Trajectory generation method and apparatus for testing control performance of automatic parking system

Abstract

A trajectory generation method and apparatus for testing the control performance of an automatic parking system. The method comprises: acquiring a planning problem description file generated by a first vehicle in an actual parking scenario; on the basis of vehicle parameter information of a second vehicle and the planning problem description file, performing parking trajectory planning to generate an initial parking planning trajectory; in an interactive trajectory adjustment interface, rendering the initial parking planning trajectory from a top-down view, and when current pose information of the second vehicle is aligned with pose information of a starting point in the initial parking planning trajectory, overlaying environment information currently perceived by the second vehicle with the initial parking planning trajectory for display; and when there is a non-drivable trajectory point in the initial parking planning trajectory with the environment information overlaid, receiving an adjustment operation of a user in respect of the initial parking planning trajectory, so as to obtain a target parking planning trajectory, wherein all trajectory points in the target parking planning trajectory are located in a drivable region.

Description

Track generation method and device for testing control performance of automatic parking system TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a track generation method and device for testing control performance of an automatic parking system. BACKGROUND

[0002] In an automatic parking system, in order to test the performance of a controller, a kind of input information needs to be repeatedly given, or different typical input information is given, so that the vehicle is parked in the process according to the input information, and the performance of the controller is tested and evaluated. The input information is track information including parking planning path and speed curve information. In order to realize this test, the conventional method needs to manually construct the input, and for different vehicles, due to the different parameters of the vehicle, such as turning radius, steering wheel rotation speed, etc., it is necessary to re-construct according to the parameters. Therefore, how to improve the generation efficiency of the track is urgent to be solved. SUMMARY

[0003] The present application provides a track generation method and device for testing control performance of an automatic parking system, which can solve the problem of low efficiency of manually generating test required input information in the performance test scene of the controller of the automatic parking system.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, the embodiments of the present application provide a track generation method for testing control performance of an automatic parking system, the method comprising:

[0006] obtaining a planning problem description file generated by a first vehicle in an actual parking scene, wherein the planning problem description file includes information required for parking track planning generated according to environmental information perceived by the first vehicle;

[0007] performing parking track planning according to vehicle parameter information of a second vehicle and the planning problem description file to generate an initial parking planning track, wherein the second vehicle is a test vehicle for testing the performance of a controller in an automatic parking system, and the second vehicle is located in a road environment for testing the performance of the controller;

[0008] rendering the initial parking planning track in a top-down view in an interactive track adjustment interface, and superimposing and displaying the environmental information currently perceived by the second vehicle on the initial parking planning track in a case where the current pose information of the second vehicle coincides with the pose information of the starting point in the initial parking planning track, wherein the pose information includes position and heading;

[0009] In a case where there is an untravelable trajectory point in the initial parking planning trajectory after superimposing the environmental information, a target parking planning trajectory is obtained by receiving an adjustment operation of the user on the initial parking planning trajectory, wherein all trajectory points in the target parking planning trajectory are in a travelable region.

[0010] According to the above scheme, the embodiments of the present application can not only automatically generate an initial parking planning trajectory by using the vehicle parameter information of the second vehicle (i.e., the test vehicle) and the planning problem description file generated by the first vehicle in the actual parking scene, without consuming a large amount of time and relying on manpower for construction, but also can superimpose and display the initial parking planning trajectory and the environmental information currently perceived by the second vehicle in an interactive trajectory adjustment interface, through human-computer interaction, to allow the user to adjust the initial parking planning trajectory, so that the target parking planning trajectory obtained finally is in a travelable region, thereby making the target parking planning trajectory for controller performance testing be in a safe environment, avoiding interference with the test of the control performance due to an unsafe trajectory, and further improving the safety and accuracy of the performance test.

[0011] In a possible implementation, the adjustment operation includes rotation and / or translation.

[0012] In a possible implementation, in a case where the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory, after obtaining the target parking planning trajectory, and before testing the performance of the controller according to the target parking planning trajectory in the parking process, the method further includes:

[0013] According to the current pose information of the second vehicle and the pose information of the starting point of the target parking planning trajectory, trajectory planning is performed on the second vehicle to obtain a target movement trajectory of the second vehicle from the current position to the starting point of the target parking planning trajectory.

