Control methods and devices for reversing vehicles, vehicles, storage media, and terminals.

Abstract

This invention discloses a control method and device for reversing a vehicle, a vehicle, a storage medium, and a terminal, relating to the field of autonomous driving technology. Its main objective is to address the problem of poor effectiveness in existing vehicle reversing systems. The method includes: acquiring the vehicle's historical driving trajectory and the positions of obstacle outlines; performing lateral trajectory planning on the historical driving trajectory according to a preset lateral path boundary to obtain a lateral reference trajectory; determining the expected collision location based on the lateral reference trajectory and the obstacle outline positions, generating a longitudinal path boundary according to the expected collision location and a preset collision avoidance distance, and performing longitudinal trajectory planning on the historical driving trajectory based on the longitudinal path boundary to obtain a reversing planned trajectory; and controlling the vehicle to reverse according to the reversing planned trajectory. It is mainly used for controlling vehicle reversing.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a control method and device for reversing a vehicle, a vehicle, a storage medium, and a terminal. Background Technology

[0002] With the rapid development of intelligent driving technology, the control of vehicle driving processes is becoming increasingly refined. Currently, when a vehicle needs to reverse, it usually switches to manual reversing, meaning the driver manually controls the vehicle to reverse. However, when reversing on narrow roads, manual control is prone to significant operational errors, potentially leading to collisions and greatly reducing the safety of reversing, thus making the reversing process less effective. Summary of the Invention

[0003] In view of this, the present invention provides a control method and device for reversing a vehicle, a vehicle, a storage medium, and a terminal, the main purpose of which is to solve the problem of poor effectiveness of existing vehicle reversing methods.

[0004] According to one aspect of the present invention, a method for controlling vehicle reversing is provided, comprising:

[0005] Obtain the vehicle's historical driving trajectory and the location of obstacle outlines;

[0006] The historical driving trajectory is planned laterally according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory.

[0007] Under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline point, a longitudinal path boundary is generated according to the expected collision position and the preset collision avoidance distance, and a longitudinal trajectory is planned on the historical driving trajectory according to the longitudinal path boundary to obtain the reversing planning trajectory.

[0008] The vehicle is controlled to reverse according to the reversing trajectory.

[0009] Furthermore, before acquiring the vehicle's historical driving trajectory and the obstacle outline point positions, the method further includes:

[0010] Upon receiving a reversing trigger command, it is detected whether the vehicle triggers the reversing control operation corresponding to the expected reversing movement. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse.

[0011] Under the condition that no reversing control operation corresponding to the expected reversing driving is detected, the extended driving trajectory of the vehicle is recorded;

[0012] If the reversing control operation is triggered during the recording of the extended driving trajectory, the extended driving trajectory is added to the historical driving trajectory to obtain the historical driving trajectory after the extended driving trajectory is added.

[0013] Furthermore, after detecting whether the vehicle has triggered the reversing control operation corresponding to the expected reversing movement, the method further includes:

[0014] Under the condition that the vehicle triggers the reversing control operation corresponding to the expected reversing driving, a reversing associated operation matching the reversing control operation is determined. The reversing associated operation is used to characterize the operation in which the vehicle is in a reversing driving state.

[0015] Generate an associated control command corresponding to the reversing operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing operation according to the associated control command.

[0016] Furthermore, controlling the vehicle to reverse according to the reversing trajectory includes:

[0017] The reversing position is determined based on the reversing planning trajectory, and a reversing control command is generated based on the preset reversing speed and the reversing position.

[0018] The reversing control command is sent to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse in accordance with the reversing control command.

[0019] Furthermore, before generating the longitudinal path boundary based on the expected collision location and the preset collision avoidance distance, the method further includes:

[0020] In the first coordinate system, under the condition that the expected collision between the vehicle and the obstacle is determined based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory, the collision distance is determined.

[0021] In the second coordinate system, the collision position is determined based on the collision distance.

[0022] Furthermore, after obtaining the vehicle's historical driving trajectory and the obstacle outline points, the method further includes:

[0023] The collision avoidance state of the obstacle is determined based on the position of the obstacle outline points in the historical trajectory frame.

[0024] If the collision avoidance state is a dynamic collision avoidance state, a collision avoidance command is generated and sent to the driving control subsystem to instruct the driving control subsystem to control the vehicle to stop driving;

[0025] If the collision avoidance state is a static collision avoidance state, then the step of performing lateral trajectory planning on the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory is executed.

[0026] Furthermore, after controlling the vehicle to reverse according to the reversing trajectory, the method further includes:

[0027] If a reversing stop trigger command is received while the vehicle is reversing along the planned reversing trajectory, a reversing pause command is generated and sent to the driving control subsystem so that the driving control subsystem controls the vehicle to stop reversing.

[0028] If a reversing driving trigger command is received, the steps of obtaining the vehicle's historical driving trajectory and the obstacle outline point position are re-executed to obtain the reversing planning trajectory and perform reversing driving.

[0029] According to another aspect of the present invention, a control device for reversing a vehicle is provided, comprising:

[0030] The acquisition module is used to acquire the vehicle's historical driving trajectory and the location of obstacle outline points;

[0031] The first planning module is used to plan the lateral trajectory of the historical driving trajectory according to the preset lateral path boundary, so as to obtain the lateral reference trajectory of the historical driving trajectory.

