Automatic driving power-on control method and device, automatic driving equipment and storage medium

Abstract

The invention discloses a single-antenna integrated navigation automatic driving initial power-on control method and device, automatic driving equipment and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining an initial motion direction when a vehicle is started and a reference path corresponding to the initial motion direction; acquiring a course initial value of the vehicle based on the initial motion direction and the reference path; judging whether the navigation course of the automatic driving system is converged or not based on the course initial value; and when convergence of the navigation course is completed, trajectory tracking control is performed by using course information output by the automatic driving system, and initial power-on of the automatic driving system is completed. The initial course of the vehicle is obtained through the automatic driving system, the influence of the difference of manual driving levels on course initialization precision is avoided, and the course initialization precision of the automatic driving system is improved. When the navigation course is converged, the course information output by the system is used for trajectory tracking control, so that the trajectory tracking control performance is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a single-antenna combined navigation autonomous driving initial power-on control method, device, autonomous driving equipment and storage medium. Background Technology

[0002] With the continuous development of agricultural machinery navigation and automatic driving technology, domestically produced systems are gradually evolving from early dual-antenna positioning and orientation schemes to single-antenna schemes. Single-antenna systems have advantages such as simplified structure and ease of installation and debugging, but their algorithm complexity is high, especially during initial power-on when the vehicle is stationary and cannot accurately obtain current heading information. In existing technologies, single-antenna integrated navigation systems typically require the driver to manually drive the vehicle a certain distance after startup, and then the heading is initialized through the fusion of GNSS trajectory and IMU sensor data before trajectory tracking control can be performed.

[0003] However, this method has significant drawbacks: because it requires manual driving by the driver, it is prone to instability in heading initialization accuracy and poor trajectory tracking performance due to differences in driver skill. Therefore, there is an urgent need for an initial power-on control method that can achieve automatic driving after the system is initially powered on, in order to improve initial heading accuracy and trajectory tracking performance. Summary of the Invention

[0004] The main objective of this application is to provide a single-antenna combined navigation autonomous driving initial power-on control method, device, autonomous driving equipment, and storage medium, aiming to solve the technical problem that the autonomous driving system requires manual driving when powered on, resulting in poor initial heading accuracy and poor trajectory tracking performance.

[0005] To achieve the above objectives, this application proposes a single-antenna integrated navigation automatic driving initial power-on control method, comprising: Obtain the initial direction of motion of the vehicle when it starts, and the reference path corresponding to the initial direction of motion; Based on the initial direction of motion and the reference path, the initial heading value of the vehicle is obtained; Based on the initial heading value, determine whether the navigation heading of the autonomous driving system has converged; When the navigation heading converges, the heading information output by the autonomous driving system is used for trajectory tracking control to complete the initial power-on of the autonomous driving system.

[0006] In one embodiment, obtaining the initial direction of motion when the vehicle starts specifically includes: Detect the gear position sensor information of the vehicle; When the gear position sensor information is successfully detected, the initial direction of motion of the vehicle when it starts is obtained based on the gear position sensor information. When the gear position sensor information detection fails, the wheel speed or direction sensor information of the vehicle is detected. When the wheel speed or direction sensor information is successfully detected, the initial motion direction of the vehicle at the time of startup is obtained based on the wheel speed or direction sensor information. When the wheel speed or direction sensor information fails to detect, the accelerometer information of the vehicle's navigation device is obtained, and the initial direction of motion of the vehicle at startup is obtained based on the accelerometer information of the vehicle's navigation device.

[0007] In one embodiment, the initial direction of motion of the vehicle at startup is determined based on the accelerometer information of the vehicle's navigation device, specifically including: Accelerometer values ​​along the X-axis of the vehicle's forward direction are collected in real time. If the accelerometer value of the X-axis is positive and is greater than a preset positive threshold multiple times in a row, then the initial motion direction of the vehicle when it starts is determined to be forward. If the accelerometer value of the X-axis is negative and is consistently less than a preset negative threshold multiple times, then the initial direction of motion of the vehicle when it starts is determined to be backward.

[0008] In one embodiment, obtaining the initial heading value of the vehicle based on the initial direction of motion and the reference path specifically includes: Based on the initial direction of motion, select multiple path points on the reference path corresponding to the initial direction of motion; The initial heading value of the vehicle is calculated based on multiple waypoints.

[0009] In one embodiment, after determining whether the navigation heading of the autonomous driving system has converged based on the initial heading value, the method further includes: When the navigation heading has not converged, the real-time estimated heading error is obtained based on the initial heading value; Based on the real-time estimated heading error, trajectory tracking control is performed on the vehicle to enable it to start and perform autonomous driving along the reference path.

