Vehicle turning method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a vehicle turning method and device, electronic equipment and storage medium, relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving, intelligent traffic and the like. The specific implementation scheme is: obtaining a positioning position and a target position of a vehicle; path planning is performed on the vehicle under the boundary constraint condition of a drivable area to obtain a first path from the positioning position to the target position; when the reference trajectory point in the first path includes a turning curvature greater than a curvature threshold, the boundary constraint condition is removed, and the path after the reference trajectory point is re-planned to obtain a second path; the intersection between the second path and the boundary of the drivable area is taken as a collision point, the vehicle is controlled to drive to the collision point along the second path and then reverse, and the vehicle body direction is adjusted according to the target driving direction after turning to complete the vehicle turning. The vehicle turning on a large-curvature road is realized, the phenomenon of vehicle detouring is avoided, and the traffic efficiency of the vehicle is improved.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, specifically to technologies such as autonomous driving and intelligent transportation, and in particular to methods, devices, electronic equipment, and storage media for vehicle turning around. Background Technology

[0002] During the operation of autonomous vehicles, U-turns on certain roads with large curvatures exceed the vehicle's physical limitations, making it difficult for the vehicle to complete the turn. Therefore, when performing global path planning, these roads with large curvatures are not considered as part of the planned path, which can lead to vehicles taking detours and resulting in low traffic efficiency. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for turning a vehicle around.

[0004] According to one aspect of this disclosure, a method for making a U-turn is provided. The method includes: obtaining the vehicle's location and the target location to which the vehicle needs to travel after making the U-turn; performing path planning on the vehicle under boundary constraints of a drivable area to obtain a first path from the location to the target location; if the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold, releasing the boundary constraints and replanning the path after the reference trajectory point to obtain a second path; using the intersection point between the second path and the boundary of the drivable area as a collision point, controlling the vehicle to travel along the second path to the collision point and then reversing, and adjusting the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn.

[0005] According to another aspect of this disclosure, a vehicle turning device is provided, the device comprising: an acquisition module for acquiring the vehicle's positioning position and the target position to which the vehicle needs to travel after turning around; a first path planning module for planning a path for the vehicle under boundary constraints of a drivable area to obtain a first path from the positioning position to the target position; a second path planning module for releasing the boundary constraints and replanning the path after the reference trajectory point to obtain a second path if the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold; and a control module for using the intersection point between the second path and the boundary of the drivable area as a collision point, controlling the vehicle to travel along the second path to the collision point and then reverse, and adjusting the vehicle's direction according to the target driving direction after the turn to complete the vehicle turn.

[0006] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the vehicle turning method of this disclosure.

[0007] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to perform the vehicle turning method disclosed in embodiments of this disclosure.

[0008] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle turning method of this disclosure.

[0009] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0010] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0011] Figure 1 This is an example image of a vehicle making a U-turn on a road with high curvature.

[0012] Figure 2 This is a schematic flowchart of a vehicle turning method according to the first embodiment of this disclosure;

[0013] Figure 3 This is a schematic flowchart of a vehicle turning method according to the second embodiment of this disclosure;

[0014] Figure 4 This is a schematic flowchart of a vehicle turning method according to the third embodiment of this disclosure;

[0015] Figure 5 This is an example diagram of a vehicle making a U-turn on a road with high curvature according to the third embodiment of this disclosure;

[0016] Figure 6 This is another example diagram of a vehicle making a U-turn on a road with high curvature according to the third embodiment of this disclosure;

[0017] Figure 7 This is a schematic flowchart of a vehicle turning method according to the fourth embodiment of this disclosure;

[0018] Figure 8 This is a schematic diagram of the structure of a vehicle turning device according to the fifth embodiment of this disclosure;

[0019] Figure 9 This is a schematic diagram of the vehicle turning device according to the sixth embodiment of the present disclosure;

[0020] Figure 10 This is a block diagram of an electronic device used to implement the vehicle turning method according to the embodiments of this disclosure. Detailed Implementation

[0021] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0022] During the operation of autonomous vehicles, making a U-turn on certain roads with large curvatures exceeds the vehicle's physical limitations, making it difficult for the vehicle to complete the U-turn.

[0023] For example, refer to Figure 1 If a vehicle is traveling from point A in the direction indicated by the arrow and needs to reach point B, it needs to travel a certain distance from point A in the direction indicated by the arrow before making a U-turn. However, when the vehicle is traveling from point A to point C, even if the steering wheel is turned to the left to its maximum angle, it will still hit the right-hand curb D. Therefore, making a U-turn on this road with a high curvature exceeds the vehicle's physical limitations, making it very difficult for the vehicle to complete the U-turn.

[0024] Because making a U-turn on some roads with high curvature exceeds the physical limitations of the vehicle, making it difficult for the vehicle to complete the U-turn, roads with high curvature are not considered as part of the planned path during global path planning. This can lead to vehicles taking detours and resulting in low traffic efficiency.

[0025] To address the aforementioned problems, this disclosure provides a vehicle U-turn method, apparatus, electronic device, non-transitory computer-readable storage medium, and computer program product. The vehicle U-turn method includes: acquiring the vehicle's location and the target location the vehicle needs to travel to after the U-turn; under boundary constraints of the drivable area, performing path planning for the vehicle to obtain a first path from the location to the target location; if the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold, releasing the boundary constraints and replanning the path after the reference trajectory point to obtain a second path; using the intersection of the second path with the boundary of the drivable area as a collision point, controlling the vehicle to travel along the second path to the collision point and then reversing, adjusting the vehicle's direction according to the target travel direction after the U-turn to complete the U-turn. This enables vehicle U-turns on roads with high curvature, thereby avoiding vehicle detours and improving traffic efficiency.

[0026] It should be noted that, since the vehicle turning method provided in this embodiment of the present disclosure is based on three location points—the vehicle's positioning location, the target location to which the vehicle needs to travel after the turn, and the intersection point between the second path and the boundary of the drivable area—it enables the vehicle to turn on a road with high curvature. Therefore, this method can be called the "three-point turn" method.

