CN100504788C - Software emulation method of self-determination driving vehicle running process - Google Patents
Software emulation method of self-determination driving vehicle running process Download PDFInfo
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Abstract
The present invention relates to a software imitating method during the running course of the vehicle self-driving, and the imitation of the running course of the vehicle self-driving can be conducted on a computer with the windows operation system. Firstly, the present invention selects a proper state variable and a description pattern of the expectation track, consequently, then sets up a figure display interface and displays the expectation track and the vehicle ichnography under the initial state, and then repeatedly executes the series of procedures of pre-aiming deviation seeking, front-wheel corner control volume seeking, state variable refreshing, and figure display refreshing. The present invention avoids the safety problem likely existing in the course of actual vehicle self-driving experiment and debugging, which can be realized conveniently, and no external equipment is needed; and can imitate the running course of the vehicle self-driving better, and plays an instruction role in the experiment and debugging of actual vehicle self-driving for the relevant science and technology personnel experiment.
Description
Technical field
The present invention relates to a kind of sofeware simulation method of autonomous land vehicle driving process, can on the computing machine of a Windows, carry out the emulation of autonomous land vehicle driving process, relevant scientific and technical personnel be carried out actual autonomous land vehicle experimental debugging play directive function.
Background technology
Automobile is that modern society is the most effective, one of the most widely used vehicles, be keep people's normal life work an indispensable part, and along with the continuous development of society, increasing automobile has been come into people's the visual field.Yet no matter the emerge in multitude of automobile is public bus, lorry, and still increasing private savings car has brought more challenge for traffic efficiency, traffic safety and environmental protection.Frequent day by day traffic jam and traffic hazard badly influence the convenience of people's daily life and the efficient of work, even jeopardize people's life security.In addition, the vehicle exhaust of discharging, especially the vehicle exhausts of a large amount of dischargings during traffic jam can aggravate greenhouse effect, contaminated environment, and then the infringement people are healthy.
At these problems, people have taked many measures.Reduce even eliminate the generation of passenger vehicle tired driver carrying situation as the driving time by monitoring and control passenger vehicle driver; Greatly develop and encourage the how riding public transport of people; Build infrastructure such as highway more.Method on the suchlike management layer has been alleviated serious traffic problems to a certain extent, but can't fundamentally solve the traffic problems that human factor causes.In addition, the measure of adopting more public transport to improve traffic efficiency has also limited the degrees of freedom that people use traffic.Based on these deficiencies, the measure on the Development Technology aspect, if can be fundamentally with the excluded autonomous land vehicle of artificial undesirable element (or claiming intelligent vehicle, automatic driving vehicle) and further intelligent transportation system favored by people.
The research work of autonomous land vehicle has obtained the attention of many countries, and the country that has has just carried out relevant research work decades ago.China starts late to the research of automatic driving vehicle, the research of but existing at present part colleges and universities has also been produced or has been run on urban environment or galloped autonomous land vehicle sample car in highway (as the CyberC3 car of Shanghai university of communications, the THMR-V car of Tsing-Hua University, and the sample car of Jilin University and University of Science and Technology for National Defence).
The groundwork of autonomous driving relates to two aspects: the pose data are obtained with vehicle and are controlled.The pose data are obtained and are meant the posture information of obtaining vehicle self by equipment such as vision camera, laser radar, Magnetic Sensor, sonac, infrared sensor, gyroscope, scrambler and GPS, and the posture information of external environment such as road, roadside trees.Vehicle control typically refers to the vehicle pose that is obtained of utilization and environment posture information vehicle is carried out suitable control and the speed control of turning to, and vehicle is travelled along a desired trajectory as far as possible.This desired trajectory can be in esse pavement marker, as the buildings of the magnetic nail laid on the white index wire of highway central authorities, the road or both sides, road, wall, tree, shrub etc., also can be an imaginary track of cooking up.The process of autonomous driving is exactly to circulate repeatedly to finish the process of above-mentioned two aspect work.As seen, vehicle control is the pith of realizing the vehicle autonomous driving.
