Method of automatically marking a turnable position and vehicle

Abstract

The embodiment of the specification discloses a method for automatically marking a turnable position and a vehicle, and the scheme comprises the following steps: acquiring a first available driving space of a target vehicle through a vehicle perception device; then judging whether the target vehicle can complete a U-turn by using the first available driving space; if yes, marking a first position in a driving track of the target vehicle as a turnable position. Thus, when the target vehicle needs to reverse, the turnable position is used as the destination of the reverse of the target vehicle, and the driver does not need to manually find the turnable position during the U-turn process, thereby improving the safety during the reverse of the vehicle by avoiding the distraction of the driver. Meanwhile, the method can also enable the target vehicle to drive forward after the U-turn at the turnable position, so as to end the reverse process as soon as possible, thereby improving the safety during the reverse of the vehicle by shortening the reverse distance.

Description

Technical Field

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

[0002] Vehicles may encounter scenarios requiring long-distance reversing during operation. For example, a vehicle might enter a narrow area, find itself unable to pass, unable to find a parking space, and unable to turn around, leaving it no choice but to reverse back the way it came. Alternatively, a vehicle might reach its destination and need to return, only to find it unable to turn around and must also reverse back the way it came. Because the driver's field of vision is significantly obscured during reversing, the risk of collisions and other traffic accidents is higher.

[0003] Therefore, there is an urgent need for a method to automatically mark locations where U-turns are possible in order to improve safety during the reversing process. Summary of the Invention

[0004] To address the aforementioned technical problems, this specification provides an embodiment of a method and vehicle for automatically marking U-turn locations, enabling the vehicle to complete a U-turn as quickly as possible during reversing, thereby improving vehicle safety during reversing.

[0005] This specification provides an embodiment of a method for automatically marking locations where a turnaround is possible, comprising:

[0006] Based on the vehicle sensing device of the target vehicle, the first available driving space of the target vehicle at the first position 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.

[0007] Determine a first length of the available space in front of and behind the target vehicle;

[0008] Determine a second length of the available space on both sides of the target vehicle;

[0009] 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;

[0010] If the first determination result indicates that the target vehicle can make a U-turn using the first available driving space, then the first position is marked as a U-turn position in the driving trajectory of the target vehicle; wherein, the driving trajectory is obtained by real-time recording during the forward driving of the target vehicle.

[0011] This specification provides an embodiment of a vehicle that automatically marks locations where U-turns are possible, comprising:

[0012] Vehicle sensing devices are used to acquire environmental perception data of the vehicle itself.

[0013] The controller is used to process the environmental perception data to determine the first available driving space of the target vehicle at the first position; 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; to determine the first length of the available space in front of and behind the target vehicle, and to determine the second length of the available space on both sides of the target vehicle; based on the first length and the second length, to determine whether the target vehicle can make a U-turn using the first available driving space, and to obtain a first judgment result;

[0014] The memory is used to store the driving trajectory and U-turn position of the vehicle body; wherein, the driving trajectory is obtained by real-time recording during the forward driving of the target vehicle; the U-turn position is obtained by marking the first position in the driving trajectory when the first judgment result indicates that the target vehicle can make a U-turn using the first available driving space.

[0015] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0016] This specification discloses a method and vehicle for automatically marking U-turn locations. The method includes: obtaining a first available driving space for the target vehicle through its vehicle sensing device; determining whether the target vehicle can make a U-turn using the first available driving space; and marking the first location as a U-turn location on the target vehicle's driving trajectory if it can. Thus, when the target vehicle needs to reverse, the U-turn location is used as the destination for reversing, eliminating the need for the driver to manually search for a U-turn location during the reversing process. This improves safety during reversing by avoiding distracting the driver. Furthermore, the method allows the target vehicle to drive forward after making a U-turn at the designated location, quickly ending the reversing process and further improving safety by shortening the reversing distance. Attached Figure Description

[0017] 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a method for automatically marking locations where a turnaround is possible, as provided in an embodiment of this specification.

[0019] Figure 2This is a flowchart illustrating a method for automatically turning around using pre-marked U-turn locations, as provided in an embodiment of this specification.

[0020] Figure 3 An embodiment provided in this specification corresponds to Figure 1 A structural diagram of a vehicle that automatically marks the location where it can turn around. Detailed Implementation

[0021] 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.

[0022] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0023] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

[0024] In existing technologies, when a vehicle needs to reverse a long distance while in motion, the common practice is to use memory reversing: that is, to record the route information of the nearest distance in advance, and then control the target vehicle to automatically reverse along the memorized route information, also known as line-following reversing. The entire memory reversing process involves only reversing backwards, without any U-turn operation. Because the driver and the target vehicle's sensing equipment have a narrow observation range and large blind spots during the entire reversing process, there is a risk of traffic accidents.

