Vehicle trajectory deviation correction method and apparatus, and device, medium and product

Abstract

A vehicle trajectory deviation correction method and apparatus, and a device, a medium and a product. The method comprises: acquiring an initial global path composed of position coordinates of a vehicle and a center line of an overhead catenary; converting the initial global path into a target global path in the same coordinate system as the position coordinates; on the basis of the vertical distance between the position coordinates of the vehicle and the target global path, and the speed of the vehicle, determining a first deviation correction trajectory endpoint and a sampling interval; on the basis of the position coordinates of the vehicle, the first deviation correction trajectory endpoint and the sampling interval, constructing a deviation correction path set; and on the basis of the curvature corresponding to each deviation correction path in the deviation correction path set, selecting a target deviation correction path which satisfies a curvature requirement, and controlling the vehicle to travel on the basis of the target deviation correction path, wherein the curvature requirement is set on the basis of the turning radius of the vehicle. The stability and safety of traveling are improved, and it is ensured that a vehicle can gradually return to a target global path and it is also ensured that the vehicle continuously obtains a power supply from an overhead catenary.

Description

A vehicle trajectory deviation correction method, device, equipment, medium and product

[0001] The present application claims priority to the Chinese patent application No. 202411345076.8, filed on September 25, 2024, and entitled "A vehicle trajectory deviation correction method, device, equipment, medium and product", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of automatic driving, in particular to a vehicle trajectory deviation correction method, device, equipment, medium and product. BACKGROUND

[0003] With the increasing emphasis on environmental protection and energy sustainability worldwide, new energy vehicles, especially new energy heavy trucks, are increasingly used in the transportation field. New energy heavy trucks mainly use electric drive systems, reducing dependence on fossil fuels and thus reducing carbon emissions and air pollution.

[0004] Using overhead catenary power supply technology to power new energy heavy trucks not only provides a stable power source for vehicles, but also reduces the frequent charging and discharging of batteries, improving battery life. Applying this technology to electrified highway vehicles on highways can enable them to run continuously at high speed and high load on highways. However, since the position of the overhead catenary is fixed, the electrified highway vehicle must travel within a specific trajectory range to ensure that the current collection device, such as a pantograph, can always maintain stable connection with the catenary.

[0005] In actual operation, there is often a lateral deviation between the current parking position of the vehicle and the overhead catenary, especially during the initial positioning stage before starting the automatic driving function. If the automatic driving function is directly turned on in the presence of a large lateral deviation of the vehicle, it may cause a sudden change in the steering wheel angle, thereby affecting the stability and safety of the vehicle.

[0006] Therefore, how to improve the accuracy and stability of automatic driving is a problem to be solved by those skilled in the art. SUMMARY

[0007] The purpose of the embodiments of the present application is to provide a vehicle trajectory deviation correction method, device, equipment, medium and product, which can improve the accuracy and stability of automatic driving.

[0008] To solve the above technical problems, the present application provides a vehicle trajectory deviation correction method, comprising:

[0009] obtaining an initial global path composed of the position coordinates of the vehicle and the center line of the overhead catenary;

[0010] convert the initial global path into a target global path in the same coordinate system as the position coordinates of the vehicle;

[0011] determine a first deviation trajectory endpoint and a sampling interval according to a vertical distance between the position coordinates of the vehicle and the target global path and a speed of the vehicle;

[0012] construct a set of deviation paths based on the position coordinates of the vehicle, the first deviation trajectory endpoint and the sampling interval;

[0013] select a target deviation path that meets a curvature requirement according to a curvature of each deviation path in the set of deviation paths, and control the vehicle to travel according to the target deviation path; wherein the curvature requirement is set according to a turning radius of the vehicle.

[0014] In one aspect, determining a first deviation trajectory endpoint and a sampling interval according to a vertical distance between the position coordinates of the vehicle and the target global path and a speed of the vehicle includes:

[0015] determining the sampling interval according to the speed of the vehicle, a set longitudinal motion coefficient and a sampling time;

[0016] determining a position of the first deviation trajectory endpoint according to the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, a set lateral deviation coefficient and a sampling time.

[0017] In one aspect, determining the sampling interval according to the speed of the vehicle, a set longitudinal motion coefficient and a sampling time includes:

[0018] calling a sampling interval calculation formula to process the speed of the vehicle, the set longitudinal motion coefficient and the sampling time to obtain the sampling interval; wherein the sampling interval calculation formula is as follows:

[0019] Δs = σ * v * τ;

[0020] wherein Δs represents the sampling interval, σ represents the longitudinal motion coefficient, v represents the speed of the vehicle, and τ represents the sampling time.

[0021] In one aspect, determining a position of the first deviation trajectory endpoint according to the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, a set lateral deviation coefficient and a sampling time includes:

[0022] taking a vertical point of a center point of the vehicle on the target global path as a nearest point;

[0023] The first deviation trajectory endpoint calculation formula is called, and the vertical distance between the position coordinate of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient and the sampling time are processed to obtain the distance between the first deviation trajectory endpoint and the nearest point; wherein the first deviation trajectory endpoint calculation formula is as follows:

[0024] Wherein s represents the distance between the first deviation trajectory endpoint and the nearest point, v represents the speed of the vehicle, τ represents the sampling time, The lateral deviation coefficient is represented by d, and the vertical distance between the position coordinate of the vehicle and the target global path.

[0025] On the one hand, based on the position coordinate of the vehicle, the first deviation trajectory endpoint and the sampling distance, a deviation path set is constructed, including:

[0026] According to the sampling distance, sampling is performed from the first deviation trajectory endpoint to obtain a deviation trajectory endpoint set;

[0027] Each deviation trajectory endpoint contained in the deviation trajectory endpoint set is respectively interpolated and fitted with the position coordinate of the vehicle to generate a corresponding deviation path.

[0028] On the one hand, each deviation trajectory endpoint contained in the deviation trajectory endpoint set is respectively interpolated and fitted with the position coordinate of the vehicle to generate a corresponding deviation path, including:

[0029] The position coordinate of the vehicle is taken as the coordinate of the deviation trajectory starting point;

[0030] The trajectory generation calculation formula is called to process each deviation trajectory endpoint and the deviation trajectory starting point to obtain a corresponding deviation path; wherein the trajectory generation calculation formula is as follows:

[0031] y=d i +c i x+b i x 2 +a i x 3 ;

[0032] d i =0;

[0033] Wherein, The coordinate of the deviation trajectory endpoint corresponding to the i-th deviation path is represented by d, The coordinate of the deviation trajectory starting point corresponding to the i-th deviation path is represented by d.