[0032] The second planning module is used to generate a longitudinal path boundary based on the expected collision location and a preset collision avoidance distance, under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline points, and to perform longitudinal trajectory planning on the historical driving trajectory based on the longitudinal path boundary to obtain the reversing planning trajectory.

[0033] The control module is used to control the vehicle to reverse according to the reversing planned trajectory.

[0034] Furthermore, the device also includes:

[0035] The detection module is used to detect whether the vehicle triggers the expected reversing control operation when a reversing trigger command is received. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse.

[0036] The recording module is used to record the extended driving trajectory of the vehicle when no reversing control operation corresponding to the expected reversing driving is detected.

[0037] An addition module is used to add the extended driving trajectory to the historical driving trajectory when the reversing control operation is triggered during the recording of the extended driving trajectory, so as to obtain the historical driving trajectory after adding the extended driving trajectory.

[0038] Furthermore, the device also includes:

[0039] The first determining module is used to determine a reversing associated operation that matches the reversing control operation when the vehicle triggers a reversing control operation corresponding to the expected reversing driving. The reversing associated operation is used to characterize the operation in which the vehicle is in a reversing driving state.

[0040] The generation module is used to generate an associated control command corresponding to the reversing associated operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing associated operation according to the associated control command.

[0041] Furthermore, the second planning module is specifically used to determine the reversing driving position point according to the reversing planning trajectory, and generate a reversing control command according to the preset reversing speed and the reversing driving position point; send the reversing control command to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse according to the reversing control command.

[0042] Furthermore, the device also includes:

[0043] The second determining module is used to determine the collision distance in the first coordinate system, under the condition that the expected collision between the vehicle and the obstacle is determined based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory.

[0044] The third determining module is used to determine the collision position based on the collision distance in the second coordinate system.

[0045] Furthermore, the device also includes:

[0046] The fourth determining module is used to determine the collision avoidance state of the obstacle based on the position of the obstacle outline points in the historical trajectory frame;

[0047] The sending module is used to generate a collision avoidance command and send it to the driving control subsystem if the collision avoidance state is a dynamic collision avoidance state, so as to instruct the driving control subsystem to control the vehicle to stop driving;

[0048] The execution module is used to perform the step of planning the lateral trajectory of the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory if the collision avoidance state is a static collision avoidance state.

[0049] Furthermore,

[0050] The generation module is further configured to generate a reversing pause command and send it to the driving control subsystem if a reversing stop trigger command is received during the reversing process of the vehicle following the reversing planned trajectory, so that the driving control subsystem controls the vehicle to stop reversing.

[0051] The execution module is further configured to, if a reversing driving trigger command is received, re-execute the step of obtaining the vehicle's historical driving trajectory and the obstacle outline point position, so as to obtain the reversing planning trajectory again and perform reversing driving.

[0052] According to another aspect of the present invention, a storage medium is provided, wherein at least one executable instruction is stored therein, the executable instruction causing a processor to perform an operation corresponding to the above-described vehicle reversing control method.

[0053] According to another aspect of the present invention, a terminal is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus;

[0054] The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the above-described vehicle reversing control method.

[0055] By employing the above-described technical solutions, the technical solutions provided by the embodiments of the present invention have at least the following advantages:

[0056] This invention provides a control method and device for reversing a vehicle, a vehicle, a storage medium, and a terminal. Compared with the prior art, the embodiments of this invention acquire the vehicle's historical driving trajectory and the obstacle outline points of obstacles; perform lateral trajectory planning on the historical driving trajectory according to a preset lateral path boundary to obtain a lateral reference trajectory; under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the obstacle outline points, generate a longitudinal path boundary according to the expected collision location and a preset collision avoidance distance, and perform longitudinal trajectory planning on the historical driving trajectory according to the longitudinal path boundary to obtain a reversing planning trajectory; control the vehicle to reverse according to the reversing planning trajectory, achieving the purpose of automatic control during reversing, reducing the occurrence of collisions during reversing, improving the safety of automatic reversing, thereby improving the effectiveness of automatic reversing and meeting the requirement of avoiding collisions during reversing.

[0057] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0058] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0059] Figure 1 A flowchart of a vehicle reversing control method provided by an embodiment of the present invention is shown;

[0060] Figure 2 A flowchart illustrating a longitudinal decision-making process based on obstacle collision risk, provided by an embodiment of the present invention, is shown.

[0061] Figure 3 This diagram illustrates a vehicle reversing along a planned reversing trajectory, according to an embodiment of the present invention.

[0062] Figure 4 This invention provides a flowchart of another vehicle reversing control method according to an embodiment of the present invention.

[0063] Figure 5 This diagram illustrates a reversing timing according to an embodiment of the present invention.

[0064] Figure 6This diagram illustrates a coordinate transformation method for reversing driving control according to an embodiment of the present invention.

[0065] Figure 7 A flowchart of another vehicle reversing driving control method provided by an embodiment of the present invention is shown;

[0066] Figure 8 This diagram illustrates a vehicle reversing to avoid a collision, according to an embodiment of the present invention.

[0067] Figure 9 This invention provides another reverse timing diagram.

[0068] Figure 10 This diagram illustrates a block diagram of a vehicle reversing control device according to an embodiment of the present invention.

