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CN-120406437-B - Device control method, device and storage medium

CN120406437BCN 120406437 BCN120406437 BCN 120406437BCN-120406437-B

Abstract

The embodiment of the disclosure provides a device control method, a device and a storage medium, and relates to the technical field of automatic control. The equipment control method comprises the steps of determining control parameters of the movable equipment according to a first planned track of the movable equipment at a first moment, wherein the control parameters comprise at least one of a target speed, a target acceleration and a target course angle for controlling the movable equipment to run, generating a second planned track of the movable equipment according to the position of the movable equipment and the first planned track at a second moment after the first moment, wherein the second planned track at least comprises a specified track overlapped with the first planned track in the longitudinal direction, the transverse deviation of the specified track and the first planned track is smaller than or equal to a preset transverse deviation threshold, the longitudinal direction is the running direction of the movable equipment, updating the control parameters of the movable equipment according to the second planned track, and controlling the movable equipment to run based on the control parameters.

Inventors

  • LI BIN

Assignees

  • 酷睿程(北京)科技有限公司

Dates

Publication Date
20260508
Application Date
20250414

Claims (8)

  1. 1. A method of controlling a device, the method comprising: determining control parameters of the movable equipment according to a first planned track of the movable equipment at a first moment; Generating a second planned track of the movable equipment according to the position of the movable equipment and the first planned track at a second moment after the first moment, wherein the second planned track at least comprises a specified track overlapped with the first planned track in the longitudinal direction, the transverse deviation of the specified track and the first planned track is smaller than or equal to a preset transverse deviation threshold value, the longitudinal direction is the running direction of the movable equipment, the specified track at least comprises a first part of track inherited from the first planned track, the track length of the first part of track is a second track length, the track length of the second track length is a length determined according to a third track length from a first track point to a third track point in the first planned track, the first track point is a track point which is the same as the longitudinal coordinate of the position of the movable equipment at the second moment on the first track, the longitudinal direction is the running direction of the movable equipment, the specified track at least comprises a first part of track line inherited from the first track point to the first track point, the track length of the first part of track is a second track length, the second track length is a track length determined according to a third track length from the first track point to a third track point in the first planned track point, and the third track point is a first track point between the first track point and the first track point is determined to a first track point; updating control parameters of the movable equipment according to the second planning track; and controlling the movable equipment to run based on the control parameters.
  2. 2. The method of claim 1, wherein the step of determining the position of the substrate comprises, In the case that the sum of the third track length and a specified length is smaller than or equal to a preset minimum inheritance length, the second track length is the preset minimum inheritance length, and the specified length is the length of the preset first part track line which continues to extend after covering the third track point, or In the case that the sum of the third track length and the specified length is greater than the preset minimum inheritance length and less than or equal to a preset maximum inheritance length, the second track length is equal to the sum of the third track length and the specified length, or And when the sum value of the third track length and the appointed length is larger than the preset maximum inheritance length, the second track length is the preset maximum inheritance length.
  3. 3. The method according to claim 1 or 2, wherein the specified trajectory of the second planned trajectory further comprises at least a second partial trajectory line, the second partial trajectory line being planned to be generated starting from the second trajectory point, the lateral offset of the second partial trajectory line from the first planned trajectory line being less than or equal to a preset lateral offset threshold.
  4. 4. A method according to claim 3, wherein the cost function used in planning the generation of the second part-trajectory comprises at least a first consistent cost function, the first consistent cost function being a cost function determined based on a first lateral offset of the second part-trajectory from the first planned trajectory and a second lateral offset, the first lateral offset being indicative of a lateral offset between an end point of the second part-trajectory and an end point of the first planned trajectory, the second lateral offset being indicative of a lateral offset between respective trajectory points of the second part-trajectory and the first planned trajectory.
  5. 5. The method of claim 4, wherein the lateral offset between each trajectory point of the second portion trajectory line and the first planned trajectory is determined by gaussian convolution calculation.
  6. 6. The method of claim 1, wherein the specified trajectory of the second planned trajectory is a trajectory planned to be generated starting from a first trajectory point that is a trajectory point on the first planned trajectory that is the same as the longitudinal coordinates of the position of the mobile device at the second moment, and wherein the cost function used in planning to generate the specified trajectory comprises at least a second consistent cost function that is a cost function determined based on a third lateral offset and a fourth lateral offset of the specified trajectory from the first planned trajectory, the third lateral offset being used to characterize a lateral offset between an end point of the specified trajectory and an end point of the first planned trajectory, the fourth lateral offset being used to characterize a lateral offset between each trajectory point of the specified trajectory and the first planned trajectory.
  7. 7. A device control apparatus comprising a memory for storing computer instructions and a processor for invoking the computer instructions from the memory to perform the method of any of claims 1 to 6.
  8. 8. A computer readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the method according to any of claims 1 to 6.

