Method, device and equipment for evaluating vehicle trajectory tracking effect and storage medium

Abstract

This application provides a method, apparatus, device, and storage medium for evaluating vehicle trajectory tracking performance. The evaluation method includes: determining a trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory and the preset planned trajectory; determining a trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory; and determining a comprehensive evaluation result for the trajectory tracking performance of the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result. Thus, this application comprehensively evaluates the trajectory tracking performance of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive evaluation result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking performance.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a method, apparatus, device, and storage medium for evaluating vehicle trajectory tracking performance. Background Technology

[0002] In the fields of autonomous driving and driverless driving, it is often necessary to control vehicles to drive automatically according to a preset planned trajectory, and then determine the driving accuracy of the vehicle when driving autonomously by evaluating the vehicle's tracking effect on the preset planned trajectory.

[0003] Currently, when evaluating a vehicle's tracking performance on a pre-planned trajectory, the accuracy of tracking is typically assessed based on the deviation between the vehicle's actual trajectory and the pre-planned trajectory. However, because this evaluation method only considers tracking accuracy as a single evaluation dimension, the final result only reflects the vehicle's tracking accuracy on the pre-planned trajectory and fails to cover other evaluation dimensions such as vehicle driving stability. Therefore, the evaluation of vehicle trajectory tracking performance is somewhat one-sided, reducing the accuracy of the overall assessment. Summary of the Invention

[0004] In view of this, this application provides a method, apparatus, device and storage medium for evaluating the trajectory tracking effect of a vehicle. It comprehensively evaluates the trajectory tracking effect of a target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. The final comprehensive evaluation result can reflect the accuracy of the target vehicle in tracking the preset planned trajectory and the stability of the target vehicle during driving, which is conducive to a more comprehensive and accurate evaluation of the trajectory tracking effect of the target vehicle.

[0005] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings.

[0006] In a first aspect, embodiments of this application provide a method for evaluating vehicle trajectory tracking performance, the evaluation method comprising:

[0007] Based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the trajectory tracking error assessment result for the target vehicle is determined;

[0008] Based on the trajectory smoothness of the target vehicle's actual driving trajectory, determine the trajectory smoothness assessment result for the target vehicle;

[0009] Based on the trajectory tracking error evaluation results and the trajectory smoothness evaluation results, a comprehensive evaluation result for the trajectory tracking effect of the target vehicle is determined.

[0010] Secondly, embodiments of this application provide an evaluation device for vehicle trajectory tracking performance, the evaluation device comprising:

[0011] The first evaluation module is used to determine the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory.

[0012] The second evaluation module is used to determine the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory of the target vehicle.

[0013] The third evaluation module is used to determine a comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result.

[0014] Thirdly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method for evaluating the vehicle trajectory tracking effect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for evaluating the vehicle trajectory tracking effect.

[0016] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0017] This application provides a method, apparatus, device, and storage medium for evaluating vehicle trajectory tracking performance. Based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, a trajectory tracking error evaluation result is determined; based on the trajectory smoothness of the actual driving trajectory of the target vehicle, a trajectory smoothness evaluation result is determined; and based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, a comprehensive evaluation result of the trajectory tracking performance of the target vehicle is determined. Thus, this application comprehensively evaluates the trajectory tracking performance of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive evaluation result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking performance. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a method for evaluating vehicle trajectory tracking performance provided in an embodiment of this application is shown.

[0020] Figure 2 A flowchart illustrating a method for determining the lateral deviation between an actual driving trajectory and a preset planned trajectory, according to an embodiment of this application, is shown.

[0021] Figure 3 The diagram shows a flowchart illustrating a method for determining the angle between adjacent points in an actual driving trajectory, according to an embodiment of this application.

[0022] Figure 4 A schematic diagram of the structure of a vehicle trajectory tracking effect evaluation device provided in an embodiment of this application is shown;

[0023] Figure 5 This is a schematic diagram of the structure of an electronic device 500 provided in an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0025] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0026] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0027] Currently, when evaluating a vehicle's tracking performance on a pre-planned trajectory, the accuracy of tracking is typically assessed based on the deviation between the vehicle's actual trajectory and the pre-planned trajectory. However, because this evaluation method only considers tracking accuracy as a single evaluation dimension, the final result only reflects the vehicle's tracking accuracy on the pre-planned trajectory and fails to cover other evaluation dimensions such as vehicle driving stability. Therefore, the evaluation of vehicle trajectory tracking performance is rather one-sided, reducing the accuracy of the overall assessment.

[0028] Based on this, embodiments of this application provide a method, apparatus, device, and storage medium for evaluating vehicle trajectory tracking performance. The method comprehensively evaluates the trajectory tracking performance of a target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This allows the final comprehensive evaluation result to reflect the accuracy of the target vehicle in tracking the preset planned trajectory and the stability of the target vehicle during its driving process, which is beneficial for a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking performance.

[0029] In one embodiment of this application, a method for evaluating the vehicle trajectory tracking effect can be run in the vehicle control unit of the target vehicle, thereby enabling unmanned control of the target vehicle through the vehicle control unit, controlling the target vehicle to achieve autonomous driving, and evaluating the trajectory tracking effect of the target vehicle based on the actual driving trajectory of the target vehicle during the autonomous driving process and the preset planned trajectory.