[0025] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0026] Figure 1 This is a flowchart illustrating a method for automatically marking locations where a turnaround is possible, as provided in an embodiment of this specification.

[0027] 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.

[0028] like Figure 1 As shown, the process may include the following steps:

[0029] Step 101: Based on the vehicle sensing device of the target vehicle, obtain the first available driving space of the target vehicle at the first position; 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;

[0030] 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.

[0031] In the embodiments of this specification, the vehicle sensing device can be used to acquire obstacle information around the target vehicle, and may specifically include one or more of the following: vehicle-mounted camera, lidar, millimeter-wave radar, and ultrasonic radar.

[0032] In this embodiment of the specification, the first available driving space refers to the drivable space of the target vehicle at the first position. The available space in front 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 space 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.

[0033] Step 103: Determine the first length of the available space in front of and behind the target vehicle;

[0034] 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.

[0035] Step 105: Determine the second length of the available space on both sides of the target vehicle;

[0036] 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.

[0037] 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;

[0038] 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.

[0039] Step 109: If the first judgment result indicates that the target vehicle can make a U-turn using the first available driving space, then mark the first position as a U-turn position in the driving trajectory of the target vehicle.

[0040] In this embodiment of the specification, the driving trajectory can be the vehicle trajectory information recorded when the target vehicle is traveling forward. While recording the driving trajectory, the target vehicle can also simultaneously record other driving data, such as the target vehicle's historical position and posture information, center of gravity sideslip angle, vehicle speed, vehicle steering angle, steering wheel steering angle, etc.

[0041] In practical applications, considering factors such as timeliness and product economy, a cyclic overwrite method can be used to record the driving trajectory and the possible U-turn locations. That is, when the storage space occupied by the driving trajectory and the possible U-turn locations reaches its maximum capacity, or the driving trajectory reaches a predetermined length, or the number of possible U-turn locations reaches a marker threshold, the earliest recorded driving trajectory or possible U-turn location will be overwritten by the latest recorded data. This ensures that the last segment of the target vehicle's driving trajectory and the latest possible U-turn location within that trajectory are always recorded.

[0042] In this embodiment, the first available driving space of the target vehicle is obtained through the vehicle sensing device of the target vehicle. Then, it is determined whether the target vehicle can make a U-turn using the first available driving space. If so, the first position is marked as a U-turn location on the target vehicle's driving trajectory. Thus, when the target vehicle needs to reverse, the U-turn location is used as the destination for reversing, eliminating the need for the driver to manually search for a U-turn location during the reversing process. This improves safety by avoiding distracting the driver. Furthermore, the method allows the target vehicle to drive forward after making a U-turn at the U-turn location, quickly ending the reversing process and further improving safety by shortening the reversing distance.

[0043] 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.

[0044] Optionally, determining whether the target vehicle can make a U-turn using the first available driving space may specifically include:

[0045] Determine whether both the first length and the second length are greater than or equal to a preset length threshold; the preset length threshold is set based on the diagonal length of the target vehicle and a safe distance; the safe distance is a preset minimum distance between the target vehicle and the obstacle.

[0046] In this embodiment of the specification, the first threshold can be the sum of the diagonal length of the target vehicle and twice the safety distance; the safety distance can be a calibrated value or an empirical value (e.g., 15 cm).

[0047] In this embodiment of the specification, determining whether both the first length and the second length are greater than or equal to a preset length threshold may specifically include: determining that both the first length and the second length are greater than or equal to a first threshold; if both the first length and the second length are greater than or equal to the first threshold, a first determination result indicating that the target vehicle can complete a U-turn using the first available driving space is obtained; if either the first length or the second length is less than the first threshold, a first determination result indicating that the target vehicle cannot complete a U-turn using the first available driving space is obtained.

[0048] 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:

[0049] D fb ≥L+2S;

[0050] D lr ≥L+2S;

[0051] In the formula, D fb 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.

[0052] Optionally, after marking the first position as a U-turn location in the target vehicle's driving trajectory, the process may further include:

[0053] After receiving the reversing command for the target vehicle, the target turning position of the target vehicle is determined based on the driving trajectory and the possible turning position.

[0054] Generate reversing path planning information with the target U-turn location as the destination, so that the target vehicle can make a U-turn at the designated U-turn location.

