CN113761701B - Target simulation control method and device - Google Patents

Target simulation control method and device Download PDF

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Publication number
CN113761701B
CN113761701B CN202010954091.8A CN202010954091A CN113761701B CN 113761701 B CN113761701 B CN 113761701B CN 202010954091 A CN202010954091 A CN 202010954091A CN 113761701 B CN113761701 B CN 113761701B
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positioning data
track
target
positioning
information
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CN113761701A (en
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赵禹
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

The invention discloses a target simulation control method and device, and relates to the technical field of computers. One embodiment of the method comprises the following steps: acquiring actual positioning data of a target; judging whether the actual positioning data is the positioning data of the running starting point of the target; if yes, simulating a track line of the target based on the actual positioning data; otherwise, determining planning positioning data of the target based on the actual positioning data, and simulating a track line of the target based on the planning positioning data. According to the embodiment, the running track of the target can be controlled by the main control of the simulation system, so that the movement of the target does not follow the original track in the scene package any more, and the influence of the simulation control algorithm on the running track of the target can be truly reflected; the method can solve the problem that the planning decision result cannot be reflected due to the fact that the calculated target running track is inconsistent with the running track of the planning output during simulation.

Description

Target simulation control method and device
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method and an apparatus for target simulation control.
Background
In the prior art, when the target simulation control is performed, the driving track of the target is planned by directly using the positioning data of the target in the scene, or the driving track of the target is planned according to the calculation result by calculating the target through a control algorithm based on the positioning data of the target in the map. The former cannot truly reflect the influence of the control algorithm on the target running track in the simulation process. In addition, because the control algorithm has more consideration factors, when the performance parameters of the target and the road surface parameters may be different, the parameters of the control algorithm need to be readjusted, so when the output result data of the control algorithm is used for calculation, the calculated target running track may be far away from the running track of the planning output, and thus the planning decision result cannot be reflected well.
Disclosure of Invention
In view of this, the embodiment of the invention provides a method and a device for target simulation control, which can realize that the running track of a target is controlled by the leading of a simulation system, so that the movement of the target does not follow the original track in a scene packet any more, and the influence of a simulation control algorithm on the running track of the target can be truly reflected; the method can solve the problem that the planning decision result cannot be reflected due to the fact that the calculated target running track is inconsistent with the running track of the planning output during simulation.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method for target simulation control, including:
Acquiring actual positioning data of a target;
judging whether the actual positioning data is the positioning data of the running starting point of the target;
if yes, simulating a track line of the target based on the actual positioning data; otherwise, determining planning positioning data of the target based on the actual positioning data, and simulating a track line of the target based on the planning positioning data.
Optionally, the actual positioning data includes a positioning timestamp, and the planning positioning data includes: pose information corresponding to the positioning timestamp; the track line comprises time information and pose information of a plurality of track points;
determining planned positioning data of the target based on the actual positioning data, comprising:
Acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame;
And determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
Optionally, the pose information includes: position information, velocity information, acceleration information, and target orientation information;
determining pose information of the target corresponding to the positioning timestamp according to the positioning timestamp and time information and pose information of each track point in the first track line, wherein the determining comprises the following steps:
acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line;
Determining position information, speed information and acceleration information in the planning positioning data according to the positioning time stamp, and time information, position information, speed information and acceleration information of the first track point and the second track point;
and determining target orientation information in the planning positioning data according to the position information and the target orientation information of the first track point and the position information in the planning positioning data.
Optionally, the time information of each track point on the first track line is the relative time with the first track point on the first track line;
Acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line, wherein the method comprises the following steps:
Determining a time difference between the positioning timestamp and a positioning timestamp of the previous frame of positioning data; acquiring track points with time information closest to the time difference and less than or equal to the time difference from each track point of a first track line as first track points; and acquiring the track point with the time information closest to the time difference and greater than or equal to the time difference from each track point of the first track line as a second track point.
Optionally, the time intervals between adjacent track points in the first track line are equal.
Optionally, before acquiring the first track point before the positioning timestamp and the second track point after the positioning timestamp from the track points of the first track line, the method further includes:
confirming that a time difference between the positioning time stamp and a positioning time stamp of the previous frame of positioning data is greater than zero and less than or equal to a time span of a first trajectory line; and
And if the time difference is smaller than zero or larger than the time span of the first track line, carrying out abnormal alarm.
Optionally, before determining whether the actual positioning data is the positioning data of the running start point of the target, the method further includes: confirming that planning positioning data corresponding to the actual positioning data does not exist;
and if planning positioning data corresponding to the actual positioning data exists, simulating a track line of the target based on the planning positioning data.
According to a second aspect of an embodiment of the present invention, there is provided an apparatus for target simulation control, including:
A control module for: acquiring actual positioning data of a target, and judging whether the actual positioning data is positioning data of an operation starting point of the target; and determining planning positioning data of the target based on the actual positioning data when the actual positioning data is not the positioning data of the running starting point of the target;
a planning module for: simulating a trajectory line of the target based on the actual positioning data when the actual positioning data is positioning data of an operation start point of the target; and simulating a trajectory line of the target based on the planned positioning data when the actual positioning data is not the positioning data of the running start point of the target.