For relevant scientific worker, verify the effect of certain vehicle control relationship, the most direct method is to experimentize on actual vehicle.Yet directly experimentizing on actual vehicle but has some disadvantages, and especially in the time also can't determining the stability of vehicle control relationship, experimentizing rashly may make to lose control of one's vehicle, causes casualties and damage to property.Therefore,, by the reliability and the performance of software emulation access control relational expression, conveniently find problem hiding in the control relationship timely earlier,, have the practical application meaning to guarantee the success of further actual vehicle experiment in vehicle control relationship design initial.At present there is not a kind of like this sofeware simulation method of autonomous land vehicle driving process openly to report as yet.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of sofeware simulation method of autonomous land vehicle driving process is proposed, realize easy, the driving process of emulation autonomous land vehicle preferably, avoid the safety problem that may exist in the actual autonomous land vehicle experimental debugging process, provide directly effectively means of testing for relevant scientific worker tests the control effect of designed control relationship.
For realizing this purpose, the present invention has at first chosen the description form of proper state variable and desired trajectory, then set up the graphic presentation interface and show desired trajectory and original state under the planimetric map of vehicle, carry out repeatedly then and take aim in advance that deviation is asked for, the front wheel angle controlled quentity controlled variable is asked for, state variable refreshes and graphic presentation refreshes this a series of step, realize the emulation of autonomous land vehicle driving process.
The sofeware simulation method of autonomous land vehicle driving process of the present invention comprises following concrete steps:
In the 1st step, a position of picking up the car, course angle, front wheel angle be as the state variable of describing the autonomous land vehicle driving process, and set initial state variable value.
The 2nd step, by discrete sampling point the desired trajectory of vehicle ' is described, promptly on desired trajectory, get a sampling point, the positional information of preserving these sampling points every a determining deviation.
Among the present invention, the size of sampling point spacing can determine that flexibly spacing obtains more little according to the design needs, and sampling point is strong more to the approximation capability of desired trajectory, but the memory space of preservation sampling point positional information is also big more.Can between approximation capability and memory space, do a balance as required, select a suitable spacing size.
The 3rd step, set up the graphic presentation interface, utilize the positional information of original state variate-value and all sampling points, planimetric map and all sampling points of the vehicle under the original state are shown, and adjacent spots is connected with straight line; Initial state variable value as current control state variable value constantly, is entered the simulation process of autonomous land vehicle driving process.
The 4th step, selected preview distance, certain point that two-wheeled centre distance behind vehicle dead ahead and the vehicle is equaled preview distance is called to be taken aim at a little in advance; Utilize current control state variable value and preview distance constantly, determine to take aim in advance position a little; Ask in all sampling points and take aim at two a little nearest sampling points in advance, take aim at deviation in advance, promptly take aim in advance a little and the spacing between desired trajectory by the position of these two sampling points and the position calculation taken aim in advance a little.
In the 5th step, set up reflection and takes aim at the control relationship that concerns between deviation and front wheel angle controlled quentity controlled variable in advance, according to this control relationship with take aim at deviometer in advance and calculate the front wheel angle controlled quentity controlled variable.
What deserves to be explained is, in this step, can adopt various concrete control relationships according to actual needs, by emulation, can find out and to make autonomous land vehicle well, the reference when being used as actual autonomous land vehicle experimental debugging along the control relationship that desired trajectory travels.But no matter adopt what concrete control relationship,, all can realize the present invention so long as ask for the front wheel angle controlled quentity controlled variable by taking aim at deviation in advance.
In the 6th step, set up the vehicle dynamic model, the vehicle-state dynamic relationship formula that concerns between the state variable value in next control moment of derivation reflection and the state variable value in the current control moment and the front wheel angle controlled quentity controlled variable; Calculate next control state variable value constantly according to current control state variable value, front wheel angle controlled quentity controlled variable and vehicle-state dynamic relationship formula constantly.
In the 7th step, time-delay is waited for a period of time, and refreshes the demonstration of vehicle in graphical interfaces with next control state variable value constantly.
The 8th step, with current control constantly the state variable value of next control state variable value constantly, got back to for the 4th step as a new round, enter the simulation process of the autonomous land vehicle driving process of a new round.
The present invention has avoided the safety problem that may exist in the actual autonomous land vehicle experimental debugging process, only need on the computing machine of a Windows, carry out emulation, need not to use any external equipment, realize easy, and the driving process of emulation autonomous land vehicle preferably, provide directly effectively means of testing for relevant scientific worker tests the control effect of designed control relationship, relevant scientific and technical personnel are carried out actual autonomous land vehicle experimental debugging play directive function.
