A method of automatic U-turn and vehicle

Abstract

The embodiment of the specification discloses a method and a vehicle for automatic turning around. A vehicle perception device of a target vehicle is used to obtain a first available driving space of the target vehicle, and then a first length of available space in front and behind the vehicle and a second length of available space on both sides of the vehicle are determined. According to the first length and the second length, a first judgment result that whether the target vehicle can complete turning around by using the first available driving space is obtained. Thus, when the target vehicle is in a narrow road section or a complex road condition, an accurate judgment result that whether the target vehicle can complete turning around can be obtained.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a method and vehicle for automatic U-turn. Background Technology

[0002] Vehicles frequently encounter situations requiring U-turns while driving. To address this, many vehicles incorporate automatic U-turn functionality to control the vehicle and automatically execute the maneuver. Existing technologies primarily employ the following methods for automatic U-turns:

[0003] (1) As described in patent CN113104053A, a single-wheel tracking U-turn: In scenarios requiring a U-turn, the system detects and reaches a location suitable for a U-turn. Once the U-turn location meets the requirements, the system automatically turns the steering wheel fully in a certain direction and then controls the vehicle to move forward. The vehicle will perform a turning maneuver until it has turned approximately one full circle and then returns to the vicinity of its original position, following the original reverse driving route to complete the U-turn and then returning via tracking. This method can only be applied in open spaces and cannot be used in narrow sections or complex road conditions.

[0004] (2) As described in patent CN112660147A, the multi-point automatic U-turn using map data: Using existing map data (including road width and other information) and vehicle position information, the system determines whether the current road is suitable for a U-turn. If suitable, the system controls the vehicle to perform a multi-point (repeatedly turning the steering wheel and moving the vehicle back and forth) U-turn. However, map data is not real-time and cannot handle changes in temporary road conditions; furthermore, map data has limited coverage and cannot cover alleyways, roads within residential areas, underground parking lots, etc.; additionally, compared to radar sensors, map data has lower accuracy, affecting the determination of whether a U-turn is feasible.

[0005] (3) As described in patent CN112678066A, the multi-point automatic U-turn using vehicle body data: Utilizing radar or cameras installed on the vehicle, the system detects whether the current location is suitable for a U-turn when needed. If suitable, the system controls the vehicle to perform a multi-point (repeatedly turning the steering wheel and moving the vehicle back and forth) U-turn. This method primarily determines whether a U-turn can be completed based on the available driving space. However, when the vehicle is in a narrow road or complex road conditions, the above method cannot accurately determine whether the autonomous vehicle can complete the U-turn.

[0006] Therefore, there is an urgent need for a method to generate vehicle U-turn path planning information in order to accurately determine whether the target vehicle can complete the U-turn in a narrow road section. Summary of the Invention

[0007] To address the aforementioned technical problems, this specification provides an automatic U-turn method and vehicle to accurately determine whether a target vehicle can complete a U-turn in a narrow road section.

[0008] This specification provides an embodiment of a method for generating vehicle U-turn route planning information, including:

[0009] Based on the vehicle sensing device of the target vehicle, the first available driving space of the target vehicle is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0010] Determine a first length of the available space in front of and behind the target vehicle;

[0011] Determine the second length of the available space on both sides of the target vehicle;

[0012] Based on the first length and the second length, it is determined whether the target vehicle can make a U-turn using the first available driving space, and a first judgment result is obtained;

[0013] If the first determination result indicates that the target vehicle can complete a U-turn using the first available driving space, then the U-turn path planning information for the target vehicle is generated.

[0014] This specification provides an embodiment of a method for automatic vehicle U-turn, including:

[0015] Based on the vehicle sensing device of the target vehicle, the first available driving space of the target vehicle is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0016] Determine a first length of the available space in front of and behind the target vehicle;

[0017] Determine the second length of the available space on both sides of the target vehicle;

[0018] Based on the first length and the second length, determine whether the target vehicle can make a U-turn using the first available driving space;

[0019] If the target vehicle can make a U-turn using the first available driving space, then during the process of the target vehicle making a U-turn using the first available driving space, it is determined whether the target vehicle can make a U-turn using the fifth available driving space; the fifth available driving space is the available driving space obtained by the target vehicle during the process of making a U-turn using the first available driving space.