[0010] In one embodiment, before obtaining the initial direction of motion of the vehicle upon startup and the reference path corresponding to the initial direction of motion, the method further includes: Detect whether the autonomous driving system has completed initialization; When the autonomous driving system has not completed initialization, the step of obtaining the initial direction of motion of the vehicle when it starts and the reference path corresponding to the initial direction of motion is executed.

[0011] In one embodiment, when the autonomous driving system completes initialization, it is determined that the navigation heading of the autonomous driving system has converged; and the step of using the heading information output by the autonomous driving system to perform trajectory tracking control is executed to complete the initial power-on of the autonomous driving system.

[0012] Furthermore, to achieve the above objectives, this application also proposes a single-antenna integrated navigation automatic driving initial power-on control device, which includes: The initial pose alignment module is used to obtain the initial motion direction when the vehicle starts, and the reference path corresponding to the initial motion direction; The heading initial value calculation module obtains the vehicle's heading initial value based on the initial direction of motion and the reference path; The heading convergence monitoring module determines whether the navigation heading of the autonomous driving system has converged based on the initial heading value. The operation mode switching module uses the heading information output by the autonomous driving system to perform trajectory tracking control when the navigation heading has converged, thus completing the initial power-on of the autonomous driving system.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium storing a single-antenna integrated navigation automatic driving initial power-on control program, wherein when the single-antenna integrated navigation automatic driving initial power-on control program is executed by a processor, the steps of the above-described single-antenna integrated navigation automatic driving initial power-on control method are implemented.

[0014] Furthermore, to achieve the above objectives, this application also proposes a single-antenna integrated navigation autonomous driving device, which includes: a memory, a processor, and a single-antenna integrated navigation autonomous driving initial power-on control program stored in the memory and executable on the processor. When the single-antenna integrated navigation autonomous driving initial power-on control program is executed by the processor, it implements the steps of the above-mentioned single-antenna integrated navigation autonomous driving initial power-on control method.

[0015] This application proposes a single-antenna combined navigation autonomous driving initial power-on control method. First, it acquires the initial direction of motion of the vehicle upon startup and the corresponding reference route. Then, based on this initial direction and reference route, it acquires the vehicle's initial heading value. The autonomous driving system, based on the initial heading value, determines whether the navigation heading has converged. When the navigation heading has converged, it uses the heading information output by the autonomous driving system for trajectory tracking control, completing the initial power-on of the autonomous driving system. By acquiring the vehicle's initial heading through the autonomous driving system, manual driving is no longer required, avoiding the impact of differences in human driving skill on heading initialization accuracy and improving the heading initialization accuracy of the autonomous driving system. When the system determines that the navigation heading has converged, it switches to using the heading information output by the autonomous driving system for trajectory tracking control, improving trajectory tracking control performance and enhancing the convenience of autonomous driving operations. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the initial power-on control method for single-antenna combined navigation autonomous driving in one embodiment of this application. Figure 2 This is a flowchart illustrating the process of obtaining the initial direction of motion of a vehicle upon startup, according to one embodiment of this application. Figure 3 This is a schematic diagram of the process of obtaining the initial direction of motion at startup based on the accelerometer information of the vehicle's navigation device in one embodiment of this application; Figure 4 This is a schematic diagram of the process for obtaining an initial heading value based on an initial direction of motion and a reference path in one embodiment of this application; Figure 5 This is a schematic diagram of the process after determining whether the navigation heading of the autonomous driving system has converged based on the initial heading value in one embodiment of this application; Figure 6 This is a flowchart illustrating the process before obtaining the initial direction of motion of the vehicle when it starts and the reference path corresponding to the initial direction of motion in one embodiment of this application. Figure 7This is a schematic diagram of the module structure of a single-antenna combined navigation automatic driving initial power-on control device in one embodiment of this application.

[0019] Label: Explanation of icon numbers: 10. Initial pose alignment module; 20. Heading initial value calculation module; 30. Heading convergence monitoring module; 40. Operation mode switching module.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of this application embodiment is as follows: the autonomous driving system obtains the initial direction of motion of the vehicle when it starts, and the reference path corresponding to the initial direction of motion. Then, based on the initial direction of motion and the reference path, the system obtains the initial heading value of the vehicle. Then, the system determines whether the navigation heading has converged based on the obtained initial heading value. When the system determines that the navigation heading has converged, it uses the heading information output by the autonomous driving system to perform trajectory tracking control and complete the initial power-on control.

[0024] Currently, single-antenna combined autonomous driving systems, upon initial power-on, typically require manual driving to advance a distance after the vehicle's true heading is not obtained, until heading initialization is complete. Due to variations in human driving skills and understanding, incorrect manual driving techniques can occur, affecting the accuracy of heading initialization and resulting in poor trajectory tracking performance for a considerable distance. Therefore, improving the accuracy of heading initialization and enhancing the trajectory tracking performance of single-antenna combined navigation autonomous driving systems are pressing issues that need to be addressed.