[0055] In this embodiment of the specification, the reversing command is used to instruct the target vehicle to reverse towards the target U-turn position. The reversing command can 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 can be expressed in a way that is easy for the driver to understand, such as "one-click reversing" or "automatic reversing".

[0056] In the embodiments of this specification, the process of determining the target U-turn position of the target vehicle may be: determining the last recorded possible U-turn position as the target U-turn position of the target vehicle; or determining the distance between the target vehicle and each possible U-turn position based on the driving trajectory, and selecting the possible U-turn position closest to the target vehicle as the target U-turn position of the target vehicle.

[0057] In this embodiment of the specification, after determining that the target vehicle can complete a U-turn using the first available driving space, the first available driving space or its size, or the first length and the second length, can be recorded. After obtaining a reversing command for the target vehicle, based on the size of the first available driving space, or the first length and the second length, the difficulty of the U-turn or the complexity of the reversing steps at the target U-turn location is determined. Combining the distance between the target vehicle and each available U-turn location, a U-turn location with a lower risk of collisions or other traffic accidents is selected as the target U-turn location for the target vehicle.

[0058] In this embodiment of the specification, after determining that the target vehicle can complete a U-turn using the first available driving space, the size of the first available driving space, as well as the first length and the second length, may not be recorded. Only the driving trajectory and the possible U-turn position of the target vehicle may be recorded. Based on the map, the available driving space of the target vehicle at the target U-turn position is determined, thereby predicting the difficulty or complexity of the U-turn at that position. Combining the distance between the target vehicle and each possible U-turn position, a U-turn position with a lower risk of collisions or other traffic accidents is selected as the target U-turn position for the target vehicle.

[0059] In the embodiments of this specification, the reversing path planning information can be used to enable the target vehicle to reverse towards the target U-turn position. The reversing path planning information can be implemented based on vehicle dynamics models and automatic control theory. It should be particularly noted that the reversing path planning information can be used by autonomous vehicles to complete vehicle reversing, and can also be displayed using in-vehicle or mobile devices to guide the driver of the target vehicle to manually reverse the vehicle.

[0060] Optionally, generating reversing route planning information with the target U-turn location as the destination may specifically include:

[0061] Based on the driving trajectory and the target U-turn location, a reversing path planning information is generated with the target U-turn location as the destination; the reversing path planning information is used to instruct the target vehicle to reverse along the driving trajectory.

[0062] In this embodiment of the specification, the process of generating the reversing path planning information may include: reversing the historical location information recorded in the driving trajectory according to the time order, and using it as the reversing path for the target vehicle during the reversing process.

[0063] In this embodiment of the specification, while driving along the specified trajectory, the target vehicle may also simultaneously record its historical driving data, such as its historical pose information, center of gravity sideslip angle, vehicle speed, vehicle steering angle, and steering wheel steering angle. This historical driving data can be used to generate trajectory planning or motion planning for the autonomous vehicle.

[0064] Optionally, after generating the reversing route planning information with the target U-turn location as the destination, it may further include:

[0065] Obtain the second location of the target vehicle;

[0066] Determine whether the distance between the second position and the target turning position is less than a first distance threshold to obtain a second determination result;

[0067] If the second judgment result indicates that the distance between the second position and the target U-turn position is less than the first distance threshold, then the U-turn path planning information of the target vehicle at the second position is generated.

[0068] In this embodiment of the specification, after the target vehicle's current second position approaches the target U-turn position, the available driving space of the target vehicle at the second position is obtained; if it is determined that the target vehicle can use the available driving space at the second position to complete the U-turn, then based on the available driving space of the target vehicle at the second position, the U-turn path planning information of the target vehicle at the second position is generated.

[0069] In this embodiment of the specification, after the target vehicle's current second position approaches the target U-turn position, or after it is determined that the target vehicle can use the available driving space at the second position to complete the U-turn, the target vehicle can also prompt the driver to input a U-turn command through a human-machine interface; after obtaining the U-turn command input by the driver, the U-turn path planning information of the target vehicle at the second position is generated.

[0070] In the embodiments described in this specification, the first distance threshold can be set according to actual needs or positioning accuracy, for example, 1 meter. Alternatively, the first distance threshold can be set larger (e.g., 3-10 meters) to allow for advance adjustment of the target vehicle's position and attitude, thereby reducing the number of operational steps during the U-turn.

[0071] In the embodiments described in this specification, the U-turn path planning information can be used to change 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 executed by an autonomous vehicle to complete a U-turn, and can also be displayed using in-vehicle equipment or mobile devices to guide the driver of the target vehicle to manually complete the U-turn.