[0014] The second vehicle is controlled to travel to the starting point of the target parking planning trajectory according to the target movement trajectory, so that the pose information of the second vehicle after movement is the same as the pose information of the starting point of the target parking planning trajectory.

[0015] According to the above scheme, in a case where the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory, the embodiments of the present application automatically plan a transitional trajectory (i.e., the target movement trajectory) from the current position of the second vehicle to the starting point of the target parking planning trajectory, so that the second vehicle can smoothly travel to the starting point of the target parking planning trajectory.

[0016] In a possible implementation, before the target parking planning trajectory is obtained by receiving the adjustment operation of the user on the initial parking planning trajectory, the method further includes:

[0017] Distinguishably display the untravelable trajectory points and the travelable trajectory points.

[0018] It can be learned from the above scheme that, by distinguishably displaying the untravelable trajectory points and the travelable trajectory points, the embodiments of the present application are more conducive to the user to intuitively and quickly adjust the initial parking planning trajectory, and improve the efficiency of obtaining the target parking planning trajectory.

[0019] In a possible implementation, the target parking planning trajectory is obtained by receiving the adjustment operation of the user on the initial parking planning trajectory, including:

[0020] Receiving each adjustment operation of the user on the initial parking planning trajectory, and adjusting the initial parking planning trajectory according to the adjustment operation;

[0021] After each adjustment operation is completed, performing safety detection on the current adjusted initial parking planning trajectory, and updating the operation of distinguishably displaying the untravelable trajectory points and the travelable trajectory points when the detection result is that there are untravelable trajectory points, until all trajectory points are in the travelable region, and the target parking planning trajectory is obtained.

[0022] It can be learned from the above scheme that, by updating the position change of the trajectory points caused by each adjustment operation of the user in real time, the embodiments of the present application not only improve the user experience, but also improve the efficiency of obtaining the target parking planning trajectory.

[0023] In a second aspect, the embodiments of the present application provide a trajectory generation device for testing control performance of an automatic parking system, and the device includes:

[0024] An acquisition unit is configured to acquire a planning problem description file generated by a first vehicle in an actual parking scene, wherein the planning problem description file includes information required for parking trajectory planning generated according to environment information perceived by the first vehicle;

[0025] A planning unit is configured to perform parking trajectory planning according to vehicle parameter information of a second vehicle and the planning problem description file, and generate an initial parking planning trajectory, wherein the second vehicle is a test vehicle for testing control performance of a controller in an automatic parking system, and the second vehicle is located in a road environment for testing the control performance of the controller;

[0026] an output display unit, configured to render the initial parking planning trajectory in a top-down view in the interactive trajectory adjustment interface, and to superimpose the environment information currently perceived by the second vehicle on the initial parking planning trajectory by matching the current pose information of the second vehicle with the pose information of the start point in the initial parking planning trajectory, wherein the pose information comprises a position and a heading;

[0027] an adjustment unit, configured to, in a case where there is an untravelable trajectory point in the initial parking planning trajectory after superimposing the environment information, obtain a target parking planning trajectory by receiving an adjustment operation of the initial parking planning trajectory by a user, wherein all trajectory points in the target parking planning trajectory are in a travelable region.

[0028] In a possible implementation, the adjustment operation comprises rotation and / or translation.

[0029] In a possible implementation, the planning unit is further configured to, in a case where the start point of the target parking planning trajectory is different from the start point of the initial parking planning trajectory, after obtaining the target parking planning trajectory, and before testing the performance of the controller during parking according to the target parking planning trajectory, plan a trajectory for the second vehicle according to the current pose information of the second vehicle and the pose information of the start point of the target parking planning trajectory, to obtain a target movement trajectory of the second vehicle from the current position to the start point of the target parking planning trajectory.

[0030] The apparatus further comprises:

[0031] a control movement unit, configured to control the second vehicle to move to the start point of the target parking planning trajectory according to the target movement trajectory, so that the pose information of the second vehicle after the movement is the same as the pose information of the start point of the target parking planning trajectory.

[0032] In a possible implementation, the output display unit is further configured to, before obtaining the target parking planning trajectory by receiving the adjustment operation of the initial parking planning trajectory by the user, distinguishably display the untravelable trajectory point and the travelable trajectory point.