[0020] If the target vehicle cannot make a U-turn using the first available driving space, or if the target vehicle cannot make a U-turn using the fifth available driving space, then the target vehicle is controlled to move automatically to search for a suitable U-turn location.

[0021] This specification provides an embodiment of an automatic U-turn vehicle, comprising:

[0022] Vehicle body;

[0023] At least one processor; and,

[0024] A memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0026] Based on the vehicle's vehicle sensing device, a first available driving space for the vehicle body is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0027] Determine a first length of the available space in front of and behind the vehicle body;

[0028] Determine the second length of the available space on both sides of the vehicle body;

[0029] Based on the first length and the second length, it is determined whether the vehicle body can make a U-turn using the first available driving space, and a first judgment result is obtained;

[0030] If the first determination result indicates that the vehicle body can complete a U-turn using the first available driving space, then the U-turn path planning information of the vehicle body is generated.

[0031] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0032] This specification discloses an automatic U-turn method and vehicle. By using the vehicle's sensing device, a first available driving space of the target vehicle is obtained, and then a first length of the available space in front of and behind the vehicle and a second length of the available space on both sides of the vehicle are determined. Based on the first and second lengths, a first judgment result is obtained as to whether the target vehicle can complete a U-turn using the first available driving space. This enables an accurate judgment result regarding whether the target vehicle can complete a U-turn when it is in a narrow road section or under complex road conditions. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating a method for generating vehicle U-turn route planning information provided in an embodiment of this specification.

[0035] Figure 2 This is a flowchart illustrating another method for generating vehicle U-turn path planning information provided in an embodiment of this specification.

[0036] Figure 3 An embodiment provided in this specification corresponds to Figure 1 A schematic diagram of the structure of a vehicle that can automatically turn around. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0038] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0039] Figure 1 This is a flowchart illustrating a method for generating vehicle U-turn route planning information provided in an embodiment of this specification.

[0040] From a procedural perspective, the entity executing this process can be a vehicle equipped with vehicle sensing devices or the vehicle's control device, or it can be an application program installed on the vehicle or the control device.

[0041] like Figure 1 As shown, the process may include the following steps:

[0042] Step 101: Based on the vehicle sensing device of the target vehicle, obtain the first available driving space of the target vehicle; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0043] In the embodiments described in this specification, the target vehicle may be an autonomous vehicle, a driverless vehicle, or an ordinary vehicle equipped with vehicle sensing equipment but without autonomous driving capabilities.

[0044] In the embodiments described in this specification, the vehicle sensing device can be used to acquire obstacle information around the target vehicle, and may specifically include vehicle-mounted cameras, lidar, millimeter-wave radar, ultrasonic radar, etc.

[0045] In this embodiment of the specification, the first available driving space refers to the drivable space of the target vehicle at its current location. The available space in front of and behind the vehicle may include the available space on the front side of the vehicle, the available space on the rear side of the vehicle, and the space where the vehicle is currently located. The available spaces on both sides of the vehicle may include the available space on the left side of the vehicle, the available space on the right side of the vehicle, and the space where the vehicle is currently located. The available space on the front side, the available space on the rear side, the available space on the left side, and the available space on the right side of the vehicle are respectively the drivable areas of the target vehicle in the front-rear, left-right, and right-right directions.

[0046] Step 103: Determine the first length of the available space in front of and behind the target vehicle.

[0047] In this embodiment of the specification, the first length can be the sum of the length of the available space at the front of the vehicle, the length of the available space at the rear of the vehicle, and the length of the target vehicle.

[0048] Step 105: Determine the second length of the available space on both sides of the target vehicle.

[0049] In this embodiment of the specification, the first length can be the sum of the length of the available space on the left side of the vehicle, the length of the available space on the right side of the vehicle, and the width of the target vehicle.

[0050] Step 107: Based on the first length and the second length, determine whether the target vehicle can make a U-turn using the first available driving space, and obtain the first judgment result.

