CN109987097B - Method and equipment for adjusting motion state of target vehicle - Google Patents
Method and equipment for adjusting motion state of target vehicle Download PDFInfo
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- CN109987097B CN109987097B CN201910188003.5A CN201910188003A CN109987097B CN 109987097 B CN109987097 B CN 109987097B CN 201910188003 A CN201910188003 A CN 201910188003A CN 109987097 B CN109987097 B CN 109987097B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
The invention discloses a method and equipment for adjusting the motion state of a target vehicle, which are used for solving the problem of low accuracy when determining coordinate information of each error parameter of an error model of an unmanned automobile in the prior art. According to the embodiment of the invention, the coordinate transformation numerical value and the coordinate transformation error numerical value of at least one current vector of the target vehicle are firstly determined, then the coordinate information of the at least one state vector in the vehicle body coordinate system is determined according to the determined coordinate transformation numerical value and the coordinate transformation error numerical value, and finally the motion state of the target vehicle is adjusted according to the determined coordinate information.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and equipment for adjusting the motion state of a target vehicle.
Background
With the continuous development of artificial intelligence, the automatic driving automobile gradually enters the lives of people, and great convenience is brought to the lives of people.
The automatic driving automobile is one kind of intelligent automobile, also called wheel type mobile robot, and mainly depends on intelligent driving instrument with computer system as main part in the automobile to realize automatic driving.
The automatic driving automobile can sense the road environment through the vehicle-mounted sensing system, automatically plan a driving route and control the automobile to reach a preset target intelligent automobile. The vehicle-mounted sensor can sense the surrounding environment of the vehicle, and control the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road.
After the route of the automatically driven vehicle is automatically planned, in the process of automatically driving, the automatically driven vehicle may not be driven according to preset driving conditions, for example, the preset driving speed is 80km/h (kilometer per hour), and the actual driving speed is 75km/h, at this time, the automatically driven vehicle is subjected to speed adjustment according to an error model, so that the speed of the automatically driven vehicle is 80 km/h.
At present, when coordinate information of each error parameter of an error model of an automatic driving automobile is determined, the coordinate information in a ground coordinate system is directly converted into the coordinate information in an automobile body coordinate system, and the accuracy is low.
Disclosure of Invention
The invention provides a method and equipment for adjusting a motion state of a target vehicle, which are used for solving the problem of low accuracy when coordinate information of each error parameter of an error model of an unmanned automobile is determined in the prior art.
In a first aspect, an embodiment of the present invention provides a method for adjusting a motion state of a target vehicle, where the method includes:
determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
and adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system.
According to the method, firstly, the coordinate transformation numerical value and the coordinate transformation error numerical value of at least one current vector of the target vehicle are determined, then the coordinate information of the at least one state vector in the vehicle body coordinate system is determined according to the determined coordinate transformation numerical value and the coordinate transformation error numerical value, and finally the motion state of the target vehicle is adjusted according to the determined coordinate information.
In one possible implementation, the determining the coordinate transformation value of the state vector and the coordinate transformation error value of the state vector includes:
determining a coordinate transformation numerical value of the at least one state vector and a coordinate transformation error numerical value of the at least one state vector according to the rotation transformation matrix, the oblique symmetry matrix of the angular velocity and the coordinate information of the at least one state vector in the ground coordinate system;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
The method is characterized in that when the coordinate transformation numerical value of at least one state vector of the target vehicle and the coordinate transformation error numerical value of the at least one state vector are determined, the method is determined according to a rotation matrix, a symmetric matrix of the angular velocity and the coordinate transformation numerical value of the at least one state vector in a ground coordinate system, wherein the rotation transformation matrix is the rotation transformation matrix from the ground coordinate system to a vehicle body coordinate system and is determined according to the coordinate transformation relation between a vehicle body coordinate system and the ground coordinate system, and the angular velocity is the angular velocity of the at least one state vector relative to the vehicle body coordinate system in the ground coordinate system. After a rotation transformation matrix from a ground coordinate system to a vehicle body coordinate system, the angular speed of at least one state vector in the ground coordinate system relative to the vehicle body coordinate system and the coordinate information of at least one state vector in the ground coordinate system are determined, the coordinate transformation numerical value of at least one state vector and the coordinate transformation error numerical value of at least one state vector are determined, so that the coordinate information of at least one state vector in the vehicle body coordinate system can be determined more accurately, and the vehicle driving can be controlled more accurately.
