance between predetermined point M-1 and predetermined point M. The angle between car M-1 and car M The coordinate information of the preset point M is calculated based on the above parameters, refer to formula (7).

[0090] Formula (7)

[0091] According to embodiments of this disclosure, by using the calculated trajectory of the preceding carriage as the starting point for the following carriage, the motion state of each carriage can be derived sequentially based on the physical connection relationship, avoiding the accumulation of deviations caused by the independence of trajectory calculation. For example, when K=2 and M=3, the trajectory of the third carriage directly depends on the calculation result of the second carriage. As M=4 increases, the fourth carriage uses the third carriage as the reference. This recursive logic makes the trajectories of all subsequent carriages in a multi-train vehicle form a continuous chain starting from the Kth carriage. Each step of the calculation is closely related to the preceding state, thereby ensuring the spatiotemporal continuity of the trajectories of each carriage during the entire trainset's operation. This avoids the trajectory divergence problem caused by the complex structure of multi-train articulated vehicles, improving the accuracy of vehicle steering control and timely obstacle avoidance. Especially in complex curves or lane-changing conditions, it can improve the following measurement accuracy of multi-car trainsets cooperating.

[0092] According to an embodiment of this disclosure, after calculating the trajectory of the K+1th car and any car after the K+1th car according to operations S510~S520, a trajectory curve is drawn based on the reference trajectory and multiple calculated trajectories, and a comparison chart is generated.

[0093] Figure 7 A schematic diagram illustrating a comparison between a base trajectory curve and a calculated trajectory curve according to an embodiment of the present disclosure is provided.

[0094] like Figure 7 As shown, the horizontal axis represents the driving distance in meters (m), and the vertical axis represents the lateral deviation in meters (m). Different colored curves represent different axes. It can be seen that as the driving distance increases, the lateral deviation of each axis exhibits different trends. For example, the lateral deviation of some axes increases or decreases sharply within a specific distance range, indicating that the lateral offset of each axis differs significantly at different stages during vehicle operation. The different trends and fluctuation amplitudes of the curves indicate that the lateral deviation characteristics of different axes are different. For example, the curves of axes a1 and a8 fluctuate more significantly, indicating that under certain driving conditions, the lateral offset of these two axes is more complex than other axes, and is affected to different degrees by factors such as vehicle steering and road conditions. The curves of some axes (such as a3 axis) are relatively flat, indicating that their lateral deviation changes are relatively stable. By observing the lateral deviation of each axis, the driving stability of the vehicle can be assessed. If the lateral deviation of each axis fluctuates greatly and exceeds a certain range, it may mean that there are unstable factors in the vehicle during operation, such as abnormal steering system or inaccurate wheel alignment. Further investigation is needed to identify potential problems during vehicle operation and optimize vehicle handling and driving safety.

[0095] Figure 8A and Figure 8B This schematically illustrates another comparative diagram of the base trajectory curve and the calculated trajectory curve according to an embodiment of the present disclosure.

[0096] like Figure 8A and Figure 8B As shown, "Joint" represents a hinge point, and "Joint1", "Joint2", "Joint3", and "Joint4" represent the 1st, 2nd, 3rd, and 4th hinge points, respectively. "Axle" represents an axle, and "Axle1" to "Axle8" represent the 1st to 8th axles, respectively.

[0097] Figure 8A Different colored lines represent the trajectories of each hinge point and axle. For example, the green hinge point 4 has a trajectory that is approximately circular, indicating that the path taken by this hinge point during vehicle movement is similar to a circle; the trajectories of the other lines are also almost similar to the trajectories of the hinge points.

[0098] Figure 8B yes Figure 8A A magnified view of the area within the dashed box. (See image below.) Figure 8B As shown, the changes in the vertical axis reflect the degree of deviation of the trajectories of different components in this area, and the vertical distance between the lines represents the magnitude of the deviation. It can be seen that the trajectories of different components are separated, indicating that there are significant differences in the movement trajectories of each component during this driving phase; that is, the following vehicle does not completely follow the driving path of the preceding vehicle. The trend of deviation can be observed from the direction of the lines. If the lines gradually separate, it indicates that the deviation between the trajectories of the components is increasing with the increase of the driving distance; if the lines tend to be parallel, it indicates that the deviation is stable within a certain range.

[0099] According to embodiments of this disclosure, a global Cartesian coordinate system is established to facilitate unified analysis of multi-car trajectories. After the calculation of each car is completed, the coordinates of the target points in each car are transformed to the global coordinate system to ensure that the trajectories of all cars are presented in the same coordinate system, which facilitates the comparison of trajectory deviations and the evaluation of the overall driving status.