[0051] In this embodiment of the specification, the ability of the target vehicle to make a U-turn is determined by whether the first length and the second length are greater than a first threshold.

[0052] Step 109: If the first judgment result indicates that the target vehicle can complete the U-turn using the first available driving space, then generate the U-turn path planning information for the target vehicle.

[0053] In the embodiments described in this specification, the U-turn path planning information can be used to adjust the heading angle of the target vehicle by approximately 180°. The U-turn path planning information can be implemented based on vehicle dynamics models and automatic control theory, and is not the main focus of this invention. It should be particularly noted that the U-turn path planning information can be used by autonomous vehicles to complete a U-turn, and can also be displayed on in-vehicle systems or mobile devices to guide the driver of the target vehicle to manually complete the U-turn.

[0054] In this embodiment, the first available driving space of the target vehicle is obtained through the vehicle sensing device of the target vehicle, and then the first length of the available space in front and behind the target vehicle and the second length of the available space on both sides of the vehicle are determined. Based on the first length and the second length, a first judgment result is obtained as to whether the target vehicle can complete a U-turn using the first available driving space. This enables an accurate judgment result on whether the target vehicle can complete a U-turn when it is in a narrow road section or in complex road conditions.

[0055] based on Figure 1 In addition to the method described in the embodiments of this specification, some specific implementation schemes of the method are also provided, which will be described below.

[0056] Optionally, determining whether the target vehicle can make a U-turn using the first available driving space based on the first length and the second length, and obtaining a first determination result, may specifically include:

[0057] It is determined that both the first length and the second length are greater than or equal to a first threshold; the first threshold is the sum of the diagonal length of the target vehicle and twice the safety distance.

[0058] If both the first length and the second length are greater than or equal to the first threshold, a first judgment result is obtained indicating that the target vehicle can complete a U-turn using the first available driving space.

[0059] If either the first length or the second length is less than the first threshold, a first judgment result is obtained indicating that the target vehicle cannot complete a U-turn using the first available driving space.

[0060] In this embodiment of the specification, the determination of whether the target vehicle can complete a U-turn at its current position is obtained based on whether the first length and the second length simultaneously satisfy the following conditions:

[0061] D fb ≥L+2S.

[0062] D lr ≥L+2S.

[0063] In the formula, Dfb D is the first length of the available space in front of and behind the target vehicle; lr L is the second length of the available space on both sides of the target vehicle; L is the diagonal length of the target vehicle; S is the safety distance, which can be a calibrated value or an empirical value (e.g., 15 cm).

[0064] In practical applications, the method for determining whether the target vehicle can make a U-turn using the first available driving space can be applied after obtaining a U-turn instruction, or during the reversing process to end the reversing process as quickly as possible, or to record the available U-turn position in the vehicle's historical driving trajectory.

[0065] Optionally, before the vehicle perception device based on the target vehicle acquires the first available driving space of the target vehicle, it further includes:

[0066] Obtain a U-turn command for the target vehicle.

[0067] In this embodiment of the specification, the U-turn command is used to instruct the target vehicle to change its heading angle by approximately 180°. The U-turn command can be a hard button command, soft button command, or voice command obtained through a Human Machine Interface (HMI), etc. The specific button or voice command can be expressed in a way that is easy for the driver to understand, such as "one-click U-turn", "stationary U-turn", or "automatic U-turn".

[0068] Optionally, before acquiring the first available driving space of the target vehicle, the vehicle perception device based on the target vehicle may further include:

[0069] Obtain a reversing command for the target vehicle.

[0070] The vehicle perception device based on the target vehicle acquires the first available driving space of the target vehicle, specifically including:

[0071] During the reversing process of the target vehicle based on the reversing command, the first available driving space of the target vehicle is obtained by using the vehicle sensing device of the target vehicle.

[0072] In this embodiment of the specification, the reversing command is used to instruct the target vehicle to move backward. The reversing command may be a hard button command, a soft button command, or a voice command obtained through a human machine interface (HMI). The specific button or voice command may be expressed in a way that is easy for the driver to understand, such as "one-click reversing" or "automatic reversing".

