Unmanned Vehicle Performance Test Obstacle Trajectory Control
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Solution Overview
Problem
Unmanned vehicle performance tests under extreme conditions face reliability issues due to discontinuous changes in obstacle vehicle dynamic attributes, leading to false judgments and low test reliability.
Innovation Solution
A method and apparatus that acquire control amounts for unmanned vehicle performance tests by constructing nth degree polynomial trajectory equations for obstacle vehicles, ensuring continuous speed and acceleration changes, thereby improving test reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the obstacle vehicle runs according to the set running trajectory with discontinuous dynamic attributes at key points, then the test scenario construction is simple, but the reliability of the performance test is low due to false judgments
Solution Approach 1:
The patent applies preliminary action by pre-calculating and smoothing the dynamic attributes (speed, acceleration, jerk) at key points before the actual test execution. The control amounts are computed in advance using polynomial interpolation to ensure continuous transitions, preventing false judgments during the performance test while maintaining a simple test scenario construction process.
Solution Approach 2:
The patent changes the parameters of the obstacle vehicle's motion by introducing polynomial interpolation functions that continuously adjust speed, acceleration, and jerk parameters at key points. This transforms the discontinuous dynamic attributes into continuous ones, improving test reliability without significantly increasing the overall system complexity.
2Measurement precision
If the dynamic attributes of the obstacle vehicle change discontinuously at key points, then the test scenario construction is straightforward, but false judgments occur on perception and control of the unmanned vehicle
Solution Approach 1:
The patent applies preliminary action by pre-calculating and smoothing the dynamic attributes (speed, acceleration, jerk) at key points before the actual test execution. The control amounts are computed in advance using polynomial interpolation to ensure continuous transitions, preventing false judgments during the performance test while maintaining a simple test scenario construction process.
Solution Approach 2:
The patent changes the parameters of the obstacle vehicle's motion by introducing polynomial interpolation functions that continuously adjust speed, acceleration, and jerk parameters at key points. This transforms the discontinuous dynamic attributes into continuous ones, improving test reliability without significantly increasing the overall system complexity.
Data Source
AI summary
Provided are a method and an apparatus for acquiring a control amount for a performance test of an unmanned vehicle, including: acquiring coordinates of y key points on a trajectory of a simulated obstacle vehicle and speeds at the y key points, where y≥2; acquiring trajectory equations of the obstacle vehicle between every two adjacent key points according to the coordinates of the y key points, where the trajectory equation is an nth degree polynomial equation, n≥2; acquiring accelerations of the obstacle vehicle between every two adjacent key points according to speeds at the y key points and a trajectory curve corresponding to the trajectory equation; for each running duration, according to the accelerations, acquiring a dynamic attribute and a coordinate when the obstacle vehicle has run for the running duration according to trajectories corresponding to the trajectory equations.