[0100] According to embodiments of this disclosure, a trajectory deviation threshold can also be set. When the trajectory deviation between the first vehicle and the following vehicles exceeds the preset threshold, an early warning mechanism is triggered. Simultaneously, based on the deviation data, a compensation control strategy is generated, such as adjusting the steering angle and vehicle speed, to assist the driver or autonomous driving system in making decisions.

[0101] Based on the above-described vehicle trajectory correction method, this disclosure also provides a vehicle trajectory correction device. The following will be combined with... Figure 6 The device is described in detail.

[0102] Figure 9 A schematic block diagram of a vehicle trajectory correction device according to an embodiment of the present disclosure is shown.

[0103] like Figure 9 As shown, the vehicle trajectory correction device 900 of this embodiment includes a data acquisition module 910, a first calculation module 920, a second calculation module 930, a determination module 940, and a correction module 950.

[0104] The acquisition module 910 is used to acquire trajectory information of a reference point, using the Kth car of the vehicle as the reference car, and employing a positioning device installed at a reference point between the Kth and K+1th cars, where K is a positive integer greater than or equal to 1. In one embodiment, the first receiving module 910 can be used to perform the operation S210 described above, which will not be repeated here.

[0105] The first calculation module 920 is used to calculate the reference trajectory of the Kth carriage and the calculated trajectory of the (K+1)th carriage based on the trajectory information of the reference point. In one embodiment, the first control module 920 can be used to execute the operation S220 described above, which will not be repeated here.

[0106] The second calculation module 930 is used to calculate the individual calculation trajectories of multiple carriages following the (K+1)th carriage based on the calculated trajectory of the (K+1)th carriage. In one embodiment, the first sending module 930 can be used to execute the operation S230 described above, which will not be repeated here.

[0107] The determination module 940 is used to determine the trajectory deviation between the target calculated trajectory of any target car among multiple cars starting from car K+1 and the reference trajectory of car K. In one embodiment, the second control module 940 can be used to execute the operation S240 described above, which will not be repeated here.

[0108] The correction module 950 is used to correct the target calculated trajectory based on the trajectory deviation. In one embodiment, the correction module 950 can be used to perform the operation S250 described above, which will not be repeated here.

[0109] According to embodiments of this disclosure, the second computing module 930 includes a first computing submodule and a second computing submodule.

[0110] The first calculation submodule is used to calculate the trajectory of any Mth carriage among multiple carriages, including: the second calculation submodule is used to calculate the trajectory of the Mth carriage based on the trajectory of the (M-1)th carriage, where M is greater than or equal to K+1.

[0111] According to embodiments of this disclosure, the second computing submodule includes a first computing unit and a generation unit.

[0112] The first calculation unit is used to calculate the position of at least one preset point of the Mth car based on the position of at least one trajectory point on the calculated trajectory of the M-1th car, the longitudinal relative distance between a predetermined part on the Mth car and at least one trajectory point on the calculated trajectory of the M-1th car, and the angle between the M-1th car and the Mth car; the generation unit is used to generate the calculated trajectory of the Mth car based on the position of the preset point of the at least one Mth car.

[0113] According to an embodiment of this disclosure, the preset point is the axle of the carriage.

[0114] According to embodiments of this disclosure, the trajectory information of the reference point includes the location information of the reference point, and the first calculation module 920 includes a third calculation submodule.

[0115] The third calculation submodule is used to calculate the position of the preset point on the Kth car based on the position information of the reference point, the relative longitudinal distance between the reference point and the preset point on the Kth car, and the offset angle of the Kth car in the vertical direction.

[0116] According to an embodiment of this disclosure, the acquisition module 910 includes an acquisition submodule and a fourth calculation submodule.

[0117] The acquisition submodule is used to acquire the latitude and longitude information of the reference point using the positioning device installed between the Kth and K+1th carriages; the fourth calculation submodule is used to calculate the coordinate information of the reference point based on the latitude and longitude information of the reference point.

[0118] According to an embodiment of this disclosure, the fourth calculation submodule includes: a second calculation unit.

[0119] The second calculation unit is used to calculate the coordinate information of the reference point based on the latitude and longitude information and the radius of curvature of the reference point.

[0120] According to embodiments of this disclosure, any plurality of modules among the acquisition module 910, the first calculation module 920, the second calculation module 930, the determination module 940, and the correction module 950 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of the acquisition module 910, the first calculation module 920, the second calculation module 930, the determination module 940, and the correction module 950 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in a suitable combination of any of these. Alternatively, at least one of the acquisition module 910, the first calculation module 920, the second calculation module 930, the determination module 940, and the correction module 950 can be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0121] Figure 10 A block diagram schematically illustrates an electronic device suitable for implementing a vehicle trajectory correction method according to an embodiment of the present disclosure.