Optionally, the actual positioning data includes a positioning timestamp, and the planning positioning data includes: pose information corresponding to the positioning timestamp; the track line comprises time information and pose information of a plurality of track points;
The control module determining planned positioning data of the target based on the actual positioning data, comprising:
Acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame;
And determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
Optionally, the pose information includes: position information, velocity information, acceleration information, and target orientation information;
The control module determines pose information of the target corresponding to the positioning timestamp according to the positioning timestamp and time information and pose information of each track point in the first track line, and the control module comprises the following steps:
acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line;
Determining position information, speed information and acceleration information in the planning positioning data according to the positioning time stamp, and time information, position information, speed information and acceleration information of the first track point and the second track point;
and determining target orientation information in the planning positioning data according to the position information and the target orientation information of the first track point and the position information in the planning positioning data.
Optionally, the time information of each track point on the first track line is the relative time with the first track point on the first track line;
The control module obtains a first track point and a second track point from each track point of a first track line, wherein the first track point and the second track point are positioned before the positioning time stamp, and the control module comprises:
Determining a time difference between the positioning timestamp and a positioning timestamp of the previous frame of positioning data; acquiring track points with time information closest to the time difference and less than or equal to the time difference from each track point of a first track line as first track points; and acquiring the track point with the time information closest to the time difference and greater than or equal to the time difference from each track point of the first track line as a second track point.
Optionally, the time intervals between adjacent track points in the first track line are equal.
Optionally, the control module is further configured to: before acquiring a first track point before the positioning time stamp and a second track point after the first track point from each track point of a first track line, confirming that the time difference between the positioning time stamp and the positioning time stamp of the positioning data of the previous frame is greater than zero and less than or equal to the time span of the first track line; and
And if the time difference is smaller than zero or larger than the time span of the first track line, carrying out abnormal alarm.
Optionally, the control module is further configured to: before judging whether the actual positioning data is the positioning data of the running starting point of the target, confirming that planning positioning data corresponding to the actual positioning data does not exist;
The planning module is further configured to: and before judging whether the actual positioning data is the positioning data of the running starting point of the target, if planning positioning data corresponding to the actual positioning data exists, simulating a track line of the target based on the planning positioning data.
According to a third aspect of an embodiment of the present invention, there is provided an electronic device for target simulation control, including:
One or more processors;
Storage means for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method provided by the first aspect of the embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable medium having stored thereon a computer program which when executed by a processor implements the method provided by the first aspect of embodiments of the present invention.
One embodiment of the above invention has the following advantages or benefits: when the obtained actual positioning data of the target is the positioning data of the running start point of the target, the trajectory of the target is simulated directly based on the actual positioning data, so that the running start point of the simulated target is ensured to be consistent with the running start point of the target in the scene packet; when the obtained actual positioning data of the target is not the positioning data of the running starting point of the target, the trajectory of the target is simulated based on the planning positioning data determined by the actual positioning data, so that the driving trajectory of the target can be controlled by the main guide of the simulation system, the movement of the target does not follow the original trajectory in the scene package any more, and the influence of the simulation control algorithm on the driving trajectory of the target can be truly reflected. In addition, the track lines of the target running starting point and the non-target running starting point are respectively generated in different modes, so that the problem that the planning decision result cannot be reflected due to the fact that the target running track output based on the planning positioning data is inconsistent with the running track output based on the actual positioning data in the simulation process can be solved.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of the main flow of a method of target simulation control according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the trace lines in an alternative embodiment of the invention;
FIG. 3 is a schematic view of a target rotation angle in an alternative embodiment of the invention;
FIG. 4 is a flow chart of a method of target simulation control in an alternative embodiment of the invention;
FIG. 5 is a schematic diagram of the main modules of an apparatus for target simulation control of an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
Fig. 7 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
According to one aspect of the embodiment of the invention, a method for target simulation control is provided.
FIG. 1 is a schematic diagram of a main flow of a target simulation control method according to an embodiment of the present invention, where, as shown in FIG. 1, the target simulation control method includes: step S101, step S102, and step S103.
In step S101, actual positioning data of the target is acquired. The object referred to in the present invention refers to movable objects such as automatic vehicles, toys, robots, etc. The actual positioning data refers to the positioning data recorded when the target actually runs. In the step, the purpose of acquiring the actual positioning data is to determine the pose of the target at the next moment, and in the actual application process, only one frame of actual positioning data can be acquired, and also multiple frames of actual positioning data can be acquired.