Description of drawings
Fig. 1 is the planimetric map of vehicle in the graphic presentation interface and the desired trajectory of vehicle '.
Fig. 2 is the emulation synoptic diagram of autonomous land vehicle driving process.
In Fig. 1 and Fig. 2, in the plane coordinate system in the corresponding reality of per unit length 10 meters.
Embodiment
Be elaborated below with reference to accompanying drawings and in conjunction with a specific embodiment, so that purpose of the present invention, technical scheme are had more deep understanding.
Concrete implementation step is described as follows:
In the 1st step, a position of picking up the car, course angle, front wheel angle be as the state variable of describing the autonomous land vehicle driving process, and set initial state variable value.
Represent vehicle location (x represents that horizontal ordinate, y represent ordinate) with symbol x, y, ψ represents course angle, and δ represents front wheel angle.X, y, ψ, δ have promptly constituted the state variable of describing the autonomous land vehicle driving process, in the present embodiment, are x=0 to the state variable initialize, y=0, ψ=0, δ=0.
The 2nd step, by discrete sampling point the desired trajectory of vehicle ' is described, promptly on desired trajectory, get a sampling point, the positional information of preserving these sampling points every a determining deviation.
Adopt the mode of describing desired trajectory by discrete sampling point among the present invention.Specific practice is to get a sampling point, the positional information of preserving these sampling points every a determining deviation on desired trajectory.In the simulation process, the position of non-sampling point can obtain according to the mode of sampling point position by linear interpolation on the desired trajectory.Spacing obtains more little, and sampling point is strong more to the approximation capability of desired trajectory, but needs the number of samples of preservation position also many more.Can between approximation capability and memory space, do a balance as required, select a suitable spacing size.
In the present embodiment, the desired trajectory of vehicle ' is made up of two parts: a segment length is the 90 degree circular arc BC that 10 meters straight line AB and one section radius-of-curvature are 10 meters.On straight line, only need two sampling points just can determine this straight line fully, so for straight line AB, only the two-end-point A point of cut-off line AB, B point are as sampling point.On circular arc, need more sampling point could reflect the shape of circular arc preferably, so for circular arc BC, the sampling spacing only is 1 meter, promptly 1/10th of this section circular arc radius-of-curvature.As Fig. 1.
The 3rd step, set up the graphic presentation interface, utilize the positional information of original state variate-value and all sampling points, planimetric map and all sampling points of the vehicle under the original state are shown, and adjacent spots is connected with straight line; Initial state variable value as current control state variable value constantly, is entered the simulation process of autonomous land vehicle driving process.
The specific practice that shows is, in a display window, show a plane coordinate system, all sampling points of expression desired trajectory are presented in this coordinate system, connect and demonstration with straight line between adjacent spots, according to initial state variable value, the planimetric map of vehicle is also shown in this plane coordinate system.As Fig. 1.
The 4th step, selected preview distance, certain point that two-wheeled centre distance behind vehicle dead ahead and the vehicle is equaled preview distance is called to be taken aim at a little in advance; Utilize current control state variable value and preview distance constantly, determine to take aim in advance position a little; Ask in all sampling points and take aim at two a little nearest sampling points in advance, take aim at deviation in advance, promptly take aim in advance a little and the spacing between desired trajectory by the position of these two sampling points and the position calculation taken aim in advance a little.
The specific practice in this step is at first to adopt following formula to calculate and take aim at a position in advance:
px＝x(n)+L?cos?ψ(n)
py＝y(n)+L?sin?ψ(n)
Wherein, px, py represent to take aim in advance position a little.X (n), y (n) are current control vehicle location constantly, and ψ (n) is a current control course angle constantly, and L represents preview distance.In the present embodiment, get L=4 rice.
Then ask in all sampling points and take aim at two a little nearest sampling points in advance.
Adopt following formula to calculate at last and take aim at deviation in advance:
Wherein, e represents to take aim in advance deviation, and px, py represent to take aim in advance position a little, (p1x, p1y) and (p2x p2y) represents in all sampling points and the position of taking aim at two a little nearest sampling points in advance.