[0033] In a possible implementation, the adjustment unit comprises:

[0034] a receiving module, configured to receive each adjustment operation of the initial parking planning trajectory by the user;

[0035] an adjustment module, configured to adjust the initial parking planning trajectory according to the adjustment operation;

[0036] The detection module is configured to perform safety detection on the initial parking planning track after each adjustment operation.

[0037] The output display unit is further configured to update the operation of distinguishing the non-traversable track points from the traversable track points until all the track points are in the traversable region, and obtain the target parking planning track.

[0038] According to the above scheme, the embodiments of the present application can not only automatically generate the initial parking planning track by using the vehicle parameter information of the second vehicle (i.e., the test vehicle) and the planning problem description file generated by the first vehicle in the actual parking scene, but also display the initial parking planning track and the current perceived environmental information of the second vehicle in the interactive track adjustment interface, and adjust the initial parking planning track by human-computer interaction, so that the target parking planning track obtained finally is in the traversable region, thereby making the target parking planning track for controller performance testing be in a safe environment, avoiding interference with the test of the control performance due to the unsafe track, and improving the safety and accuracy of the performance test.

[0039] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method according to any possible implementation manner of the first aspect.

[0040] In a fourth aspect, the embodiments of the present application provide an electronic device, which comprises:

[0041] one or more processors;

[0042] The processor is coupled with a storage device, and the storage device is configured to store one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any possible implementation manner of the first aspect.

[0044] In a fifth aspect, the embodiments of the present application provide a vehicle, which comprises the apparatus according to any possible implementation manner of the second aspect, or comprises the electronic device according to the fourth aspect.

[0045] In a sixth aspect, the embodiments of the present application provide a computer program product, which comprises instructions, and when the instructions are run on a computer or a processor, the computer or the processor executes the method according to any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some of the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these accompanying drawings without any creative effort.

[0047] FIG. 1 is a flowchart of a trajectory generation method for testing the control performance of an automatic parking system according to an embodiment of the present application;

[0048] FIG. 2 is an example diagram of superimposed display of an initial parking planning trajectory and environmental information according to an embodiment of the present application;

[0049] FIG. 3 is an example diagram of comparison before and after adjustment of an initial parking planning trajectory according to an embodiment of the present application;

[0050] FIG. 4 is an example diagram of a functional module organization architecture according to an embodiment of the present application;

[0051] FIG. 5 is a block diagram of a trajectory generation device for testing the control performance of an automatic parking system according to an embodiment of the present application;

[0052] FIG. 6 is a structural schematic diagram of an electronic device or a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the scope of protection of the present application.

[0054] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The terms “include” and “have” and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusion. For example, the processes, methods, systems, products or devices including a series of steps or units are not limited to the listed steps or units, but optionally further include steps or units not listed or optionally further include other steps or units inherent to these processes, methods, products or devices.

[0055] In order to improve the generation efficiency of input information required for performance testing of an automatic parking system controller, an embodiment of the present application provides a trajectory generation method for testing the control performance of an automatic parking system, as shown in FIG. 1, which can be applied to an electronic device or a computer device, and in particular, can be applied to a vehicle (in particular, a second vehicle described below) or a server. The method comprises the following steps:

[0056] S110: Obtain a planning problem description file generated by a first vehicle in an actual parking scene.

[0057] The planning problem description file includes information required for parking trajectory planning generated according to environmental information perceived by the first vehicle. The perceived environmental information includes parking lines, obstacles, etc. The obstacles include other vehicles and obstacles other than vehicles. The planning problem description file specifically includes pose information of the first vehicle at the start of automatic parking, pose information of the first vehicle at the end of automatic parking, obstacles represented by discrete points, and a bounding box surrounding these elements. The bounding box is generally a minimum rectangle surrounding these elements, or a rectangle slightly larger than the minimum rectangle.

[0058] The planning problem description file is derived from planning problem description information generated by a planning module in the first vehicle. The planning problem description information is specifically generated by a planning problem generator in the planning module according to environmental information output by a perception module. The planning module includes a planning problem generator, a trajectory planner, and a speed planner. The first vehicle also includes a controller and a vehicle chassis module.

[0059] The planning problem description information generated by the planning problem generator and the content contained in the derived planning problem description file are the same, except for different formats. The planning problem description information generated by the planning problem generator is sequentially input into the trajectory planner and the speed planner for parking path planning of position points and speed planning, and after obtaining the parking planning path and the speed curve, it is transmitted to the controller and the vehicle chassis module to control the first vehicle to park.