In one possible implementation, the determining the coordinate transformation value of the at least one state vector includes:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or the presence of a gas in the gas,
said determining a coordinate transformation error value for said at least one state vector comprises:
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product value;
and taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector.
The method gives a concrete way of determining the coordinate transformation numerical value of the at least one state vector and determining the coordinate transformation error numerical value of the at least one state vector, and the coordinate information of the at least one state vector in the coordinate system of the vehicle body is more accurate due to the fact that the coordinate transformation error numerical value of the at least one state vector is determined.
In one possible implementation, the determining coordinate information of the at least one state vector in the vehicle body coordinate system includes:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation error numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
According to the method, the coordinate transformation numerical value of the at least one determined state vector is added with the coordinate transformation error numerical value of the at least one state vector, and the addition result is used as the coordinate information of the at least one state vector in the coordinate system of the vehicle body.
In one possible implementation, the current state vector of the target vehicle is part or all of the following:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
According to the method, the current state vector of the target vehicle can be a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector, wherein the coordinate information of the state vector in a vehicle body coordinate system can be determined by the state vector of any one target vehicle, so that more accurate driving is realized.
In a second aspect, an embodiment of the present invention provides an apparatus for adjusting a motion state of a target vehicle, including: at least one processing unit and at least one memory unit, wherein the memory unit stores program code that, when executed by the processing unit, causes the processing unit to perform the following:
determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
and adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system.
In a possible implementation manner, the processing unit is specifically configured to:
determining a coordinate transformation numerical value of the at least one state vector and a coordinate transformation error numerical value of the at least one state vector according to the rotation transformation matrix, the oblique symmetry matrix of the angular velocity and the coordinate information of the at least one state vector in the ground coordinate system;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
In a possible implementation manner, the processing unit is specifically configured to:
taking the product of the rotation transformation matrix and the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or the presence of a gas in the gas,
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product value;
and taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector.
In a possible implementation manner, the processing unit is specifically configured to:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
In one possible implementation, the current state vector of the target vehicle is part or all of the following:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
In a third aspect, an embodiment of the present invention provides an apparatus for adjusting a moving state of a target vehicle, including:
a value determination module: the system comprises a ground coordinate system, a state vector acquisition unit, a state vector calculation unit and a state vector calculation unit, wherein the ground coordinate system is used for acquiring coordinate information of at least one current state vector of a target vehicle in the ground coordinate system and a coordinate conversion relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
a coordinate information determination module: the coordinate information of the at least one state vector in the vehicle body coordinate system is determined according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
an adjusting module: the motion state of the target vehicle is adjusted according to the coordinate information of the at least one state vector in the vehicle body coordinate system.
In a possible implementation manner, the numerical value determining module is specifically configured to:
determining a coordinate transformation numerical value of the at least one state vector and a coordinate transformation error numerical value of the at least one state vector according to the rotation transformation matrix, the oblique symmetry matrix of the angular velocity and the coordinate information of the at least one state vector in the ground coordinate system;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
In a possible implementation manner, the numerical value determining module is specifically configured to:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or the presence of a gas in the gas,
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product value;
and converting the ratio of the product to the coordinate information of the at least one state vector in the ground coordinate system into a coordinate transformation error value of the at least one state vector.
In a possible implementation manner, the coordinate information determining module is specifically configured to:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
In one possible implementation, the current state vector of the target vehicle is part or all of the following:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
In a fourth aspect, the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method according to the first aspect.