[0025] This application employs a multi-level sensor fusion strategy to determine whether the vehicle's initial direction of motion is forward or backward. Based on this initial direction, a corresponding local reference path is dynamically extracted and generated from a pre-defined global path. The autonomous driving system then uses points on this local reference path to quickly calculate an initial heading value for the vehicle. The system then determines whether convergence has been achieved. Upon successful convergence, the heading information output by the autonomous driving system is used for trajectory tracking control. This achieves the initial power-on of a single-antenna combined autonomous driving system, significantly improving the initial heading accuracy and trajectory tracking performance of the autonomous driving system.

[0026] It should be noted that in this embodiment, the executing entity can be a vehicle using a single-antenna integrated navigation system, or other equipment requiring an automatic navigation system, such as a road roller, grader, paver, or port machinery vehicle, etc. It is an electronic device or vehicle capable of achieving the above functions. For ease of description, the following uses a vehicle using a single-antenna integrated navigation system as the executing entity to illustrate this embodiment and the following embodiments.

[0027] Based on this, embodiments of this application provide a single-antenna integrated navigation autonomous driving initial power-on control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the initial power-on control method for single-antenna combined navigation automatic driving in this application.

[0028] In this embodiment, the single-antenna combined navigation automatic driving initial power-on control method includes steps S10~S40: Step S10: Obtain the initial direction of motion of the vehicle when it starts, and the reference path corresponding to the initial direction of motion; The initial direction of motion when the vehicle starts refers to the direction of the vehicle's center of mass (forward or backward) at the instant the vehicle begins to move after the autonomous driving system is initially powered on; the reference path corresponding to the initial direction of motion refers to a local expected driving path that is captured or generated in real time within the preset path of the autonomous driving system based on the vehicle's current real-time location and initial direction of motion.

[0029] Step S20: Based on the initial direction of motion and the reference path, obtain the initial heading value of the vehicle; The initial heading value refers to the estimated vehicle pointing angle obtained based on the initial direction of motion and reference path when the autonomous driving system is first powered on and has not yet completed convergence. This is an estimate, a substitute heading reference used for start-up control during the initialization phase when a true, precise vehicle heading is unavailable. After obtaining the initial heading value, the autonomous driving system can begin operation.

[0030] Step S30: Determine whether the navigation heading of the autonomous driving system has converged based on the initial heading value; In this context, the navigation heading of an autonomous driving system refers to the vehicle's orientation angle, obtained after processing the initial heading value, and used for global positioning and path tracking. This is a precise angle describing the angle between the vehicle's coordinate system and the geographic north. Convergence refers to the process by which the integrated navigation autonomous driving system, through continuous processing of initial heading values, gradually reaches and stabilizes within a high-precision and reliable range, moving from an initially inaccurate and unstable state.

[0031] Step S40: When the navigation heading has converged, the heading information output by the autonomous driving system is used for trajectory tracking control to complete the initial power-on of the autonomous driving system.

[0032] The heading information output by the autonomous driving system refers to the high-precision, highly reliable vehicle heading data provided by its core positioning and orientation module after the single-antenna integrated navigation system has converged. This signifies that the system has completed its initial power-on and entered normal navigation mode. Trajectory tracking control refers to the control technology by which the autonomous driving system adjusts the vehicle's steering, drive, and braking actuators in real time, enabling the vehicle to accurately follow a preset desired path. The fundamental goal of trajectory tracking control is to minimize the deviation between the vehicle's actual path and the desired path.

[0033] In this embodiment, the initial direction of vehicle movement and the corresponding reference route are first obtained upon vehicle startup. Then, based on the initial direction of movement and the reference path, the initial heading value of the vehicle is obtained. The autonomous driving system determines whether the navigation heading has converged based on the initial heading value. When the navigation heading has converged, the heading information output by the autonomous driving system is used for trajectory tracking control, completing the initial power-on of the autonomous driving system. By obtaining the vehicle's initial heading through the autonomous driving system, manual driving is no longer required, avoiding the impact of differences in human driving skills on heading initialization accuracy and improving the heading initialization accuracy of the autonomous driving system. When the system determines that the navigation heading has converged, it switches to using the heading information output by the autonomous driving system for trajectory tracking control, improving trajectory tracking control performance and enhancing the convenience of autonomous driving operations.

[0034] In one embodiment, see Figure 2 In step S10, the initial direction of motion of the vehicle at startup is obtained, specifically including: S101, Detect the gear position sensor information of the vehicle; In this context, the vehicle's gear position sensor refers to a sensor used to detect and inform the vehicle's control systems, such as the engine controller (ECU) and transmission control unit (TCU), about the current position of the gear lever. The gear position sensor information indicates the current physical position of the gear lever and is primarily used to report the vehicle's current operating mode to the autonomous driving system. Specifically, this includes: Park (P), Reverse (R), Neutral (N), and Drive (D).