In the 5th step, set up reflection and takes aim at the control relationship that concerns between deviation and front wheel angle controlled quentity controlled variable in advance, according to this control relationship with take aim at deviometer in advance and calculate the front wheel angle controlled quentity controlled variable.
In the present embodiment, control relationship is got following concrete formula form:
u＝2*e
Wherein, u represents the front wheel angle controlled quentity controlled variable.
What deserves to be explained is that this concrete formula form adopts this concrete formula form just as an example not as restriction of the present invention at this, convenient understanding.Ask for the front wheel angle controlled quentity controlled variable by taking aim at deviation in advance, can adopt in the prior art other control relationship according to actual needs.
In the 6th step, set up the vehicle dynamic model, the vehicle-state dynamic relationship formula that concerns between the state variable value in next control moment of derivation reflection and the state variable value in the current control moment and the front wheel angle controlled quentity controlled variable; Calculate next control state variable value constantly according to current control state variable value, front wheel angle controlled quentity controlled variable and vehicle-state dynamic relationship formula constantly.
Set up the following vehicle dynamic model that turns to dynamic model to constitute by kinematics model and single order
Wherein, x, y represent vehicle location, and ψ represents the vehicle course angle, and δ represents front wheel angle, and l represents vehicle front and back wheel distance between axles, and v represents travel speed, and T represents the steer motor responsive time constant, and u represents the front wheel angle controlled quentity controlled variable.
Above-mentioned continuous differential equation group is described vehicle dynamic model down carries out the discretize processing, push away vehicle-state dynamic relationship formula, as follows:
Wherein, l represents vehicle front and back wheel distance between axles; V represents travel speed; T represents the steer motor responsive time constant; T
0The control cycle that expression is controlled vehicle.X (n), y (n), the current control of ψ (n), δ (n) expression state variable value constantly.X (n+1), y (n+1), ψ (n+1), δ (n+1) represent next control state variable value constantly.
In the present embodiment, l=2 rice, v=3 meter per second, T=0.6 second, T
0=0.1 second.
Calculate next control state variable value constantly according to current control state variable value, front wheel angle controlled quentity controlled variable and above-mentioned vehicle-state dynamic relationship formula constantly again.
In the 7th step, time-delay is waited for a period of time, and refreshes the demonstration of vehicle in graphical interfaces with next control state variable value constantly.
In the present embodiment, the time that postpones to wait for gets identical with control cycle, promptly 0.1 second.The time of postpone waiting for also can be got other value, if less than control cycle, then the emulation meeting of coming out is the effect of a kind of " putting soon "; If greater than control cycle, then be the effect of a kind of " putting slowly ".
The 8th step, with current control constantly the state variable value of next control state variable value constantly, got back to for the 4th step as a new round, enter the simulation process of the autonomous land vehicle driving process of a new round.
The emulation synoptic diagram of the autonomous land vehicle driving process under the above-mentioned concrete implementation step as shown in Figure 2, Fig. 2 is four pictures that intercept from the animation of emulation, demonstrates vehicle four different forms constantly in the process of moving.Adopt the method that provides among the present invention, effectively the driving process of emulation autonomous land vehicle.In above-mentioned the 5th step, the concrete control relationship difference that the deviser adopts, the effect that the autonomous land vehicle that simulates travels are also different.The deviser can attempt various control relationships, by emulation, can find in time which control relationship can make autonomous land vehicle break away from desired trajectory at driving process, when actual autonomous land vehicle experimental debugging, just can avoid adopting such control relationship.Also can find out which kind of control relationship by emulation can make autonomous land vehicle travel along desired trajectory well, adopts this control relationship so when actual autonomous land vehicle experimental debugging, and possibility of success is just higher.Like this, the sofeware simulation method of autonomous land vehicle driving process of the present invention just can carry out actual autonomous land vehicle experimental debugging to relevant scientific and technical personnel and played directive function.