In addition, for technical effects brought by any one implementation manner of the second aspect to the fourth aspect, reference may be made to technical effects brought by different implementation manners of the first aspect, and details are not described here.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart illustrating a method for adjusting a motion state of a target vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first apparatus for adjusting a motion state of a target vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second apparatus for adjusting a motion state of a target vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The autonomous vehicle can automatically plan a route and automatically determine autonomous driving conditions, such as 80km/h speed and 0km/h acceleration in autonomous driving2The front wheel deflection angle is 0 degree, the course angle is 0 degree, and the vehicle needs to travel along the center line of the road in the driving process. The above are preset driving conditions for automatic driving, and in the actual automatic driving process, there is a possibility that the automatic driving vehicle may not be driven according to the preset driving conditions, so that when the automatic driving vehicle is not driven according to the preset driving conditions, the driving conditions need to be adjusted, so that the adjusted driving conditions are infinitely close to or consistent with the preset driving conditions.
When the automatic driving automobile is not driven according to the preset driving condition, the existence of errors is shown, and the existence of errors, such as position errors, speed errors, acceleration errors, course angle errors, front wheel deflection angle errors and the like, can be determined through an error model. The determination of the error directly affects the accuracy of the automatic driving.
When determining the error, the error of the autonomous vehicle in the ground coordinate system needs to be converted into the body coordinate system, and there may be an error of coordinate conversion in the coordinate conversion process, so when converting the error from the ground coordinate system into the body coordinate system, the error of coordinate conversion may be taken into account on the basis of the coordinate conversion in order to make the coordinate conversion more accurate.
The application scenario described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not form a limitation on the technical solution provided in the embodiment of the present invention, and it can be known by a person skilled in the art that with the occurrence of a new application scenario, the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems.
In view of the above application scenarios, an embodiment of the present invention provides a method for adjusting a motion state of a target vehicle, as shown in fig. 1, the method specifically includes the following steps:
s100, determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
s101, determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
s102, adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system.
According to the embodiment of the invention, the coordinate transformation numerical value and the coordinate transformation error numerical value of at least one current vector of the target vehicle are firstly determined, then the coordinate information of the at least one state vector in the vehicle body coordinate system is determined according to the determined coordinate transformation numerical value and the coordinate transformation error numerical value, and finally the motion state of the target vehicle is adjusted according to the determined coordinate information.
The at least one current state vector of the target vehicle may be a position error vector, a speed error vector, an acceleration error vector, a heading angle error vector, or a front wheel slip angle error vector.
The above description of the current state vector of the target vehicle is only an example, and other state vectors besides the above example are also applicable to the embodiment of the present invention.
The embodiment of the invention relates to the coordinate transformation of the state vector, namely the transformation from a ground coordinate system to a body coordinate system corresponding to the target vehicle, wherein the ground coordinate system can also be called an inertial coordinate system. In the case of converting the state vector from the ground coordinate system to the body coordinate system corresponding to the target vehicle, in actual implementation, there may be an error in coordinate conversion, so that the coordinate conversion needs to take into account an error generated in the coordinate conversion process in addition to the numerical conversion of the state vector between the coordinate systems, so that the coordinate conversion can be more accurate.
For a state vector of a target vehicle, for example, a coordinate transformation numerical value of the determined state vector and a coordinate transformation error numerical value of the state vector may be determined according to coordinate information of the current state vector of the target vehicle in the ground coordinate system and a coordinate transformation relationship between a body coordinate system and the ground coordinate system corresponding to the target vehicle.
The body coordinate system is different for different vehicles, so the target vehicle will correspond to one body coordinate system. After the vehicle body coordinate system is determined, the ground coordinate system is fixed, so that the coordinate conversion relation between the vehicle body coordinate system and the ground coordinate system can be determined.
Specifically, when the coordinate transformation numerical value and the coordinate transformation error numerical value of the state vector are determined, the state vector can be determined according to a rotation transformation matrix from a ground coordinate system to a vehicle body coordinate system, an angular velocity oblique symmetry matrix and coordinate information of the state vector in the ground coordinate system, wherein the rotation matrix from the ground coordinate system to the vehicle body coordinate system can be determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is the angular velocity of the state vector in a ground coordinate system relative to a vehicle body coordinate system, and after the angular velocity is determined, an oblique symmetric matrix of the angular velocity can also be determined.
In an implementation, a ratio between the rotation transformation matrix determined above and the coordinate information of the state vector in the ground coordinate system may be used as a coordinate transformation value of the state vector.