[0060] S120: Perform parking trajectory planning according to vehicle parameter information of a second vehicle and the planning problem description file to generate an initial parking planning trajectory.

[0061] The second vehicle is a test vehicle for testing the performance of the controller in the automatic parking system, and the second vehicle is located in a road environment for testing the performance of the controller. The second vehicle can be a real vehicle or a virtual vehicle in a simulation environment, that is, the controller performance test of the present application can be a real vehicle test or a simulation test. When the second vehicle is a real vehicle, the first vehicle and the second vehicle can be the same vehicle or different vehicles.

[0062] The vehicle parameter information includes a minimum turning radius, a vehicle size, a steering wheel rotation speed, and the like. Since part of the vehicle parameter information of different vehicles is different, and the vehicle parameter information such as the minimum turning radius needs to be combined for planning when the parking trajectory is planned, the embodiment of the present application uses the result of the parking planning of the planning problem description file including only the information required for parking planning and the vehicle parameter information of the second vehicle as the initial parking planning trajectory, without directly using the parking planning trajectory generated by the first vehicle in the actual parking scene as the initial parking planning trajectory.

[0063] When the embodiment of the present application is applied to a server, the second vehicle can upload its own vehicle parameter information and the planning problem description file obtained from the first vehicle to the server, so that the server performs the method provided by the embodiment of the present application.

[0064] S130: In the interactive trajectory adjustment interface, the initial parking planning trajectory is rendered in a top-down view, and the environment information currently perceived by the second vehicle is superimposed and displayed on the initial parking planning trajectory by coinciding the current pose information of the second vehicle with the pose information of the starting point in the initial parking planning trajectory.

[0065] In the interactive trajectory adjustment interface, only the parking planning path in the initial parking planning trajectory, that is, the position curve of the trajectory point, is displayed, and the speed curve can be hidden.

[0066] In order to facilitate the test of the performance of the controller, the second vehicle can be placed in a relatively open environment, generally 10 meters in diameter, so that the current pose information of the second vehicle coincides with the pose information of the starting point in the initial parking planning trajectory, so that the second vehicle can start from the starting point of the initial parking planning trajectory and travel along the initial parking planning trajectory, and the performance of the controller can be tested during the travel.

[0067] S140: In the case that there is an untravelable trajectory point in the initial parking planning trajectory after the environment information is superimposed, a target parking planning trajectory is obtained by receiving an adjustment operation of the initial parking planning trajectory by a user.

[0068] In the target parking planning trajectory, all trajectory points are in a travelable region.

[0069] In use, there are often cases where the site is not open enough, resulting in untravelable trajectory points in the initial parking planning trajectory after the environment information is superimposed. Therefore, the initial parking planning trajectory needs to be adjusted so that each trajectory point on the target parking planning trajectory used for final performance testing can be safely traveled. The untravelable trajectory point refers to a trajectory point located in an untravelable region, and the travelable trajectory point refers to a trajectory point located in a travelable region.

[0070] The method for detecting whether there is an untravelable trajectory point in the initial parking planning trajectory after superimposing the environment information includes: respectively counting distances between each trajectory point in the initial parking planning trajectory after superimposing the environment information and each obstacle in the environment information perceived by the second vehicle, and determining that the trajectory point is an untravelable trajectory point when there is a trajectory point with a distance to an obstacle less than a preset safety distance. The preset safety distance can be determined according to actual experience.

[0071] Since the embodiments of the present application mainly test the performance of the controller in the parking scenario, it is necessary to ensure that the second vehicle parks along the shape of the initial parking planning trajectory without changing the shape of the initial parking planning trajectory. Therefore, the adjustment operation in the embodiments of the present application includes rotation and / or translation, and the overall shape of the parking planning trajectory will not be changed through the adjustment operation.

[0072] It should be noted that in actual applications, there are various parking scenarios, such as vertical parking of multiple times of warehouse kneading, vertical parking of one time of warehouse kneading, horizontal parking of one time of warehouse kneading, and the like. The planning problem description file of the first vehicle in different parking scenarios can be obtained to generate different target parking planning trajectories required for the performance test of the controller of the second vehicle, so as to improve the comprehensiveness of the performance test of the controller.