Claims (6)
1, a kind of sofeware simulation method of autonomous land vehicle driving process is characterized in that may further comprise the steps:
1) picks up the car a position, course angle, front wheel angle as the state variable of describing the autonomous land vehicle driving process, and set initial state variable value;
2) describe the desired trajectory of vehicle ' by discrete sampling point, promptly on desired trajectory, get a sampling point, the positional information of preserving these sampling points every a determining deviation;
3) set up the graphic presentation interface, utilize the positional information of original state variate-value and all sampling points, planimetric map and all sampling points of the vehicle under the original state are shown, and adjacent spots is connected with straight line; Initial state variable value as current control state variable value constantly, is entered the simulation process of autonomous land vehicle driving process;
4) selected preview distance, certain point that two-wheeled centre distance behind vehicle dead ahead and the vehicle is equaled preview distance is called to be taken aim at a little in advance; Utilize current control state variable value and preview distance constantly, determine to take aim in advance position a little; Ask in all sampling points and take aim at two a little nearest sampling points in advance, take aim at deviation in advance, promptly take aim in advance a little and the spacing between desired trajectory by the position of these two sampling points and the position calculation taken aim in advance a little;
5) set up reflection and take aim at the control relationship that concerns between deviation and front wheel angle controlled quentity controlled variable in advance, according to this control relationship with take aim at deviometer in advance and calculate the front wheel angle controlled quentity controlled variable;
6) set up the vehicle dynamic model, derive next control of reflection state variable value and current vehicle-state dynamic relationship formula that concerns between state variable value constantly and the front wheel angle controlled quentity controlled variable of controlling constantly; Calculate next control state variable value constantly according to current control state variable value, front wheel angle controlled quentity controlled variable and vehicle-state dynamic relationship formula constantly;
7) time-delay is waited for a period of time, and refreshes the demonstration of vehicle in graphical interfaces with next control state variable value constantly;
8) with current control constantly the state variable value of next control state variable value constantly, get back to step 4), enter the simulation process of the autonomous land vehicle driving process of a new round as a new round.
2, according to the sofeware simulation method of the autonomous land vehicle driving process of claim 1, when it is characterized in that determining to take aim in advance position a little, the employing formula:
px＝x(n)+Lcosψ(n)
py＝y(n)+Lsinψ(n)
Wherein, px, py represent to take aim in advance position a little, and x (n), y (n) are current control vehicle location constantly, and ψ (n) is a current control course angle constantly, and L represents preview distance.
3, according to the sofeware simulation method of the autonomous land vehicle driving process of claim 1, it is characterized in that calculating when taking aim at deviation in advance, adopt formula:
Wherein, e represents to take aim in advance deviation, and px, py represent to take aim in advance position a little, (plx, ply) and (p2x p2y) represents in all sampling points and the position of taking aim at two a little nearest sampling points in advance.
4, according to the sofeware simulation method of the autonomous land vehicle driving process of claim 1, when it is characterized in that calculating constantly state variable value of next control, the vehicle-state dynamic relationship formula of employing is:
Wherein, l represents vehicle front and back wheel distance between axles, and v represents travel speed, and u represents the front wheel angle controlled quentity controlled variable, and T represents steer motor responsive time constant, T
0The control cycle that expression is controlled vehicle, x (n), y (n), the current control of ψ (n), δ (n) expression state variable value constantly, x (n+1), y (n+1), ψ (n+1), δ (n+1) represent next control state variable value constantly.
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| CN106909153B (en) * | 2017-03-21 | 2020-07-31 | 北京京东尚科信息技术有限公司 | Unmanned vehicle transverse control method and device |
| CN107153420B (en) * | 2017-05-25 | 2021-01-22 | 广州汽车集团股份有限公司 | Path tracking control method and device and intelligent automobile |
| US10564643B2 (en) * | 2018-05-31 | 2020-02-18 | Nissan North America, Inc. | Time-warping for autonomous driving simulation |
| WO2020000192A1 (en) * | 2018-06-26 | 2020-01-02 | Psa Automobiles Sa | Method for providing vehicle trajectory prediction |
| CN111665738A (en) * | 2019-03-05 | 2020-09-15 | 阿里巴巴集团控股有限公司 | In-loop simulation system and information processing method and device thereof |
| CN113495767B (en) * | 2020-03-20 | 2023-08-22 | 北京轻舟智航智能技术有限公司 | Method and device for generating interaction scene and electronic equipment |
| CN111547066B (en) * | 2020-04-27 | 2021-11-30 | 中汽信息科技(天津)有限公司 | Vehicle trajectory tracking method, device, equipment and storage medium |
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