[0034] In one aspect, selecting a target deviation path that meets the curvature requirement according to the curvature corresponding to each deviation path in the set of deviation paths comprises:

[0035] According to the set interval distance, traversal points are set in the interval between the deviation trajectory endpoint and the deviation trajectory starting point corresponding to each deviation path;

[0036] A curvature calculation formula is called to process the deviation trajectory endpoint and the deviation trajectory starting point corresponding to each deviation path to obtain the curvature corresponding to each deviation path; wherein the curvature calculation formula is as follows:

[0037] wherein ψ i represents the curvature corresponding to the i-th deviation path, Δl represents the distance from the traversal point to the deviation trajectory starting point in the curvature calculation interval, n represents the number of traversal points contained in the i-th deviation path, j ∈ [2, N e -1], represents the horizontal coordinate increment of each two adjacent traversal points, represents the vertical coordinate increment of each two adjacent traversal points, x j represents the horizontal coordinate of the j-th traversal point, x j-1 represents the horizontal coordinate of the j-1-th traversal point, y j represents the vertical coordinate of the j-th traversal point, y j-1 represents the vertical coordinate of the j-1-th traversal point, (x b , y b , θ b ) represents the starting point coordinates of the i-th interval, (x e , y e , θ e ) represents the end point coordinates of the i-th interval.

[0038] According to the order from far to near of the deviation trajectory endpoints, target deviation paths with curvatures less than or equal to the curvature threshold are searched from the set of deviation paths in turn; wherein the curvature threshold is the inverse of the vehicle turning radius.

[0039] In one aspect, converting the initial global path into a target global path in the same coordinate system as the position coordinates comprises:

[0040] The position coordinates are taken as the trajectory starting point, and the origin in the initial global path is rotated and translated to the position coordinates to obtain the target global path.

[0041] In one aspect, controlling the vehicle to travel according to the target deviation path comprises:

[0042] When the vertical distance between the position coordinate of the vehicle and the target global path is less than a set upper distance limit value and the vehicle is in a manual driving mode, the vehicle is controlled to enter a trajectory correction mode and perform an automatic tracking function according to the target correction path.

[0043] In one aspect, after controlling the vehicle to travel according to the target correction path, the method further comprises:

[0044] obtaining a latest position coordinate of the vehicle;

[0045] determining whether the latest position coordinate of the vehicle exceeds a correction trajectory end point of the target correction path;

[0046] in a case where the current position coordinate of the vehicle exceeds the correction trajectory end point of the target correction path, exiting the trajectory correction mode.

[0047] In one aspect, after controlling the vehicle to travel according to the target correction path, the method further comprises:

[0048] obtaining a latest position coordinate of the vehicle;

[0049] determining whether the vertical distance between the latest position coordinate of the vehicle and the target global path is less than a set lower distance limit value;

[0050] in a case where the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower distance limit value, exiting the trajectory correction mode.

[0051] The embodiment of the present application also provides a vehicle trajectory correction device, comprising an obtaining unit, a converting unit, a determining unit, a constructing unit, a selecting unit and a controlling unit.

[0052] The obtaining unit is used to obtain an initial global path composed of a position coordinate of a vehicle and a center line of an overhead contact system;

[0053] The converting unit is used to convert the initial global path into a target global path in a same coordinate system as the position coordinate;

[0054] The determining unit is used to determine a first correction trajectory end point and a sampling interval according to the vertical distance between the position coordinate of the vehicle and the target global path and the speed of the vehicle;

[0055] The constructing unit is used to construct a correction path set based on the position coordinate of the vehicle, the first correction trajectory end point and the sampling interval;

[0056] The selecting unit is used to select a target correction path meeting a curvature requirement according to the curvature corresponding to each correction path in the correction path set;

[0057] The control unit is configured to control the vehicle to travel along the target deviation correction path, and the curvature requirement is set according to a turning radius of the vehicle.

[0058] In one aspect, the determination unit comprises a sampling interval determination subunit and a deviation correction trajectory endpoint determination subunit.

[0059] The sampling interval determination subunit is configured to determine the sampling interval according to a speed of the vehicle, a set longitudinal motion coefficient, and a sampling time.

[0060] The deviation correction trajectory endpoint determination subunit is configured to determine a position of the first deviation correction trajectory endpoint according to a perpendicular distance between a position coordinate of the vehicle and the target global path, the speed of the vehicle, a set lateral deviation coefficient, and the sampling time.

[0061] In one aspect, the sampling interval determination subunit is configured to call a sampling interval calculation formula to process the speed of the vehicle, the set longitudinal motion coefficient, and the sampling time to obtain the sampling interval, wherein the sampling interval calculation formula is as follows:

[0062] Δs = σ * v * τ

[0063] wherein Δs represents the sampling interval, σ represents the longitudinal motion coefficient, v represents the speed of the vehicle, and τ represents the sampling time.

[0064] In one aspect, the deviation correction trajectory endpoint determination subunit is configured to take a perpendicular point of a center point of the vehicle on the target global path as a nearest point, and call a first deviation correction trajectory endpoint calculation formula to process the perpendicular distance between the position coordinate of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient, and the sampling time to obtain a distance between the first deviation correction trajectory endpoint and the nearest point, wherein the first deviation correction trajectory endpoint calculation formula is as follows:

[0065] wherein s represents the distance between the first deviation correction trajectory endpoint and the nearest point, v represents the speed of the vehicle, τ represents the sampling time, σ represents the lateral deviation coefficient, and d represents the perpendicular distance between the position coordinate of the vehicle and the target global path.

[0066] In one aspect, the construction unit comprises a sampling subunit and a fitting subunit.

[0067] The sampling subunit is configured to sample from the first deviation correction trajectory endpoint according to the sampling interval to obtain a set of deviation correction trajectory endpoints.