[0073] The trajectory generation method for testing the control performance of the automatic parking system provided by the embodiments of the present application not only can automatically generate the initial parking planning trajectory by using the vehicle parameter information of the second vehicle (i.e., the test vehicle) and the planning problem description file generated by the first vehicle in the actual parking scenario, without relying on manpower to construct, but also can superimpose and display the initial parking planning trajectory and the environment information currently perceived by the second vehicle in the interactive trajectory adjustment interface, so as to allow the user to adjust the initial parking planning trajectory through human-computer interaction, so that the target parking planning trajectory obtained finally is in the travelable region, so that the target parking planning trajectory used for the performance test of the controller is in a safe environment, avoiding interference with the test of the control performance due to an unsafe trajectory, and thus improving the safety and accuracy of the performance test.

[0074] In a possible implementation manner, in order to facilitate intuitive viewing of whether there is an untravelable trajectory point in the initial parking planning trajectory, so as to quickly perform the adjustment operation on the initial parking trajectory, the embodiments of the present application distinguishably display the untravelable trajectory point and the travelable trajectory point before obtaining the target parking planning trajectory by receiving the adjustment operation of the user on the initial parking planning trajectory.

[0075] The method for distinguishing the untravelable trajectory points from the travelable trajectory points includes, but is not limited to, color, thickness, highlighting, and whether it is a dashed line. In order to highlight the untravelable trajectory points, for example, the untravelable trajectory points can be thickened, highlighted, and dashed.

[0076] As shown in FIG. 2, the gray area is an untravelable area, the white area is a travelable area, and the trajectory in the middle is an initial parking planning trajectory. A part of the trajectory segment in the rendered initial parking planning trajectory is in the untravelable area (i.e., the trajectory segment is an untravelable trajectory segment). Therefore, the part of the trajectory segment can be distinguished from the remaining trajectory segment, for example, the untravelable trajectory segment is represented by a thicker and darker line.

[0077] In order to facilitate the adjustment operation of the user, after the untravelable trajectory points and the travelable trajectory points in the initial parking planning trajectory are distinguished, each adjustment operation of the user on the initial parking planning trajectory can be received first, and the initial parking planning trajectory is adjusted accordingly according to the adjustment operation. After each adjustment operation is completed, the safety detection is performed on the current adjusted initial parking planning trajectory. When the detection result is that there is an untravelable trajectory point, the operation of distinguishing the untravelable trajectory points from the travelable trajectory points is updated. Until all the trajectory points are in the travelable area, the target parking planning trajectory is obtained.

[0078] The safety detection method includes: respectively counting the distances between each trajectory point in the current adjusted initial parking planning trajectory and each obstacle in the environment information perceived by the second vehicle. When there is a trajectory point with a distance to an obstacle less than a preset safety distance, the trajectory point is determined to be an untravelable trajectory point. The preset safety distance can be determined according to actual experience.

[0079] In a possible implementation, in the case that the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory due to the adjustment operation, the current position of the second vehicle is also different from the position of the starting point of the target parking planning trajectory, thereby causing the problem that the second vehicle cannot park according to the target parking planning trajectory. In order to solve the technical problem, the embodiment of the present application can first plan a trajectory for the second vehicle according to the current pose information of the second vehicle and the pose information of the starting point of the target parking planning trajectory to obtain a target moving trajectory of the second vehicle from the current position to the starting point of the target parking planning trajectory, and then control the second vehicle to move to the starting point of the target parking planning trajectory according to the target moving trajectory, so that the pose information of the second vehicle after moving is the same as the pose information of the starting point of the target parking planning trajectory after the target parking planning trajectory is obtained and before the performance of the controller is tested during the parking process according to the target parking planning trajectory.

[0080] As shown in FIG. 3, the thinner line trajectory is the initial parking planning trajectory, and the thicker line trajectory is the target parking planning trajectory. Since the starting points of the two trajectories are different, the trajectory planning can be performed to obtain the target moving trajectory from the starting point of the initial parking planning trajectory to the starting point of the target parking planning trajectory, which is represented by a dashed line in the figure.

[0081] It should be noted that when the target moving trajectory planning fails, the interactive trajectory adjustment interface can output reminder information indicating that the adjustment should be continued, so that the user continues to adjust and then performs the target moving trajectory planning until the planning is successful.