[0027] The vehicle turning method, device, electronic equipment, non-transitory computer-readable storage medium, and computer program products provided in this disclosure relate to the field of artificial intelligence technology, specifically to the fields of autonomous driving and intelligent transportation.

[0028] Artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0029] The following description, with reference to the accompanying drawings, outlines a vehicle turning method, apparatus, electronic device, non-transitory computer-readable storage medium, and computer program product according to embodiments of the present disclosure.

[0030] The vehicle turning method provided in the embodiments of this disclosure will be described first.

[0031] Figure 2This is a flowchart illustrating a vehicle turning method according to the first embodiment of this disclosure. It should be noted that the vehicle turning method in this embodiment is executed by a vehicle turning device, which can be implemented by software and / or hardware. The vehicle turning device can be configured in an electronic device, which may include, but is not limited to, terminal devices, servers, etc. This embodiment does not specifically limit the electronic device. For example, the electronic device can be an onboard computer.

[0032] like Figure 2 As shown, the method for turning a vehicle around can include:

[0033] Step 201: Obtain the vehicle's location and the target location the vehicle needs to travel to after making a U-turn.

[0034] It should be noted that the electronic device in this embodiment can communicate with the vehicle via data.

[0035] In this embodiment, the vehicle can be a vehicle with autonomous driving capabilities.

[0036] The vehicle's location is its position before it made a U-turn.

[0037] The vehicle's position can be defined as either its center point or any other point on the vehicle. For example, the vehicle's location can be the center point of the vehicle before it makes a U-turn; the target location can be the position the vehicle's center point needs to reach after making a U-turn.

[0038] Step 202: Under the boundary constraints of the drivable area, perform path planning for the vehicle to obtain the first path from the positioning location to the target location.

[0039] Among them, the drivable area is the area where vehicles can drive.

[0040] Boundary constraints refer to the restrictions that must be followed to ensure the safe operation of vehicles; these are hard constraints. For example, vehicles must not collide with road shoulders or fences, and vehicles must not cross lane lines.

[0041] In the embodiments of this application, a "scatter optimization" method can be used to plan the vehicle's path to obtain the first path from the location to the target location. That is, the road from the location to the target location is sampled to obtain many original points. These original points can move under the boundary constraints of the drivable area. Thus, a numerical optimizer can calculate a path that meets the boundary constraints of the drivable area. This path is the first path from the location to the target location.

[0042] The first path consists of multiple trajectory points.

[0043] Step 203: If the first path includes a reference trajectory point with a curvature greater than the curvature threshold, remove the boundary constraints and replan the path after the reference trajectory point to obtain the second path.

[0044] Among them, curvature refers to the curvature of the path formed by multiple trajectory points, indicating the degree to which the path deviates from a straight line.

[0045] The curvature threshold can be preset according to the needs of the application scenario, and this disclosure does not impose any restrictions on it. For example, the curvature threshold can be determined based on the maximum rotation angle of the vehicle's steering wheel.

[0046] As an example, for any two consecutive trajectory points in the first path, the turning curvature of the sub-path formed by the two trajectory points can be obtained, and it can be determined whether the turning curvature is greater than the curvature threshold. If the turning curvature of the sub-path formed by any two trajectory points is greater than the curvature threshold, it can be determined that the first path includes trajectory points with a turning curvature greater than the curvature threshold, and the trajectory points in the sub-path with a turning curvature greater than the curvature threshold are called reference trajectory points.

[0047] As an example, for any trajectory point in the first path, the turning curvature of the sub-path formed by that trajectory point and at least one subsequent trajectory point can be obtained, and it can be determined whether the turning curvature is greater than a curvature threshold. If the turning curvature of the sub-path formed by any trajectory point and at least one subsequent trajectory point is greater than the curvature threshold, it can be determined that the first path includes trajectory points with turning curvature greater than the curvature threshold, and this arbitrary trajectory point is called a reference trajectory point. Here, the trajectory points after a certain trajectory point a refer to the trajectory points traversed by the vehicle after passing trajectory point a.

[0048] The number of reference trajectory points can be one or more, and this disclosure does not limit this.

[0049] The path following a reference trajectory point refers to the route the vehicle takes from the reference trajectory point to the target location after traveling along the first path to the reference trajectory point. When there are multiple reference trajectory points, the path following a reference trajectory point can refer to the route from a specific reference trajectory point to the target location.

[0050] In the embodiments of this disclosure, if the first path includes a reference trajectory point with a turning curvature greater than the curvature threshold, it can be determined that the vehicle needs to make a U-turn on a road with high curvature. This allows the boundary constraints to be released, and the path after the reference trajectory point to be replanned. That is, the trajectory points in this path may not comply with the boundary constraints, thereby obtaining the second path.

[0051] The second path can be composed of each trajectory point in the sub-path from the positioning position to the reference trajectory point position in the first path, and each trajectory point in the path after the replanned reference trajectory point.

[0052] The process of planning the route for the vehicle to obtain the first and second routes can be found in relevant technologies and will not be elaborated here.

[0053] Step 204: Take the intersection point between the second path and the boundary of the drivable area as the collision point, control the vehicle to drive along the second path to the collision point and then reverse, and adjust the vehicle direction according to the target driving direction after the U-turn to complete the U-turn.

[0054] The boundaries of the drivable area can be shoulders, fences, lane lines, etc., and this disclosure does not impose any restrictions on them.

[0055] The collision point is the point where the collision occurs.

[0056] The target driving direction is the direction in which the vehicle travels from its U-turn position toward the target location.

[0057] It is understandable that, since the boundary constraints are removed when the second path is obtained through path planning, there will be an intersection point between the second path and the boundary of the drivable area. In this embodiment, the intersection point between the second path and the boundary of the drivable area can be used as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverse. During the reversing process, the vehicle's direction is adjusted according to the target driving direction after the U-turn to complete the U-turn. After the U-turn is completed, the vehicle can drive towards the target location along the target driving direction.