[0035] S102, when the gear position sensor information is successfully detected, the initial direction of motion of the vehicle when it starts is obtained based on the gear position sensor information; In this embodiment, the vehicle gear position sensor signals include: reverse gear (R gear), indicating that the initial direction of movement when the vehicle starts is backward; and drive gear (D gear), indicating that the initial direction of movement when the vehicle starts is forward. The autonomous driving system detects the gear position sensor information and determines whether the initial direction of movement of the vehicle is forward or backward.

[0036] S103, when the gear position sensor information detection fails, detect the wheel speed or direction sensor information of the vehicle. Wheel speed sensors are sensors used to detect the rotational speed of the wheels. They convert the wheel speed information into electrical information and transmit it to the vehicle control system. Common wheel speed sensors include magnetoelectric and Hall effect sensors. Magnetoelectric sensors measure speed by detecting changes in the magnetic field generated by the relative motion between a magnet and the sensor; Hall effect sensors use a Hall element to detect changes in the magnetic field and calculate the wheel speed. Steering angle sensors are sensors used to detect the steering wheel's rotation angle and direction. They convert the steering wheel's rotation information into an electrical signal and transmit it to the vehicle control system. Common steering angle sensors include resistive, magnetoelectric, and optical sensors. Resistive sensors measure angle by detecting changes in resistance; magnetoelectric sensors measure angle by detecting changes in the magnetic field; and optical sensors measure angle by detecting changes in a grating.

[0037] When the gear position sensor fails to detect gear position information and cannot obtain gear position information, the vehicle's wheel speed or direction sensor information is detected.

[0038] S104, when the wheel speed or direction sensor information is successfully detected, the initial motion direction of the vehicle when it starts is obtained based on the wheel speed or direction sensor information. Taking the vehicle's direction sensor as an example, when the direction value of the vehicle's direction sensor is positive, it indicates that the initial direction of movement when the vehicle starts is forward, and when the direction value of the vehicle's direction sensor is negative, it indicates that the initial direction of movement when the vehicle starts is backward.

[0039] S105, when the wheel speed or direction sensor information fails to be detected, the accelerometer information of the vehicle's navigation device is obtained, and the initial motion direction of the vehicle when it starts is obtained based on the accelerometer information of the vehicle's navigation device.

[0040] In vehicle navigation systems, accelerometers refer to inertial sensors used to measure the linear acceleration of a vehicle. They are typically the core component of an inertial measurement unit (IMU), detecting changes in acceleration along three axes and combining this data with angular velocity data from gyroscopes to calculate the vehicle's position, velocity, and attitude in real time. Accelerometer information refers to the electrical signal data collected and transmitted by the accelerometer sensor, reflecting the changes in linear acceleration along the vehicle's three axes (typically X, Y, and Z).

[0041] When the system cannot obtain wheel speed or direction sensor information, it obtains accelerometer information from the vehicle's navigation device to obtain the initial direction of motion when the vehicle starts.

[0042] In this embodiment, the initial direction of vehicle movement upon startup is obtained by acquiring the vehicle's gear position sensor information. If acquiring the gear position sensor information fails, the initial direction of vehicle movement upon startup is obtained by acquiring the vehicle's wheel speed or direction sensor information. If acquiring the wheel speed or direction sensor information fails, the initial direction of vehicle movement upon startup is obtained by acquiring the accelerometer information from the vehicle's navigation device. By acquiring multiple pieces of information, the initial direction of vehicle movement upon startup can be obtained using other information when one piece of information cannot be acquired. This significantly improves the robustness and reliability of the autonomous driving system. Even if the highest priority vehicle gear position sensor information cannot be acquired, the system can immediately switch to the next alternative solution, ensuring that the system can acquire the initial direction of vehicle movement upon startup under various unexpected circumstances.

[0043] In one embodiment, see Figure 3 In step S105, the initial direction of motion of the vehicle at startup is obtained based on the accelerometer information of the vehicle's navigation device, specifically including: S1051, Real-time acquisition of the accelerometer value of the X-axis in the direction of travel of the vehicle; Specifically, after the autonomous driving system is activated, the acceleration value of the X-axis in the direction of vehicle movement is collected in real time, and then the accelerometer value of the X-axis in the direction of vehicle movement is obtained.

[0044] S1052, if the accelerometer value of the X-axis is positive and is greater than a preset positive threshold multiple times in a row, then the initial motion direction of the vehicle when it starts is determined to be forward. The preset positive threshold can be d (a positive number). If the accelerometer value on the X-axis is positive and is greater than the preset positive threshold d multiple times in a row, then the initial direction of motion of the vehicle when it starts can be determined to be forward.