[0082] According to the above scheme, in the case where the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory, the embodiment of the present application can automatically plan a transitional trajectory (i.e., the target moving trajectory) from the current position of the second vehicle to the starting point of the target parking planning trajectory, so that the second vehicle can smoothly drive to the starting point of the target parking planning trajectory.

[0083] In a possible implementation, as shown in FIG. 4, the first vehicle includes a first perception module 210, a planning module 220, a first controller 230, and a first vehicle chassis module 240. The planning module 220 includes a planning problem generator 221, a first trajectory planner 222, and a first speed planner 223.

[0084] After the first perception module 210 perceives the environmental information around the first vehicle, the perceived environmental information is transmitted to the planning problem generator 221, which generates planning problem description information according to the environmental information. The planning problem description information generated by the planning problem generator 221 is input to the first trajectory planner 222 and the first speed planner 223 in sequence for position point parking path planning and speed planning, and after obtaining the parking planning path and the speed curve, the parking planning path and the speed curve are transmitted to the first controller 230. The first vehicle is controlled to park based on the first controller 230 and the first vehicle chassis module 240.

[0085] The second vehicle includes a second perception module 250, a controller performance test module 260, a second controller 270, and a second vehicle chassis module 280. The controller performance test module 260 includes a planning problem loader 261, a second trajectory planner 262, a second speed planner 263, and an interactive trajectory adjustment interface 264.

[0086] The planning problem loader 261 is configured to export a planning problem description file from the planning problem generator 221, and input the planning problem description file into the second trajectory planner 262 and the second speed planner 263 in sequence for parking path planning and speed planning, to obtain an initial parking planning trajectory including a parking planning path and a speed curve. When the second vehicle is placed in a relatively open environment, the second perception module 250 of the second vehicle can perceive surrounding environment information, and input the perceived environment information and the initial parking planning trajectory into the interactive trajectory adjustment interface 264, and the interactive trajectory adjustment interface 264 is configured to superimpose and display the two, in a case where there are untravelable trajectory points in the initial parking planning trajectory after superimposing the environment information, the target parking planning trajectory is obtained by receiving user adjustment operations on the initial parking planning trajectory. After obtaining the target parking planning trajectory, the target parking planning trajectory can be sent to the second controller 270, so that the second controller 270 and the second vehicle chassis module 280 can control the process of parking the second vehicle based on the target parking planning trajectory, and the controller performance can be tested.

[0087] wherein the first perception module 210 and the second perception module 250 are essentially the same, and the first trajectory planner 222 and the second trajectory planner 262, the first speed planner 223 and the second speed planner 263, the first controller 230 and the second controller 270, and the first vehicle chassis module 240 and the second vehicle chassis module 280 are also respectively the same.

[0088] Based on the above method embodiment, another embodiment of the present application provides a trajectory generation device for testing the control performance of an automatic parking system, as shown in FIG. 5, the device comprises:

[0089] The acquisition unit 310 is configured to acquire a planning problem description file generated by a first vehicle in an actual parking scene, wherein the planning problem description file includes information required for parking trajectory planning according to environment information perceived by the first vehicle;

[0090] The planning unit 320 is configured to perform parking trajectory planning according to vehicle parameter information of a second vehicle and the planning problem description file, to generate an initial parking planning trajectory, wherein the second vehicle is a test vehicle for testing the controller performance of an automatic parking system, and the second vehicle is located in a road environment for testing the controller performance;

[0091] The output display unit 330 renders the initial parking planning trajectory in a top-down view in the interactive trajectory adjustment interface, and superimposes the environment information currently perceived by the second vehicle on the initial parking planning trajectory by matching the current pose information of the second vehicle with the pose information of the starting point in the initial parking planning trajectory, wherein the pose information includes a position and a heading;

[0092] The adjustment unit 340 is configured to, in a case where there is an untravelable trajectory point in the initial parking planning trajectory after superimposing the environment information, obtain a target parking planning trajectory by receiving a user adjustment operation on the initial parking planning trajectory, wherein all trajectory points in the target parking planning trajectory are in a travelable region.

[0093] In a possible implementation, the adjustment operation includes rotation and / or translation.

[0094] In a possible implementation, the planning unit 320 is further configured to, in a case where the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory, after obtaining the target parking planning trajectory, and before testing the performance of the controller during parking according to the target parking planning trajectory, perform trajectory planning on the second vehicle according to the current pose information of the second vehicle and the pose information of the starting point of the target parking planning trajectory, to obtain a target movement trajectory of the second vehicle from the current position to the starting point of the target parking planning trajectory.