[0058] It should be noted that in scenarios where vehicles drive on the right, the intersection of the second path and the boundary of the drivable area is located on the right side of the vehicle after it makes a U-turn. Therefore, when planning the second path, it is only necessary to remove the boundary constraints corresponding to the right side of the vehicle after it makes a U-turn.

[0059] In summary, the vehicle U-turn method provided in this disclosure obtains the vehicle's location and the target location the vehicle needs to travel to after the U-turn. Under the boundary constraints of the drivable area, path planning is performed on the vehicle to obtain a first path from the location to the target location. If the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold, the boundary constraints are released, and the path after the reference trajectory point is replanned to obtain a second path. The intersection point of the second path with the boundary of the drivable area is used as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverses. The vehicle's direction is adjusted according to the target travel direction after the U-turn to complete the U-turn. Therefore, vehicle U-turns on roads with high curvature are achieved, thus avoiding vehicle detours and improving traffic efficiency.

[0060] The following is combined Figure 3 The path planning process for the first and second paths will be further explained.

[0061] Figure 3 This is a schematic flowchart of a vehicle turning-around method according to the second embodiment of this disclosure. Figure 3 As shown, a vehicle turning around method may include the following steps:

[0062] Step 301: Obtain the vehicle's location and the target location the vehicle needs to travel to after making a U-turn.

[0063] The specific implementation process and principle of step 301 can be found in the descriptions of other embodiments, and will not be repeated here.

[0064] Step 302: Under the boundary constraints of the drivable area, perform path planning for the vehicle to obtain the first path from the positioning location to the target location.

[0065] In the embodiments of this disclosure, step 302 can be implemented in the following way: under the boundary constraints of the drivable area, the vehicle is route-planned with the location as the starting point and the target location as the ending point to obtain the first path that minimizes the value of the set loss function.

[0066] Here, a loss function is set to indicate the difference between the index of each trajectory point in the first path and the set expected value.

[0067] The loss function can be a squared loss function, an exponential loss function, etc., and this disclosure does not impose any restrictions on it.

[0068] The indicators are used to measure the merits of the first path. There can be one or more indicators, and this disclosure does not limit the number of indicators.

[0069] Set the expected value, which is the expected value corresponding to the pre-defined indicator. When there are multiple indicators, different indicators have different expected values.

[0070] In the embodiments of this disclosure, a numerical optimizer can be used to plan a path for the vehicle, starting from its current location and ending at its target location, under the boundary constraints of the drivable area, to obtain a first path that minimizes the set loss function. Thus, the optimal path that accurately satisfies the boundary constraints of the drivable area and minimizes the difference between the indices of each trajectory point and the set expected value can be accurately obtained.

[0071] As an example, the metrics may include at least one of curvature and smoothness.

[0072] Taking indicators including turning radius and smoothness as an example, under the boundary constraints of the drivable area, the vehicle is planned from the positioning position to the target position. The first path that minimizes the set loss function is obtained. The optimal path that satisfies the boundary constraints of the drivable area and minimizes the difference between the turning radius and smoothness of each trajectory point and the corresponding set expected value can be accurately obtained.

[0073] Step 303: If the first path includes reference trajectory points with a turning curvature greater than the curvature threshold, determine the number of reference trajectory points and / or the proportion of reference trajectory points in the first path.

[0074] Step 304: If the number of points is greater than the number threshold and / or the proportion is greater than the proportion threshold, the path after the first reference trajectory point is replanned by removing the boundary constraints to obtain the second path.

[0075] The number threshold and the proportion threshold can be set according to the needs of the application scenario, and this disclosure does not impose any restrictions on them.

[0076] The first reference trajectory point refers to the reference trajectory point that the vehicle first passes through when traveling along the first path. The path after the first reference trajectory point refers to the path taken from the position of the first reference trajectory point to the target position.

[0077] As an example, if the first path includes reference trajectory points with a turning curvature greater than a curvature threshold, the number of reference trajectory points can be determined, and it can be judged whether the number of reference trajectory points is greater than a number threshold. If the number is greater than the number threshold, it can be determined that the vehicle needs to make a U-turn on the road with high curvature. Therefore, by removing the boundary constraints, the path after the first reference trajectory point can be replanned to obtain the second path.

[0078] As an example, if the first path includes reference trajectory points with a turning curvature greater than a curvature threshold, the proportion of these reference trajectory points in the first path can be determined, and it can be judged whether this proportion is greater than a proportional threshold. If the proportion is greater than the proportional threshold, it can be determined that the vehicle needs to make a U-turn on a road with high curvature. Therefore, by removing the boundary constraints, the path after the first reference trajectory point can be replanned to obtain the second path.

[0079] The proportion of reference trajectory points in the first path is the ratio of the number of reference trajectory points to the total number of trajectory points in the first path.

[0080] As an example, if the first path includes reference trajectory points with a curvature greater than a curvature threshold, the number of reference trajectory points and their proportion in the first path can be determined. It can then be judged whether the number of reference trajectory points exceeds a number threshold and whether the proportion exceeds a proportion threshold. If the number exceeds the number threshold and the proportion exceeds the proportion threshold, it can be determined that the vehicle needs to make a U-turn on the road with high curvature. Therefore, by removing the boundary constraints, the path after the first reference trajectory point can be replanned to obtain the second path.

[0081] As an example, by removing boundary constraints and replanning the path after the first reference trajectory point to obtain the second path, it can include: planning the path for the vehicle with the position of the first reference trajectory point as the starting point and the target position as the ending point to obtain the third path that minimizes the set loss function; connecting the sub-path from the positioning position to the position of the first reference trajectory point in the first path with the third path to obtain the second path.

[0082] Therefore, by determining the number of reference trajectory points and / or the proportion of reference trajectory points in the first path when the first path includes reference trajectory points with a turning curvature greater than the curvature threshold, and judging whether the number is greater than the number threshold and / or the proportion is greater than the proportion threshold, it is possible to more accurately determine whether the vehicle needs to make a U-turn on a road with high curvature using the "three-point U-turn" method provided in this embodiment. Then, if it is accurately determined that the vehicle needs to make a U-turn on a road with high curvature using the "three-point U-turn" method provided in this embodiment, the boundary constraints are then removed, and the path after the first reference trajectory point is replanned to obtain the second path.