[0068] ​The fitting subunit is configured to respectively interpolate and fit each of the offset trajectory endpoints in the set of offset trajectory endpoints with the position coordinates of the vehicle to generate a corresponding offset path.

[0069] In one aspect, the fitting subunit is configured to use the position coordinates of the vehicle as the coordinates of the offset trajectory start point.

[0070] A trajectory generation calculation formula is called to process each of the offset trajectory endpoints and the offset trajectory start point to obtain a corresponding offset path, wherein the trajectory generation calculation formula is as follows:

[0071] y = d i +c i x+b i x 2 +a i x 3 ;

[0072] d i = 0;

[0073] wherein, represents the coordinates of the offset trajectory endpoint corresponding to the i-th offset path, represents the coordinates of the offset trajectory start point corresponding to the i-th offset path.

[0074] In one aspect, the selecting unit includes a setting subunit, a calling subunit, and a searching subunit.

[0075] The setting subunit is configured to set traversal points in the interval between the offset trajectory endpoint and the offset trajectory start point corresponding to each offset path according to a set interval distance.

[0076] The calling subunit is configured to call a curvature calculation formula to process the offset trajectory endpoint and the offset trajectory start point corresponding to each offset path to obtain the curvature corresponding to each offset path, wherein the curvature calculation formula is as follows:

[0077] wherein, ψ i represents the curvature corresponding to the i-th offset path, Δl represents the distance from the traversal point to the offset trajectory start point in the curvature calculation interval, n represents the number of traversal points included in the i-th offset path, j ∈ [2, N e -1], represents the horizontal coordinate increment of each two adjacent traversal points, represents the vertical coordinate increment of each two adjacent traversal points, x j represents the horizontal coordinate of the j-th traversal point, x j-1 represents the horizontal coordinate of the j-1-th traversal point, y ja longitudinal coordinate of the jth traversal point, y j-1 a longitudinal coordinate of the (j-1)th traversal point, (x b ,y b ,θ b ) represents a start point coordinate of the ith interval, (x e ,y e ,θ e ) represents an end point coordinate of the ith interval.

[0078] The search subunit is configured to search, in order from far to near of an end point of the deviation trajectory, a target deviation path with a curvature less than or equal to a curvature threshold from the set of deviation paths, wherein the curvature threshold is the reciprocal of a turning radius of the vehicle.

[0079] In one aspect, the conversion unit is configured to take the position coordinate as a starting point of a trajectory, and to rotate and translate an original point in the initial global path to the position coordinate to obtain a target global path.

[0080] In one aspect, the control unit is configured to control the vehicle to enter a trajectory deviation mode and execute an automatic tracking function according to the target deviation path when a vertical distance between the position coordinate of the vehicle and the target global path is less than a set upper limit of the distance and the vehicle is in a manual driving mode.

[0081] In one aspect, the system further includes a first judgment unit and a first exit unit.

[0082] The acquisition unit is further configured to acquire a latest position coordinate of the vehicle.

[0083] The first judgment unit is configured to judge whether the latest position coordinate of the vehicle exceeds an end point of a deviation trajectory of the target deviation path.

[0084] The first exit unit is configured to exit the trajectory deviation mode when the current position coordinate of the vehicle exceeds the end point of the deviation trajectory of the target deviation path.

[0085] In one aspect, the system further includes a second judgment unit and a second exit unit.

[0086] The acquisition unit is further configured to acquire a latest position coordinate of the vehicle.

[0087] The second judgment unit is configured to judge whether a vertical distance between the latest position coordinate of the vehicle and the target global path is less than a set lower limit of the distance.

[0088] The second exit unit is configured to exit the trajectory deviation mode when the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower limit of the distance.

[0089] The embodiment of the present application also provides a vehicle trajectory deviation correction device, comprising:

[0090] a memory for storing a computer program;

[0091] a processor for executing the computer program to realize the steps of the vehicle trajectory deviation correction method.

[0092] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the vehicle trajectory deviation correction method.

[0093] The embodiment of the present application also provides a computer program product, comprising computer programs / instructions, and the computer programs / instructions are executed by a processor to realize the steps of the vehicle trajectory deviation correction method.

[0094] As can be seen from the above technical solution, the initial global path composed of the position coordinates of the vehicle and the center line of the overhead contact system is obtained; the initial global path and the position coordinates of the vehicle belong to different coordinate systems; in order to evaluate the deviation degree of the position coordinates of the vehicle and the initial global path, the initial global path and the position coordinates of the vehicle need to be converted to the same coordinate system, and the initial global path can be converted into a target global path in the same coordinate system as the position coordinates. According to the vertical distance between the position coordinates of the vehicle and the target global path and the speed of the vehicle, the first deviation correction trajectory endpoint and the sampling interval are determined. In order to select a more suitable deviation correction path, a deviation correction path set can be constructed based on the position coordinates of the vehicle, the first deviation correction trajectory endpoint and the sampling interval. According to the curvature corresponding to each deviation correction path in the deviation correction path set, a target deviation correction path meeting the curvature requirement is selected, and the vehicle is controlled to travel according to the target deviation correction path; wherein the curvature requirement is set according to the turning radius of the vehicle. In this technical solution, according to the deviation degree of the position coordinates of the vehicle and the target global path, and in combination with the speed of the vehicle, a deviation correction path set suitable for smooth turning of the vehicle can be generated. By comprehensively considering the limitation of the turning radius of the vehicle, the most suitable target deviation correction path for the vehicle can be selected, sudden steering wheel angle changes are avoided, the smoothness and safety of driving are greatly improved, the vehicle can be ensured to gradually return to the target global path, and the vehicle can continuously obtain power supply in the overhead contact system. BRIEF DESCRIPTION OF DRAWINGS

[0095] In order to more clearly illustrate the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0096] Fig. 1 is a flowchart of a vehicle trajectory correction method according to an embodiment of the present application;

[0097] Fig. 2 is a schematic diagram of generating a correction path according to an embodiment of the present application;

[0098] Fig. 3 is a schematic diagram of a vehicle trajectory correction device according to an embodiment of the present application;

[0099] Fig. 4 is a structural diagram of a vehicle trajectory correction device according to an embodiment of the present application. DETAILED DESCRIPTION

[0100] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0101] In the specification of the present application and the above-mentioned drawings, the terms "comprise" and "have", as well as any variants of "comprise" and "have", are intended to cover the inclusions without exclusivity. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but can include steps or units not listed.