[0073] In this embodiment of the specification, the target vehicle can search for a location where it can turn around during the reversing process to complete the U-turn and drive forward. Specifically, if it is determined that the target vehicle can complete the U-turn using the first available driving space, then the U-turn path planning information of the target vehicle is generated so that the target vehicle stops reversing and completes the U-turn using the first available driving space, thereby enabling the target vehicle to drive forward and improving the safety of the target vehicle during driving.

[0074] In the embodiments described in this specification, if the target vehicle cannot make a U-turn using the first available driving space, the target vehicle may automatically or manually move forward or backward to search for a location where it can make a U-turn.

[0075] Optionally, after determining whether the target vehicle can make a U-turn using the first available driving space based on the first length and the second length, and obtaining the first determination result, the method further includes:

[0076] If the first judgment result indicates that the target vehicle cannot complete the U-turn, then the target vehicle will automatically move forward or backward.

[0077] During the movement of the target vehicle, the second available driving space of the target vehicle is obtained; if the second judgment result indicates that the target vehicle can complete the U-turn, the U-turn path planning information of the target vehicle is generated.

[0078] In the embodiments of this specification, the phrase "during the movement of the target vehicle" can refer to the process of the target vehicle automatically moving forward or backward to search for a suitable U-turn location. Specifically, if the first determination result indicates that the target vehicle cannot complete a U-turn, the driver is prompted to input a command to search for a suitable U-turn location forward or backward via a human-machine interface. After receiving the driver's command to search for a suitable U-turn location forward or backward, the target vehicle is controlled to automatically move forward or backward at a low speed. During the movement of the target vehicle, the vehicle's vehicle sensing device is used to obtain the target vehicle's second available driving space. Automatic low-speed driving can be implemented based on vehicle dynamics models and automatic control theory, which is not the main focus of this invention. In some cases, it is possible to search for a suitable U-turn location directly by automatically moving forward / backward at a low speed without prompting the driver to input a command to search for a suitable U-turn location.

[0079] In the embodiments of this specification, "during the movement of the target vehicle" can also refer to the process during which the driver manually drives the target vehicle.

[0080] In this embodiment of the specification, if the target vehicle moves a distance exceeding a certain distance (e.g., 50 meters) during the search for a U-turn location, a prompt message is issued asking the driver to take over the vehicle, thereby exiting the automatic search for a U-turn location.

[0081] In the embodiments of this specification, the method for determining whether the target vehicle can make a U-turn using the second available driving space is the same as the method for determining the first available driving space.

[0082] In this embodiment of the specification, if the second judgment result indicates that the target vehicle can complete a U-turn, the driver is prompted to input a command to turn around at the current location via a human-machine interface; upon receiving the U-turn command input by the driver, U-turn path planning information for the target vehicle is generated, and the U-turn is performed at the current location. In some cases, the driver may not be prompted to input a U-turn command, and the U-turn process can be performed directly.

[0083] In practical applications, the method for determining whether the target vehicle can make a U-turn using the first available driving space can also be applied to recording possible U-turn locations in the vehicle's historical driving trajectory.

[0084] Optionally, after determining whether the target vehicle can make a U-turn using the first available driving space based on the first length and the second length, and obtaining the first determination result, the method further includes:

[0085] If the first judgment result indicates that the target vehicle cannot complete the U-turn, then the driving trajectory of the target vehicle and the U-turn location information pre-marked in the driving trajectory are obtained.

[0086] Based on the driving trajectory, a reversing plan is generated with the reversing position corresponding to the reversing position information as the destination, so that the target vehicle can move to the reversing position according to the reversing plan and make a U-turn at the reversing position.

[0087] In this embodiment of the specification, during the driving process of the target vehicle, the trajectory of the target vehicle is recorded, and the available driving space of the target vehicle at the current position is obtained, thereby determining whether the target vehicle can complete a U-turn at the current position. If the target vehicle can complete a U-turn at the current position, the current position is marked as a U-turn location in the driving trajectory.