[0083] As an example, during the vehicle's journey before making a U-turn, step 302 can be executed at preset time intervals. Each time step 302 is executed, the vehicle's location refers to its position at the time step 302 is executed. The preset time interval can be set according to the application scenario, such as 10ms or 15ms. Therefore, during the vehicle's journey before making a U-turn, multiple first paths corresponding to different moments can be obtained.

[0084] In this embodiment of the disclosure, for each time point corresponding to a first path, it can be determined whether the first path includes reference trajectory points with a turning curvature greater than a curvature threshold. If the first path does not include reference trajectory points with a turning curvature greater than the curvature threshold, the number of reference trajectory points and / or the proportion of reference trajectory points in the first path can be determined. If, in the first paths corresponding to N consecutive time points, the number of reference trajectory points is greater than a number threshold and / or the proportion is greater than a proportion threshold, the boundary constraints can be removed, and the path after the first reference trajectory point in the first path corresponding to the last time point of the N first paths can be replanned to obtain a second path. Here, N is an integer greater than or equal to 1.

[0085] Therefore, by determining whether the number of reference trajectory points in the first path corresponding to N consecutive time points is greater than the number threshold and / or whether the proportion is greater than the proportion threshold, it is possible to more accurately determine whether the vehicle needs to make a U-turn on a road with high curvature using the "three-point U-turn" method provided in this embodiment.

[0086] Step 305: Take the intersection point between the second path and the boundary of the drivable area as the collision point, control the vehicle to drive along the second path to the collision point and then reverse, and adjust the vehicle direction according to the target driving direction after the U-turn to complete the U-turn.

[0087] The specific implementation process and principle of step 305 can be found in the descriptions of other embodiments, and will not be repeated here.

[0088] In summary, the vehicle U-turn method provided in this disclosure obtains the vehicle's location and the target location the vehicle needs to reach after the U-turn. Under the boundary constraints of the drivable area, path planning is performed to obtain a first path from the location to the target location. If the first path includes reference trajectory points with a curvature greater than a curvature threshold, the number of reference trajectory points and / or the proportion of reference trajectory points in the first path are determined. If the number is greater than a number threshold and / or the proportion is greater than a proportion threshold, the boundary constraints are released, and the path after the first reference trajectory point is replanned to obtain a second path. The intersection of the second path with the boundary of the drivable area is used as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverses. The vehicle's direction is adjusted according to the target driving direction after the U-turn to complete the U-turn. Therefore, vehicle U-turns on roads with high curvature are achieved, thus avoiding vehicle detours and improving traffic efficiency.

[0089] The following is combined Figure 4 The present disclosure provides a further explanation of the process in which the vehicle is controlled to travel along the second path to the collision point and then reverses, and the vehicle body direction is adjusted according to the target driving direction after the turn to complete the vehicle turn.

[0090] Figure 4 This is a schematic flowchart of a vehicle turning-around method according to the third embodiment of this disclosure. Figure 4 As shown, a vehicle turning around method may include the following steps:

[0091] Step 401: Obtain the vehicle's location and the target location the vehicle needs to travel to after making a U-turn.

[0092] Step 402: Under the boundary constraints of the drivable area, perform path planning for the vehicle to obtain the first path from the positioning location to the target location.

[0093] Step 403: If the first path includes a reference trajectory point with a curvature greater than the curvature threshold, remove the boundary constraints and replan the path after the reference trajectory point to obtain the second path.

[0094] The specific implementation process and principle of steps 401-403 can be referred to the description of the above embodiments, and will not be repeated here.

[0095] Step 404: The intersection point between the second path and the boundary of the drivable area is taken as the collision point to obtain the target driving distance required to drive from the positioning position to the collision point position.

[0096] The target travel distance is the distance the vehicle needs to travel along the second path from the location to the collision point.

[0097] As an example, the position of the vehicle at the collision point can be determined when the vehicle travels along the second path from the positioning position to the collision point, and the cumulative displacement difference between the position of the vehicle at the collision point and the positioning position can be determined, thereby obtaining the target travel distance required to travel from the positioning position to the collision point.

[0098] refer to Figure 5 Assuming the vehicle's center point is taken as its position, and the vehicle's location is point H, the collision point is the point where the vehicle collides with the shoulder while traveling along the second path. Figure 5 Point E in the diagram. Since the vehicle is traveling along the second path and collides with the shoulder, its position is at point F. Therefore, the cumulative displacement difference between point F and point H can be determined, which is the length of the arc between points F and H. This cumulative displacement difference, which is also the length of the arc, is the target travel distance required to travel from the positioning position to the collision point.

[0099] Step 405: Control the vehicle to travel the target distance along the second path to reach the collision point.

[0100] Specifically, the vehicle can be controlled to travel along a second path, from the location to the target distance, in order to reach the collision point.

[0101] It should be noted that when a vehicle is driving autonomously, it will measure the distance between the vehicle and obstacles in real time and maintain the distance between the vehicle and obstacles greater than the preset minimum distance limit during the driving process, so as to avoid collisions with obstacles and achieve safe driving.

[0102] Therefore, in this embodiment of the disclosure, to avoid the vehicle being unable to reach the collision point due to limitations in the vehicle's safe driving strategy, before controlling the vehicle to travel the target distance along the second path to reach the collision point, it is necessary to stop measuring the distance between the vehicle and the obstacle, or to reduce the minimum distance limit between the vehicle and the obstacle, so as to successfully control the vehicle to travel along the second path to the collision point. That is, before step 405, it may also include:

[0103] Reduce the minimum distance limit between the vehicle and the obstacle; or...

[0104] Stop measuring the distance between the vehicle and the obstacle.

[0105] Step 406: Control the vehicle to reverse at the point of collision, and adjust the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn.