E.g. for rotation transformation matrices
Wherein a represents the ground coordinate system and b represents the body coordinate system, then
A rotation matrix representing a ground coordinate system to a body coordinate system of the target vehicle; r for coordinate information of state vector in ground coordinate systemaWhen the state vector is converted from the vehicle body coordinate system to the ground coordinate system, the coordinate is converted into a numerical value
In an implementation, a product of the determined rotation transformation matrix and the angular velocity oblique symmetry matrix corresponding to the determined angular velocity may be used as a product value, and then a ratio of the determined product value to the coordinate information of the state vector in the ground coordinate system may be used as a coordinate transformation error value of the state vector.
E.g. for rotation transformation matrices
Wherein a represents the ground coordinate system and b represents the body coordinate system, then
A rotation matrix representing a ground coordinate system to a body coordinate system of the target vehicle; for obliquely-symmetrical matrices of angular velocity
Expressed, then the product value is
R for coordinate information of state vector in ground coordinate systemaWhen the state vector is converted from the vehicle body coordinate system to the ground coordinate system, the coordinate conversion error value is
After the coordinate transformation numerical value and the coordinate transformation error numerical value of the state vector of the target vehicle are determined, the coordinate information of the state vector of the target vehicle in the scale coordinate system is determined according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the state vector. When the coordinate information of the state vector of the target vehicle in the reference coordinate system is determined based on the coordinate conversion value and the coordinate conversion error value of the state vector, specifically, the coordinate conversion value of the state vector and the coordinate conversion error value of the state vector may be added to each other, and the result of the addition may be used as the coordinate information of the state vector in the ground coordinate system.
For example, using raRepresenting the coordinate information of the state vector r in the ground coordinate system by rbIndicating the coordinate information of the state vector r in the coordinate system of the vehicle body, and using the above method when the state vector is subjected to coordinate transformation
Coordinate transformation value representing state vector r, using
A coordinate transformation error value representing the state vector r, then
According to the method provided by the embodiment of the invention, after the coordinate information of the state vector in the vehicle body coordinate system is determined, the motion state of the target vehicle is adjusted according to the determined coordinate information of the state vector in the vehicle body coordinate system.
For example, the state vector is a speed error vector, the speed corresponding to the coordinate information of the determined speed error vector is 70km/h, and the preset speed is 80km/h, so that the speed needs to be increased by 10km/h to enable the speed of the automatic driving to reach the preset speed.
The above is merely an example, and there may be a plurality of specific state vectors, which is not limited in this embodiment of the present invention.
Based on the same inventive concept, the embodiment of the present invention further provides a device for adjusting a motion state of a target vehicle, and since the device corresponds to the device corresponding to the method for determining an adjustment target vehicle in the embodiment of the present invention, and the principle of the device for solving the problem is similar to that of the method, the implementation of the device may refer to the implementation of the method, and repeated details are omitted.
As shown in fig. 2, a first apparatus for adjusting a motion state of a target vehicle according to an embodiment of the present invention includes: at least one processing unit 200 and at least one storage unit 201, wherein the storage unit 201 stores program code that, when executed by the processing unit 200, causes the processing unit 200 to perform the following:
determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
and adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system.
Optionally, the processing unit 200 is specifically configured to:
determining a coordinate transformation numerical value of the at least one state vector and a coordinate transformation error numerical value of the at least one state vector according to the rotation transformation matrix, the oblique symmetry matrix of the angular velocity and the coordinate information of the at least one state vector in the ground coordinate system;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
Optionally, the processing unit 200 is specifically configured to:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or the presence of a gas in the gas,
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product value;
and taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector.
Optionally, the processing unit 200 is specifically configured to:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
Optionally, the current state vector of the target vehicle is part or all of the following:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
Based on the same inventive concept, the embodiment of the present invention further provides a device for adjusting a motion state of a target vehicle, and since the device corresponds to the device corresponding to the method for determining an adjustment target vehicle in the embodiment of the present invention, and the principle of the device for solving the problem is similar to that of the method, the implementation of the device may refer to the implementation of the method, and repeated details are omitted.