[0072] Optionally, after generating the U-turn path planning information for the target vehicle at the second location, the process may further include:

[0073] Based on the U-turn path planning information, determine the path the target vehicle will take during the U-turn process;

[0074] During the process of the target vehicle making a U-turn, the second available driving space of the target vehicle at its current position is obtained;

[0075] Based on the second available driving space, determine whether a new obstacle appears in the driving path, and obtain a third judgment result;

[0076] If the third judgment result indicates that a new obstacle has appeared in the path to be driven, 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 for the U-turn process;

[0077] If the driver receives the pause command, the target vehicle stops moving until the obstacle disappears.

[0078] In this embodiment of the specification, if a new obstacle appears within the driving path range of 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.

[0079] In this embodiment of the specification, if a new obstacle appears within the driving path of the target vehicle during the 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 reversing is paused and the reversing process continues 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.

[0080] In practical applications, a method similar to that used in the U-turn process can be used to determine whether new obstacles appear in the path the target vehicle is to travel during the reversing process, and generate a pause command for prompting the driver to input the pause command for the reversing process after an obstacle appears; if the pause command is received from the driver, the target vehicle stops moving until the obstacle disappears.

[0081] Optionally, the first prompt information can also be used to prompt the driver to input a replanning command;

[0082] After generating the first prompt message, the method further includes:

[0083] If the driver's replanning instruction is received, the U-turn route planning information for the target vehicle at its current location is regenerated.

[0084] In the embodiments of this specification, if the obstacle is not a temporary obstacle that can disappear in a short time, the U-turn path planning information of the target vehicle at the current location can be updated according to the driver's replanning instruction to increase the probability of a successful U-turn.

[0085] Optionally, the method may further include:

[0086] Based on the first posture information of the target vehicle at the second position, the target posture information of the target vehicle after completing the U-turn process is determined;

[0087] During the process of the target vehicle making a U-turn, the current position and pose information of the target vehicle and the third available driving space at the current position are obtained; wherein, the position and pose information may include the position information and attitude information of the target vehicle;

[0088] Based on the target posture information, the current posture information, and the third 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;

[0089] Determine whether the maximum vehicle center of gravity sideslip angle is less than the angle threshold to obtain the fourth determination result;

[0090] If the fourth determination 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.

[0091] In this embodiment of the specification, the first attitude information may include the initial heading angle of the target vehicle before it turns around, and the target attitude information may include the target heading angle of the target vehicle after it has completed the turn. The angle between the initial heading angle and the target heading angle is approximately 180 degrees.

[0092] 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 easily complete the U-turn by turning the steering wheel. If the driver takes over the target vehicle after receiving the second prompt information, 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 stop the car in the original parking space after making a U-turn and then drive it away; instead, they drive away as much as possible during the U-turn), thus improving the user experience.

[0093] Optionally, after marking the first position as a U-turn location in the target vehicle's driving trajectory, the process may further include:

[0094] Based on the vehicle perception device of the target vehicle, the fourth available driving space of the target vehicle at the third position is obtained;

[0095] Determine whether the target vehicle can make a U-turn using the fourth available driving space, and obtain the fifth determination result;

[0096] If the fifth judgment result indicates that the target vehicle can make a U-turn using the fourth available driving space, then the third position is marked as the U-turn position in the target vehicle's driving trajectory.

[0097] In the embodiments of this specification, the driving trajectory of the target vehicle may be marked with multiple possible U-turn locations.

[0098] In this embodiment of the specification, determining whether the target vehicle can complete a U-turn using the fourth available driving space may specifically include: determining the third length of the available space in front of and behind the target vehicle in the fourth available driving space; determining the fourth length of the available space on both sides of the target vehicle in the fourth available driving space; determining whether the third length and the fourth length of the target vehicle in the fourth available driving space are both greater than or equal to a first threshold; if the third length and the fourth length are both greater than or equal to the first threshold, a fifth determination result indicating that the target vehicle can complete a U-turn using the fourth available driving space is obtained; if either is less than the first threshold, a fifth determination result indicating that the target vehicle cannot complete a U-turn using the fourth available driving space is obtained.

[0099] In this embodiment of the specification, after the target vehicle is currently in a second position and approaches the target U-turn position, if it is determined that the target vehicle cannot use the available driving space at the second position to complete the U-turn, or if the driver inputs a command to continue reversing through the human-machine interface, then the target U-turn position of the target vehicle is updated according to the driving trajectory and other available U-turn positions, and the reversing path planning information is updated to increase the likelihood of the target vehicle successfully making a U-turn.