[0088] In the embodiments of this specification, the reversing plan can be used to enable the target vehicle to reverse along a line with the nearest possible U-turn position as its destination.

[0089] In this embodiment of the specification, after the target vehicle approaches or reaches the location where it can turn around, the available driving space of the target vehicle is obtained based on the vehicle sensing device of the target vehicle, and then it is determined whether the target vehicle can complete the U-turn; if it can, the U-turn path planning information of the target vehicle is generated.

[0090] Optionally, after generating the U-turn path planning information for the target vehicle, the method further includes:

[0091] During the process of the target vehicle making a U-turn, the third available driving space of the target vehicle at its current position is obtained.

[0092] Based on the third available driving space and the first available driving space, it is determined whether new obstacles have appeared around the target vehicle, and a third determination result is obtained.

[0093] If the third judgment result indicates that a new obstacle has appeared around the target vehicle, a first prompt message is generated; the first prompt message is used to prompt the driver of the target vehicle to input a pause command to stop reversing or a replanning command to replan the reversing path.

[0094] If the driver receives the pause command, the target vehicle stops moving until the obstacle disappears.

[0095] In this embodiment of the specification, if new obstacles appear around the target vehicle during a U-turn, a first prompt message is generated to prompt the driver to decide whether to pause reversing or replan the reversing path. If a pause command to stop reversing is received from the driver, the available driving space of the target vehicle is acquired again to continue the reversing process after the obstacle disappears. If a replanning command to replan the reversing path is received, the available driving space of the target vehicle is acquired again to complete the reversing process using the currently available driving space.

[0096] In this embodiment of the specification, if a new obstacle appears around the target vehicle during a U-turn, the first prompt information may not be generated, and it may be further determined whether the obstacle is a moving obstacle. If the obstacle is a moving obstacle, the available driving space of the target vehicle is acquired to continue the reversing process after the obstacle disappears. If the obstacle is not a moving obstacle, the available driving space of the target vehicle is acquired to complete the reversing process using the currently available driving space.

[0097] Optionally, after generating the U-turn path planning information for the target vehicle, the method further includes:

[0098] Determine the target attitude information of the target vehicle.

[0099] During the U-turn of the target vehicle, the current position and orientation information of the target vehicle and the fourth available driving space at the current position are obtained; wherein, the position and orientation information includes the position information and attitude information of the target vehicle.

[0100] Based on the target posture information, the current posture information, and the fourth available driving space, the maximum vehicle center of gravity sideslip angle is determined during the process of adjusting the posture information of the target vehicle to the target posture information.

[0101] The fourth judgment result is obtained by determining whether the maximum vehicle center of gravity sideslip angle is less than the angle threshold.

[0102] If the third judgment result indicates that the maximum vehicle center of gravity sideslip angle is less than the angle threshold, then a second prompt message is generated; the second prompt message is used to prompt the driver of the target vehicle that the reversing process has been completed, and to prompt the driver to take over the target vehicle.

[0103] In the embodiments described in this specification, the target attitude information may include the target heading angle after the target vehicle has completed its turn.

[0104] In this embodiment of the specification, during the U-turn of the target vehicle, if the maximum vehicle center of gravity sideslip angle is less than the angle threshold, the driver can simply turn the steering wheel to complete the U-turn. If the driver takes over the target vehicle after receiving the second prompt, the number of operational steps during the U-turn can be reduced, which also conforms to the driver's natural operating habits (in practical applications, drivers almost never turn the car around and park it in the original position before driving it away; instead, they drive away as much as possible during the U-turn), thus improving the user experience.

[0105] Figure 2 This is a flowchart illustrating another method for generating vehicle U-turn route planning information provided in an embodiment of this specification. Figure 2 As shown, the process may include the following steps:

[0106] Obtain a U-turn command for the target vehicle.

[0107] Based on vehicle sensing devices such as radar, the first available driving space of the target vehicle is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0108] Determine the first length of the available space in front of and behind the target vehicle.

[0109] Determine the second length of the available space on both sides of the target vehicle.