As shown in fig. 3, a second apparatus for adjusting a motion state of a target vehicle according to an embodiment of the present invention includes: a numerical value determining module 300, a coordinate information determining module 301 and an adjusting module 302.
The value determination module 300: the system comprises a ground coordinate system, a state vector acquisition unit, a state vector calculation unit and a state vector calculation unit, wherein the ground coordinate system is used for acquiring coordinate information of at least one current state vector of a target vehicle in the ground coordinate system and a coordinate conversion relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
coordinate information determination module 301: the coordinate information of the at least one state vector in the vehicle body coordinate system is determined according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
the adjusting module 302: the motion state of the target vehicle is adjusted according to the coordinate information of the at least one state vector in the body coordinate system.
Optionally, the numerical value determining module 300 is specifically configured to:
determining a coordinate transformation numerical value of the at least one state vector and a coordinate transformation error numerical value of the at least one state vector according to the rotation transformation matrix, the oblique symmetry matrix of the angular velocity and the coordinate information of the at least one state vector in the ground coordinate system;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
Optionally, the numerical value determining module 300 is specifically configured to:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or the presence of a gas in the gas,
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product value;
and taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector.
Optionally, the coordinate information determining module 301 is specifically configured to:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
Optionally, the current state vector of the target vehicle is part or all of the following:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
An embodiment of the present invention also provides a readable storage medium for adjusting a motion state of a target vehicle, including program code for causing a computing device to perform the steps of the method for determining category information when the program code runs on the computing device.
The present application is described above with reference to block diagrams and/or flowchart illustrations of methods, apparatus (systems) and/or computer program products according to embodiments of the application. It will be understood that one block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, and/or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the subject application may also be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.). Furthermore, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code embodied in the medium for use by or in connection with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. A method of adjusting a state of motion of a target vehicle, the method comprising:
determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system;
wherein said determining coordinate transformation values for said at least one state vector comprises:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or
Said determining a coordinate transformation error value for said at least one state vector comprises:
taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product numerical value;
taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
2. The method of claim 1, wherein said determining coordinate information of said at least one state vector in said body coordinate system comprises:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation error numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
3. A method according to claim 1 or 2, wherein the current state vector of the target vehicle is part or all of:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
4. An apparatus for adjusting a motion state of a target vehicle, characterized by comprising: at least one processing unit and at least one memory unit, wherein the memory unit stores program code that, when executed by the processing unit, causes the processing unit to perform the following:
determining a coordinate transformation numerical value of at least one state vector and a coordinate transformation error numerical value of at least one state vector according to coordinate information of at least one current state vector of a target vehicle in a ground coordinate system and a coordinate transformation relation between a vehicle body coordinate system corresponding to the target vehicle and the ground coordinate system;
determining coordinate information of the at least one state vector in the vehicle body coordinate system according to the coordinate transformation numerical value and the coordinate transformation error numerical value of the at least one state vector;
adjusting the motion state of the target vehicle according to the coordinate information of the at least one state vector in the vehicle body coordinate system;
wherein the processing unit is specifically configured to:
taking the ratio of the rotation transformation matrix to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation numerical value of the at least one state vector; and/or
Taking the product of the rotation transformation matrix and the oblique symmetry matrix of the angular velocity as a product numerical value;
taking the ratio of the product value to the coordinate information of the at least one state vector in the ground coordinate system as a coordinate transformation error value of the at least one state vector;
the rotation transformation matrix is a rotation transformation matrix from the ground coordinate system to the vehicle body coordinate system and is determined according to a coordinate transformation relation between the vehicle body coordinate system and the ground coordinate system; the angular velocity is an angular velocity of the at least one state vector in the ground coordinate system relative to the body coordinate system.
5. The device of claim 4, wherein the processing unit is specifically configured to:
and adding the coordinate transformation numerical value of the at least one state vector and the coordinate transformation numerical value of the at least one state vector to obtain the coordinate information of the at least one state vector in the vehicle body coordinate system.
6. The apparatus according to claim 4 or 5, wherein the current state vector of the target vehicle is part or all of:
a position error vector, a speed error vector, an acceleration error vector, a course angle error vector and a front wheel deflection angle error vector.
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