[0106] As an example, step 406 can be implemented as follows: when the vehicle reaches the collision point, generate a reversing task carrying the target mark; call the reversing control program to execute the reversing task, so that the reversing control program controls the vehicle to turn the steering wheel to the right and reverse according to the target mark; stop reversing when the vehicle body direction is consistent with the target driving direction, so as to complete the vehicle turning around.

[0107] It is understandable that the reversing method may differ depending on the specific reversing task. For example, in some scenarios, it may be possible to reverse without turning the steering wheel, such as when encountering traffic congestion, by simply reversing in a straight line; in other scenarios, the steering wheel may need to be turned in a specific direction while reversing. In the embodiments of this disclosure, different markings can be used to indicate different reversing tasks.

[0108] The target marker indicates that the vehicle needs to perform a "three-point U-turn" reversing maneuver at the point of collision. The reversing method for this task, carrying the target marker, can be as follows: turn the steering wheel to the right and reverse, stopping when the vehicle's direction aligns with the target's travel direction.

[0109] In the embodiments of this disclosure, when the vehicle reaches the collision point, after generating a reversing task carrying a target marker, the reversing control program can be invoked to execute the reversing task. The reversing control program controls the vehicle to turn the steering wheel to the right and reverse according to the reversing method indicated by the target marker. The reversing stops when the vehicle body direction is consistent with the target driving direction, thereby completing the vehicle turnaround.

[0110] refer to Figure 6 Assuming the vehicle's center point is taken as its position, when the vehicle reaches the point of collision, its position is at point F. Therefore, the vehicle can be controlled to turn the steering wheel to the right, and... Figure 6 Reverse along the indicated trajectory, stopping when the vehicle's direction aligns with the target direction. At this point, the vehicle's position is point G, completing the U-turn. After the U-turn, the vehicle can then proceed from point G towards the target location in the target direction.

[0111] This allows for vehicle control based on target markings when the vehicle reaches the collision point, ensuring the vehicle's direction aligns with the target's travel direction, thus enabling the vehicle to turn around, avoiding detours, and improving traffic efficiency.

[0112] As an example, when controlling a vehicle to turn the steering wheel to the right and reverse, you can control the vehicle to turn the steering wheel to the right to the maximum turning angle and then reverse.

[0113] By controlling the steering wheel to turn to the right to the maximum angle when reversing, the vehicle can reverse at the maximum angle, thereby reducing the distance the vehicle travels when reversing.

[0114] It should be noted that the embodiments disclosed herein are based on a scenario where the vehicle travels on the right. In this scenario, the reversing task carrying the target marker requires controlling the vehicle to turn the steering wheel to the right and reverse. Conversely, in a scenario where the vehicle travels on the left, the reversing task carrying the target marker requires controlling the vehicle to turn the steering wheel to the left and reverse. That is, in the reversing task carrying the target marker, the direction of the vehicle's steering wheel rotation can be set according to the actual application scenario.

[0115] In summary, the vehicle U-turn method provided in this disclosure obtains the vehicle's location and the target location to which the vehicle needs to travel after the U-turn. Under the boundary constraints of the drivable area, path planning is performed on the vehicle to obtain a first path from the location to the target location. If the first path includes reference trajectory points with a turning curvature greater than a curvature threshold, the boundary constraints are released, and the path after the reference trajectory points is replanned to obtain a second path. The intersection point of the second path with the boundary of the drivable area is used as the collision point to obtain the target travel distance required to travel from the location to the collision point. The vehicle is controlled to travel the target travel distance along the second path to reach the collision point. The vehicle is then controlled to reverse at the collision point, and the vehicle's direction is adjusted according to the target travel direction after the U-turn to complete the U-turn. Thus, the vehicle U-turn is controlled on roads with high curvature based on the vehicle's location, the target location to which the vehicle needs to travel after the U-turn, and the intersection point of the second path with the boundary of the drivable area, thereby avoiding vehicle detours and improving traffic efficiency.

[0116] The following example uses a scenario where vehicles drive on the right, combined with... Figure 7 This document provides further explanation of the vehicle turning method provided in this disclosure. Figure 7 This is a schematic flowchart of a vehicle turning-around method according to the fourth embodiment of this disclosure. Figure 7 As shown, the vehicle turning method may include a task decision part 71, a reversing logic part 72, and a path optimization part 73. The vehicle turning method may include the following steps:

[0117] Step 701: At time n, under the boundary constraints of the drivable area, perform path planning for the vehicle to obtain the first path from the positioning position to the target position, and determine whether the turning curvature detection of each trajectory point in the first path at time n is passed. If yes, proceed to step 707; otherwise, proceed to step 702.

[0118] Understandably, during the vehicle's journey before making a U-turn, the U-turn device can acquire the vehicle's location and the target location it needs to reach after the U-turn at preset time intervals. Under the boundary constraints of the drivable area, it then performs path planning to obtain the first path from the location to the target location. Thus, during the journey before the U-turn, multiple first paths can be obtained, each corresponding to a specific moment. The preset time interval can be set according to the application scenario, such as 10ms or 15ms. During each path planning operation, the vehicle's location is the position it was in at that time.

[0119] Here, the nth time refers to the most recent time, and n is an integer greater than 1.

[0120] In this embodiment of the disclosure, it can be determined whether the first path corresponding to the nth time includes reference trajectory points with a turning curvature greater than the curvature threshold. If it includes such points, it is determined that the turning curvature detection of each trajectory point in the first path corresponding to the nth time has failed. If it does not include such points, it is determined that the turning curvature detection of each trajectory point in the first path corresponding to the nth time has passed.

[0121] Step 702: Determine whether the turning curvature detection of the first path at time n-1 is passed. If yes, proceed to step 707; otherwise, proceed to step 703.

[0122] In the embodiments of this disclosure, if it is determined that the turning curvature detection of each trajectory point in the first path at time n fails, it can be determined whether the first path at time n-1 includes reference trajectory points with a turning curvature greater than the curvature threshold. If it includes reference trajectory points, it is determined that the turning curvature detection of each trajectory point in the first path at time n-1 fails; if it does not include reference trajectory points, it is determined that the turning curvature detection of each trajectory point in the first path at time n-1 passes.