[0110] Based on the first length and the second length, it is determined whether the target vehicle can make a U-turn using the first available driving space, and a first judgment result is obtained.

[0111] If the first determination result indicates that the target vehicle can complete a U-turn using the first available driving space, then the U-turn path planning information for the target vehicle is generated.

[0112] If the first judgment result indicates that the target vehicle cannot complete the U-turn, then during the movement of the target vehicle, the second available driving space of the target vehicle is obtained; the second judgment result is obtained by further judging whether the target vehicle can complete the U-turn using the second available driving space.

[0113] If the second judgment result indicates that the target vehicle can complete the U-turn, then the U-turn path planning information of the target vehicle is generated.

[0114] During the process of the target vehicle making a U-turn based on the U-turn path planning information, the third available driving space of the target vehicle at its current position is obtained.

[0115] Based on the third available driving space and the first available driving space, it is determined whether new obstacles have appeared around the target vehicle, and a third determination result is obtained.

[0116] If the third judgment result indicates that a new obstacle has appeared around the target vehicle, a first prompt message is generated; the first prompt message is used to prompt the driver of the target vehicle to input a pause command to stop reversing or a replanning command to replan the reversing path; if the pause command is received from the driver, the target vehicle stops moving until the obstacle disappears.

[0117] If the third judgment result indicates that no new obstacles have appeared around the target vehicle, then the U-turn will be completed based on the U-turn path planning information.

[0118] This specification also provides an embodiment of a method for automatic vehicle U-turn, including:

[0119] Based on the vehicle sensing device of the target vehicle, the first available driving space of the target vehicle is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle.

[0120] Determine the first length of the available space in front of and behind the target vehicle.

[0121] Determine the second length of the available space on both sides of the target vehicle.

[0122] Based on the first length and the second length, it is determined whether the target vehicle can make a U-turn using the first available driving space.

[0123] If the target vehicle can make a U-turn using the first available driving space, then during the process of the target vehicle making a U-turn using the first available driving space, it is determined whether the target vehicle can make a U-turn using the fifth available driving space; the fifth available driving space is the available driving space obtained by the target vehicle during the process of making a U-turn using the first available driving space.

[0124] If the target vehicle cannot make a U-turn using the first available driving space, or if the target vehicle cannot make a U-turn using the fifth available driving space, then the target vehicle is controlled to move automatically to search for a suitable U-turn location.

[0125] In the embodiments of this specification, the method for determining whether the target vehicle can make a U-turn using the fifth available driving space is the same as the method for determining whether the target vehicle can make a U-turn using the first available driving space.

[0126] In this embodiment of the specification, if the target vehicle cannot turn around in the first available space, or if the target vehicle fails to turn around in the first available space due to the appearance of new obstacles or other reasons, the target vehicle is controlled to move forward or backward automatically; during the movement of the target vehicle, the fifth available driving space of the target vehicle is obtained; it is determined whether the target vehicle can use the fifth available driving space to complete the turn; if the target vehicle can use the fifth available driving space to complete the turn, the turn-around path planning information of the target vehicle at the fifth available driving space is generated.

[0127] In this embodiment of the specification, after the target vehicle fails to make a U-turn using the first available driving space, the probability of a successful U-turn is increased by controlling the target vehicle to automatically search for a suitable U-turn location.

[0128] Figure 3 An embodiment provided in this specification corresponds to Figure 1 A schematic diagram of the structure of a vehicle that automatically turns around. (For example...) Figure 3 As shown, the device 300 may include:

[0129] At least one processor 310; and,

[0130] Memory 330 communicatively connected to the at least one processor; wherein,

[0131] The memory 330 stores instructions 320 that can be executed by the at least one processor 310, the instructions being executed by the at least one processor 310 to enable the at least one processor 310 to:

[0132] Based on the vehicle's vehicle sensing device, the first available driving space of the vehicle body is obtained;

[0133] The first available driving space includes at least the available space in front of and behind the vehicle and the available space on both sides of the vehicle;

[0134] Determine a first length of the available space in front of and behind the vehicle body;

[0135] Determine the second length of the available space on both sides of the vehicle body;

[0136] Based on the first length and the second length, it is determined whether the vehicle body can make a U-turn using the first available driving space, and a first judgment result is obtained;

[0137] If the first determination result indicates that the vehicle body can complete a U-turn using the first available driving space, then the U-turn path planning information of the vehicle body is generated.