The content contained in the actual positioning data can be selectively set according to the actual situation, for example, the position information and the gesture information of the target are contained, and the gesture information can comprise information such as speed, acceleration, target orientation and the like. In order to facilitate access, a data protocol of the actual positioning data may be set, and a data structure of the actual positioning data may be agreed. Taking PROTOBUF (a structured data storage) protocol as an example, the data structure is as follows:
message localization{
Target coordinates (x-y-z coordinate system)
double x＝1；
double y＝2；
double z＝3；
Speed of the line
double v＝4；
Rate of acceleration
double a＝5；
The orientation of the head (angle between the orientation and the y-axis)
double theta＝6；
}
In step S102, it is determined whether or not the actual positioning data acquired in step S101 is positioning data of the operation start point of the target. The range of the positioning data of the operation start point of the target may be selectively set according to the actual situation, for example: the first frame of positioning data recorded during the actual running of the target is used as the positioning data of the running starting point of the target, or the first N (N is an integer larger than 1) frame of positioning data recorded during the actual running of the target is used as the positioning data of the running starting point of the target, or the positioning data in the pre-preset time length recorded during the actual running of the target is used as the positioning data of the running starting point of the target, and the like.
In this step, if the actual positioning data acquired in step S101 is the positioning data of the operation start point of the target, the process jumps to step S103; otherwise, the process goes to step S104.
In step S103, a trajectory line of the object is simulated based on the actual positioning data. In the invention, when the obtained actual positioning data of the target is the positioning data of the running start point of the target, the fact that the actual positioning data has no corresponding track line is indicated, the pushing calculation is not carried out based on the actual positioning data before the actual positioning data, and the track line of the target is directly simulated based on the actual positioning data at the moment, so that the running start point of the simulated target is consistent with the running start point of the target in the scene packet.
In step S104, planning positioning data of the target is determined based on the actual positioning data, and then in step S105, a trajectory line of the target is simulated based on the planning positioning data.
The actual positioning data obtained each time corresponds to a track line, and the track line is generated by simulation based on the actual positioning data or by simulation based on planning positioning data determined by the actual positioning data. And connecting the track lines corresponding to the actual positioning data obtained each time together to obtain the running track of the target in the whole simulation control process.
The trajectory line is a line formed by connecting the trajectory points of the running path during the target running, as shown in fig. 2. And track points in track lines corresponding to the actual positioning data are target pose planning results after the starting time of the actual positioning data. Illustratively, in step S101, a frame of actual positioning data is acquired, where a trace line corresponding to the frame of actual positioning data includes a plurality of trace points within a plurality of durations from a time stamp of the frame of actual positioning data. The number of trace points included in each trace line may be selectively set according to practical situations, for example, 70, 80 or more. The time intervals between adjacent trace points in the trace line may be equal or different. The time interval between two adjacent track points on the track line can also be selectively set according to practical situations, for example, 50ms, 100ms and the like.
In the practical application process, a track point data protocol can be set, and the data structure of the track point is agreed. Taking PROTOBUF protocol as an example, the data structure of the track point includes pose information of the target corresponding to the track point and track point identification. The data structure of the first trace point is shown below:
message TrajectoryPoint{
Target coordinates (x-y-z coordinate system)
double x＝1；
double y＝2；
double z＝3；
Speed of the line
double v＝4；
Rate of acceleration
double a＝5；
}
message Trajectory{
repeated TrajectoryPoint trajectory_point＝1；
}
The content contained in the track positioning data can be selectively set according to actual conditions, for example, the track positioning data contains position information and posture information of a target, and the posture information can comprise information such as speed, acceleration, target orientation and the like. In order to facilitate access, a data protocol of the track positioning data may be set, and a data structure of the track positioning data is agreed. Taking PROTOBUF (a structured data storage) protocol as an example, the data structure is as follows:
message localization{
Target coordinates (x-y-z coordinate system)
double x＝1；
double y＝2；
double z＝3；
Speed of the line
double v＝4；
Rate of acceleration
double a＝5；
The orientation of the head (angle between the orientation and the y-axis)
double theta＝6；
}
The process of simulating the trajectory of the target according to the actual positioning data or the planned positioning data may be selectively set according to the actual situation, which is not particularly limited in the embodiment of the present invention.
The definition of the x-y-z coordinate system in the above example may be selectively set according to the actual situation, for example, a world coordinate system, or a transverse direction of the road surface where the target is located is taken as an x-axis, a forward direction of the target is taken as a y-axis, and a direction perpendicular to the road surface and upward is taken as a z-axis. The target orientation reflects the direction of travel of the target. For any one track point on the track line, when the position point obtained by pushing the position calculation (pushing the position calculation, namely determining the planning positioning data based on the actual positioning data) based on the current actual positioning data is linearly connected with the position point of the last track point in the x-y-z coordinate system, the included angle between the connecting line and the driving direction of the last position point of the target is the target corner to be solved in the pushing calculation. As shown in fig. 3, in this example, the target is a vehicle, the initial position of the host vehicle in the figure is the position point of the last track point of the vehicle in the x-y-z coordinate system, the initial direction of the host vehicle is the running direction of the vehicle at the last position point, the position of the host vehicle after pushing is the position point obtained by pushing calculation based on the current actual positioning data, and the vehicle corner of the host vehicle is the vehicle corner to be solved by the current pushing calculation.
When the target simulation control is performed, if the target in the scene is directly used for positioning data planning the driving track of the target.