[0123] Step 703: By removing the boundary constraints, replan the path after the reference trajectory point in the first path corresponding to time n to obtain the second path, and determine whether there is a collision point between the second path and the boundary of the drivable area. If so, proceed to step 704; otherwise, proceed to step 707.

[0124] In the embodiments of this disclosure, if the turning curvature detection of each trajectory point in the first path at time n fails, and the turning curvature detection of each trajectory point in the first path at time n-1 also fails, the boundary constraints can be removed, and the path after the reference trajectory point in the first path at time n can be replanned to obtain the second path. Then, it can be determined whether there is an intersection between the second path and the boundary of the drivable area. If an intersection exists, it can be used as a collision point; if no intersection exists, it can be determined that there is no collision point between the second path and the boundary of the drivable area.

[0125] Step 704: Use the collision point as the gear shift point.

[0126] In embodiments of this disclosure, if there is a collision point between the second path and the boundary of the drivable area, the collision point can be used as a shift point.

[0127] Step 705: Obtain the target driving distance required to travel from the location to the collision point, and determine whether the target driving distance is less than the distance threshold. If so, proceed to step 706; otherwise, proceed to step 707.

[0128] The distance threshold can be set according to the needs of the application scenario, and this disclosure does not impose any restrictions on it.

[0129] Step 706: Generate target markers.

[0130] In embodiments of this disclosure, when the target driving distance is less than a distance threshold, a target marker can be generated, which indicates that the vehicle needs to perform a reversing task in the form of a "three-point U-turn" at the collision point.

[0131] Step 707: Determine if reversing is required. If yes, proceed to step 709; otherwise, proceed to step 708.

[0132] In the embodiments of this disclosure, if it is determined that the turning curvature detection of each trajectory point in the first path at time n has passed, the result of whether the turning curvature detection of each trajectory point in the first path at that time has passed can be saved, and step 707 can be executed.

[0133] Alternatively, if it is determined that the turning curvature detection of each trajectory point in the first path at time n fails, and the turning curvature detection of each trajectory point in the first path at time n-1 passes, the results of whether the turning curvature detection of each trajectory point in the first path at these two times can be saved, and step 707 can be executed.

[0134] Alternatively, if the target travel distance is determined to be no less than the distance threshold, step 707 can be executed.

[0135] Alternatively, step 707 can be performed after the target marker is generated.

[0136] Step 708: Perform a traffic congestion check. If there is a traffic congestion, generate a reversing task with a congestion reversing marker.

[0137] In the embodiments of this disclosure, if no marker is generated indicating that the vehicle needs to perform a reversing task, it can be determined that the vehicle does not need to reverse, and thus it can be determined whether there is traffic congestion. If traffic congestion exists, a congestion reversing marker can be generated. The congestion reversing marker indicates that the vehicle needs to perform a reversing task using a congestion reversing method. This congestion reversing method can be: reversing without turning the steering wheel.

[0138] Step 709: Determine whether the reversing method is blocking reversing or three-point U-turn. If the reversing method is blocking reversing, proceed to step 710. If the reversing method is three-point U-turn, proceed to step 711.

[0139] In the embodiments of this disclosure, when a target marker or a blocking reversing marker is generated, it can be determined that the vehicle needs to reverse. Specifically, when a target marker is generated, the reversing method can be determined to be a "three-point U-turn" method; when a blocking reversing marker is generated, the reversing method can be determined to be a "blocking reversing" method.

[0140] Step 710: Control the steering wheel to keep it from turning and reverse.

[0141] Step 711: After the vehicle reaches the collision point, control the vehicle to turn the steering wheel to the right and reverse. Stop reversing when the vehicle's direction is consistent with the target driving direction.

[0142] In the embodiments of this disclosure, when the reversing mode is a "three-point U-turn", the vehicle can be controlled to travel the target distance along the second path to reach the collision point. After the vehicle reaches the collision point, the vehicle is controlled to turn the steering wheel to the right and reverse. The reversing stops when the vehicle body direction is consistent with the target driving direction, so as to complete the vehicle U-turn.

[0143] Step 712, Collision detection and maintenance of the reverse end status.

[0144] In embodiments of this disclosure, it is possible to detect whether the vehicle will collide with an obstacle during and after reversing, and to maintain the reversing end state.

[0145] This enables vehicles to reverse during traffic jams and to make U-turns on roads with high curvature, thus achieving accurate vehicle control, avoiding detours, and improving traffic efficiency.

[0146] The following is combined Figure 8 This document describes the vehicle turning device provided in this disclosure.

[0147] Figure 8 This is a structural schematic diagram of a vehicle turning device according to the fifth embodiment of this disclosure.

[0148] like Figure 8 As shown, the vehicle turning device 800 provided in this disclosure includes: an acquisition module 801, a first path planning module 802, a second path planning module 803, and a control module 804.

[0149] The acquisition module 801 is used to acquire the vehicle's location and the target location the vehicle needs to travel to after making a U-turn.

[0150] The first path planning module 802 is used to plan the path of the vehicle under the boundary constraints of the drivable area to obtain the first path from the positioning position to the target position.

[0151] The second path planning module 803 is used to remove boundary constraints and replan the path after the reference trajectory point in the first path when the reference trajectory point is included, so as to obtain the second path.

[0152] The control module 804 is used to take the intersection point between the second path and the boundary of the drivable area as the collision point, control the vehicle to drive along the second path to the collision point and then reverse, and adjust the vehicle direction according to the target driving direction after the U-turn to complete the U-turn.

[0153] It should be noted that the vehicle turning device 800 provided in this embodiment can execute the vehicle turning method of the aforementioned embodiment. The vehicle turning device 800 can be implemented by software and / or hardware, and can be configured in an electronic device, which may include, but is not limited to, terminal devices, servers, etc. This embodiment does not specifically limit the electronic device.

[0154] It should be noted that the foregoing description of the vehicle turning method also applies to the vehicle turning device provided in this disclosure, and will not be repeated here.