[0069] Figure 11 A schematic diagram of the structure of a terminal provided in an embodiment of the present invention is shown. Detailed Implementation

[0070] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0071] When reversing a vehicle on narrow roads, manual operation is prone to errors, increasing the risk of collisions and significantly reducing safety, thus making reversing ineffective. This invention provides a method for controlling reversing a vehicle, such as... Figure 1 As shown, the method includes:

[0072] 101. Obtain the vehicle's historical driving trajectory and the location of obstacle outlines.

[0073] In this embodiment of the invention, the vehicle is a vehicle with an automatic control system in an autonomous driving scenario, including passenger cars and commercial vehicles. Common passenger car models include, but are not limited to, sedans, SUVs, and multi-person commercial vehicles. Common commercial vehicle models include, but are not limited to, pickup trucks, minivans, dump trucks, cargo trucks, tractors, trailers, and mining vehicles. In this case, the vehicle can achieve autonomous driving based on the automatic control system. The current execution end can be the automatic control system in the vehicle, or a remote processor or cloud server that communicates with the vehicle, etc., and this embodiment of the invention does not make specific limitations. When the vehicle is driving normally, the current execution end records the vehicle's driving trajectory in real time for storage as a historical driving trajectory. The historical driving trajectory is the vehicle's driving trajectory recorded within a historical time period. The obstacle is an object that affects the vehicle's driving by scanning on the historical driving trajectory, such as trees, walls, etc. Correspondingly, the obstacle outline point position is the position of the points that form the obstacle outline in a fixed coordinate system, so as to determine whether a collision occurs with the vehicle during the reversing process based on the obstacle outline point position.

[0074] It should be noted that, in order to control the vehicle's reversing movement, the vehicle's historical driving trajectory is recorded during forward driving, and obstacles are scanned along the path of the historical driving trajectory, thus enabling the vehicle to plan its trajectory during reversing.

[0075] 102. Perform lateral trajectory planning on the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory.

[0076] In this embodiment of the invention, to avoid collisions during reversing, the historical driving trajectory is first planned based on a preset lateral path boundary for lateral trajectory planning to obtain the lateral reference trajectory of the vehicle during reversing. The preset lateral path boundary characterizes the constraints used for lateral trajectory planning decisions. Optimization is performed based on this preset lateral path boundary to obtain the lateral reference trajectory. The preset lateral path boundary can be configured according to the minimum lateral distance between the vehicle and obstacles; however, this embodiment of the invention does not impose specific limitations on its configuration.

[0077] It should be noted that, in order to better achieve lateral trajectory planning, a coordinate system can be constructed based on the driving direction of the historical driving trajectory for lateral trajectory planning. The preferred coordinate system is the Frenrt coordinate system. Furthermore, lateral trajectory planning can be based on a lateral path decision algorithm to optimize and solve the historical driving trajectory under the constraints of a preset lateral path boundary to obtain a lateral reference trajectory. The lateral path strategy algorithm in this embodiment of the invention is not specifically limited.

[0078] 103. Under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline point, a longitudinal path boundary is generated according to the expected collision position and the preset collision avoidance distance, and a longitudinal trajectory is planned on the historical driving trajectory according to the longitudinal path boundary to obtain the reversing planning trajectory.

[0079] In this embodiment of the invention, after obtaining the lateral reference trajectory of the historical driving trajectory, to avoid collisions with obstacles due to vehicle deviation from the trajectory caused by control tracking performance issues during reverse driving, a judgment is made based on the lateral reference trajectory and the position of the obstacle's outline points to determine whether a collision will occur. Under the condition of an expected collision, a longitudinal path is generated based on the expected collision location and a preset collision avoidance distance. This longitudinal path boundary is then used to plan the historical driving trajectory, resulting in a reverse driving trajectory. The collision location is the position where the vehicle's current position overlaps with the obstacle's outline point position, representing the location at the time of the collision. The preset collision avoidance distance is a pre-configured collision avoidance distance in the longitudinal trajectory planning, i.e., a pre-configured safety distance; this embodiment of the invention does not impose specific limitations. Specifically, the longitudinal path boundary can be the difference between the collision location and the preset collision avoidance distance, added to an initial longitudinal path boundary upper limit set, such as the bound upper limit set, to obtain constraints for the longitudinal trajectory planning decision algorithm. In this case, the collision distance can preferably be the position coordinate with the minimum collision risk point; this embodiment of the invention does not impose specific limitations. Figure 2 The flowchart shown is a longitudinal decision-making process based on obstacle collision risk. Preferably, in the Cartesian coordinate system, for each frame of the scanned vehicle outline and obstacle wheel, the vehicle outline point position and obstacle outline point are combined to determine whether the vehicle collides with the obstacle (such as a pillar, curbstone, other obstacle wall, etc.). That is, it is determined whether there are more than 3 overlapping points between the outline point positions. If so, it means that a collision has occurred and the collision position is recorded.

[0080] It should be noted that, for longitudinal trajectory planning, after determining the longitudinal path boundary, the reversing planning trajectory is obtained by optimizing the historical driving trajectory under the constraint of the longitudinal path boundary based on the longitudinal path decision algorithm. The longitudinal path strategy algorithm in this embodiment of the invention is not specifically limited.