Or calculating the target through a control algorithm based on the positioning data of the target in the map, and planning the driving track of the target according to the calculation result, wherein the driving track of the host vehicle of the simulated result is completely consistent with the track in the original scene packet. In theory, the simulation should be run sequentially according to the topological structure of the algorithm, a certain module generates result data in the simulation, and the downstream uses the result data of the simulation to calculate, instead of using the data in the scene package to calculate, so that the situation of the algorithm package in actual running can be simulated. If the host vehicle control calculation including the push calculation is not performed, the original positioning number in the scene packet is transmitted to a downstream dependent positioning module by the simulation, so that two sources appear in the input data of some downstream blocks during the simulation, one is the positioning data in the original packet, and the other is the data after the simulation calculation. For example: if the topological relation between the modules is 'positioning- > planning- > control', positioning data of the field Jing Bao (namely actual data in running of the host vehicle) are used for the planning module in the simulation, and the simulation system runs the planning module to obtain planning module output data under a new algorithm for control. In this case, the data to the planning module is raw data and the data to the control module is simulated data, so there are two sources. Therefore, the running condition of the downstream module in the simulation can not be truly reflected, and the influence of the control algorithm on the target running track in the simulation process can not be truly reflected.
If the target is calculated through a control algorithm based on the positioning data of the target in the map, the driving track of the target is planned according to the calculation result. In the simulation process, knowing the coordinate of the target in the map, the time, speed, acceleration and other data of the coordinate through the positioning data of the current target; the control is to calculate the positioning of the next frame, and the time of the next frame data can be known because the data of the next frame (i.e. the frame to be controlled through simulation) also exists in the original scene packet; meanwhile, the simulated control module can output gesture data of the next stage of the host vehicle after calculation, such as the speed, acceleration and the like of the host vehicle which need to arrive in a next period of time. The conditions can be used for obtaining the starting point coordinates, the initial speed, the time of the target at the starting point, the acceleration of the target and the time of the target to the end point of the target, the end point coordinates, the end point speed, the end point acceleration and other data of the target can be obtained according to a linear acceleration formula by using the data, and the end point is regarded as the position of the target at the next frame, so that the simple simulation control is completed. In the simulation, the method repeatedly calculates one frame of positioning every time backwards, thereby realizing the target control method dominated by the simulation. Because the active control calculation has more consideration factors of the control algorithm, when the performance parameters of the target and the road surface parameters are possibly different, the parameters of the control algorithm need to be readjusted, so when the calculation is performed by using the output result data of the control algorithm, the calculated target running track is possibly far different from the running track of the planning output, and the planning decision result cannot be reflected well.
In the embodiment of the invention, when the obtained actual positioning data of the target is not the positioning data of the running start point of the target, the track line of the target is simulated based on the planning positioning data determined by the actual positioning data, so that the driving track of the target can be controlled by the simulation system, the movement of the target can not follow the original track in the scene package any more, and the influence of the simulation control algorithm on the driving track of the target can be truly reflected.
In addition, the track lines of the target running starting point and the non-target running starting point are respectively generated in different modes, so that the problem that the planning decision result cannot be reflected due to the fact that the target running track output based on the planning positioning data is inconsistent with the running track output based on the actual positioning data in the simulation process can be solved.
Optionally, the actual positioning data comprises a positioning time stamp, and the planning positioning data comprises: pose information corresponding to the positioning timestamp; the trajectory line includes time information and pose information of a plurality of trajectory points. Determining planned positioning data of the target based on the actual positioning data, comprising: acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame; and determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
Taking fig. 2 as an example, determining planned positioning data of the target at 0.01s based on the actual positioning data includes: acquiring a track line of the target at 0s; and determining pose information of the target at 0.01s according to the time information and the pose information of each track point in the track line of the target at 0 s.
The track points in the track line corresponding to the actual positioning data are the target pose planning results after the starting time of the actual positioning data, so that the track line generated by simulating the positioning data of the previous frame contains pose information corresponding to the timestamp of the positioning data of the current frame. And determining planning positioning data corresponding to the actual positioning data of the current frame according to the track line of the positioning data of the previous frame, so that consistency of pose information corresponding to the same time stamp on different track lines can be ensured, and the simulation control effect is improved.
In the practical application process, before the first track point and the second track point which are positioned before and after the positioning timestamp are obtained from each track point of the first track line, the method further comprises the following steps: and confirming that the time difference between the positioning time stamp and the positioning time stamp of the positioning data of the previous frame is greater than zero and less than or equal to the time span of the first track line so as to ensure that the first track line comprises a first track point before the positioning time stamp and a second track point after the first track point. And if the time difference is smaller than zero or larger than the time span of the first track line, carrying out abnormal alarm.
If the time difference is smaller than zero, it indicates that the actual positioning data of the current frame is no longer in the planning result of the first track line, if the time difference is larger than the time span of the first track line, track points contained in the first track line are too few to be used for determining the planning positioning data of the next frame, and at this time, the number of track points contained in the track points or the time span of the track line can be set to be a larger value.