[0138] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for... Figure 3 As the device shown is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0139] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0140] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0141] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0142] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0143] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0144] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0145] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0146] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0147] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital character versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0148] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0149] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0151] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for generating vehicle U-turn route planning information, characterized in that, include: Based on the vehicle perception device of the target vehicle, the first available driving space of the target vehicle is obtained; The first available driving space includes at least the available space in front of and behind the vehicle and the available space on both sides of the vehicle; Determine a first length of the available space in front of and behind the target vehicle; Determine a second length of the available space on both sides of the target vehicle; It is determined that both the first length and the second length are greater than or equal to a first threshold; the first threshold is the sum of the diagonal length of the target vehicle and twice the safety distance; If both the first length and the second length are greater than or equal to the first threshold, a first judgment result is obtained indicating that the target vehicle can complete a U-turn using the first available driving space. If the first judgment result indicates that the target vehicle can make a U-turn using the first available driving space, then the U-turn path planning information of the target vehicle is generated. If the first judgment result indicates that the target vehicle cannot complete the U-turn, then the driving trajectory of the target vehicle and the U-turn location information marked in the driving trajectory in advance are obtained; Based on the driving trajectory, a reversing plan is generated with the reversing location corresponding to the reversing location information as the destination, so that the target vehicle can move to the reversing location according to the reversing plan and make a U-turn at the reversing location; wherein, the reversing location information pre-marked in the driving trajectory is obtained in the following way: during the driving of the target vehicle, the trajectory of the target vehicle is recorded, and the available driving space of the target vehicle at the current position is obtained. If it is determined that the target vehicle can complete the U-turn at the current position, then the current position is marked as a reversing location in the driving trajectory.

2. The method as described in claim 1, characterized in that, The method further includes: If either the first length or the second length is less than the first threshold, a first judgment result is obtained indicating that the target vehicle cannot complete a U-turn using the first available driving space.

3. The method as described in claim 1, characterized in that, Before the vehicle perception device based on the target vehicle acquires the first available driving space of the target vehicle, it further includes: Obtain a U-turn command for the target vehicle.

4. The method as described in claim 1, characterized in that, Before the vehicle perception device based on the target vehicle acquires the first available driving space of the target vehicle, it further includes: Obtain a reversing command for the target vehicle; The vehicle perception device based on the target vehicle acquires the first available driving space of the target vehicle, specifically including: During the reversing process of the target vehicle based on the reversing command, the first available driving space of the target vehicle is obtained by using the vehicle sensing device of the target vehicle.

5. The method as described in claim 1, characterized in that, Based on the first length and the second length, after determining whether the target vehicle can make a U-turn using the first available driving space and obtaining the first determination result, the method further includes: If the first judgment result indicates that the target vehicle cannot complete the U-turn, then the target vehicle will automatically move forward or backward; During the movement of the target vehicle, a second available driving space for the target vehicle is obtained; Determine whether the target vehicle can make a U-turn using the second available driving space, and obtain a second determination result; If the second judgment result indicates that the target vehicle can complete the U-turn, then the U-turn path planning information of the target vehicle is generated.

6. The method as described in claim 1, characterized in that, After generating the U-turn path planning information for the target vehicle, the method further includes: During the process of the target vehicle making a U-turn, the third available driving space of the target vehicle at its current position is obtained; Based on the third available driving space and the first available driving space, it is determined whether new obstacles have appeared around the target vehicle, and a third determination result is obtained; If the third judgment result indicates that a new obstacle has appeared around the target vehicle, a first prompt message is generated; the first prompt message is used to prompt the driver of the target vehicle to input a pause command to stop reversing or a replanning command to replan the reversing path. If the driver receives the pause command, the target vehicle stops moving until the obstacle disappears.