[0095] The device further includes:

[0096] The control movement unit is configured to control the second vehicle to travel to the starting point of the target parking planning trajectory according to the target movement trajectory, so that the pose information of the second vehicle after movement is the same as the pose information of the starting point of the target parking planning trajectory.

[0097] In a possible implementation, the output display unit 330 is further configured to, before obtaining the target parking planning trajectory by receiving the user adjustment operation on the initial parking planning trajectory, distinguishably display the untravelable trajectory points and the travelable trajectory points.

[0098] In a possible implementation, the adjustment unit 340 includes:

[0099] The receiving module is configured to receive each adjustment operation of the user on the initial parking planning trajectory.

[0100] The adjustment module is configured to adjust the initial parking planning trajectory according to the adjustment operation.

[0101] The detection module is configured to perform safety detection on the initial parking planning track after each adjustment operation.

[0102] The output display unit 330 is further configured to update the operation of distinguishing the non-traversable track points from the traversable track points until all the track points are in the traversable region, and obtain the target parking planning track when the detection result is that there are non-traversable track points.

[0103] The trajectory generation device for testing the control performance of the automatic parking system provided by the embodiments of the present application can not only automatically generate the initial parking planning track by using the vehicle parameter information of the second vehicle (i.e., the test vehicle) and the planning problem description file generated by the first vehicle in the actual parking scenario, but also can display the initial parking planning track and the current perceived environmental information of the second vehicle in the interactive trajectory adjustment interface, and through human-computer interaction, the user can adjust the initial parking planning track, so that the target parking planning track obtained finally is in the traversable region, thereby making the target parking planning track for testing the controller performance be in a safe environment, avoiding the interference in the testing of the control performance caused by the unsafe track, and further improving the safety and accuracy of the performance testing.

[0104] Based on the above method embodiments, another embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method according to any one of the above embodiments.

[0105] Based on the above method embodiments, another embodiment of the present application provides an electronic device or a computer device, as shown in FIG. 6, which includes:

[0106] one or more processors 410;

[0107] The processor 410 is coupled with a storage device 420, and the storage device 420 is configured to store one or more programs;

[0108] When the one or more programs are executed by the one or more processors 410, the electronic device or the computer device implements the method according to any one of the above embodiments.

[0109] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device according to any one of the above embodiments, or includes the electronic device as described above.

[0110] Based on the above embodiments, another embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer or processor, cause the computer or processor to perform the method according to any one of the above embodiments.

[0111] The device embodiments correspond to the method embodiments and have the same technical effects. For details, refer to the method embodiments. The device embodiments are based on the method embodiments. For details, refer to the method embodiments, which will not be described here again. Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or flows in the accompanying drawings are not necessarily required for implementing the present application.

[0112] Those skilled in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be correspondingly changed and located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features. Such modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A trajectory generation method for testing the control performance of an automatic parking system, characterized in that, The method includes: Obtain a planning problem description file generated by the first vehicle in an actual parking scenario, wherein the planning problem description file includes information required for parking trajectory planning based on the environmental information perceived by the first vehicle; Parking trajectory planning is performed based on the vehicle parameter information of the second vehicle and the planning problem description file to generate an initial parking planning trajectory. The second vehicle is a test vehicle used to test the performance of the controller in the automatic parking system, and the second vehicle is located in a road environment used to test the performance of the controller. In the interactive trajectory adjustment interface, the initial parking planning trajectory is rendered from a top-down perspective. By overlaying the environmental information currently perceived by the second vehicle with the initial parking planning trajectory when the current pose information of the second vehicle coincides with the pose information of the starting point in the initial parking planning trajectory, the pose information includes position and heading. If there are undrivable trajectory points in the initial parking planning trajectory after overlaying environmental information, a target parking planning trajectory is obtained by receiving user adjustment operations on the initial parking planning trajectory, wherein all trajectory points in the target parking planning trajectory are in drivable areas.

2. The method according to claim 1, characterized in that, The adjustment operations include rotation and / or translation.