[0030] To facilitate understanding of the embodiments of this application, the following provides a detailed description of a method, apparatus, device, and storage medium for evaluating vehicle trajectory tracking performance.

[0031] Reference Figure 1 As shown, Figure 1The diagram illustrates a flowchart of a method for evaluating vehicle trajectory tracking performance according to an embodiment of this application. The evaluation method includes steps S101-S103; specifically:

[0032] S101, based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, determine the trajectory tracking error assessment result for the target vehicle.

[0033] S102, Based on the trajectory smoothness of the actual driving trajectory of the target vehicle, determine the trajectory smoothness evaluation result for the target vehicle.

[0034] S103, Based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, determine the comprehensive evaluation result of the trajectory tracking effect for the target vehicle.

[0035] The vehicle trajectory tracking effect evaluation method provided in this application determines the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory and the preset planned trajectory; determines the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory; and determines the comprehensive evaluation result for the trajectory tracking effect of the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result. Thus, this application comprehensively evaluates the trajectory tracking effect of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive evaluation result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking effect.

[0036] The following is an exemplary description of each step in the vehicle trajectory tracking effect evaluation method provided in the embodiments of this application:

[0037] S101, based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, determine the trajectory tracking error assessment result for the target vehicle.

[0038] Here, before the target vehicle performs the automated navigation task, the driving trajectory automatically planned for the target vehicle between the departure point and the destination point is the aforementioned preset planned trajectory. During the process of the target vehicle driving according to the aforementioned preset planned trajectory (that is, during the execution of the aforementioned automated navigation task), the actual driving trajectory between the departure point and the destination point is the aforementioned actual driving trajectory. The specific locations represented by the aforementioned departure point and the aforementioned destination point can be set according to the actual automated navigation task execution requirements, and this application embodiment does not impose any limitations on this.

[0039] Specifically, as an optional embodiment, the trajectory overlap between the actual driving trajectory of the target vehicle and the preset planned trajectory can be calculated first. Then, based on the calculated trajectory overlap, the trajectory deviation between the actual driving trajectory and the preset planned trajectory can be indirectly calculated. Finally, the calculated trajectory deviation is determined as the trajectory tracking error evaluation result for the target vehicle.

[0040] For example, during the process of controlling the target vehicle to travel along a preset planned trajectory, the wheel position coordinates of the target vehicle can be collected based on the navigation and positioning system installed on the target vehicle. Then, based on the collected wheel position coordinates, the actual driving trajectory of the target vehicle can be determined. By comparing the trajectory overlap between the actual driving trajectory of the target vehicle and the preset planned trajectory, if the calculated trajectory overlap is 60%, the trajectory deviation between the actual driving trajectory and the preset planned trajectory can be indirectly calculated to be 40%. That is, at this time, the trajectory tracking error evaluation result of the target vehicle can be determined to be 40% (equivalent to a score of 0.4 points for the trajectory tracking effect of the target vehicle in the dimension of trajectory tracking error).

[0041] Specifically, as another optional embodiment, the lateral deviation between the actual driving trajectory and the preset planned trajectory can be determined based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, and the determined lateral deviation can be used as the trajectory tracking error evaluation result for the target vehicle; that is, the lateral deviation between the actual driving trajectory and the preset planned trajectory can also be directly calculated as the trajectory deviation between the actual driving trajectory and the preset planned trajectory.

[0042] For example, since lateral deviation is used to represent the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, during the process of controlling the target vehicle to drive according to the preset planned trajectory, a point can be randomly selected on the target centerline of the target vehicle (a straight line passing through the center points of the front axle and the rear axle) as the target position point representing the position of the target centerline. Based on the navigation and positioning system installed on the target vehicle, the movement trajectory of the above target position point is collected (equivalent to multiple coordinates generated by the target position point as the target vehicle moves). The shortest distance between the coordinates of each target position point in the movement trajectory and the coordinates of all position points in the preset planned trajectory is calculated as the lateral deviation corresponding to the coordinates of that target position point. Then, according to the actual evaluation requirements, the maximum value, minimum value, or average value of the lateral deviation corresponding to the target position point can be selected as the lateral deviation between the actual driving trajectory and the preset planned trajectory (that is, the trajectory tracking error evaluation result for the target vehicle).

[0043] It should be noted that the target vehicle can be an autonomous vehicle or a driverless vehicle. This application does not limit the specific vehicle type of the target vehicle.

[0044] It should be noted that the front axle is a key component of the target vehicle, mainly located at the front end, connecting the two front wheels and supporting the vehicle body; the rear axle is the rear drive shaft component for power transmission, consisting of two half-axles, enabling differential movement, and is used to support and connect the two rear wheels of the target vehicle.

[0045] S102, Based on the trajectory smoothness of the actual driving trajectory of the target vehicle, determine the trajectory smoothness evaluation result for the target vehicle.

[0046] Here, the smoothness of the actual driving trajectory can be measured by the path change rate of the actual driving trajectory (i.e., the curvature change rate of any point on the curve corresponding to the actual driving trajectory). The smaller the path change rate, the higher the smoothness of the actual driving trajectory, and the higher the smoothness of the trajectory, the higher the stability of the target vehicle during actual driving.