[0102] In order for the person skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0103] In actual operation, if the automatic driving function is directly started in the case of a large lateral deviation of the vehicle, it may cause a sudden change in the steering wheel angle, thereby affecting the stability and driving safety of the vehicle. In addition, electrified highway vehicles are usually larger and heavier, have a larger turning radius, and have poor operational flexibility, and require more accurate control to pass through narrow roads or sharp turns. Therefore, the traditional trajectory correction control method suitable for passenger cars cannot be used.

[0104] Therefore, the embodiments of the present application provide a vehicle trajectory correction method, device, equipment, medium and product. By considering the deviation degree of the position coordinates of the vehicle from the target global path and combining the speed of the vehicle, a correction path set is generated in real time to guide the vehicle to accurately return to the preset trajectory, thereby improving the accuracy and stability of automatic driving and ensuring that the vehicle continuously obtains power supply within the overhead catenary range. By comprehensively considering the constraints such as the turning radius of the vehicle, the most suitable target correction path for the vehicle is selected to ensure smooth turning of the vehicle, reduce manual driving errors, and improve driving safety and comfort. The vehicle trajectory correction scheme provided by the embodiments of the present application is suitable for automatic driving of electrified highway new energy heavy trucks.

[0105] Next, a vehicle trajectory deviation correction method provided by the embodiment of the application is described in detail. FIG. 1 is a flowchart of a vehicle trajectory deviation correction method provided by the embodiment of the application. The method comprises the following steps:

[0106] S101: obtaining an initial global path composed of a position coordinate of a vehicle and an overhead contact line center line.

[0107] In the embodiment of the application, the positioning data of the vehicle can be obtained in real time by a positioning device. The positioning data comprises the position coordinate of the vehicle.

[0108] In the process of driving the vehicle, in order to ensure that the vehicle continuously obtains power supply within the range of the overhead contact line, it is better to control the vehicle to drive along the overhead contact line center line.

[0109] In order to evaluate the deviation degree of the current position of the vehicle from the overhead contact line center line, the initial global path composed of the position coordinate of the vehicle and the overhead contact line center line can be obtained first.

[0110] S102: converting the initial global path into a target global path in the same coordinate system as the position coordinate.

[0111] Since the initial global path composed of the position coordinate of the vehicle and the overhead contact line center line belongs to different coordinate systems, in order to calculate the deviation degree of the current position of the vehicle from the overhead contact line center line, the coordinate system of the initial global path can be converted.

[0112] For convenience of distinction, the global path composed of the overhead contact line center line before the coordinate system is converted can be referred to as the initial global path, and the global path composed of the overhead contact line center line after the coordinate system is converted can be referred to as the target global path.

[0113] In actual application, the position coordinate can be taken as a trajectory starting point, and the original point in the initial global path can be rotated and translated to the position coordinate to obtain the target global path.

[0114] S103: determining a first deviation correction trajectory end point and a sampling interval according to the perpendicular distance between the position coordinate of the vehicle and the target global path and the speed of the vehicle.

[0115] In the embodiment of the application, the perpendicular distance between the position coordinate of the vehicle and the target global path can be calculated, and the deviation degree of the position coordinate of the vehicle from the overhead contact line center line can be evaluated by using the perpendicular distance. The greater the value of the perpendicular distance, the greater the deviation degree of the vehicle from the overhead contact line center line.

[0116] In order to ensure that there is a required correction path for use when the correction function is running, the first correction trajectory endpoint and the sampling interval can be determined according to the speed of the vehicle, in combination with the vertical distance between the position coordinates of the vehicle and the target global path.

[0117] In a specific implementation, the sampling interval can be determined according to the speed of the vehicle, the set longitudinal motion coefficient, and the sampling time. The position of the first correction trajectory endpoint can be determined according to the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient, and the sampling time.

[0118] For determination of the sampling interval, a sampling interval calculation formula can be called to process the speed of the vehicle, the set longitudinal motion coefficient, and the sampling time to obtain the sampling interval. The sampling interval calculation formula is as follows:

[0119] Δs = σ * v * τ;

[0120] where Δs represents the sampling interval, σ represents the longitudinal motion coefficient, v represents the speed of the vehicle, and τ represents the sampling time.

[0121] The values of the longitudinal motion coefficient and the sampling time can be pre-set according to actual requirements. The speed of the vehicle can be obtained in real time.

[0122] For determination of the position of the first correction trajectory endpoint, the vertical point of the center point of the vehicle on the target global path can be taken as the nearest point first. A first correction trajectory endpoint calculation formula can be called to process the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient, and the sampling time to obtain the interval between the first correction trajectory endpoint and the nearest point. The first correction trajectory endpoint calculation formula is as follows:

[0123] where s represents the interval between the first correction trajectory endpoint and the nearest point, v represents the speed of the vehicle, τ represents the sampling time, σ represents the lateral deviation coefficient, and d represents the vertical distance between the position coordinates of the vehicle and the target global path.

[0124] S104: Based on the position coordinates of the vehicle, the first correction trajectory endpoint, and the sampling interval, a correction path set is constructed.

[0125] In actual application, the sampling can be performed from the first correction trajectory endpoint according to the sampling interval to obtain a correction trajectory endpoint set. Each correction trajectory endpoint included in the correction trajectory endpoint set can be respectively interpolated and fitted with the position coordinates of the vehicle to generate a corresponding correction path.

[0126] ​FIG. 2 is a schematic diagram of generating a correction path according to an embodiment of the present application. The middle dotted line in FIG. 2 represents a target global path. The center point of the vehicle is used as the position coordinate of the vehicle. The vertical point of the center point of the vehicle on the target global path is used as the nearest point. The vertical distance between the vehicle and the target global path is d. s represents the distance between the first correction trajectory end point and the nearest point. Δs represents the sampling interval. According to the sampling interval, a plurality of correction trajectory end points can be obtained by sequentially taking points on the global path. The center point of the vehicle is used as the start point, and is fitted with each of the correction trajectory end points, so as to obtain a plurality of correction paths.

[0127] In the embodiment of the present application, the third-degree polynomial with four unknowns ((a i ,b i ,c i ,d i ) can be used for interpolation fitting, so as to obtain the expression of the correction path.