Optionally, the pose information includes: position information, velocity information, acceleration information, and target orientation information. Determining pose information of the target corresponding to the positioning timestamp according to the positioning timestamp and time information and pose information of each track point in the first track line, wherein the method comprises the following steps: acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line; determining position information, speed information and acceleration information in the planning positioning data according to the positioning time stamp, and time information, position information, speed information and acceleration information of the first track point and the second track point; and determining target orientation information in the planning positioning data according to the position information and the target orientation information of the first track point and the position information in the planning positioning data.
When the time interval between the first track point and the second track point is short, the target can be considered to do linear motion between the first track point and the second track point, and the whole running track is not influenced. In addition, in the practical application process, the target can uniformly accelerate linear motion between the first track point and the second track point. The first track point and the second track point are two track points with the time information on the first track line closest to the positioning time stamp of the current actual positioning data, and pose information of the target corresponding to the positioning time stamp is determined according to the first track point and the second track point, so that stability of the running track of the target in the simulation control process can be ensured, and the simulation control effect is improved.
The time information of each track point on the track line can adopt absolute time, such as a certain time of a certain month, a certain minute and a certain second; the relative time, e.g. the time of each track point relative to the first track point on the track point, may also be used. For example, assuming that the interval between adjacent track points on the track line is 100ms, the location timestamp of the actual location data of a certain frame is 0ms at 32 minutes, 59 seconds, and 15 days of the year 2020, month 26. Then, with absolute time, the first trace point in the corresponding trace line represents the pose of the target at 0ms of 32 minutes 59 seconds on the day 15 of the month 07 of 2020, the second trace point represents the position of the target at 100ms of 32 minutes 59 seconds on the day 15 of the month 07 of 2020, and so on. When the relative time is adopted, the time information of the first track point in the corresponding track line is 0, the time information of the second track point is 100, and so on. The absolute time is adopted, so that pose information of the target at each moment can be conveniently and intuitively known, the relative time is adopted, the time relation among all track points can be conveniently and conveniently known, and the memory occupation amount can be reduced.
Optionally, the time information of each track point on the first track line is a relative time to the first track point on the first track line. Acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line, wherein the method comprises the following steps: determining a time difference between the positioning timestamp and a positioning timestamp of the previous frame of positioning data; acquiring track points with time information closest to the time difference and less than or equal to the time difference from each track point of a first track line as first track points; and acquiring the track point with the time information closest to the time difference and greater than or equal to the time difference from each track point of the first track line as a second track point. Specific examples can be found in the following description based on fig. 4, and are not described here again. The relative time is adopted, so that the relative position of the timestamp of the current actual positioning data in the track line can be conveniently and quickly determined, and the speed of determining the planning positioning data is improved.
Optionally, before determining whether the actual positioning data is the positioning data of the running start point of the target, the method further includes: confirming that planning positioning data corresponding to the actual positioning data does not exist; and if planning positioning data corresponding to the actual positioning data exists, simulating a track line of the target based on the planning positioning data.
In the target simulation process, the simulation system generally comprises a plurality of modules, the topological structures among the modules are not necessarily serial, and the modules are parallel, so that the plurality of modules use the same frame of data, and if the corresponding planning positioning data is determined according to the currently acquired actual positioning data during the simulation of the modules, the planning positioning data can be directly used. Therefore, on one hand, the waste of calculation resources can be avoided, on the other hand, the calculated planning and positioning data can be solidified, the modules using the same frame of actual positioning data are ensured, and the taken planning and positioning data are the same.
FIG. 4 is a flow chart of a method for target simulation control in an alternative embodiment of the present invention, wherein an execution body of the method for implementing target simulation control in the embodiment of the present invention includes a host vehicle control module and a planning module. In this example, the goal is to automatically drive the vehicle, and in the automatic driving system, the calculation of the planning module depends on the actual positioning data of the current vehicle, so the embodiment realizes the host vehicle control logic between the function of reading the actual positioning data and starting the simulation planning. Firstly, the main vehicle control module reads actual positioning data (i.e. the dependent positioning data in the diagram, the time when the vehicle actually runs can be known through the actual positioning data) in the scene package, then judges whether the read actual positioning data is already calculated by the main vehicle control module, and if so, the calculated data is directly returned to the planning module to simulate and generate the track line of the vehicle. If not, it is determined whether a simulated trace line has been generated. If no track is generated, no planning module runs to work before the description, and the situation needs to simulate by using the read actual positioning data in the scene package, so that the running starting point of the simulated vehicle is ensured to be consistent with the running starting point of the vehicle in the scene package. If the track is generated, the simulation of the previous planning module is finished, the track line is output, the pushing calculation can be performed according to the track line generated by the previous simulation, the track line simulation is performed by using the planning positioning data calculated by pushing, and therefore, the fact that the subsequent positioning data are determined according to the latest planning result after the planning result is obtained is ensured. Meanwhile, the dependent positioning data of the planning module is also ideal data of the result of the previous frame of the planning module.