[0047] Specifically, as an optional embodiment, the trajectory smoothness of the actual driving trajectory can be determined based on the angle between adjacent points in the actual driving trajectory, and the determined trajectory smoothness can be used as the trajectory smoothness evaluation result for the target vehicle (equivalent to a score for the trajectory tracking effect of the target vehicle under the dimension of trajectory smoothness); that is, the path change rate of the actual driving trajectory can be directly measured by the angle between the adjacent points mentioned above, which is equivalent to using the change in the angle between adjacent points in the actual driving trajectory to quantitatively represent the trajectory smoothness of the actual driving trajectory.

[0048] For example, during the process of controlling the target vehicle to travel along a preset planned trajectory, a point can be randomly selected on the target centerline of the target vehicle (a straight line passing through the center points of the front axle and the rear axle) as the target position point representing the position of the target centerline. Based on the navigation and positioning system installed on the target vehicle, the movement trajectory of the above target position point (equivalent to multiple coordinates generated by the target position point as the target vehicle moves) can be collected, and the above movement trajectory can be used to represent the actual driving trajectory of the target vehicle. At this time, the angle between every two adjacent position coordinates in the above movement trajectory can be calculated. From the multiple angles calculated, the maximum angle, the minimum angle, or the average angle is selected as the trajectory smoothness of the actual driving trajectory (that is, the trajectory smoothness evaluation result of the target vehicle).

[0049] S103, Based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, determine the comprehensive evaluation result of the trajectory tracking effect for the target vehicle.

[0050] Here, referring to the relevant explanations in steps S101-S102 above, it can be seen that the above trajectory tracking error evaluation result is equivalent to a score for the trajectory tracking effect of the target vehicle under the dimension of trajectory tracking error; the above trajectory smoothness evaluation result is equivalent to a score for the trajectory tracking effect of the target vehicle under the dimension of trajectory smoothness.

[0051] Specifically, as an optional embodiment, the sum of the above trajectory tracking error evaluation result and the above trajectory smoothness evaluation result can be used as the comprehensive evaluation result of the trajectory tracking effect of the target vehicle; that is, the sum of the scores of the trajectory tracking effect of the target vehicle under the two dimensions of trajectory tracking error and trajectory smoothness can be used as the comprehensive evaluation result of the trajectory tracking effect of the target vehicle (equivalent to the comprehensive score of the trajectory tracking effect of the target vehicle).

[0052] Specifically, as another optional embodiment, the weighted summation result between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result can be calculated as the comprehensive evaluation result by weighted summation; wherein, the weight coefficients corresponding to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result can be dynamically adjusted according to the relative importance between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result.

[0053] For example, taking the trajectory tracking error evaluation result with a weight coefficient of w1 and the trajectory smoothness evaluation result with a weight coefficient of w2, if the trajectory tracking error evaluation result is more important (equivalent to valuing the target vehicle's tracking accuracy on the preset planned trajectory more than its stability during driving), then the value of w1 can be set to be greater than the value of w2 (equivalent to assigning a larger weight coefficient to the more important trajectory tracking error evaluation result); if the trajectory smoothness evaluation result is more important (equivalent to valuing the target vehicle's stability during driving more than its tracking accuracy on the preset planned trajectory), then the value of w1 can be set to be less than the value of w2 (equivalent to assigning a larger weight coefficient to the more important trajectory smoothness evaluation result).

[0054] It should be noted that the relative importance between the above trajectory tracking error evaluation results and the above trajectory smoothness evaluation results can be determined according to the actual evaluation requirements for the trajectory tracking effect of the target vehicle, and this application embodiment does not impose any limitations on this.

[0055] It should be noted that when calculating the weighted summation between the trajectory tracking error assessment result and the trajectory smoothness assessment result using a weighted summation method, considering that the trajectory tracking error assessment result and the trajectory smoothness assessment result may correspond to different dimensions (for example, the trajectory tracking error assessment result may correspond to the lateral deviation corresponding to the distance dimension, while the trajectory smoothness assessment result may correspond to the angle corresponding to the angle dimension), in order to improve the accuracy of the weighted summation result, the dimensional difference between the trajectory tracking error assessment result and the trajectory smoothness assessment result can be eliminated before the actual weighted summation calculation. Then, the weighted summation result between the trajectory tracking error assessment result and the trajectory smoothness assessment result after eliminating the dimensional influence can be calculated. The specific methods for eliminating the dimensional influence include, but are not limited to, normalization processing (scaling the data to the range of 0 to 1, or adjusting it to other specific ranges as needed), standardization processing (converting the data into standard scores, usually by subtracting the mean and then dividing by the standard deviation), etc. This application embodiment does not limit the specific methods for eliminating the dimensional influence.

[0056] The specific implementation process of each of the above steps in the embodiments of this application will be described in detail below:

[0057] Regarding the specific implementation process of step S101 above, when the lateral deviation between the actual driving trajectory and the preset planned trajectory is used to quantitatively represent the trajectory deviation, in one optional implementation, Figure 2 This document illustrates a flowchart of a method for determining the lateral deviation between an actual driving trajectory and a preset planned trajectory, as provided in an embodiment of this application. Figure 2 As shown, when performing step S101, the method includes steps S201-S204, specifically:

[0058] S201, Obtain the front axle positioning data and rear axle positioning data of the target vehicle from the actual driving trajectory.