[0128] In actual application, the position coordinate of the vehicle can be used as the coordinate of the correction trajectory start point. The trajectory generation calculation formula is called to process each of the correction trajectory end point and the correction trajectory start point, so as to obtain the corresponding correction path. The trajectory generation calculation formula is as follows:

[0129] y=d i +c i x+b i x 2 +a i x 3 ;

[0130] d i =0;

[0131] wherein, represents the coordinate of the correction trajectory end point corresponding to the i-th correction path, represents the coordinate of the correction trajectory start point corresponding to the i-th correction path.

[0132] S105: According to the curvatures of each of the correction paths in the correction path set, a target correction path meeting the curvature requirement is selected, and the vehicle is controlled to travel according to the target correction path.

[0133] wherein, the curvature requirement is set according to the turning radius of the vehicle.

[0134] In order to calculate the curvature corresponding to each of the correction paths, a traversal point can be set in the interval between the correction trajectory end point and the correction trajectory start point corresponding to each of the correction paths according to the set interval distance.

[0135] The curvature calculation formula is called to process the end point and the start point of the rectification track corresponding to each rectification path to obtain the curvature corresponding to each rectification path; wherein the curvature calculation formula is as follows:

[0136] wherein ψ i represents the curvature corresponding to the i-th rectification path, Δl represents the distance from the traversal point to the start point of the rectification track in the curvature calculation interval, n represents the number of traversal points contained in the i-th rectification path, j ∈ [2, N e -1], represents the horizontal coordinate increment of each two adjacent traversal points, represents the vertical coordinate increment of each two adjacent traversal points, x j represents the horizontal coordinate of the j-th traversal point, x j-1 represents the horizontal coordinate of the j-1-th traversal point, y j represents the vertical coordinate of the j-th traversal point, y j-1 represents the vertical coordinate of the j-1-th traversal point, (x b ,y b ,θ b ) represents the start point coordinates of the i-th interval, (x e ,y e ,θ e ) represents the end point coordinates of the i-th interval.

[0137] After obtaining the curvature corresponding to each rectification path, the target rectification path with a curvature less than or equal to the curvature threshold can be searched from the rectification path set in order of the rectification track end point distance from the vehicle from far to near; wherein the curvature threshold can be the inverse of the vehicle turning radius.

[0138] By setting the curvature threshold based on the vehicle turning radius, the appropriate rectification path can be more accurately selected to ensure the smooth turning of the vehicle.

[0139] It can be seen from the above technical solution that the initial global path composed of the position coordinates of the vehicle and the center line of the overhead contact system is obtained; the initial global path and the position coordinates of the vehicle belong to different coordinate systems; in order to evaluate the deviation degree of the position coordinates of the vehicle and the initial global path, the initial global path and the position coordinates of the vehicle need to be converted to the same coordinate system, and the initial global path can be converted into a target global path in the same coordinate system as the position coordinates. According to the vertical distance between the position coordinates of the vehicle and the target global path and the speed of the vehicle, the first deviation trajectory endpoint and the sampling interval are determined. In order to select a more suitable deviation path, a deviation path set can be constructed based on the position coordinates of the vehicle, the first deviation trajectory endpoint and the sampling interval. According to the curvature corresponding to each deviation path in the deviation path set, a target deviation path meeting the curvature requirement is selected, and the vehicle is controlled to travel along the target deviation path; wherein the curvature requirement is set according to the turning radius of the vehicle. In this technical solution, according to the deviation degree of the position coordinates of the vehicle and the target global path, and in combination with the speed of the vehicle, a deviation path set suitable for the smooth turning of the vehicle can be generated. By comprehensively considering the limitation of the turning radius of the vehicle, the most suitable target deviation path for the vehicle can be selected, sudden steering wheel angle changes are avoided, the stability and safety of driving are greatly improved, and it is ensured that the vehicle can gradually return to the target global path and continuously obtain power supply in the overhead contact system.

[0140] In the embodiments of the present application, in order to ensure the stable switching of the deviation function and the normal automatic driving function and avoid frequent jumping, the conditions for entering the trajectory deviation mode and the conditions for exiting the trajectory deviation mode can be set.

[0141] In actual application, after the target deviation path meeting the curvature requirement is selected, it can be judged whether the vertical distance between the position coordinates of the vehicle and the target global path is less than the set upper limit value of the distance and whether the vehicle is in the manual driving mode.

[0142] When the vertical distance between the position coordinates of the vehicle and the target global path is less than the set upper limit value of the distance and the vehicle is in the manual driving mode, it indicates that the vehicle currently meets the condition for entering the trajectory deviation mode, and at this time the vehicle can be controlled to enter the trajectory deviation mode and execute the automatic tracking function according to the target deviation path.

[0143] The conditions for the vehicle to exit the trajectory deviation mode and enter the normal automatic driving function can be two kinds. The first kind can obtain the latest position coordinates of the vehicle; it is judged whether the latest position coordinates of the vehicle exceed the deviation trajectory endpoint of the target deviation path. In the case that the current position coordinates of the vehicle exceed the deviation trajectory endpoint of the target deviation path, it indicates that the vehicle is very close to the target global path, and there is no need to deviate the trajectory any more, and at this time the trajectory deviation mode can be exited.

[0144] The second kind can obtain the latest position coordinates of the vehicle; it is judged whether the vertical distance between the latest position coordinates of the vehicle and the target global path is less than the set distance lower limit value. In the case that the vertical distance between the latest position coordinates of the vehicle and the target global path is less than the set distance lower limit value, it is indicated that the vehicle has been very close to the target global path, and there is no need to further correct the trajectory, at this time, the trajectory correction mode can be exited.

[0145] In actual application, as long as any one of the exit conditions is met, the vehicle can be controlled to exit the trajectory correction mode, at this time, the vehicle enters the normal automatic driving function.

[0146] In the embodiment of the application, by setting the conditions for the vehicle to enter the trajectory correction mode and the conditions for the vehicle to exit the trajectory correction mode, the frequent jumping of the vehicle in different modes can be effectively avoided, and the stability and safety of the vehicle operation are ensured.