Description

Device control method, device and storage medium Technical Field The present disclosure relates to the field of automatic control technologies, and more particularly, to a device control method, apparatus, and storage medium. Background For mobile equipment such as vehicles, the running track can be automatically planned and generated based on the state of the equipment and surrounding environment information, and the running of the mobile equipment can be automatically controlled according to the planned track. In a dynamically changing environment, the movable equipment can dynamically plan the running track according to the environment information, but the running track planned and generated in the related technology can be suddenly changed in the scenes of lane changing, obstacle avoidance and the like, so that the control stability of the vehicle and the riding experience of a user are affected. Disclosure of Invention In view of this, the embodiments of the present disclosure propose a new technical solution related to device control. According to a first aspect of embodiments of the present disclosure, there is provided an apparatus control method, the method including: Determining control parameters of the movable equipment according to a first planned track of the movable equipment at a first moment, wherein the control parameters comprise at least one of a target speed, a target acceleration and a target course angle for controlling the movable equipment to run; Generating a second planned track of the movable equipment according to the position of the movable equipment and the first planned track at a second moment after the first moment, wherein the second planned track at least comprises a specified track overlapped with the first planned track in the longitudinal direction, the transverse deviation of the specified track and the first planned track is smaller than or equal to a preset transverse deviation threshold, and the longitudinal direction is the running direction of the movable equipment; updating control parameters of the movable equipment according to the second planning track; and controlling the movable equipment to run based on the control parameters. Optionally, the designated track of the second planned track at least comprises a first part track line, the first part track line is a track line between a first track point and a second track point in the first planned track, the first track point is a track point with the same longitudinal coordinate as the position of the movable device at the second moment on the first planned track, and the second track point is a track point determined according to the curvature parameter of the first planned track. Optionally, the track length of the first part track line is a second track length, the second track length is a length determined according to a third track length from the first track point to a third track point in the first planned track, and the third track point is a track point with the largest curvature between the first track point and a track end point of the first planned track. Optionally, in the case that the sum of the third track length and a specified length is smaller than or equal to a preset minimum inheritance length, the second track length is the preset minimum inheritance length, the specified length is the length of the preset first part track line which continues to extend after covering the third track point, or In the case that the sum of the third track length and the specified length is greater than the preset minimum inheritance length and less than or equal to a preset maximum inheritance length, the second track length is equal to the sum of the third track length and the specified length, or And when the sum value of the third track length and the appointed length is larger than the preset maximum inheritance length, the second track length is the preset maximum inheritance length. Optionally, the specified track of the second planned track further includes at least a second portion track line, the second portion track line is planned and generated by taking the second track point as a starting point, and a lateral offset between the second portion track line and the first planned track is smaller than or equal to a preset lateral offset threshold. Optionally, the cost function used in planning the generation of the second part trajectory line comprises at least a first consistency cost function, the first consistency cost function being a cost function determined based on a first lateral offset of the second part trajectory line from the first planned trajectory and a second lateral offset, the first lateral offset being used to characterize a lateral offset between an end point of the second part trajectory line and an end point of the first planned trajectory line, the second lateral offset being used to characterize a lateral offset between respective trajectory points of the second part traject