[0059] Here, the actual driving trajectory of the target vehicle can be divided into two parts: the driving trajectory of the front wheels and the driving trajectory of the rear wheels. Compared with directly calculating the lateral deviation between the actual driving trajectory and the preset planned trajectory, by calculating the lateral deviation between the driving trajectory of the front wheels and the preset planned trajectory, and the lateral deviation between the driving trajectory of the rear wheels and the preset planned trajectory, the accuracy of the calculation results of the above lateral deviation can be effectively improved (that is, the accuracy of the calculation of the above trajectory deviation can be improved).

[0060] Specifically, the driving trajectory of the front wheels can be represented by the front axle positioning data of the target vehicle. In the process of controlling the target vehicle to drive according to the preset planned trajectory, the movement trajectory of the center point of the front axle of the target vehicle (equivalent to multiple coordinates generated by the center point of the front axle of the target vehicle as the target vehicle moves) can be collected based on the navigation and positioning system installed on the target vehicle as the front axle positioning data is used as the front axle positioning data (also equivalent to the "target position point" in the exemplary description of step S101 above being the center point of the front axle of the target vehicle).

[0061] Specifically, the driving trajectory of the rear wheels can be represented by the rear axle positioning data of the target vehicle. In the process of controlling the target vehicle to drive according to the preset planned trajectory, the movement trajectory of the center point of the rear axle of the target vehicle (equivalent to multiple coordinates generated by the center point of the rear axle of the target vehicle as the target vehicle moves) can be collected based on the navigation and positioning system installed on the target vehicle as the rear axle positioning data (also equivalent to the "target position point" in the exemplary description of step S101 above being the center point of the rear axle of the target vehicle).

[0062] S202, based on the degree of deviation between the front axle positioning data and the preset planned trajectory, determine the first lateral deviation between the forward driving trajectory of the target vehicle and the preset planned trajectory.

[0063] Here, the forward driving trajectory refers to the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory; that is, the driving trajectory of the front wheels can be represented by the front axle positioning data of the target vehicle.

[0064] Specifically, the shortest distance between the coordinates of each position point in the front axle positioning data (i.e., the coordinates of each position point corresponding to the center point of the front axle of the target vehicle in the front axle positioning data) and the coordinates of all position points in the aforementioned preset planned trajectory can be calculated as the lateral deviation corresponding to the center point of the front axle of the target vehicle. From all the lateral deviations corresponding to the center point of the front axle of the target vehicle, the maximum value of the lateral deviation, the minimum value of the lateral deviation, or the average value of the lateral deviation is selected as the aforementioned first lateral deviation (i.e., the lateral deviation between the forward driving trajectory and the preset planned trajectory).

[0065] S203, based on the degree of deviation between the rear axle positioning data and the preset planned trajectory, determine the second lateral deviation between the target vehicle's rearward driving trajectory and the preset planned trajectory.

[0066] Here, the rearward driving trajectory refers to the driving trajectory of the rear wheels of the target vehicle in the actual driving trajectory; that is, the driving trajectory of the rear wheels can be represented by the rear axle positioning data of the target vehicle.

[0067] Specifically, the shortest distance between the coordinates of each position point in the rear axle positioning data (i.e., the coordinates of each position point corresponding to the center point of the rear axle of the target vehicle in the rear axle positioning data) and the coordinates of all position points in the aforementioned preset planned trajectory can be calculated as the lateral deviation corresponding to the center point of the rear axle of the target vehicle. From all the lateral deviations corresponding to the center point of the rear axle of the target vehicle, the maximum value of the lateral deviation, the minimum value of the lateral deviation, or the average value of the lateral deviation is selected as the aforementioned second lateral deviation (i.e., the lateral deviation between the rearward driving trajectory and the preset planned trajectory).

[0068] S204, determine the lateral deviation between the actual driving trajectory and the preset planned trajectory based on the first lateral deviation and the second lateral deviation.

[0069] Here, as an optional embodiment, the sum of the first lateral deviation and the second lateral deviation can be used as the lateral deviation between the actual driving trajectory and the preset planned trajectory; as another optional embodiment, the average of the first lateral deviation and the second lateral deviation can also be used as the lateral deviation between the actual driving trajectory and the preset planned trajectory; this application embodiment does not limit the specific method of determining the lateral deviation in the above step S204.

[0070] It should be noted that, taking the sum of the first lateral deviation and the second lateral deviation as the lateral deviation between the actual driving trajectory and the preset planned trajectory as an example, if the first lateral deviation represents the average value of all lateral deviations corresponding to the center point of the front axle of the target vehicle, and the second lateral deviation represents the average value of all lateral deviations corresponding to the center point of the rear axle of the target vehicle, then when executing step S103, a normalization process can be used to normalize the first lateral deviation and the second lateral deviation respectively (for example, the difference between the average value of the lateral deviation and the minimum value of the lateral deviation can be calculated first, and then the difference can be compared with the difference between the maximum value and the minimum value of the lateral deviation) to eliminate the influence of different dimensions on the accuracy of the weighted summation result.