[0147] Fig. 3 is a structural schematic view of a vehicle trajectory correction device provided by an embodiment of the application, which comprises an acquisition unit 31, a conversion unit 32, a determination unit 33, a construction unit 34, a selection unit 35 and a control unit 36.

[0148] The acquisition unit 31 is used to acquire the position coordinates of the vehicle and the initial global path composed of the overhead contact line center line;

[0149] The conversion unit 32 is used to convert the initial global path into a target global path in the same coordinate system as the position coordinates;

[0150] The determination unit 33 is used to determine the first correction trajectory endpoint and the sampling interval according to the vertical distance between the position coordinates of the vehicle and the target global path and the speed of the vehicle;

[0151] The construction unit 34 is used to construct a correction path set based on the position coordinates of the vehicle, the first correction trajectory endpoint and the sampling interval;

[0152] The selection unit 35 is used to select a target correction path that meets the curvature requirement according to the curvature corresponding to each correction path in the correction path set;

[0153] The control unit 36 is used to control the vehicle to travel according to the target correction path; wherein the curvature requirement is set according to the turning radius of the vehicle.

[0154] In some embodiments, the determination unit comprises a sampling interval determination subunit and a correction trajectory endpoint determination subunit;

[0155] The sampling interval determination subunit is used to determine the sampling interval according to the speed of the vehicle, the set longitudinal motion coefficient and the sampling time;

[0156] The offset trajectory endpoint determination subunit is configured to determine a position of a first offset trajectory endpoint according to a vertical distance between the position coordinate of the vehicle and the target global path, a speed of the vehicle, a set lateral deviation coefficient, and a sampling time.

[0157] In some embodiments, the sampling interval determination subunit is configured to call a sampling interval calculation formula to process the speed of the vehicle, a set longitudinal motion coefficient, and the sampling time to obtain the sampling interval, where the sampling interval calculation formula is as follows:

[0158] Δs = σ * v * τ

[0159] where Δs represents the sampling interval, σ represents the longitudinal motion coefficient, v represents the speed of the vehicle, and τ represents the sampling time.

[0160] In some embodiments, the offset trajectory endpoint determination subunit is configured to take a vertical point of a center point of the vehicle on the target global path as a nearest point, and call a first offset trajectory endpoint calculation formula to process the vertical distance between the position coordinate of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient, and the sampling time to obtain a distance between the first offset trajectory endpoint and the nearest point, where the first offset trajectory endpoint calculation formula is as follows:

[0161] where s represents the distance between the first offset trajectory endpoint and the nearest point, v represents the speed of the vehicle, τ represents the sampling time, σ represents the lateral deviation coefficient, and d represents the vertical distance between the position coordinate of the vehicle and the target global path.

[0162] In some embodiments, the construction unit includes a sampling subunit and a fitting subunit.

[0163] The sampling subunit is configured to sample from the first offset trajectory endpoint according to the sampling interval to obtain a set of offset trajectory endpoints.

[0164] The fitting subunit is configured to perform interpolation fitting on each offset trajectory endpoint in the set of offset trajectory endpoints and the position coordinate of the vehicle to generate a corresponding offset path.

[0165] In some embodiments, the fitting subunit is configured to take the position coordinate of the vehicle as a coordinate of an offset trajectory starting point.

[0166] The fitting subunit is configured to perform interpolation fitting on each offset trajectory endpoint in the set of offset trajectory endpoints and the position coordinate of the vehicle to generate a corresponding offset path.

[0167] y = d i + c i x + b i x​2 +a i x 3 ;

[0168] d i =0;

[0169] wherein, represents the coordinate of the end point of the rectification trajectory corresponding to the i-th rectification path, represents the coordinate of the start point of the rectification trajectory corresponding to the i-th rectification path.

[0170] In some embodiments, the selecting unit comprises a setting subunit, a calling subunit and a searching subunit;

[0171] The setting subunit is configured to set a traversal point in the interval between the end point and the start point of the rectification trajectory corresponding to each rectification path according to a set interval distance;

[0172] The calling subunit is configured to call a curvature calculation formula to process the end point and the start point of the rectification trajectory corresponding to each rectification path to obtain the curvature corresponding to each rectification path; wherein the curvature calculation formula is as follows:

[0173] wherein, ψ i represents the curvature corresponding to the i-th rectification path, Δl represents the distance from the traversal point to the start point of the rectification trajectory in the curvature calculation interval, n represents the number of traversal points contained in the i-th rectification path, j ∈ [2, N e -1], represents the horizontal coordinate increment of each two adjacent traversal points, represents the vertical coordinate increment of each two adjacent traversal points, x j represents the horizontal coordinate of the j-th traversal point, x j-1 represents the horizontal coordinate of the j-1-th traversal point, y j represents the vertical coordinate of the j-th traversal point, y j-1 represents the vertical coordinate of the j-1-th traversal point, (x b , y b , θ b ) represents the start point coordinate of the i-th interval, (x e , y e , θ e ) represents the end point coordinate of the i-th interval.

[0174] The searching subunit is configured to sequentially search out a target rectification path with a curvature less than or equal to a curvature threshold from the rectification path set in order from far to near of the end point of the rectification trajectory; wherein the curvature threshold is the inverse of the turning radius of the vehicle.

[0175] In some embodiments, the conversion unit is configured to rotate and translate the origin point in the initial global path to the position coordinate as a starting point of the trajectory to obtain the target global path.

[0176] In some embodiments, the control unit is configured to control the vehicle to enter the trajectory correction mode and execute the automatic tracking function according to the target correction path when the vertical distance between the position coordinate of the vehicle and the target global path is less than the set upper limit value of the distance and the vehicle is in the manual driving mode.

[0177] In some embodiments, the system further comprises a first determination unit and a first exit unit.

[0178] The acquisition unit is further configured to acquire the latest position coordinate of the vehicle.

[0179] The first determination unit is configured to determine whether the latest position coordinate of the vehicle exceeds the correction trajectory endpoint of the target correction path.

[0180] The first exit unit is configured to exit the trajectory correction mode when the current position coordinate of the vehicle exceeds the correction trajectory endpoint of the target correction path.

[0181] In some embodiments, the system further comprises a second determination unit and a second exit unit.

[0182] The acquisition unit is further configured to acquire the latest position coordinate of the vehicle.