[0081] 104. Control the vehicle to reverse according to the reversing planning trajectory.

[0082] Once the current execution end determines the vehicle's reversing trajectory, it controls the vehicle to reverse along this trajectory to achieve automatic control during reversing. This reduces the likelihood of collisions during reversing, improves vehicle safety during automatic reversing, enhances the effectiveness of automatic reversing, and meets the requirement of avoiding collisions during reversing.

[0083] In a specific application scenario, such as Figure 3 As shown, when reversing according to the planned reversing trajectory, since the planned reversing trajectory is obtained based on horizontal and vertical planning, it will avoid obstacles on the planned reversing trajectory, thus completing the reversing driving.

[0084] In another embodiment of the invention, for further definition and explanation, such as Figure 4 As shown, before obtaining the vehicle's historical driving trajectory and the obstacle outline points, the method further includes:

[0085] 201. Upon receiving a reversing trigger command, detect whether the vehicle triggers the reversing control operation corresponding to the expected reversing movement;

[0086] 202. Under the condition that no reversing control operation corresponding to the expected reversing driving is detected, record the extended driving trajectory of the vehicle;

[0087] 203. If the reversing control operation is triggered during the recording of the extended driving trajectory, the extended driving trajectory is added to the historical driving trajectory to obtain the historical driving trajectory after the extended driving trajectory is added.

[0088] In this embodiment of the invention, to accurately plan the reversing trajectory based on historical driving trajectories and improve the accuracy of reversing trajectory planning obtained through erroneous operation after triggering the reversing command, specifically, after receiving the reversing trigger command, it detects in real time whether a reversing control operation has been executed. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse, including but not limited to reversing gear selection operation, brake pedal operation, etc., to determine whether the vehicle has entered the reversing driving state. For example, when the user clicks the reversing start button, after the current execution terminal receives the reversing trigger command, it detects whether the user has shifted into reverse gear to determine whether the user has correctly entered the reversing driving state or whether an erroneous operation has occurred. If no reversing control operation corresponding to the expected reversing driving is detected, it means that the user did not shift into reverse gear after triggering the reversing start, and may still be in the forward driving state. At this time, the current execution terminal records the extended driving trajectory of the vehicle. If a reversing control operation is detected during the recording of the extended driving trajectory at the current execution end, it means that the user has triggered the corresponding reversing control operation and entered the reversing driving state. Therefore, in order to accurately obtain the reversing planning trajectory based on the historical driving trajectory, the extended driving trajectory is added to the historical driving trajectory to obtain the historical driving trajectory after adding the extended driving trajectory for generating the reversing planning trajectory.

[0089] In a specific application scenario, such as Figure 2 As shown, when the vehicle travels from point a to point b and the reverse start button is triggered, the historical driving trajectory is the path from point a to point b. Since no user operation to shift into reverse gear is detected, the trajectory of the vehicle continuing to travel forward from point b is recorded. When the vehicle travels to point c and the user operation to shift into reverse gear, the extended driving trajectory between point b and point c is added to the historical driving trajectory, resulting in a new historical driving trajectory for generating the reverse planning trajectory.

[0090] In another embodiment of the invention, to further define and illustrate, after detecting whether the vehicle triggers the reversing control operation corresponding to the expected reversing movement, the method further includes:

[0091] If the vehicle triggers a reversing control operation corresponding to the expected reversing movement, determine a reversing associated operation that matches the reversing control operation.

[0092] Generate an associated control command corresponding to the reversing operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing operation according to the associated control command.

[0093] In this embodiment of the invention, to ensure the safety of the vehicle during automatic reverse driving, the current execution terminal detects whether a reverse control operation is triggered to determine if a matching reverse-related operation exists. Since the reverse control operation characterizes the operation of controlling the vehicle to reverse, including but not limited to selecting the reverse gear or operating the brake pedal, upon detecting that the user has triggered a reverse control operation, a matching reverse-related operation is determined. This matching reverse-related operation characterizes the operation of the vehicle in reverse driving mode, including but not limited to turning the reverse lights on or off, or opening or closing the doors. After determining the matching reverse-related command, a corresponding associated control command is generated and sent to the driving control subsystem, causing the driving control subsystem to execute the reverse-related operation according to this command.

[0094] In such Figure 5 In the application scenario shown in the timing diagram, when the user triggers the reverse start button, the MFF processor in the current execution unit sends an enable instruction to enable the NP-Planning processor in the current execution unit to determine that the reversing associated operation is to turn on the hazard lights. Then, it generates an associated control instruction for turning on the hazard lights and sends it to the driving control subsystem, instructing the execution control subsystem to turn on the hazard lights. It can be understood that if the reversing control operation is the reverse stop button, the corresponding reversing associated operation can be to turn off the hazard lights, and correspondingly, an associated control instruction for turning off the hazard lights is generated. This will not be elaborated further in this embodiment of the invention.

[0095] In another embodiment of the invention, for further definition and explanation, the step of controlling the vehicle to reverse according to the reversing planning trajectory includes:

[0096] The reversing position is determined based on the reversing planning trajectory, and a reversing control command is generated based on the preset reversing speed and the reversing position.

[0097] The reversing control command is sent to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse in accordance with the reversing control command.