[0155] The vehicle turning device provided in this embodiment acquires the vehicle's location and the target location the vehicle needs to travel to after turning around. Under the boundary constraints of the drivable area, it performs path planning for the vehicle to obtain a first path from the location to the target location. If the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold, the boundary constraints are released, and the path after the reference trajectory point is replanned to obtain a second path. The intersection point of the second path with the boundary of the drivable area is used as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverses. The vehicle's direction is adjusted according to the target travel direction after the turn to complete the vehicle turn. This enables vehicle turns on roads with high curvature, avoiding vehicle detours and improving traffic efficiency.

[0156] The following is combined Figure 9 This document provides further explanation of the vehicle turning device provided in this disclosure.

[0157] Figure 9 This is a structural schematic diagram of a vehicle turning device according to the sixth embodiment of this disclosure.

[0158] like Figure 9 As shown, the vehicle turning device 900 provided in this disclosure includes: an acquisition module 901, a first path planning module 902, a second path planning module 903, and a control module 904. Among them, Figure 9 The acquisition module 901, the first path planning module 902, the second path planning module 903, and the control module 904 are... Figure 8 The acquisition module 801, the first path planning module 802, the second path planning module 803, and the control module 804 have the same function and structure.

[0159] It should be noted that detailed descriptions of the acquisition module 901, the first path planning module 902, the second path planning module 903, and the control module 904 can be found above. Figure 8 The descriptions of the acquisition module 801, the first path planning module 802, the second path planning module 803, and the control module 804 are not provided here.

[0160] In an implementation of this disclosure, the second path planning module 903 includes:

[0161] The determination submodule 9031 is used to determine the number of reference trajectory points and / or the proportion of reference trajectory points in the first path when the first path includes reference trajectory points with a turning curvature greater than a curvature threshold.

[0162] The first path planning submodule 9032 is used to replan the path after the first reference trajectory point by removing boundary constraints when the number of points exceeds the number threshold and / or the proportion exceeds the proportion threshold, so as to obtain the second path.

[0163] In an embodiment of this disclosure, control module 904 includes:

[0164] The acquisition submodule 9041 is used to take the intersection point between the second path and the boundary of the drivable area as the collision point, so as to obtain the target driving distance required to drive from the positioning position to the collision point position;

[0165] The first control submodule 9042 is used to control the vehicle to travel the target distance along the second path in order to reach the collision point;

[0166] The second control submodule 9043 is used to control the vehicle to reverse at the collision point and adjust the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn.

[0167] In an embodiment of this disclosure, control module 904 further includes:

[0168] The third control submodule is used to reduce the minimum distance limit between the vehicle and the obstacle; or, it is used to control the vehicle to stop measuring the distance between the vehicle and the obstacle.

[0169] In an implementation of this disclosure, the second control submodule 9043 includes:

[0170] The generation unit is used to generate a reversing task carrying a target marker when the vehicle reaches the collision point;

[0171] The first control unit is used to call the reversing control program to execute the reversing task, so that the reversing control program controls the vehicle to turn the steering wheel to the right and reverse according to the target mark;

[0172] The second control unit is used to control the vehicle to stop reversing when the vehicle body direction is consistent with the target driving direction, so as to complete the vehicle turning around.

[0173] In embodiments of this disclosure, the first control unit includes:

[0174] The control subunit is used to control the vehicle to turn the steering wheel to the right to the maximum turning angle and to reverse.

[0175] In an implementation of this disclosure, the first path planning module 902 includes:

[0176] The second path planning submodule is used to plan the path of the vehicle with the location as the starting point and the target location as the ending point under the boundary constraints of the drivable area, so as to obtain the first path that minimizes the value of the set loss function.

[0177] Here, a loss function is set to indicate the difference between the index of each trajectory point in the first path and the set expected value.

[0178] In embodiments of this disclosure, the metrics include at least one of tortuosity and smoothness.

[0179] It should be noted that the foregoing description of the vehicle turning method also applies to the vehicle turning device provided in this disclosure, and will not be repeated here.

[0180] The vehicle turning device provided in this embodiment acquires the vehicle's location and the target location the vehicle needs to travel to after turning around. Under the boundary constraints of the drivable area, it performs path planning for the vehicle to obtain a first path from the location to the target location. If the first path includes a reference trajectory point with a turning curvature greater than a curvature threshold, the boundary constraints are released, and the path after the reference trajectory point is replanned to obtain a second path. The intersection point of the second path with the boundary of the drivable area is used as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverses. The vehicle's direction is adjusted according to the target travel direction after the turn to complete the vehicle turn. This enables vehicle turns on roads with high curvature, avoiding vehicle detours and improving traffic efficiency.

[0181] Based on the above embodiments, this disclosure also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the vehicle turning method of this disclosure.

[0182] Based on the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, the computer instructions being used to cause the computer to execute the vehicle turning method disclosed in the embodiments of this disclosure.

[0183] Based on the above embodiments, this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle turning method of this disclosure.

[0184] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0185] Figure 10A schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0186] like Figure 10 As shown, the electronic device 1000 may include a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. The RAM 1003 may also store various programs and data required for the operation of the device 1000. The computing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0187] Multiple components in device 1000 are connected to I / O interface 1005, including: input unit 1006, such as keyboard, mouse, etc.; output unit 1007, such as various types of monitors, speakers, etc.; storage unit 1008, such as disk, optical disk, etc.; and communication unit 1009, such as network card, modem, wireless transceiver, etc. Communication unit 1009 allows device 1000 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0188] The computing unit 1001 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as a vehicle U-turn method. For example, in some embodiments, the vehicle U-turn method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1000 via ROM 1002 and / or communication unit 1009. When the computer program is loaded into RAM 1003 and executed by the computing unit 1001, one or more steps of the vehicle U-turn method described above may be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to perform a vehicle turning method by any other suitable means (e.g., by means of firmware).

[0189] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0190] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0191] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0192] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0193] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0194] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. A server can be a cloud server, a server in a distributed system, or a server incorporating blockchain technology.