[0183] The second determination unit is configured to determine whether the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower limit value of the distance.

[0184] The second exit unit is configured to exit the trajectory correction mode when the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower limit value of the distance.

[0185] The features in the embodiment corresponding to FIG. 3 can be referred to the related descriptions of the embodiment corresponding to FIG. 1, which will not be repeated here.

[0186] According to the technical solution, the position coordinate of the vehicle and the initial global path composed of the center line of the overhead contact system are obtained; the initial global path and the position coordinate of the vehicle belong to different coordinate systems; in order to evaluate the deviation degree of the position coordinate of the vehicle and the initial global path, the initial global path and the position coordinate of the vehicle need to be converted to the same coordinate system, and the initial global path can be converted into a target global path in the same coordinate system as the position coordinate. According to the vertical distance between the position coordinate of the vehicle and the target global path and the speed of the vehicle, the first deviation trajectory endpoint and the sampling interval are determined. In order to select a more suitable deviation path, a deviation path set can be constructed based on the position coordinate of the vehicle, the first deviation trajectory endpoint and the sampling interval. According to the curvature corresponding to each deviation path in the deviation path set, a target deviation path meeting the curvature requirement is selected, and the vehicle is controlled to travel according to the target deviation path; wherein the curvature requirement is set according to the turning radius of the vehicle. In this technical solution, according to the deviation degree of the position coordinate of the vehicle and the target global path, and in combination with the speed of the vehicle, a deviation path set suitable for smooth turning of the vehicle can be generated. By comprehensively considering the limitation of the turning radius of the vehicle, the most suitable target deviation path for the vehicle can be selected, sudden changes in the steering wheel angle are avoided, the stability and safety of driving are greatly improved, the vehicle can be ensured to gradually return to the target global path, and the vehicle can continuously obtain power supply in the overhead contact system.

[0187] FIG. 4 is a structural diagram of a vehicle trajectory deviation correction device provided by an embodiment of the present application. As shown in FIG. 4, the vehicle trajectory deviation correction device includes a memory 40 for storing a computer program.

[0188] A processor 41 is configured to implement the steps of the vehicle trajectory deviation correction method of the above embodiment when executing the computer program.

[0189] The vehicle trajectory deviation correction device provided by the embodiment can include, but is not limited to, a smart phone, a tablet computer, a notebook computer or a desktop computer, etc.

[0190] The processor 41 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 41 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 41 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a central processing unit (CPU). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 41 can be integrated with a graphics processor (GPU) that is responsible for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 41 can further include an artificial intelligence (AI) processor for processing computing operations related to machine learning.

[0191] The memory 40 can include one or more computer-readable storage media that can be non-transitory. The memory 40 can further include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In the present embodiment, the memory 40 is at least used to store the following computer program 401, wherein the computer program is loaded and executed by the processor 41, and can implement the related steps of the vehicle trajectory correction method disclosed in any of the preceding embodiments. In addition, the resources stored by the memory 40 can further include an operating system 402 and data 403, etc., and the storage mode can be temporary storage or permanent storage. The operating system 402 can include Windows, Unix, Linux, etc. The data 403 can include, but is not limited to, the position coordinates of the vehicle, the initial global path composed of the overhead contact line center line, the correction path set, etc.

[0192] In some embodiments, the vehicle trajectory correction device can further include a display screen 42, an input / output interface 43, a communication interface 44, a power supply 45, and a communication bus 46.

[0193] Those skilled in the art can understand that the structure shown in FIG. 4 does not constitute a limitation on the vehicle trajectory correction device, and can include more or fewer components than those shown.

[0194] It can be understood that if the vehicle trajectory correction method in the above embodiments is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and performs all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), an electrically erasable programmable ROM, a register, a hard disk, a removable magnetic disk, a CD-ROM, a magnetic disk or an optical disk, and various media that can store program codes.

[0195] Based on this, the embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the vehicle trajectory correction method.

[0196] The embodiment of the present application further provides a computer program product, which includes computer programs / instructions. The computer programs / instructions are executed by a processor to implement the steps of the vehicle trajectory correction method.

[0197] The above describes a vehicle trajectory correction method, device, equipment, computer readable storage medium and computer program product provided by the embodiment of the present application in detail. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the difference from other embodiments. The same and similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can be referred to the method part.

[0198] The skilled person can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of the two. In order to clearly show the interchangeability of hardware and software, the components and steps of each example have been described in the above description. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solutions. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0199] The vehicle trajectory correction method, device, equipment, computer readable storage medium and computer program product provided by the present application are described in detail above. The principles and implementation modes of the present application are described by applying specific examples in this paper, and the above example description is only used to help understand the method of the present application and its core idea. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A vehicle trajectory deviation correction method, characterized in that, The method comprises the following steps: acquiring position coordinates of a vehicle and an initial global path composed of a center line of an overhead contact system; converting the initial global path into a target global path in a same coordinate system as the position coordinates; determining a first deviation trajectory endpoint and a sampling interval according to a vertical distance between the position coordinates of the vehicle and the target global path and a speed of the vehicle; constructing a deviation path set based on the position coordinates of the vehicle, the first deviation trajectory endpoint and the sampling interval; selecting a target deviation path meeting a curvature requirement according to curvatures of each deviation path in the deviation path set, and controlling the vehicle to travel along the target deviation path; wherein the curvature requirement is set according to a turning radius of the vehicle.

2. The vehicle trajectory correction method of claim 1, wherein, The method of determining the first deviation trajectory endpoint and the sampling interval according to the vertical distance between the position coordinates of the vehicle and the target global path and the speed of the vehicle comprises: determining the sampling interval according to the speed of the vehicle, a set longitudinal motion coefficient and a sampling time; determining a position of the first deviation trajectory endpoint according to the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, a set lateral deviation coefficient and the sampling time.

3. The vehicle trajectory correction method of claim 2, wherein, The method of determining the sampling interval according to the speed of the vehicle, the set longitudinal motion coefficient and the sampling time comprises: calling a sampling interval calculation formula to process the speed of the vehicle, the set longitudinal motion coefficient and the sampling time to obtain the sampling interval; wherein the sampling interval calculation formula is as follows: Δs = σ * v * τ; wherein Δs represents the sampling interval, σ represents the longitudinal motion coefficient, v represents the speed of the vehicle, and τ represents the sampling time.