In this embodiment, a track point data protocol is added to the original data structure of the vehicle, and the provisioning planning module outputs a series of track points (these track points are connected, i.e. planned track lines). And writing the track point data generated by each simulation into the newly added data structure. The design of the output data structure of the planning module is referred to in the related description above, and will not be described here again. Meanwhile, the structure of positioning data (the structure of the actual positioning data is the same as that of the planned positioning data) is added in the original data structure, the positioning data comprises the position information and the posture information of the vehicle, the posture information comprises the information of speed, acceleration, vehicle orientation and the like, and the design of the data structure of the positioning data is referred to the related description and is not repeated here.
The push calculation mainly comprises the following steps:
1. Acquiring trajectory point data
The precondition for the calculation of the push position is a simulation result with a planning module, as shown in fig. 2, and each planned track point is connected to form a track line. The data for each track point is based on the track point data protocol described above and is presented by the planning module. Meanwhile, the time interval between adjacent track points is appointed as a fixed length (whether the fixed length value can be customized according to actual conditions or not, and the appointed fixed length is 100ms in the example). The relative time (t) of the trace point is the time to start the simulation with respect to the frame, i.e. the trace points that are output are all the planning results after the frame start time.
2. Acquiring relative time of positioning time stamp of actual positioning data on track line
In this embodiment, except for the actual positioning data of the first frame, the rest positioning data on which the planning module depends are all the planning positioning data obtained by the push calculation. The track point in the planning result is the relative time, so the difference between the positioning timestamp of the actual positioning data and the timestamp of the planning frame needs to be calculated, the relative time of the positioning timestamp of the actual positioning data on the track line is set as t r, the timestamp of the planning single frame is the planning_timestamp, and the positioning timestamp of the actual positioning data is the local_timestamp, and the formula is as follows:
tr＝local_timestamp-planning_timestamp
If t r is negative, it is indicated that the positioning frame data should not be in the current planning result, should theoretically be calculated, and if not the first frame planning simulation, an abnormality needs to be reported in this case, and it is problematic to make such data appear.
3. Calculating position information, speed information and acceleration information of the vehicle in the planning positioning data according to the data of the track points
Because the adjacent track points are all of fixed length, if the vehicle is in uniform acceleration linear motion between the two track points (because the time interval between the two track points is short, the vehicle can be considered to be in linear motion in a tiny time without affecting the whole running track), the main vehicle data on the track line of the time point can be calculated according to the result t r of the last step.
Setting the initial speed of the vehicle as v 0, wherein the data is derived from the calculation result of the actual positioning data of the previous frame, and if the calculation result is the first calculation result, the speed of the actual positioning data of the previous frame is the speed of the actual positioning data of the previous frame; at t r, the vehicle projects a position point on the track line, the speed of the position point is v r, the coordinates of the position point are (x r,yr,zr), and the track line projection data (namely, the position information, the speed information and the acceleration information of the vehicle in the planning positioning data) at t r is solved by the following steps:
a. Two adjacent track points (namely a track point before t r and a track point after t r) of t r are acquired, and the data of the two points are respectively represented by subscripts s and e.
B. The percentage of local_timestamp between two points is calculated as p r:
c. Track line projection data
xr＝(xe-xs)*pr
yr＝(ye-ys)*pr
zr＝(ze-zs)*pr
ar＝as
vr＝v0+ar*(tr-ts)
4. And calculating the vehicle orientation of the vehicle in the planning and positioning data, namely the vehicle corner shown in fig. 3 according to the end point coordinate data (namely the position information of the vehicle in the planning and positioning data) calculated in the step three, and recording as theta.
Assuming that the initial position of the vehicle is (x s,ys,zs), the starting point is oriented to α (the angle between the traveling direction and the y-axis), the end point is (x r,yr,zr), and the end point is the result obtained in the third step, the vehicle rotation angle of the vehicle can be obtained by:
a. The coordinates of the end point are projected onto a coordinate system (i.e., a vehicle body coordinate system) with the direction of the start point as the y axis, and the y axis coordinate y' of the end point on the coordinate system is calculated:
y′＝(yr-y0)*cosα-(xr-x0)*sinα
b. calculating a vehicle rotation angle theta by using a y-axis coordinate in a vehicle body coordinate system, a Euclidean distance of a starting point and a finishing point and a vehicle wheelbase w:
c. In theory, since the end point is the point reached at time t r, the vehicle angle θ calculated in step b is usually the final vehicle heading. However, since the wheel rotation angle of the vehicle to the end point is calculated in the step b, if the vehicle does not reach the end point but reaches an intermediate point within a certain small period of time (assuming t r in this example), it is necessary to calculate the amount of change Δθ of the wheel rotation angle when the vehicle reaches this intermediate point in order to calculate the final vehicle orientation more accurately.
D. the final vehicle orientation θ r is found:
θr＝α+Δθ
5. Writing the planning positioning data calculated by pushing into a field corresponding to the positioning data, and storing the frame planning positioning data into a memory as starting point data for standby when the next frame is pushed.