[0098] Since the current execution end can be an automatic control system, a remote processor or cloud server that communicates with the vehicle, etc., in order to accurately control the vehicle, the driving control subsystem communicates with the current execution end to control the vehicle to perform corresponding operations according to various received instructions. Specifically, during the process of controlling the vehicle to reverse, since the reversing starting point can be the position point where the user triggers the reversing operation, such as the position point where reverse gear is engaged, the reversing starting point can be used as the starting point, and the reversing position point can be determined based on the reversing planning trajectory. That is, the reversing position point is used as the reversing end point. This can be determined by selecting it in the front-end interface that outputs the reversing planning trajectory, or it can be determined based on a preset reversing path length, or it can be determined based on a preset reversing time. This embodiment of the invention does not make specific limitations. After determining the reversing position point, a reversing control command is generated based on the preset reversing speed and the reversing position point. At this time, the preset reversing speed is a pre-configured reversing speed, such as 30km / h, to ensure slow reversing and safety. Once a reversing control command is generated, it is sent to the driving control subsystem so that the driving control subsystem can drive the vehicle to reverse according to the reversing control command, that is, control the vehicle to reverse at a preset reversing speed to the reversing position point to complete the reversing.

[0099] It should be noted that the driving control subsystem in this embodiment of the invention can be a drive device that directly controls the vehicle engine for forward or reverse driving, and is not specifically limited thereto. Additionally, as... Figure 6 As shown, when a vehicle plans its trajectory, it maps the vehicle's geometric center to various points on the planned trajectory, thus enabling the vehicle to travel along the planned path. However, the control equipment in the driving control subsystem uses the rear axle center as the target point. Therefore, when generating reversing control commands, a coordinate transformation is first performed, converting the coordinates of the geometric center used for reversing trajectory planning into the coordinates of the rear axle center used to control the vehicle's movement. This ensures that the generated reversing control commands drive the vehicle along the planned reversing trajectory.

[0100] In another embodiment of the invention, for further definition and explanation, such as Figure 7 As shown, before generating the longitudinal path boundary based on the expected collision location and a preset collision avoidance distance, the method further includes:

[0101] 301. In the first coordinate system, under the condition that the vehicle and the obstacle are expected to collide based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory, the collision distance is determined.

[0102] 302. In the second coordinate system, determine the collision position based on the collision distance.

[0103] In this embodiment of the invention, to accurately avoid collisions during reversing, the collision position is determined before generating the longitudinal path boundary. The first coordinate system is used to characterize the vehicle's lateral and longitudinal coordinate positions, preferably a Cartesian coordinate system. In this case, the vehicle's center point serves as the planning point for trajectory planning. The second coordinate system is constructed from the distance along the trajectory and the distance from the trajectory centerline, preferably a Freunrt coordinate system, to determine the collision position in the Freunrt coordinate system and to plan the reversing trajectory based on this collision position. This embodiment of the invention does not impose specific limitations. In the Cartesian coordinate system, the overlap between the vehicle's outline point position and the obstacle's outline point position on the lateral reference trajectory is determined. If they overlap, the vehicle collides with the obstacle; if they do not overlap, they do not. The collision distance is then calculated based on the overlap distance between the vehicle and the obstacle at the time of collision. In this embodiment of the invention, the collision distance can be calculated directly using the overlap distance or by extending the overlap distance, without specific limitations.

[0104] In another embodiment of the invention, to further define and illustrate, after obtaining the historical driving trajectory of the vehicle and the obstacle outline points of the obstacle, the method further includes:

[0105] The collision avoidance state of the obstacle is determined based on the position of the obstacle outline points in the historical trajectory frame.

[0106] If the collision avoidance state is a dynamic collision avoidance state, a collision avoidance command is generated and sent to the driving control subsystem to instruct the driving control subsystem to control the vehicle to stop driving;

[0107] If the collision avoidance state is a static collision avoidance state, then the step of performing lateral trajectory planning on the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory is executed.

[0108] In this embodiment of the invention, to avoid collisions between the vehicle and obstacles during reversing, after determining the obstacle's outline point position, the obstacle's collision avoidance state is further determined to determine whether the vehicle should reverse based on different collision avoidance states. The collision avoidance states include dynamic collision avoidance states and static collision avoidance states. Dynamic collision avoidance states characterize obstacles in motion, such as pedestrians or moving vehicles, while static collision avoidance states characterize obstacles at rest, such as walls or utility poles. This embodiment of the invention does not impose specific limitations on these states. To determine the collision avoidance state, each frame of the historical trajectory frame containing the historical driving trajectory is identified to determine whether the obstacle's outline point position has changed. If the obstacle's outline point position changes in each frame of the historical driving trajectory, it indicates a dynamic collision avoidance state; if the obstacle's outline point position does not change in each frame of the historical driving trajectory, it indicates a static collision avoidance state.

[0109] It should be noted that if the collision avoidance state is dynamic, to prevent the trajectory planning from failing to quickly adapt and control the vehicle to avoid dynamic obstacles, the current execution terminal generates a collision avoidance command and sends it to the driving control subsystem to instruct the driving control subsystem to stop the vehicle. This collision avoidance command represents an instruction to stop the vehicle. If the collision avoidance state is static, the current execution terminal performs a step of lateral trajectory planning based on a preset lateral path boundary to obtain a lateral reference trajectory for the historical driving trajectory. Based on the lateral reference trajectory and the obstacle's outline position, it further determines whether a collision has occurred with the obstacle.