4. The vehicle trajectory correction method of claim 2, wherein, The method of determining the position of the first deviation trajectory endpoint according to the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient and the sampling time comprises: taking a vertical point of a center point of the vehicle on the target global path as a nearest point; The first deviation trajectory endpoint calculation formula is called, and the vertical distance between the position coordinates of the vehicle and the target global path, the speed of the vehicle, the set lateral deviation coefficient, and the sampling time are processed to obtain the distance between the first deviation trajectory endpoint and the nearest point; wherein the first deviation trajectory endpoint calculation formula is as follows: where s represents the distance between the first end point of the correction trajectory and the nearest point, v represents the speed of the vehicle, and τ represents the sampling time, wherein σ represents the lateral deviation coefficient, and d represents the vertical distance between the position coordinates of the vehicle and the target global path.

5. The vehicle trajectory correction method of claim 1, wherein, The method of constructing the deviation path set based on the position coordinates of the vehicle, the first deviation trajectory endpoint and the sampling interval comprises: sampling from the first deviation trajectory endpoint according to the sampling interval to obtain a deviation trajectory endpoint set; performing interpolation fitting on each deviation trajectory endpoint in the deviation trajectory endpoint set and the position coordinates of the vehicle respectively to generate a corresponding deviation path.

6. The vehicle trajectory correction method of claim 5, wherein, The method of performing interpolation fitting on each deviation trajectory endpoint in the deviation trajectory endpoint set and the position coordinates of the vehicle respectively to generate a corresponding deviation path comprises: taking the position coordinates of the vehicle as coordinates of a deviation trajectory starting point; calling a trajectory generation calculation formula to process each deviation trajectory endpoint and the deviation trajectory starting point to obtain a corresponding deviation path; wherein the trajectory generation calculation formula is as follows: y = d i + c i x + b i x 2 + a i x 3 ; d i ＝0； wherein represents the coordinate of the end point of the rectification track corresponding to the i-th rectification path, wherein represents coordinates of the deviation trajectory starting point corresponding to the i-th deviation path.

7. The vehicle trajectory correction method of claim 1, wherein, According to the curvature corresponding to each rectification path in the rectification path set, a target rectification path meeting the curvature requirement is selected, including: According to the set interval distance, traversal points are set in the interval between the rectification track end point and the rectification track start point corresponding to each rectification path; The curvature calculation formula is called to process the end point of the correction trajectory and the start point of the correction trajectory corresponding to each correction path to obtain the curvature corresponding to each correction path; wherein the curvature calculation formula is as follows: wherein ψ i represents the curvature corresponding to the i-th rectification path, Δ1 represents the distance from the traversal point to the start point of the rectification trajectory in the curvature calculation interval, n represents the number of traversal points contained in the i-th rectification path, j ∈ [2, N e -1], denotes the horizontal coordinate increment of each two adjacent traversed points, represents a longitudinal coordinate increment of each two adjacent traversing points, x j represents a longitudinal coordinate of the jth traversing point, y j-1 represents a longitudinal coordinate of the j-1th traversing point, y j represents a longitudinal coordinate of the jth traversing point, y j-1 represents a longitudinal coordinate of the j-1th traversing point, y b represents a longitudinal coordinate of the jth traversing point, y b represents a longitudinal coordinate of the j-1th traversing point, y b represents a starting point coordinate of the ith interval, (x e , y e , θ e represents a terminal point coordinate of the ith interval; According to the order from far to near of the rectification track end point, a target rectification path with a curvature less than or equal to a curvature threshold is searched from the rectification path set in turn; wherein the curvature threshold is the inverse of the vehicle turning radius.

8. The vehicle trajectory correction method of claim 1, wherein, Converting the initial global path into a target global path in the same coordinate system as the position coordinate includes: Taking the position coordinate as the track starting point, and rotating and translating the origin in the initial global path to the position coordinate to obtain the target global path.

9. The vehicle trajectory correction method of claim 1, wherein, Controlling the vehicle to travel according to the target rectification path includes: When the vertical distance between the position coordinate of the vehicle and the target global path is less than the set upper limit value of the distance and the vehicle is in the manual driving mode, the vehicle is controlled to enter the track rectification mode and execute the automatic tracking function according to the target rectification path.

10. The vehicle trajectory correction method of claim 9, wherein, After controlling the vehicle to travel according to the target rectification path, further including: Obtaining the latest position coordinate of the vehicle; Judging whether the latest position coordinate of the vehicle exceeds the rectification track end point of the target rectification path; In the case that the current position coordinate of the vehicle exceeds the rectification track end point of the target rectification path, the track rectification mode is exited.

11. The vehicle trajectory correction method of claim 9, wherein, After controlling the vehicle to travel according to the target rectification path, further including: Obtaining the latest position coordinate of the vehicle; Judging whether the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower limit value of the distance; In the case that the vertical distance between the latest position coordinate of the vehicle and the target global path is less than the set lower limit value of the distance, the track rectification mode is exited.

12. A vehicle trajectory deviation rectifying device, characterized by, Including an acquisition unit, a conversion unit, a determination unit, a construction unit, a selection unit and a control unit; The acquisition unit is configured to acquire a position coordinate of a vehicle and an initial global path composed of an overhead contact line center line; The conversion unit is configured to convert the initial global path into a target global path in the same coordinate system as the position coordinate; The determination unit is configured to determine a first rectification track end point and a sampling interval based on the vertical distance between the position coordinate of the vehicle and the target global path and the speed of the vehicle; The construction unit is configured to construct a rectification path set based on the position coordinate of the vehicle, the first rectification track end point and the sampling interval; The selection unit is configured to select a target rectification path meeting the curvature requirement according to the curvature corresponding to each rectification path in the rectification path set; The control unit is configured to control the vehicle to travel according to the target rectification path; wherein the curvature requirement is set according to the vehicle turning radius.

13. A vehicle trajectory correction device, characterized by, Including: A memory for storing a computer program; A processor for executing the computer program to implement the steps of the vehicle track rectification method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the vehicle trajectory correction method according to any one of claims 1 to 11.

15. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to implement the steps of the vehicle trajectory correction method according to any one of claims 1 to 11.

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