[0122] like Figure 10As shown, an electronic device 1000 according to an embodiment of the present disclosure includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0123] RAM 1003 stores various programs and data required for the operation of electronic device 1000. Processor 1001, ROM 1002, and RAM 1003 are interconnected via bus 1004. Processor 1001 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 1002 and / or RAM 1003. It should be noted that the programs may also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0124] According to embodiments of this disclosure, the electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to a bus 1004. The electronic device 1000 may also include one or more of the following components connected to the I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1010 as needed so that computer programs read from it can be installed into the storage section 1008 as needed.

[0125] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0126] According to embodiments of this disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 1002 and / or RAM 1003 and / or one or more memories other than ROM 1002 and RAM 1003 described above.

[0127] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the item recommendation method provided in the embodiments of this disclosure.

[0128] When the computer program is executed by the processor 1001, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0129] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 1009, and / or installed from a removable medium 1011. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0130] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by processor 1001, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0131] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0132] 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 this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated 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 a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0133] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0134] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A vehicle travel trajectory correction method in which, The method comprises: Taking the Kth compartment of the vehicle as a reference compartment, trajectory information of a reference point between the Kth compartment and the K+1th compartment is collected by a positioning device installed at the reference point, K being a positive integer greater than or equal to 1; According to the trajectory information of the reference point, a reference trajectory of the Kth compartment and a calculated trajectory of the K+1th compartment are calculated; Based on the calculated trajectory of the K+1th compartment, a calculated trajectory of each of the compartments after the K+1th compartment is calculated; A trajectory deviation between a target calculated trajectory of any target compartment starting from the K+1th compartment and the reference trajectory of the Kth compartment is determined; The target calculated trajectory is corrected based on the trajectory deviation.

2. The method of claim 1, wherein, Based on the calculated trajectory of the K+1th compartment, a calculated trajectory of each of the compartments after the K+1th compartment is calculated, comprising: The calculated trajectory of any Mth compartment of the compartments comprises: Based on the calculated trajectory of the M-1th compartment, the calculated trajectory of the Mth compartment is calculated, M being greater than or equal to K+1.

3. The method of claim 2, wherein, Based on the calculated trajectory of the M-1th compartment, the calculated trajectory of the Mth compartment is calculated, comprising: According to the position of at least one trajectory point on the calculated trajectory of the M-1th compartment, the longitudinal relative distance between a predetermined part on the Mth compartment and at least one trajectory point on the calculated trajectory of the M-1th compartment, and the included angle between the M-1th compartment and the Mth compartment, the position of at least one preset point of the Mth compartment is calculated; According to the position of at least one preset point of the Mth compartment, the calculated trajectory of the Mth compartment is generated.

4. The method of claim 3, wherein, The preset point is an axle of the compartment.

5. The method of any one of claims 1-4, wherein, The trajectory information of the reference point comprises position information of the reference point, and according to the trajectory information of the reference point, the reference trajectory of the Kth compartment and the calculated trajectory of the K+1th compartment are calculated, comprising: According to the position information of the reference point, the relative longitudinal distance between the reference point and a preset point on the Kth compartment, and the offset angle of the Kth compartment in the vertical direction, the position of the preset point on the Kth compartment is calculated.

6. The method of claim 1, wherein, The trajectory information of the reference point is collected by a positioning device installed at the reference point between the Kth compartment and the K+1th compartment, comprising: The latitude and longitude information of the reference point is collected by the positioning device installed at the reference point between the Kth compartment and the K+1th compartment; The coordinate information of the reference point is calculated according to the latitude and longitude information of the reference point.

7. The method of claim 6, wherein, The coordinate information of the reference point is calculated according to the latitude and longitude information of the reference point, comprising: The coordinate information of the reference point is calculated according to the latitude and longitude information of the reference point and the radius of curvature of the reference point.

8. A vehicle driving trajectory correction device, comprising: The collection module is configured to take the Kth car as a reference car, collect trajectory information of a reference point by using a positioning device installed at the reference point between the Kth car and a K+1th car, K being a positive integer greater than or equal to 1; The first calculation module is configured to calculate a reference trajectory of the Kth car and a calculated trajectory of the K+1th car according to the trajectory information of the reference point; The second calculation module is configured to calculate a respective calculated trajectory of a plurality of cars after the K+1th car based on the calculated trajectory of the K+1th car; The determination module is configured to determine a trajectory deviation between a target calculated trajectory of any target car in the plurality of cars starting from the K+1th car and the reference trajectory of the Kth car; The correction module is configured to correct the target calculated trajectory based on the trajectory deviation. 9.An electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, enable the one or more processors to perform the method of any one of claims 1-7. 10.A train, comprising: the vehicle trajectory correction device of claim 8.

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