[0045] S1053, if the accelerometer value of the X-axis is negative and is less than the preset negative threshold multiple times in a row, then the initial motion direction of the vehicle when it starts is determined to be backward.

[0046] The preset negative threshold is -d (d is a positive number). If the accelerometer value on the X-axis is negative and is less than the preset negative threshold -d multiple times in a row, then it can be determined that the initial direction of movement when the vehicle starts is backward.

[0047] In this embodiment, the initial direction of motion of the vehicle when it starts is obtained through the accelerometer information of the vehicle's navigation device. When the vehicle's gear position sensor information and the vehicle's wheel speed or direction sensor information fail to be detected, the accelerometer information of the navigation device is used to obtain the initial direction of motion of the vehicle when it starts. This ensures that even in the worst case, the autonomous driving system can still determine the initial direction of motion of the vehicle when it starts, so that the subsequent steps of the autonomous driving system can still be performed, which improves the robustness and safety of the system, and also improves the initial heading accuracy and trajectory tracking performance of the autonomous driving system.

[0048] In one embodiment, see Figure 4 In step S20, obtaining the initial heading value of the vehicle based on the initial direction of motion and the reference path specifically includes: S201, Based on the initial direction of motion, select multiple path points on the reference path corresponding to the initial direction of motion; The autonomous driving system has determined the initial direction of movement when the vehicle starts. When the initial direction of movement is forward, the system selects multiple path points forward on the preset reference path; when the initial direction of movement is backward, the system selects multiple path points backward on the preset reference path.

[0049] S202, calculate the initial heading value of the vehicle based on the multiple waypoints.

[0050] Specifically, the coordinates of the vehicle's current position are set as ( , ), set a nearest path point on the reference path as ( , ); The method for calculating the initial heading is as follows: ; ; ; in, This represents the vehicle's displacement on the x-axis from its current position to a path point. This represents the vehicle's displacement on the Y-axis from its current position to a path point. The calculated path direction angle; It is a two-parameter arctangent function used to calculate the point ( , The corresponding polar coordinate angle (the angle rotated counterclockwise from the positive X-axis to that vector) typically has an output range of ( [π, π radians] It automatically handles the four quadrants, avoiding division by zero issues, and takes into account , The symbol.

[0051] When the initial direction of motion is forward, the initial heading value is ; When the initial direction of motion is backward, the initial heading value is .

[0052] In this embodiment, based on the initial direction of motion, a path point is selected on the preset path corresponding to the initial direction of motion. Based on the vehicle's current position and the coordinates of the selected path point, the initial heading value for forward or backward motion is calculated. This solves the problem that the system itself cannot provide an initial heading, requiring manual driving. Furthermore, the calculated initial heading value is closely related to the preset desired path, improving the initial heading accuracy of the autonomous driving system. This allows the vehicle to operate smoothly along the preset path, thereby enhancing the system's trajectory tracking performance.

[0053] In one embodiment, see Figure 5 In step S30, after determining whether the navigation heading of the autonomous driving system has converged based on the initial heading value, the method further includes: S301, when the navigation heading has not converged, obtain a real-time estimated heading error based on the initial heading value; Specifically, obtaining real-time estimated heading error based on initial heading values ​​includes: Calculate the lateral displacement of the vehicle: ; Calculate the longitudinal displacement of the vehicle: ; in, This is the lateral displacement value. This is the longitudinal displacement value. For vehicle speed, For vehicle displacement time, The initial heading value, To estimate heading error in real time; Write the formulas for calculating lateral and longitudinal displacements in matrix form: ; Then, the real-time estimated heading error is solved using the least squares method.

[0054] S302, based on the real-time estimated heading error, perform trajectory tracking control on the vehicle to enable the vehicle to start and perform automatic driving along the reference path.

[0055] In this process, the vehicle is tracked and controlled based on the real-time estimated heading error calculated in step S301. At this point, the vehicle starts moving and performs autonomous driving along a preset reference path.

[0056] The specific calculation formula is as follows: ; in, This refers to the amount of wheel steering angle control for the vehicle. This refers to the vehicle's wheelbase. This represents the actual course deviation. For the real-time estimated heading error, This is a lateral positional deviation. This is the preset distance.

[0057] In this embodiment, when the navigation heading of the autonomous driving system has not converged, the real-time estimated heading error is calculated using information such as the initial heading value, the time of vehicle displacement, and vehicle speed. Then, the real-time estimated heading error is used to compensate for the trajectory tracking control error, eliminating the lateral deviation and heading deviation between the vehicle and the preset path, thereby improving the trajectory tracking performance of the autonomous driving system.