[0110] In a specific application scenario, such as Figure 8 As shown, if an obstacle is detected during the vehicle's reversing motion and a dynamic collision avoidance state is initiated (e.g., a pedestrian behind the vehicle or another vehicle to the side of the vehicle), a collision avoidance command is generated to instruct the driving control subsystem to bring the vehicle to a stop.

[0111] In another embodiment of the invention, for further definition and explanation, after controlling the vehicle to reverse according to the reversing trajectory, the method further includes:

[0112] If a reversing stop trigger command is received while the vehicle is reversing along the planned reversing trajectory, a reversing pause command is generated and sent to the driving control subsystem so that the driving control subsystem controls the vehicle to stop reversing.

[0113] If a reversing driving trigger command is received, the steps of obtaining the vehicle's historical driving trajectory and the obstacle outline point position are re-executed to obtain the reversing planning trajectory and perform reversing driving.

[0114] In this embodiment of the invention, since the vehicle can also be controlled by the driver, to meet the need to stop at any time during automatic reversing, while the vehicle is reversing according to the planned reversing trajectory, the current execution terminal continuously detects whether it receives a reversing stop trigger command from the user to determine whether the user needs to stop. When a reversing stop trigger command is received, a reversing pause command is generated and sent to the driving control subsystem to stop the reversing process. Figure 9 As shown in the timing diagram, when the vehicle is in a paused reverse position, if a user-triggered reverse driving command is received, it indicates that the user has a need to resume reverse driving. Therefore, the steps of obtaining the vehicle's historical driving trajectory and the obstacle outline point positions are re-executed to obtain the reverse planning trajectory again and resume reverse driving.

[0115] It should be noted that after generating the reversing trajectory, the current execution end can output the reversing trajectory to the front-end interface of the vehicle control panel for user viewing. When the user triggers a reversing stop command or a reversing drive command, the front-end interface can continue to display the reversing trajectory to meet the user's viewing needs. Furthermore, in this embodiment of the invention, the reversing stop command can be triggered by the user pressing the vehicle's brake pedal or by clicking the pause button on the vehicle control panel; the reversing drive command can be triggered by the user pressing the vehicle's accelerator pedal or by clicking the drive button on the vehicle control panel. This embodiment of the invention does not impose specific limitations.

[0116] This invention provides a method for controlling vehicle reversing. Compared with existing technologies, this invention acquires the vehicle's historical driving trajectory and the location of obstacle outlines; performs lateral trajectory planning on the historical driving trajectory according to a preset lateral path boundary to obtain a lateral reference trajectory; under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the obstacle outline locations, generates a longitudinal path boundary according to the expected collision location and a preset collision avoidance distance, and performs longitudinal trajectory planning on the historical driving trajectory according to the longitudinal path boundary to obtain a reversing planning trajectory; controls the vehicle to reverse according to the reversing planning trajectory, achieving automatic control during reversing, reducing the occurrence of collisions during reversing, improving vehicle safety during automatic reversing, thereby improving the effectiveness of automatic reversing and meeting the requirement of avoiding collisions during reversing.

[0117] Furthermore, as a response to the above Figure 1The implementation of the method shown in this invention provides a control device for reversing a vehicle, such as... Figure 10 As shown, the device includes:

[0118] The acquisition module 41 is used to acquire the vehicle's historical driving trajectory and the location of the obstacle outline points;

[0119] The first planning module 42 is used to perform lateral trajectory planning on the historical driving trajectory according to the preset lateral path boundary, so as to obtain the lateral reference trajectory of the historical driving trajectory.

[0120] The second planning module 43 is used to generate a longitudinal path boundary based on the expected collision location and a preset collision avoidance distance, under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline point, and to perform longitudinal trajectory planning on the historical driving trajectory based on the longitudinal path boundary to obtain a reversing planning trajectory.

[0121] The control module 44 is used to control the vehicle to reverse according to the reversing planning trajectory.

[0122] Furthermore, the device also includes:

[0123] The detection module is used to detect whether the vehicle triggers the expected reversing control operation when a reversing trigger command is received. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse.

[0124] The recording module is used to record the extended driving trajectory of the vehicle when no reversing control operation corresponding to the expected reversing driving is detected.

[0125] An addition module is used to add the extended driving trajectory to the historical driving trajectory when the reversing control operation is triggered during the recording of the extended driving trajectory, so as to obtain the historical driving trajectory after adding the extended driving trajectory.

[0126] Furthermore, the device also includes:

[0127] The first determining module is used to determine a reversing associated operation that matches the reversing control operation when the vehicle triggers a reversing control operation corresponding to the expected reversing driving. The reversing associated operation is used to characterize the operation in which the vehicle is in a reversing driving state.

[0128] The generation module is used to generate an associated control command corresponding to the reversing associated operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing associated operation according to the associated control command.

[0129] Furthermore, the second planning module is specifically used to determine the reversing driving position point according to the reversing planning trajectory, and generate a reversing control command according to the preset reversing speed and the reversing driving position point; send the reversing control command to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse according to the reversing control command.