3. The method according to claim 2, characterized in that, When the starting point of the target parking planning trajectory differs from the starting point of the initial parking planning trajectory, after obtaining the target parking planning trajectory and before testing the performance of the controller during parking according to the target parking planning trajectory, the method further includes: Based on the current pose information of the second vehicle and the pose information of the starting point of the target parking planning trajectory, trajectory planning is performed on the second vehicle to obtain the target movement trajectory of the second vehicle from the current position to the starting point of the target parking planning trajectory. The second vehicle is controlled to travel along the target movement trajectory to the starting point of the target parking planning trajectory, so that the pose information of the second vehicle after movement is the same as the pose information of the starting point of the target parking planning trajectory.

4. The method according to any one of claims 1-3, characterized in that, Before obtaining the target parking planning trajectory by receiving the user's adjustment operation on the initial parking planning trajectory, the method further includes: It distinguishes between drivable and non-drivable trajectory points.

5. The method according to claim 4, characterized in that, By receiving user adjustments to the initial parking planning trajectory, the target parking planning trajectory is obtained, including: Receive each adjustment operation from the user on the initial parking planning trajectory, and adjust the initial parking planning trajectory accordingly based on the adjustment operation; After each adjustment operation is completed, a safety check is performed on the current adjusted initial parking planning trajectory. If the check result indicates that there are undrivable trajectory points, the operation of distinguishing between undrivable and drivable trajectory points is updated until all trajectory points are in the drivable area, at which point the target parking planning trajectory is obtained.

6. A trajectory generation device for testing the control performance of an automatic parking system, characterized in that, The device includes: The acquisition unit is used to acquire a planning problem description file generated by the first vehicle in an actual parking scenario, wherein the planning problem description file includes information required for parking trajectory planning based on the environmental information perceived by the first vehicle; The planning unit is used to plan a parking trajectory based on the vehicle parameter information of the second vehicle and the planning problem description file, and generate an initial parking planning trajectory. The second vehicle is a test vehicle used to test the performance of the controller in the automatic parking system, and the second vehicle is located in a road environment used to test the performance of the controller. The output display unit renders the initial parking planning trajectory from a top-down angle in the interactive trajectory adjustment interface, and overlays the environmental information currently perceived by the second vehicle with the initial parking planning trajectory when the current pose information of the second vehicle coincides with the pose information of the starting point in the initial parking planning trajectory. The pose information includes position and heading. The adjustment unit is used to obtain a target parking planning trajectory by receiving user adjustment operations on the initial parking planning trajectory when there are undrivable trajectory points in the initial parking planning trajectory after superimposing environmental information. The target parking planning trajectory contains all trajectory points in the drivable area.

7. The apparatus according to claim 6, characterized in that, The adjustment operations include rotation and / or translation.

8. The apparatus according to claim 7, characterized in that, The planning unit is further configured to, when the starting point of the target parking planning trajectory is different from the starting point of the initial parking planning trajectory, after obtaining the target parking planning trajectory and before testing the performance of the controller during the parking process according to the target parking planning trajectory, perform trajectory planning for the second vehicle based on the current pose information of the second vehicle and the pose information of the starting point of the target parking planning trajectory, to obtain the target movement trajectory of the second vehicle from the current position to the starting point of the target parking planning trajectory; The device further includes: A control movement unit is used to control the second vehicle to travel to the starting point of the target parking planning trajectory according to the target movement trajectory, so that the pose information of the second vehicle after movement is the same as the pose information of the starting point of the target parking planning trajectory.

9. The apparatus according to any one of claims 6-8, characterized in that, The output display unit is also used to distinguish between drivable and non-drivable trajectory points before obtaining the target parking planning trajectory by receiving the user's adjustment operation on the initial parking planning trajectory.

10. The apparatus according to claim 9, characterized in that, The adjustment unit includes: The receiving module is used to receive each adjustment operation by the user on the initial parking planning trajectory; An adjustment module is used to adjust the initial parking planning trajectory accordingly according to the adjustment operation; The detection module is used to perform a safety check on the adjusted initial parking planning trajectory after each adjustment operation is completed. The output display unit is also used to update the operation of distinguishing between displaying non-drivable trajectory points and drivable trajectory points when the detection result indicates the existence of non-drivable trajectory points, until all trajectory points are in the drivable area, and then obtain the target parking planning trajectory.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-5.

12. An electronic device, characterized in that, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 1-5.

13. A vehicle, characterized in that, The vehicle includes the device as described in any one of claims 6-10, or the electronic device as described in claim 12.

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