[0058] In one embodiment, see Figure 6 In step S10, before obtaining the initial direction of motion of the vehicle at startup and the reference path corresponding to the initial direction of motion, the method further includes: S01, Detect whether the autonomous driving system has completed initialization; Before obtaining the vehicle's initial direction of motion and the corresponding reference path, the autonomous driving system must be tested first. After the autonomous driving system completes initialization, subsequent steps can be performed.

[0059] S02, when the autonomous driving system has not completed initialization, the step of obtaining the initial direction of motion of the vehicle when it starts and the reference path corresponding to the initial direction of motion is executed.

[0060] When it is detected that the autonomous driving system has not completed initialization, steps S10 to S40 are executed.

[0061] In this embodiment, the autonomous driving system is first detected. If the system is found to have not completed initialization, the system acquires the initial direction of motion when the vehicle starts, the corresponding reference path, and subsequent steps. This eliminates the need for manual driving required by traditional single-antenna systems, as the initialization process is performed by the system, improving initialization accuracy and enhancing the trajectory tracking performance of the autonomous driving system.

[0062] In one embodiment, after detecting whether the autonomous driving system has completed initialization in step S01, the method further includes: When the autonomous driving system completes initialization, it is determined that the navigation heading of the autonomous driving system has converged; and the trajectory tracking control using the heading information output by the autonomous driving system is executed to complete the initial power-on step of the autonomous driving system.

[0063] When the autonomous driving system is detected to have completed initialization, it is determined that the navigation heading of the autonomous driving system has converged. Step S40 is executed, and the heading information output by the autonomous driving system is used for trajectory tracking control to complete all initial power-on of the autonomous driving system.

[0064] In this embodiment, after detecting the autonomous driving system, once the system initialization is complete, it indicates that the navigation heading of the autonomous driving system has converged. Thereafter, the heading information output by the system itself is used for trajectory tracking control, completing the initial power-on. This eliminates the need for manual driving required by traditional single-antenna systems, as the initialization process is performed by the system, improving initialization accuracy and enhancing the trajectory tracking performance of the autonomous driving system.

[0065] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the single-antenna combined navigation automatic driving initial power-on control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0066] In one embodiment, this application also provides a single-antenna integrated navigation automatic driving initial power-on control device, please refer to... Figure 7 The single-antenna combined navigation automatic driving initial power-on control device includes: The initial pose alignment module 10 is used to obtain the initial motion direction when the vehicle starts, and the reference path corresponding to the initial motion direction; The heading initial value calculation module 20 obtains the vehicle's heading initial value based on the initial direction of motion and the reference path; The heading convergence monitoring module 30 determines whether the navigation heading of the autonomous driving system has converged based on the initial heading value. The operation mode switching module 40, when the navigation heading has converged, uses the heading information output by the autonomous driving system to perform trajectory tracking control and complete the initial power-on of the autonomous driving system.

[0067] The initial pose alignment module 10 includes a signal detection module that detects signals from the vehicle's gear position sensor, wheel speed or direction sensor, and accelerometer of the vehicle's navigation device. The initial pose alignment module 10 obtains the initial direction of motion of the vehicle upon startup by acquiring signals from these sensors, and then obtains the corresponding reference path based on this initial direction. When the initial pose alignment module 10 detects a vehicle gear position sensor signal, it determines whether the initial direction of motion is forward or backward by judging whether the current gear is reverse or forward. If the gear position sensor information detection fails, it detects the vehicle's wheel speed or direction sensor information, and uses the vehicle's wheel speed or direction sensor information to determine the initial direction of motion. The system uses direction sensor information to determine whether the vehicle is moving forward or backward. When wheel speed or direction sensor information fails to be detected, the system uses the accelerometer information from the vehicle's navigation device to collect the X-axis acceleration value of the vehicle's forward direction in real time. A preset positive threshold value of d (a positive number) is used. If the X-axis accelerometer value is positive and is greater than the preset positive threshold value d multiple times consecutively, then the initial direction of movement when the vehicle starts can be determined to be forward. A preset negative threshold value of -d (d is a positive number) is used. If the X-axis accelerometer value is negative and is less than the preset negative threshold value -d multiple times consecutively, then the initial direction of movement when the vehicle starts can be determined to be backward.

[0068] The heading initial value calculation module 20 first obtains the initial motion direction and reference path of the initial pose alignment module 10. When the initial motion direction is forward, the system selects multiple path points forward on the preset reference path; when the initial motion direction is backward, the system selects multiple path points backward on the preset reference path. Then, the initial heading is calculated. The specific calculation process is as follows: Set the coordinates of the vehicle's current position as ( , ), set a nearest path point on the reference path as ( , ); The method for calculating the initial heading is as follows: ; ; ; in, This represents the vehicle's displacement on the x-axis from its current position to a path point. This represents the vehicle's displacement on the Y-axis from its current position to a path point. The calculated path direction angle; It is a two-parameter arctangent function used to calculate the point ( , The corresponding polar coordinate angle (the angle rotated counterclockwise from the positive X-axis to that vector) typically has an output range of ( [π, π radians] It automatically handles the four quadrants, avoiding division by zero issues, and takes into account , The symbol.