[0130] Furthermore, the device also includes:

[0131] The second determining module is used to determine the collision distance in the first coordinate system, under the condition that the expected collision between the vehicle and the obstacle is determined based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory.

[0132] The third determining module is used to determine the collision position based on the collision distance in the second coordinate system.

[0133] Furthermore, the device also includes:

[0134] The fourth determining module is used to determine the collision avoidance state of the obstacle based on the position of the obstacle outline points in the historical trajectory frame;

[0135] The sending module is used to generate a collision avoidance command and send it to the driving control subsystem if the collision avoidance state is a dynamic collision avoidance state, so as to instruct the driving control subsystem to control the vehicle to stop driving;

[0136] The execution module is used to perform the step of planning the lateral trajectory of the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory if the collision avoidance state is a static collision avoidance state.

[0137] Furthermore,

[0138] The generation module is further configured to generate a reversing pause command and send it to the driving control subsystem if a reversing stop trigger command is received during the reversing process of the vehicle following the reversing planned trajectory, so that the driving control subsystem controls the vehicle to stop reversing.

[0139] The execution module is further configured to, if a reversing driving trigger command is received, re-execute the step of obtaining the vehicle's historical driving trajectory and the obstacle outline point position, so as to obtain the reversing planning trajectory again and perform reversing driving.

[0140] This invention provides a control device for reversing a vehicle. Compared with the prior art, this invention acquires the vehicle's historical driving trajectory and the outline points of obstacles; performs lateral trajectory planning on the historical driving trajectory according to a preset lateral path boundary to obtain a lateral reference trajectory; under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the outline points of obstacles, generates a longitudinal path boundary according to the expected collision location and a preset collision avoidance distance, and performs longitudinal trajectory planning on the historical driving trajectory according to the longitudinal path boundary to obtain a reversing planning trajectory; controls the vehicle to reverse according to the reversing planning trajectory, achieving the purpose of automatic control during reversing, reducing the occurrence of collisions during reversing, improving the safety of automatic reversing, thereby improving the effectiveness of automatic reversing and meeting the requirement of avoiding collisions during reversing.

[0141] According to one embodiment of the present invention, a storage medium is provided, the storage medium storing at least one executable instruction, the computer-executable instruction being able to execute the vehicle reversing control method in any of the above method embodiments.

[0142] Figure 11 The diagram shows a structural schematic of a terminal according to an embodiment of the present invention. The specific implementation of the terminal is not limited by the specific embodiments of the present invention.

[0143] like Figure 11 As shown, the terminal may include: a processor 502, a communication interface 504, a memory 506, and a communication bus 508.

[0144] The processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508.

[0145] Communication interface 504 is used to communicate with other network elements such as clients or other servers.

[0146] The processor 502 is used to execute program 510, specifically to execute the relevant steps in the above embodiment of the vehicle reversing driving control method.

[0147] Specifically, program 510 may include program code that includes computer operation instructions.

[0148] Processor 502 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The terminal may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0149] Memory 506 is used to store program 510. Memory 506 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0150] Specifically, program 510 can be used to cause processor 502 to perform the following operations:

[0151] Obtain the vehicle's historical driving trajectory and the location of obstacle outlines;

[0152] The historical driving trajectory is planned laterally according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory.

[0153] Under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline point, a longitudinal path boundary is generated according to the expected collision position and the preset collision avoidance distance, and a longitudinal trajectory is planned on the historical driving trajectory according to the longitudinal path boundary to obtain the reversing planning trajectory.

[0154] The vehicle is controlled to reverse according to the reversing trajectory.

[0155] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0156] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle to reverse, characterized in that, include: Obtain the vehicle's historical driving trajectory and the location of obstacle outlines; The historical driving trajectory is planned laterally according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory. Under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline point, a longitudinal path boundary is generated according to the expected collision position and the preset collision avoidance distance, and a longitudinal trajectory is planned on the historical driving trajectory according to the longitudinal path boundary to obtain the reversing planning trajectory. The vehicle is controlled to reverse according to the reversing trajectory.

2. The method according to claim 1, characterized in that, Before obtaining the vehicle's historical driving trajectory and the obstacle outline points, the method further includes: Upon receiving a reversing trigger command, it is detected whether the vehicle triggers the reversing control operation corresponding to the expected reversing movement. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse. Under the condition that no reversing control operation corresponding to the expected reversing driving is detected, the extended driving trajectory of the vehicle is recorded; If the reversing control operation is triggered during the recording of the extended driving trajectory, the extended driving trajectory is added to the historical driving trajectory to obtain the historical driving trajectory after the extended driving trajectory is added.

3. The method according to claim 2, characterized in that, After detecting whether the vehicle has triggered the reversing control operation corresponding to the expected reversing movement, the method further includes: Under the condition that the vehicle triggers the reversing control operation corresponding to the expected reversing driving, a reversing associated operation matching the reversing control operation is determined. The reversing associated operation is used to characterize the operation in which the vehicle is in a reversing driving state. Generate an associated control command corresponding to the reversing operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing operation according to the associated control command.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle to reverse according to the reversing trajectory includes: The reversing position is determined based on the reversing planning trajectory, and a reversing control command is generated based on the preset reversing speed and the reversing position. The reversing control command is sent to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse in accordance with the reversing control command.