[0071] It should be noted that if the first lateral deviation represents the maximum or minimum value of all lateral deviations corresponding to the center point of the front axle of the target vehicle, and the second lateral deviation represents the maximum or minimum value of all lateral deviations corresponding to the center point of the rear axle of the target vehicle, then when executing step S103, a standardization process can be used to standardize the first lateral deviation and the second lateral deviation respectively (for example, the maximum or minimum value of the lateral deviation can be subtracted from the average value of the lateral deviations first, and then the calculation result can be divided by the standard deviation to obtain the standardization result. In order to ensure that the standardization result is positive, the absolute value of the standardization result can also be used as the final standardization result) to eliminate the influence of different dimensions on the accuracy of the weighted summation result.

[0072] Regarding the specific implementation process of step S102 above, when the degree of change in the included angle between adjacent points in the actual driving trajectory is used to quantitatively represent the smoothness of the trajectory, in one optional implementation, Figure 3 This application provides a flowchart illustrating a method for determining the angle between adjacent points in an actual driving trajectory, as illustrated in an embodiment of this application. Figure 3 As shown, when performing step S102, the method includes steps S301-S304, specifically:

[0073] S301, Obtain the front axle positioning data and rear axle positioning data of the target vehicle from the actual driving trajectory.

[0074] Here, the specific implementation of step S301 is the same as that of step S201 described above, and the repeated parts will not be repeated here.

[0075] S302, based on the included angle between adjacent position points in the front axle positioning data, determine the first trajectory smoothness of the target vehicle's forward driving trajectory.

[0076] Here, the forward driving trajectory refers to the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory; that is, the driving trajectory of the front wheels can be represented by the front axle positioning data of the target vehicle.

[0077] Specifically, the angle between every two adjacent coordinates in the aforementioned front axle positioning data (i.e., the coordinates of every two adjacent positions corresponding to the center point of the front axle of the target vehicle in the front axle positioning data) can be calculated. From the multiple angles calculated, the maximum value, minimum value, or average value of the angle can be selected as the first trajectory smoothness of the forward driving trajectory of the target vehicle.

[0078] S303, based on the included angle between adjacent position points in the rear axle positioning data, determine the second trajectory smoothness of the target vehicle's rearward driving trajectory.

[0079] Here, the rearward driving trajectory refers to the driving trajectory of the rear wheels of the target vehicle in the actual driving trajectory; that is, the driving trajectory of the rear wheels can be represented by the rear axle positioning data of the target vehicle.

[0080] Specifically, the angle between every two adjacent coordinates in the rear axle positioning data (i.e., the coordinates of every two adjacent positions corresponding to the center point of the rear axle of the target vehicle in the rear axle positioning data) can be calculated. From the multiple angles calculated, the maximum value, minimum value, or average value of the angle can be selected as the second trajectory smoothness of the target vehicle's rearward driving trajectory.

[0081] S304, determine the trajectory smoothness of the actual driving trajectory based on the first trajectory smoothness and the second trajectory smoothness.

[0082] Here, as an optional embodiment, the sum of the first trajectory smoothness and the second trajectory smoothness can be used as the trajectory smoothness of the actual driving trajectory; as another optional embodiment, the average of the first trajectory smoothness and the second trajectory smoothness can also be used as the trajectory smoothness of the actual driving trajectory; this application embodiment does not limit the specific method of determining the trajectory smoothness in the above step S304.

[0083] It should be noted that, taking the sum of the first trajectory smoothness and the second trajectory smoothness as the trajectory smoothness of the actual driving trajectory as an example, if the first trajectory smoothness represents the average angle between every two adjacent coordinates in the front axle positioning data, and the second trajectory smoothness represents the average angle between every two adjacent coordinates in the rear axle positioning data, then when executing step S103, a normalization process can be used to normalize the first trajectory smoothness and the second trajectory smoothness respectively (for example, the difference between the average angle and the minimum angle can be calculated first, and then the difference can be compared with the difference between the maximum angle and the minimum angle) to eliminate the influence of different dimensions on the accuracy of the weighted summation result.

[0084] It should be noted that if the first trajectory smoothness represents the maximum or minimum angle between every two adjacent coordinates in the front axle positioning data, and the second trajectory smoothness represents the maximum or minimum angle between every two adjacent coordinates in the rear axle positioning data, then in step S103, a standardization process can be used to standardize the first trajectory smoothness and the second trajectory smoothness respectively (for example, the maximum angle can be subtracted from the average angle, and the result can be divided by the standard deviation to obtain the standardization result; to ensure that the standardization result is positive, the absolute value of the standardization result can also be used as the final standardization result) to eliminate the influence of different dimensions on the accuracy of the weighted summation result.

[0085] Based on the vehicle trajectory tracking effect evaluation method provided in this application embodiment, the trajectory tracking error evaluation result for the target vehicle is determined according to the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory; the trajectory smoothness evaluation result for the target vehicle is determined according to the trajectory smoothness of the actual driving trajectory; and the comprehensive evaluation result for the trajectory tracking effect of the target vehicle is determined according to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result. Thus, this application comprehensively evaluates the trajectory tracking effect of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive evaluation result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking effect.