[0069] When the initial direction of motion is forward, the initial heading value is ; When the initial direction of motion is backward, the initial heading value is .

[0070] The heading convergence monitoring module 30 first determines whether the navigation heading of the current autonomous driving system has converged. If convergence has not been completed, it obtains the initial heading value from the heading initial value calculation module 20, and calculates the real-time estimated heading error based on this initial heading value. The specific calculation process is as follows: Calculate the lateral displacement of the vehicle: ; Calculate the longitudinal displacement of the vehicle: ; in, This is the lateral displacement value. This is the longitudinal displacement value. For vehicle speed, For vehicle displacement time, The initial heading value, To estimate heading error in real time; Write the formulas for calculating lateral and longitudinal displacements in matrix form: ; Then, the real-time estimated heading error is solved using the least squares method. After calculating the real-time estimated heading error, trajectory tracking control is performed on the vehicle. The specific calculation formula is as follows: ; in, This refers to the amount of wheel steering angle control for the vehicle. This refers to the vehicle's wheelbase. This represents the actual course deviation. For the real-time estimated heading error, This is a lateral positional deviation. This is the preset distance.

[0071] At this point, the vehicle begins to move and proceeds with autonomous driving along a pre-set reference path.

[0072] When the heading convergence monitoring module 30 detects that the system has completed convergence, the operation mode switching module 40 switches the operation module and uses the heading information output by the autopilot system to perform trajectory tracking control, thus completing the initial power-on control of the autopilot system.

[0073] The single-antenna integrated navigation automatic driving initial power-on control device provided in this application, employing the single-antenna integrated navigation automatic driving initial power-on control method in the above embodiments, can solve the technical problems of the impact of differences in human driving skills on heading initialization accuracy and poor trajectory tracking control performance. Compared with the prior art, the beneficial effects of the single-antenna integrated navigation automatic driving initial power-on control device provided in this application are the same as those of the single-antenna integrated navigation automatic driving initial power-on control method provided in the above embodiments, and other technical features in the single-antenna integrated navigation automatic driving initial power-on control device are the same as those disclosed in the single-antenna integrated navigation automatic driving initial power-on control method of the above embodiments, and will not be repeated here.

[0074] In one embodiment, this application provides a storage medium storing a single-antenna integrated navigation automatic driving initial power-on control program. When the single-antenna integrated navigation automatic driving initial power-on control program is executed by a processor, it implements the steps of the above-described single-antenna integrated navigation automatic driving initial power-on control method.

[0075] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0076] The aforementioned storage medium may be included in the single-antenna integrated navigation autonomous driving initial power-on control device; or it may exist independently and not be assembled into the single-antenna integrated navigation autonomous driving initial power-on control device.

[0077] The aforementioned storage medium carries one or more programs. When the aforementioned one or more programs are executed by the single-antenna combined navigation automatic driving initial power-on control device, the single-antenna combined navigation automatic driving initial power-on control device performs the steps of the aforementioned single-antenna combined navigation automatic driving initial power-on control method.

[0078] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] 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 application. 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 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 operation, or using a combination of dedicated hardware and computer instructions.

[0080] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0081] The storage medium provided in this application is a computer storage medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-described single-antenna integrated navigation automatic driving initial power-on control method. This addresses the technical problems of the impact of varying human driving skills on heading initialization accuracy and poor trajectory tracking control performance. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the single-antenna integrated navigation automatic driving initial power-on control method provided in the above embodiments, and will not be elaborated upon here.

[0082] In one embodiment, this application provides a single-antenna integrated navigation autonomous driving device, the single-antenna integrated navigation autonomous driving device including: a memory, a processor, and a single-antenna integrated navigation autonomous driving initial power-on control program stored in the memory and executable on the processor, the single-antenna integrated navigation autonomous driving initial power-on control program implementing the steps of the above-described single-antenna integrated navigation autonomous driving initial power-on control method when executed by the processor.

[0083] The devices described in this application embodiment may include, but are not limited to, mobile terminals such as autonomous tractors, autonomous harvesters, agricultural drones, autonomous sprayers, autonomous graders, and unmanned mining trucks. This does not impose any limitations on the functionality or scope of use of the embodiments described in this application.