5. The method according to claim 1, characterized in that, Before generating the longitudinal path boundary based on the expected collision location and the preset collision avoidance distance, the method further includes: In the first coordinate system, under the condition that the expected collision between the vehicle and the obstacle is determined based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory, the collision distance is determined. In the second coordinate system, the collision position is determined based on the collision distance.

6. The method according to claim 1, characterized in that, After obtaining the vehicle's historical driving trajectory and the obstacle outline points, the method further includes: The collision avoidance state of the obstacle is determined based on the position of the obstacle outline points in the historical trajectory frame. If the collision avoidance state is a dynamic collision avoidance state, a collision avoidance command is generated and sent to the driving control subsystem to instruct the driving control subsystem to control the vehicle to stop driving; If the collision avoidance state is a static collision avoidance state, then the step of performing lateral trajectory planning on the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory is executed.

7. The method according to any one of claims 1-6, characterized in that, After controlling the vehicle to reverse according to the reversing trajectory, the method further includes: If a reversing stop trigger command is received while the vehicle is reversing along the planned reversing trajectory, a reversing pause command is generated and sent to the driving control subsystem so that the driving control subsystem controls the vehicle to stop reversing. If a reversing driving trigger command is received, the steps of obtaining the vehicle's historical driving trajectory and the obstacle outline point position are re-executed to obtain the reversing planning trajectory and perform reversing driving.

8. A control device for reversing a vehicle, characterized in that, include: The acquisition module is used to acquire the vehicle's historical driving trajectory and the location of obstacle outline points; The first planning module is used to plan the lateral trajectory of the historical driving trajectory according to the preset lateral path boundary, so as to obtain the lateral reference trajectory of the historical driving trajectory. The second planning module is used to generate a longitudinal path boundary based on the expected collision location and a preset collision avoidance distance, under the condition that the vehicle is expected to collide based on the lateral reference trajectory and the position of the obstacle outline points, and to perform longitudinal trajectory planning on the historical driving trajectory based on the longitudinal path boundary to obtain the reversing planning trajectory. The control module is used to control the vehicle to reverse according to the reversing planned trajectory.

9. The apparatus according to claim 8, characterized in that, The device further includes: The detection module is used to detect whether the vehicle triggers the expected reversing control operation when a reversing trigger command is received. The reversing control operation is used to characterize the operation content of controlling the vehicle to reverse. The recording module is used to record the extended driving trajectory of the vehicle when no reversing control operation corresponding to the expected reversing driving is detected. An addition module is used to add the extended driving trajectory to the historical driving trajectory when the reversing control operation is triggered during the recording of the extended driving trajectory, so as to obtain the historical driving trajectory after adding the extended driving trajectory.

10. The apparatus according to claim 9, characterized in that, The device further includes: The first determining module is used to determine a reversing associated operation that matches the reversing control operation when the vehicle triggers a reversing control operation corresponding to the expected reversing driving. The reversing associated operation is used to characterize the operation in which the vehicle is in a reversing driving state. The generation module is used to generate an associated control command corresponding to the reversing associated operation, and send the associated control command to the driving control subsystem so that the driving control subsystem executes the reversing associated operation according to the associated control command.

11. The apparatus according to claim 8, characterized in that, The second planning module is specifically used to determine the reversing driving position point according to the reversing planning trajectory, and generate a reversing control command according to the preset reversing speed and the reversing driving position point; send the reversing control command to the driving control subsystem so that the driving control subsystem drives the vehicle to reverse according to the reversing control command.

12. The apparatus according to claim 8, characterized in that, The device further includes: The second determining module is used to determine the collision distance in the first coordinate system, under the condition that the expected collision between the vehicle and the obstacle is determined based on the vehicle outline point position and the obstacle outline point position on the lateral reference trajectory. The third determining module is used to determine the collision position based on the collision distance in the second coordinate system.

13. The apparatus according to claim 8, characterized in that, The device further includes: The fourth determining module is used to determine the collision avoidance state of the obstacle based on the position of the obstacle outline points in the historical trajectory frame; The sending module is used to generate a collision avoidance command and send it to the driving control subsystem if the collision avoidance state is a dynamic collision avoidance state, so as to instruct the driving control subsystem to control the vehicle to stop driving; The execution module is used to perform the step of planning the lateral trajectory of the historical driving trajectory according to the preset lateral path boundary to obtain the lateral reference trajectory of the historical driving trajectory if the collision avoidance state is a static collision avoidance state.

14. The apparatus according to any one of claims 8-13, characterized in that, The generation module is further configured to generate a reversing pause command and send it to the driving control subsystem if a reversing stop trigger command is received during the reversing process of the vehicle following the reversing planned trajectory, so that the driving control subsystem controls the vehicle to stop reversing. The execution module is further configured to, if a reversing driving trigger command is received, re-execute the step of obtaining the vehicle's historical driving trajectory and the obstacle outline point position, so as to obtain the reversing planning trajectory again and perform reversing driving.

15. A vehicle, characterized in that, Includes the vehicle reversing control device as described in claim 8.

16. A storage medium storing at least one executable instruction that causes a processor to perform an operation corresponding to the vehicle reversing control method as described in any one of claims 1-7.

17. A terminal, comprising: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the vehicle reversing control method as described in any one of claims 1-7.

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