And (3) according to the first step to the fifth step, the calculation of pushing the actual positioning data of all frames is completed. And when the track line is required to be generated through simulation, firstly reading the dependent actual positioning data to perform bit pushing calculation or acquire the information of the bit pushing calculation, and then performing simulation. And iterating in this way until all the actual positioning data are completely simulated.
According to a second aspect of an embodiment of the present invention, there is provided an apparatus for implementing the above method.
Fig. 5 is a schematic diagram of main modules of an apparatus for target simulation control according to an embodiment of the present invention, and as shown in fig. 5, an apparatus 500 for target simulation control includes:
A control module 501 for: acquiring actual positioning data of a target, and judging whether the actual positioning data is positioning data of an operation starting point of the target; and determining planning positioning data of the target based on the actual positioning data when the actual positioning data is not the positioning data of the running starting point of the target;
A planning module 502 for: simulating a trajectory line of the target based on the actual positioning data when the actual positioning data is positioning data of an operation start point of the target; and simulating a trajectory line of the target based on the planned positioning data when the actual positioning data is not the positioning data of the running start point of the target.
Optionally, the actual positioning data includes a positioning timestamp, and the planning positioning data includes: pose information corresponding to the positioning timestamp; the track line comprises time information and pose information of a plurality of track points;
The control module determining planned positioning data of the target based on the actual positioning data, comprising:
Acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame;
And determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
Optionally, the pose information includes: position information, velocity information, acceleration information, and target orientation information;
The control module determines pose information of the target corresponding to the positioning timestamp according to the positioning timestamp and time information and pose information of each track point in the first track line, and the control module comprises the following steps:
acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line;
Determining position information, speed information and acceleration information in the planning positioning data according to the positioning time stamp, and time information, position information, speed information and acceleration information of the first track point and the second track point;
and determining target orientation information in the planning positioning data according to the position information and the target orientation information of the first track point and the position information in the planning positioning data.
Optionally, the time information of each track point on the first track line is the relative time with the first track point on the first track line;
The control module obtains a first track point and a second track point from each track point of a first track line, wherein the first track point and the second track point are positioned before the positioning time stamp, and the control module comprises:
Determining a time difference between the positioning timestamp and a positioning timestamp of the previous frame of positioning data; acquiring track points with time information closest to the time difference and less than or equal to the time difference from each track point of a first track line as first track points; and acquiring the track point with the time information closest to the time difference and greater than or equal to the time difference from each track point of the first track line as a second track point.
Optionally, the time intervals between adjacent track points in the first track line are equal.
Optionally, the control module is further configured to: before acquiring a first track point before the positioning time stamp and a second track point after the first track point from each track point of a first track line, confirming that the time difference between the positioning time stamp and the positioning time stamp of the positioning data of the previous frame is greater than zero and less than or equal to the time span of the first track line; and
And if the time difference is smaller than zero or larger than the time span of the first track line, carrying out abnormal alarm.
Optionally, the control module is further configured to: before judging whether the actual positioning data is the positioning data of the running starting point of the target, confirming that planning positioning data corresponding to the actual positioning data does not exist;
The planning module is further configured to: and before judging whether the actual positioning data is the positioning data of the running starting point of the target, if planning positioning data corresponding to the actual positioning data exists, simulating a track line of the target based on the planning positioning data.
According to a third aspect of an embodiment of the present invention, there is provided an electronic device for target simulation control, including:
One or more processors;
Storage means for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method provided by the first aspect of the embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable medium having stored thereon a computer program which when executed by a processor implements the method provided by the first aspect of embodiments of the present invention.
FIG. 6 illustrates an exemplary system architecture 600 of a target emulation control method or a target emulation control device to which embodiments of the invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 is used as a medium to provide communication links between the terminal devices 601, 602, 603 and the server 605. The network 604 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
A user may interact with the server 605 via the network 604 using the terminal devices 601, 602, 603 to receive or send messages, etc. Various communication client applications such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only) may be installed on the terminal devices 601, 602, 603.
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The server 605 may be a server providing various services, such as a background management server (by way of example only) providing support for shopping-type websites browsed by users using terminal devices 601, 602, 603. The background management server may analyze and process the received data such as the product information query request, and feedback the processing result (e.g., the target push information, the product information—only an example) to the terminal device.
It should be noted that, the method for target simulation control provided in the embodiment of the present invention is generally executed by the server 605, and accordingly, the device for target simulation control is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 7, there is illustrated a schematic diagram of a computer system 700 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the system 700 are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 701.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor comprising: a control module for: acquiring actual positioning data of a target, and judging whether the actual positioning data is positioning data of an operation starting point of the target; and determining planning positioning data of the target based on the actual positioning data when the actual positioning data is not the positioning data of the running starting point of the target; a planning module for: simulating a trajectory line of the target based on the actual positioning data when the actual positioning data is positioning data of an operation start point of the target; and simulating a trajectory line of the target based on the planned positioning data when the actual positioning data is not the positioning data of the running start point of the target. The names of these modules do not constitute a limitation of the module itself in some cases, for example, the control module may also be described as "a module simulating the trajectory of the object based on the actual positioning data".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: acquiring actual positioning data of a target; judging whether the actual positioning data is the positioning data of the running starting point of the target; if yes, simulating a track line of the target based on the actual positioning data; otherwise, determining planning positioning data of the target based on the actual positioning data, and simulating a track line of the target based on the planning positioning data.