[0084] The single-antenna integrated navigation autonomous driving device provided in this application employs the initial power-on control method for single-antenna integrated navigation autonomous driving in the above embodiments, which can solve the technical problems of the impact of differences in human driving skills on the accuracy of heading initialization and poor trajectory tracking control performance. Compared with the prior art, the beneficial effects of the single-antenna integrated navigation autonomous driving device provided in this application are the same as those of the initial power-on control method for single-antenna integrated navigation autonomous driving provided in the above embodiments, and other technical features in this single-antenna integrated navigation autonomous driving device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0085] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0086] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0087] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for initial power-on control of single-antenna combined navigation and automatic driving, characterized in that, include: Obtain the initial direction of motion of the vehicle when it starts, and the reference path corresponding to the initial direction of motion; Based on the initial direction of motion and the reference path, the initial heading value of the vehicle is obtained; Based on the initial heading value, determine whether the navigation heading of the autonomous driving system has converged; When the navigation heading converges, the heading information output by the autonomous driving system is used for trajectory tracking control to complete the initial power-on of the autonomous driving system.

2. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 1, characterized in that, Obtain the initial direction of motion of the vehicle upon startup, specifically including: Detect the gear position sensor information of the vehicle; When the gear position sensor information is successfully detected, the initial direction of motion of the vehicle when it starts is obtained based on the gear position sensor information. When the gear position sensor information detection fails, the wheel speed or direction sensor information of the vehicle is detected. When the wheel speed or direction sensor information is successfully detected, the initial motion direction of the vehicle at the time of startup is obtained based on the wheel speed or direction sensor information. When the wheel speed or direction sensor information fails to detect, the accelerometer information of the vehicle's navigation device is obtained, and the initial direction of motion of the vehicle at startup is obtained based on the accelerometer information of the vehicle's navigation device.

3. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 2, characterized in that, Based on the accelerometer information from the vehicle's navigation device, the initial direction of motion of the vehicle upon startup is determined, specifically including: Accelerometer values ​​along the X-axis of the vehicle's forward direction are collected in real time. If the accelerometer value of the X-axis is positive and is greater than a preset positive threshold multiple times in a row, then the initial motion direction of the vehicle when it starts is determined to be forward. If the accelerometer value of the X-axis is negative and is consistently less than a preset negative threshold multiple times, then the initial direction of motion of the vehicle when it starts is determined to be backward.

4. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 1, characterized in that, The process of obtaining the initial heading value of the vehicle based on the initial direction of motion and the reference path specifically includes: Based on the initial direction of motion, select multiple path points on the reference path corresponding to the initial direction of motion; The initial heading value of the vehicle is calculated based on multiple waypoints.

5. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 1, characterized in that, After determining whether the navigation heading of the autonomous driving system has converged based on the initial heading value, the method further includes: When the navigation heading has not converged, the real-time estimated heading error is obtained based on the initial heading value; Based on the real-time estimated heading error, trajectory tracking control is performed on the vehicle to enable it to start and perform autonomous driving along the reference path.

6. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 1, characterized in that, Before obtaining the initial direction of motion of the vehicle at startup and the reference path corresponding to the initial direction of motion, the method further includes: Detect whether the autonomous driving system has completed initialization; When the autonomous driving system has not completed initialization, the step of obtaining the initial direction of motion of the vehicle when it starts and the reference path corresponding to the initial direction of motion is executed.

7. The single-antenna combined navigation automatic driving initial power-on control method as described in claim 6, characterized in that, After detecting whether the autonomous driving system has completed initialization, the process also includes: When the autonomous driving system completes initialization, it is determined that the navigation heading of the autonomous driving system has converged; and the trajectory tracking control using the heading information output by the autonomous driving system is executed to complete the initial power-on step of the autonomous driving system.

8. A single-antenna combined navigation automatic driving initial power-on control device, characterized in that, The single-antenna combined navigation automatic driving initial power-on control device includes: The initial pose alignment module is used to obtain the initial motion direction when the vehicle starts, and the reference path corresponding to the initial motion direction; The heading initial value calculation module obtains the vehicle's heading initial value based on the initial direction of motion and the reference path; The heading convergence monitoring module determines whether the navigation heading of the autonomous driving system has converged based on the initial heading value. The operation mode switching module uses the heading information output by the autonomous driving system to perform trajectory tracking control when the navigation heading has converged, thus completing the initial power-on of the autonomous driving system.

9. A storage medium, characterized in that, The storage medium stores a single-antenna integrated navigation automatic driving initial power-on control program, which, when executed by a processor, implements the steps of the single-antenna integrated navigation automatic driving initial power-on control method as described in any one of claims 1 to 7.

10. A single-antenna combined navigation and automatic driving device, characterized in that, The single-antenna integrated navigation autonomous driving device includes: a memory, a processor, and a single-antenna integrated navigation autonomous driving initial power-on control program stored in the memory and executable on the processor. When the single-antenna integrated navigation autonomous driving initial power-on control program is executed by the processor, it implements the steps of the single-antenna integrated navigation autonomous driving initial power-on control method as described in any one of claims 1 to 7.

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