[0195] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0196] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for a vehicle to make a U-turn, wherein, The method includes: Obtain the vehicle's location and the target location the vehicle needs to travel to after making a U-turn; Under the boundary constraints of the drivable area, path planning is performed on the vehicle to obtain a first path from the location to the target location; If the first path includes a reference trajectory point with a curvature greater than the curvature threshold, the boundary constraint condition is removed, and the path after the reference trajectory point is replanned to obtain the second path. The intersection point between the second path and the boundary of the drivable area is taken as the collision point. The vehicle is controlled to travel along the second path to the collision point and then reverse. The vehicle direction is adjusted according to the target driving direction after the U-turn to complete the U-turn. Wherein, in the case that the first path includes a reference trajectory point with a curvature greater than a curvature threshold, the boundary constraint condition is removed, and the path after the reference trajectory point is replanned to obtain the second path, including: If the first path includes reference trajectory points with a turning curvature greater than a curvature threshold, determine the number of the reference trajectory points and / or the proportion of the reference trajectory points in the first path. If the number is greater than the number threshold and / or the proportion is greater than the proportion threshold, the boundary constraints are removed, and the path after the first reference trajectory point is replanned to obtain the second path.

2. The method according to claim 1, wherein, The step of using the intersection point between the second path and the boundary of the drivable area as the collision point, controlling the vehicle to travel along the second path to the collision point and then reversing, and adjusting the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn includes: The intersection point between the second path and the boundary of the drivable area is taken as the collision point, so as to obtain the target driving distance required to drive from the positioning position to the collision point position; The vehicle is controlled to travel the target distance along the second path to reach the collision point; The vehicle is controlled to reverse at the point of collision, and the vehicle direction is adjusted according to the target driving direction after the U-turn to complete the U-turn.

3. The method according to claim 2, wherein, Before controlling the vehicle to travel the target distance along the second path to reach the collision point, the method further includes: Reduce the minimum distance limit between the vehicle and the obstacle; or... Stop measuring the distance between the vehicle and the obstacle.

4. The method according to claim 2, wherein, The control of the vehicle to reverse at the point of collision and adjust the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn includes: If the vehicle reaches the collision point, a reversing task carrying a target marker is generated; The reversing control program is invoked to execute the reversing task, so that the reversing control program controls the vehicle to turn the steering wheel to the right and reverse according to the target mark; Stop reversing when the vehicle's direction is aligned with the target's driving direction to complete the U-turn.

5. The method according to claim 4, wherein, The control of the vehicle to turn the steering wheel to the right and reverse includes: Control the vehicle to turn the steering wheel to the right to the maximum turning angle, and then reverse.

6. The method according to any one of claims 1-5, wherein, Under the boundary constraints of the drivable area, the method of performing path planning for the vehicle to obtain a first path from the location to the target location includes: Under the boundary constraints of the drivable area, path planning is performed on the vehicle with the location as the starting point and the target location as the ending point to obtain the first path that minimizes the value of the set loss function. The loss function is used to indicate the difference between the index of each trajectory point in the first path and the set expected value.

7. The method according to claim 6, wherein, The metrics include at least one of curvature and smoothness.

8. A vehicle turning device, wherein, The device includes: The acquisition module is used to acquire the vehicle's location and the target location that the vehicle needs to travel to after making a U-turn; The first path planning module is used to perform path planning for the vehicle under the boundary constraints of the drivable area to obtain a first path from the positioning location to the target location. The second path planning module is used to remove the boundary constraints and replan the path after the reference trajectory point in the first path if the reference trajectory point has a turning curvature greater than the curvature threshold, so as to obtain the second path. The control module is used to take the intersection point between the second path and the boundary of the drivable area as the collision point, control the vehicle to drive along the second path to the collision point and then reverse, and adjust the vehicle direction according to the target driving direction after the U-turn to complete the U-turn; The second path planning module includes: The determination submodule is used to determine the number of reference trajectory points and / or the proportion of the reference trajectory points in the first path when the first path includes reference trajectory points with a turning curvature greater than a curvature threshold. The first path planning submodule is used to replan the path after the first reference trajectory point by removing the boundary constraints when the number is greater than the number threshold and / or the proportion is greater than the proportion threshold, so as to obtain the second path.

9. The apparatus according to claim 8, wherein, The control module includes: The acquisition submodule is used to take the intersection point between the second path and the boundary of the drivable area as the collision point, so as to obtain the target driving distance required for the positioning position to drive to the collision point position; The first control submodule is used to control the vehicle to travel the target distance along the second path to reach the collision point; The second control submodule is used to control the vehicle to reverse at the collision point and adjust the vehicle's direction according to the target driving direction after the U-turn to complete the U-turn.

10. The apparatus according to claim 9, wherein, The control module further includes: The third control submodule is used to reduce the minimum distance limit between the vehicle and the obstacle; or, it is used to control the vehicle to stop measuring the distance between the vehicle and the obstacle.

11. The apparatus according to claim 9, wherein, The second control submodule includes: A generation unit is configured to generate a reversing task carrying a target marker when the vehicle reaches the collision point. The first control unit is used to call the reversing control program to execute the reversing task, so that the reversing control program controls the vehicle to turn the steering wheel to the right and reverse according to the target mark; The second control unit is used to control the vehicle to stop reversing when the vehicle body direction is consistent with the target driving direction, so as to complete the vehicle turning around.

12. The apparatus according to claim 11, wherein, The first control unit includes: The control subunit is used to control the vehicle to turn the steering wheel to the right to the maximum rotation angle and to reverse.

13. The apparatus according to any one of claims 8-12, wherein, The first path planning module includes: The second path planning submodule is used to perform path planning for the vehicle with the positioning position as the starting point and the target position as the ending point under the boundary constraints of the drivable area, so as to obtain the first path that minimizes the value of the set loss function. The loss function is used to indicate the difference between the index of each trajectory point in the first path and the set expected value.

14. The apparatus according to claim 13, wherein, The metrics include at least one of curvature and smoothness.

15. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-7.

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