According to the technical scheme provided by the embodiment of the invention, when the obtained actual positioning data of the target is the positioning data of the running start point of the target, the trajectory line of the target is directly simulated based on the actual positioning data, so that the running start point of the simulated target is consistent with the running start point of the target in the scene packet; when the obtained actual positioning data of the target is not the positioning data of the running starting point of the target, the trajectory of the target is simulated based on the planning positioning data determined by the actual positioning data, so that the driving trajectory of the target can be controlled by the main guide of the simulation system, the movement of the target does not follow the original trajectory in the scene package any more, and the influence of the simulation control algorithm on the driving trajectory of the target can be truly reflected. In addition, the track lines of the target running starting point and the non-target running starting point are respectively generated in different modes, so that the problem that the planning decision result cannot be reflected due to the fact that the target running track output based on the planning positioning data is inconsistent with the running track output based on the actual positioning data in the simulation process can be solved.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (9)

1. A method of target simulation control, comprising:
Acquiring actual positioning data of a target;
judging whether the actual positioning data is the positioning data of the running starting point of the target;
If yes, simulating a track line of the target based on the actual positioning data; otherwise, determining planning positioning data of the target based on the actual positioning data, and simulating a track line of the target based on the planning positioning data;
The actual positioning data includes a positioning timestamp, and the planning positioning data includes: pose information corresponding to the positioning timestamp; the track line comprises time information and pose information of a plurality of track points;
determining planned positioning data of the target based on the actual positioning data, comprising:
Acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame;
And determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
2. The method of claim 1, wherein the pose information comprises: position information, velocity information, acceleration information, and target orientation information;
determining pose information of the target corresponding to the positioning timestamp according to the positioning timestamp and time information and pose information of each track point in the first track line, wherein the determining comprises the following steps:
acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line;
Determining position information, speed information and acceleration information in the planning positioning data according to the positioning time stamp, and time information, position information, speed information and acceleration information of the first track point and the second track point;
and determining target orientation information in the planning positioning data according to the position information and the target orientation information of the first track point and the position information in the planning positioning data.
3. The method of claim 2, wherein the time information for each of the trace points on the first trace is a relative time to the first trace point on the first trace;
Acquiring a first track point and a second track point which are positioned before and after the positioning time stamp from the track points of the first track line, wherein the method comprises the following steps:
Determining a time difference between the positioning timestamp and a positioning timestamp of the previous frame of positioning data; acquiring track points with time information closest to the time difference and less than or equal to the time difference from each track point of a first track line as first track points; and acquiring the track point with the time information closest to the time difference and greater than or equal to the time difference from each track point of the first track line as a second track point.
4. The method of claim 2, wherein the time intervals between adjacent ones of the trace points in the first trace line are equal.
5. The method of claim 2, wherein acquiring a first trace point before and a second trace point after the positioning timestamp from each trace point of a first trace line further comprises:
confirming that a time difference between the positioning time stamp and a positioning time stamp of the previous frame of positioning data is greater than zero and less than or equal to a time span of a first trajectory line; and
And if the time difference is smaller than zero or larger than the time span of the first track line, carrying out abnormal alarm.
6. The method according to any one of claims 1-5, wherein before determining whether the actual positioning data is positioning data of a running start of the object, further comprising: confirming that planning positioning data corresponding to the actual positioning data does not exist;
and if planning positioning data corresponding to the actual positioning data exists, simulating a track line of the target based on the planning positioning data.
7. An apparatus for simulation control of a target, comprising:
A control module for: acquiring actual positioning data of a target, and judging whether the actual positioning data is positioning data of an operation starting point of the target; and determining planning positioning data of the target based on the actual positioning data when the actual positioning data is not the positioning data of the running starting point of the target;
A planning module for: simulating a trajectory line of the target based on the actual positioning data when the actual positioning data is positioning data of an operation start point of the target; and simulating a trajectory line of the target based on the planned positioning data when the actual positioning data is not positioning data of a running start point of the target;
The actual positioning data includes a positioning timestamp, and the planning positioning data includes: pose information corresponding to the positioning timestamp; the track line comprises time information and pose information of a plurality of track points;
determining planned positioning data of the target based on the actual positioning data, comprising:
Acquiring a first track line corresponding to the positioning data of the previous frame of the actual positioning data; the first track line is generated based on the simulation of the positioning data of the previous frame or the simulation of the planning positioning data determined based on the positioning data of the previous frame;
And determining pose information of the target corresponding to the positioning time stamp according to the positioning time stamp and the time information and the pose information of each track point in the first track line.
8. An electronic device for target simulation control, comprising:
One or more processors;
Storage means for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-6.
9. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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