7. The method as described in claim 6, characterized in that, After generating the U-turn path planning information for the target vehicle, the method further includes: Determine the target attitude information of the target vehicle; During the process of the target vehicle making a U-turn, the current pose information of the target vehicle and the fourth available driving space at the current position are obtained; wherein, the pose information includes the position information and attitude information of the target vehicle; Based on the target posture information, the current posture information, and the fourth available driving space, determine the maximum vehicle center of gravity sideslip angle during the process of adjusting the posture information of the target vehicle to the target posture information; Determine whether the maximum vehicle center of gravity sideslip angle is less than the angle threshold to obtain the fourth determination result; If the third judgment result indicates that the maximum vehicle center of gravity sideslip angle is less than the angle threshold, then a second prompt message is generated; the second prompt message is used to prompt the driver of the target vehicle that the reversing process has been completed, and to prompt the driver to take over the target vehicle.

8. A method for automatic vehicle U-turn, characterized in that, include: Based on the vehicle perception device of the target vehicle, the first available driving space of the target vehicle is obtained; The first available driving space includes at least the available space in front of and behind the vehicle and the available space on both sides of the vehicle; Determine a first length of the available space in front of and behind the target vehicle; Determine the second length of the available space on both sides of the target vehicle; It is determined that both the first length and the second length are greater than or equal to a first threshold; the first threshold is the sum of the diagonal length of the target vehicle and twice the safety distance; If both the first length and the second length are greater than or equal to the first threshold, then it indicates that the target vehicle can make a U-turn using the first available driving space. If the target vehicle can make a U-turn using the first available driving space, then during the process of the target vehicle making a U-turn using the first available driving space, it is determined whether the target vehicle can make a U-turn using the fifth available driving space; the fifth available driving space is the available driving space obtained by the target vehicle during the process of making a U-turn using the first available driving space. If the target vehicle cannot make a U-turn using the first available driving space, then the driving trajectory of the target vehicle and the U-turn location information marked in the driving trajectory are obtained. Based on the driving trajectory, a reversing plan is generated with the reversing location corresponding to the reversing location information as the destination, so that the target vehicle can move to the reversing location according to the reversing plan and make a U-turn at the reversing location; wherein, the reversing location information pre-marked in the driving trajectory is obtained in the following way: during the driving of the target vehicle, the trajectory of the target vehicle is recorded, and the available driving space of the target vehicle at the current position is obtained. If it is determined that the target vehicle can complete the U-turn at the current position, then the current position is marked as a reversing location in the driving trajectory.

9. A vehicle that automatically turns around, characterized in that, include: Vehicle body; At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Based on the vehicle's vehicle sensing device, a first available driving space for the vehicle body is obtained; the first available driving space includes at least the available space in front and behind the vehicle and the available space on both sides of the vehicle. Determine a first length of the available space in front of and behind the vehicle body; Determine the second length of the available space on both sides of the vehicle body; It is determined that both the first length and the second length are greater than or equal to a first threshold; the first threshold is the sum of the diagonal length of the target vehicle and twice the safe distance; If both the first length and the second length are greater than or equal to the first threshold, a first judgment result is obtained indicating that the target vehicle can complete a U-turn using the first available driving space. If the first judgment result indicates that the vehicle body can complete the U-turn using the first available driving space, then the U-turn path planning information of the vehicle body is generated. If the first judgment result indicates that the target vehicle cannot complete a U-turn, then the driving trajectory of the target vehicle and the information of possible U-turn locations marked in the driving trajectory are obtained; based on the driving trajectory, a reversing plan is generated with the possible U-turn location corresponding to the information of possible U-turn locations as the destination, so that the target vehicle can move to the possible U-turn location according to the reversing plan and make a U-turn at the possible U-turn location; wherein, the information of possible U-turn locations marked in the driving trajectory is obtained in the following way: during the driving of the target vehicle, the trajectory of the target vehicle is recorded, and the available driving space of the target vehicle at the current position is obtained; if it is determined that the target vehicle can complete a U-turn at the current position, then the current position is marked as a possible U-turn location in the driving trajectory.

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