[0086] Based on the same inventive concept, this application also provides a vehicle trajectory tracking effect evaluation device corresponding to the above-mentioned vehicle trajectory tracking effect evaluation method. Since the principle of the vehicle trajectory tracking effect evaluation device in this application is similar to the above-mentioned vehicle trajectory tracking effect evaluation method in this application, the implementation of the vehicle trajectory tracking effect evaluation device can refer to the implementation of the above-mentioned vehicle trajectory tracking effect evaluation method, and the repeated parts will not be described again.

[0087] Reference Figure 4 As shown, Figure 4 A schematic diagram of a vehicle trajectory tracking performance evaluation device provided in an embodiment of this application is shown, wherein the vehicle trajectory tracking performance evaluation device includes:

[0088] The first evaluation module 401 is used to determine the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory.

[0089] The second evaluation module 402 is used to determine the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory of the target vehicle.

[0090] The third evaluation module 403 is used to determine a comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result.

[0091] In an optional implementation, when determining the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the first evaluation module 401 is used to:

[0092] Based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, the lateral deviation between the actual driving trajectory and the preset planned trajectory is determined, and the determined lateral deviation is used as the trajectory tracking error evaluation result for the target vehicle.

[0093] In an optional implementation, when determining the lateral deviation between the actual driving trajectory and the preset planned trajectory based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in lateral position, the first evaluation module 401 is configured to:

[0094] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0095] Based on the degree of deviation between the front axle positioning data and the preset planned trajectory, a first lateral deviation between the forward driving trajectory of the target vehicle and the preset planned trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory;

[0096] Based on the degree of deviation between the rear axle positioning data and the preset planned trajectory, a second lateral deviation between the target vehicle's rearward driving trajectory and the preset planned trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0097] The lateral deviation between the actual driving trajectory and the preset planned trajectory is determined based on the first lateral deviation and the second lateral deviation.

[0098] In an optional implementation, when determining the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the target vehicle's actual driving trajectory, the second evaluation module 402 is configured to:

[0099] Based on the angle between adjacent points in the actual driving trajectory, the trajectory smoothness of the actual driving trajectory is determined, and the determined trajectory smoothness is used as the trajectory smoothness evaluation result for the target vehicle.

[0100] In an optional implementation, when determining the trajectory smoothness of the actual driving trajectory based on the angle between adjacent position points in the actual driving trajectory, the second evaluation module 402 is configured to:

[0101] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0102] Based on the included angle between adjacent position points in the front axle positioning data, the first trajectory smoothness of the target vehicle's forward driving trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the target vehicle's front wheels in the actual driving trajectory;

[0103] Based on the included angle between adjacent position points in the rear axle positioning data, the second trajectory smoothness of the target vehicle's rearward driving trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0104] The trajectory smoothness of the actual driving trajectory is determined based on the first trajectory smoothness and the second trajectory smoothness.

[0105] In an optional implementation, when determining the comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the third evaluation module 403 is configured to:

[0106] The weighted summation between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result is calculated using a weighted summation method, and this summation is used as the comprehensive evaluation result.

[0107] In an optional implementation, when calculating the weighted sum between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the third evaluation module 403 is further configured to:

[0108] Based on the relative importance between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the weight coefficients corresponding to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result are dynamically adjusted respectively.

[0109] Based on the vehicle trajectory tracking effect evaluation device provided in this application embodiment, the device determines the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory and the preset planned trajectory; it determines the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory; and it determines the comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result. Thus, this application comprehensively evaluates the trajectory tracking effect of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive evaluation result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking effect.

[0110] Based on the same inventive concept, this application also provides an electronic device corresponding to the above-mentioned vehicle trajectory tracking effect evaluation method. Since the principle of solving the problem by the electronic device in the embodiments of this application is similar to the above-mentioned vehicle trajectory tracking effect evaluation method in the embodiments of this application, the implementation of the electronic device can refer to the implementation of the above-mentioned vehicle trajectory tracking effect evaluation method, and the repeated parts will not be described again.

[0111] Figure 5 A schematic diagram of the structure of an electronic device 500 provided in this application embodiment includes: a processor 501, a memory 502, and a bus 503. The memory 502 stores machine-readable instructions executable by the processor 501. When the electronic device runs a vehicle trajectory tracking effect evaluation method as described in the embodiment, the processor 501 communicates with the memory 502 via the bus 503. The processor 501 executes the machine-readable instructions, wherein the processor 501 executes the following steps when executing the machine-readable instructions:

[0112] Based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the trajectory tracking error assessment result for the target vehicle is determined;

[0113] Based on the trajectory smoothness of the target vehicle's actual driving trajectory, determine the trajectory smoothness assessment result for the target vehicle;

[0114] Based on the trajectory tracking error evaluation results and the trajectory smoothness evaluation results, a comprehensive evaluation result for the trajectory tracking effect of the target vehicle is determined.

[0115] In an optional implementation, when determining the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the processor 501 is configured to:

[0116] Based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, the lateral deviation between the actual driving trajectory and the preset planned trajectory is determined, and the determined lateral deviation is used as the trajectory tracking error evaluation result for the target vehicle.

[0117] In an optional implementation, when determining the lateral deviation between the actual driving trajectory and the preset planned trajectory based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in lateral position, the processor 501 is configured to:

[0118] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0119] Based on the degree of deviation between the front axle positioning data and the preset planned trajectory, a first lateral deviation between the forward driving trajectory of the target vehicle and the preset planned trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory;

[0120] Based on the degree of deviation between the rear axle positioning data and the preset planned trajectory, a second lateral deviation between the target vehicle's rearward driving trajectory and the preset planned trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0121] The lateral deviation between the actual driving trajectory and the preset planned trajectory is determined based on the first lateral deviation and the second lateral deviation.

[0122] In an optional implementation, when determining the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the target vehicle's actual driving trajectory, the processor 501 is configured to:

[0123] Based on the angle between adjacent points in the actual driving trajectory, the trajectory smoothness of the actual driving trajectory is determined, and the determined trajectory smoothness is used as the trajectory smoothness evaluation result for the target vehicle.

[0124] In an optional implementation, when determining the trajectory smoothness of the actual driving trajectory based on the angle between adjacent position points in the actual driving trajectory, the processor 501 is configured to:

[0125] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0126] Based on the included angle between adjacent position points in the front axle positioning data, the first trajectory smoothness of the target vehicle's forward driving trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the target vehicle's front wheels in the actual driving trajectory;

[0127] Based on the included angle between adjacent position points in the rear axle positioning data, the second trajectory smoothness of the target vehicle's rearward driving trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0128] The trajectory smoothness of the actual driving trajectory is determined based on the first trajectory smoothness and the second trajectory smoothness.

[0129] In an optional implementation, when determining the comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the processor 501 is configured to:

[0130] The weighted summation between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result is calculated using a weighted summation method, and this summation is used as the comprehensive evaluation result.

[0131] In an optional implementation, when calculating the weighted sum between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the processor 501 is further configured to:

[0132] Based on the relative importance between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the weight coefficients corresponding to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result are dynamically adjusted respectively.

[0133] The electronic device provided in this application determines the trajectory tracking error assessment result for the target vehicle based on the trajectory deviation between the actual driving trajectory and the preset planned trajectory; it also determines the trajectory smoothness assessment result based on the trajectory smoothness of the actual driving trajectory; and finally, it determines the comprehensive assessment result of the trajectory tracking effect for the target vehicle based on both the trajectory tracking error assessment result and the trajectory smoothness assessment result. Thus, this application comprehensively assesses the trajectory tracking effect of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive assessment result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking effect.

[0134] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is executed by a processor, wherein the processor performs the following steps:

[0135] Based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the trajectory tracking error assessment result for the target vehicle is determined;

[0136] Based on the trajectory smoothness of the target vehicle's actual driving trajectory, determine the trajectory smoothness assessment result for the target vehicle;

[0137] Based on the trajectory tracking error evaluation results and the trajectory smoothness evaluation results, a comprehensive evaluation result for the trajectory tracking effect of the target vehicle is determined.

[0138] In an optional implementation, when determining the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the processor is configured to:

[0139] Based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, the lateral deviation between the actual driving trajectory and the preset planned trajectory is determined, and the determined lateral deviation is used as the trajectory tracking error evaluation result for the target vehicle.

[0140] In an optional implementation, when determining the lateral deviation between the actual driving trajectory and the preset planned trajectory based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in lateral position, the processor is configured to:

[0141] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0142] Based on the degree of deviation between the front axle positioning data and the preset planned trajectory, a first lateral deviation between the forward driving trajectory of the target vehicle and the preset planned trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory;

[0143] Based on the degree of deviation between the rear axle positioning data and the preset planned trajectory, a second lateral deviation between the target vehicle's rearward driving trajectory and the preset planned trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0144] The lateral deviation between the actual driving trajectory and the preset planned trajectory is determined based on the first lateral deviation and the second lateral deviation.

[0145] In one optional implementation, when determining the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the target vehicle's actual driving trajectory, the processor is configured to:

[0146] Based on the angle between adjacent points in the actual driving trajectory, the trajectory smoothness of the actual driving trajectory is determined, and the determined trajectory smoothness is used as the trajectory smoothness evaluation result for the target vehicle.

[0147] In one optional implementation, when determining the trajectory smoothness of the actual driving trajectory based on the angle between adjacent position points in the actual driving trajectory, the processor is configured to:

[0148] From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle;

[0149] Based on the included angle between adjacent position points in the front axle positioning data, the first trajectory smoothness of the target vehicle's forward driving trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the target vehicle's front wheels in the actual driving trajectory;

[0150] Based on the included angle between adjacent position points in the rear axle positioning data, the second trajectory smoothness of the target vehicle's rearward driving trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory;

[0151] The trajectory smoothness of the actual driving trajectory is determined based on the first trajectory smoothness and the second trajectory smoothness.

[0152] In an optional implementation, when determining the comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the processor is configured to:

[0153] The weighted summation between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result is calculated using a weighted summation method, and this summation is used as the comprehensive evaluation result.

[0154] In an optional implementation, when calculating the weighted sum between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the processor is further configured to:

[0155] Based on the relative importance between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the weight coefficients corresponding to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result are dynamically adjusted respectively.

[0156] The computer-readable storage medium provided in this application provides a method for determining the trajectory tracking error assessment result of the target vehicle based on the trajectory deviation between the actual driving trajectory and the preset planned trajectory; determining the trajectory smoothness assessment result of the target vehicle based on the trajectory smoothness of the actual driving trajectory; and determining a comprehensive assessment result of the trajectory tracking effect of the target vehicle based on the trajectory tracking error assessment result and the trajectory smoothness assessment result. Thus, this application comprehensively assesses the trajectory tracking effect of the target vehicle from at least two dimensions: trajectory tracking error and trajectory smoothness. This ensures that the final comprehensive assessment result reflects the accuracy of the target vehicle's tracking of the preset planned trajectory and the stability of the target vehicle during driving, facilitating a more comprehensive and accurate evaluation of the target vehicle's trajectory tracking effect.

[0157] In the embodiments of this application, the computer-readable storage medium can also execute other machine-readable instructions when the processor runs, so as to perform the vehicle trajectory tracking effect evaluation method as described in other embodiments. For the specific steps and principles of the vehicle trajectory tracking effect evaluation method, please refer to the description of the method-side embodiment, which will not be repeated here.

[0158] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0159] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0160] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0161] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0162] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0163] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for evaluating vehicle trajectory tracking performance, characterized in that, The evaluation method includes: Based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory, the trajectory tracking error assessment result for the target vehicle is determined; Based on the trajectory smoothness of the target vehicle's actual driving trajectory, determine the trajectory smoothness assessment result for the target vehicle; Based on the trajectory tracking error evaluation results and the trajectory smoothness evaluation results, a comprehensive evaluation result for the trajectory tracking effect of the target vehicle is determined.

2. The evaluation method according to claim 1, characterized in that, The step of determining the trajectory tracking error assessment result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory includes: Based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position, the lateral deviation between the actual driving trajectory and the preset planned trajectory is determined, and the determined lateral deviation is used as the trajectory tracking error evaluation result for the target vehicle.

3. The evaluation method according to claim 2, characterized in that, Determining the lateral deviation between the actual driving trajectory and the preset planned trajectory based on the degree of deviation of the actual driving trajectory from the preset planned trajectory in the lateral position includes: From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle; Based on the degree of deviation between the front axle positioning data and the preset planned trajectory, a first lateral deviation between the forward driving trajectory of the target vehicle and the preset planned trajectory is determined; wherein, the forward driving trajectory represents the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory; Based on the degree of deviation between the rear axle positioning data and the preset planned trajectory, a second lateral deviation between the target vehicle's rearward driving trajectory and the preset planned trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory; The lateral deviation between the actual driving trajectory and the preset planned trajectory is determined based on the first lateral deviation and the second lateral deviation.

4. The evaluation method according to claim 1, characterized in that, The determination of the trajectory smoothness assessment result for the target vehicle based on the trajectory smoothness of the actual driving trajectory includes: Based on the angle between adjacent points in the actual driving trajectory, the trajectory smoothness of the actual driving trajectory is determined, and the determined trajectory smoothness is used as the trajectory smoothness evaluation result for the target vehicle.

5. The evaluation method according to claim 4, characterized in that, Determining the smoothness of the actual driving trajectory based on the angle between adjacent points in the actual driving trajectory includes: From the actual driving trajectory, obtain the front axle positioning data and rear axle positioning data of the target vehicle; Based on the included angle between adjacent position points in the front axle positioning data, the first trajectory smoothness of the forward driving trajectory of the target vehicle is determined; wherein, the forward driving trajectory represents the driving trajectory of the front wheels of the target vehicle in the actual driving trajectory; Based on the included angle between adjacent position points in the rear axle positioning data, the second trajectory smoothness of the target vehicle's rearward driving trajectory is determined; wherein, the rearward driving trajectory represents the driving trajectory of the target vehicle's rear wheels in the actual driving trajectory; The trajectory smoothness of the actual driving trajectory is determined based on the first trajectory smoothness and the second trajectory smoothness.

6. The evaluation method according to claim 1, characterized in that, The step of determining a comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result includes: The weighted summation between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result is calculated using a weighted summation method, and this summation is used as the comprehensive evaluation result.

7. The evaluation method according to claim 6, characterized in that, When calculating the weighted sum between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the evaluation method further includes: Based on the relative importance between the trajectory tracking error evaluation result and the trajectory smoothness evaluation result, the weight coefficients corresponding to the trajectory tracking error evaluation result and the trajectory smoothness evaluation result are dynamically adjusted respectively.

8. A device for evaluating vehicle trajectory tracking performance, characterized in that, The evaluation device includes: The first evaluation module is used to determine the trajectory tracking error evaluation result for the target vehicle based on the trajectory deviation between the actual driving trajectory of the target vehicle and the preset planned trajectory. The second evaluation module is used to determine the trajectory smoothness evaluation result for the target vehicle based on the trajectory smoothness of the actual driving trajectory of the target vehicle. The third evaluation module is used to determine a comprehensive evaluation result of the trajectory tracking effect for the target vehicle based on the trajectory tracking error evaluation result and the trajectory smoothness evaluation result.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for evaluating the vehicle trajectory tracking effect as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method for evaluating the vehicle trajectory tracking effect as described in any one of claims 1 to 7.

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