[0100] Optionally, the method may further include:

[0101] Determine whether the number of possible U-turn locations is greater than or equal to the number of marked locations to obtain the sixth determination result;

[0102] If the sixth determination result indicates that the number of possible U-turn locations is greater than or equal to the threshold number of markers, then the marker of the possible U-turn location farthest from the target vehicle in the driving trajectory is canceled.

[0103] In this embodiment of the specification, the recording of the possible U-turn locations can be done in a cyclic overwrite manner; that is, when the number of possible U-turn locations reaches the threshold of the number of markers, the earliest recorded possible U-turn location will be overwritten by the last recorded data, thereby achieving the goal of always recording possible U-turn locations in the last segment of the target vehicle's driving trajectory.

[0104] Optionally, before marking the third position as the U-turn location in the target vehicle's driving trajectory, the process may further include:

[0105] Determine whether the distance between the third position and the usable turning position is greater than or equal to the second distance threshold to obtain the seventh determination result;

[0106] Marking the third position as the U-turn location in the target vehicle's driving trajectory can specifically include:

[0107] If the seventh determination result indicates that the distance between the third position and the U-turn position is greater than or equal to the second distance threshold, then the third position is marked as the U-turn position in the driving trajectory of the target vehicle.

[0108] In this embodiment of the specification, after determining that the target vehicle can make a U-turn using the fourth available driving space at the third position, the third position is marked as the U-turn position only when the distance between the third position and the existing U-turn position is greater than or equal to the second distance threshold.

[0109] Based on and Figure 1 Following the same approach as the scheme shown, this specification also provides a method for automatically turning around using pre-marked turn-around locations. Figure 2 This is a flowchart illustrating another method for automatically turning around using pre-marked U-turn locations, provided as an embodiment of this specification. Figure 2 As shown, the process may include the following steps:

[0110] During the forward travel of the target vehicle, the driving trajectory of the target vehicle is recorded, and the first available driving space of the target vehicle at the first position is obtained; it is determined whether 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, the first position is marked as a U-turn position in the driving trajectory of the target vehicle.

[0111] After obtaining the reversing command for the target vehicle, the target turning position of the target vehicle is determined based on the driving trajectory and the available turning position; then, reversing path planning information with the target turning position as the destination is generated.

[0112] During the reversing process of the target vehicle, the second position of the target vehicle is obtained; if the second judgment result indicates that the distance between the second position and the target U-turn position is less than a first distance threshold, then the U-turn path planning information of the target vehicle at the second position is generated.

[0113] During the U-turn of the target vehicle, if the angle between the current heading angle of the target vehicle and the target heading angle is less than a threshold, or if the maximum vehicle center of gravity sideslip angle during the continued U-turn is less than a threshold, a second prompt message is generated to alert the driver to take over the vehicle. At this point, the target vehicle completes the automatic U-turn and can proceed in the forward direction.

[0114] Based on the same idea, this specification also provides an embodiment of an vehicle that automatically marks a U-turn location corresponding to the above method, which can be used to implement any of the above methods.

[0115] Figure 3 An embodiment provided in this specification corresponds to Figure 1 A structural diagram of a vehicle that automatically marks U-turn locations. (Example) Figure 3 As shown, the vehicle may include:

[0116] Vehicle sensing device 301 is used to acquire environmental sensing data of the vehicle itself.

[0117] The controller 303 is used to process the environmental perception data to determine the first available driving space of the target vehicle at the first position; 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; to determine the first length of the available space in front of and behind the target vehicle, and to determine the second length of the available space on both sides of the target vehicle; based on the first length and the second length, to determine whether the target vehicle can make a U-turn using the first available driving space, and to obtain a first judgment result;

[0118] The memory 305 is used to store the driving trajectory and U-turn position of the vehicle body; wherein, the driving trajectory is obtained by real-time recording during the forward driving of the target vehicle; the U-turn position is obtained by marking the first position in the driving trajectory when the first judgment result indicates that the target vehicle can make a U-turn using the first available driving space.

[0119] Optionally, the vehicle may further include:

[0120] The human-machine interface module is used to receive the reversing command, the U-turn command, the pause command, and the replanning command input by the driver; the U-turn command is used to instruct the target vehicle to stop moving until the obstacle disappears; the replanning command is used to instruct the regeneration of the U-turn path planning information of the target vehicle at the current position.

[0121] Optionally, the vehicle can also be used to implement any of the above-described methods for automatically marking U-turn locations and / or for automatically turning around using pre-marked U-turn locations.

[0122] 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 3As the vehicles shown are basically similar to those in the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments.

[0123] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program a digital system themselves to "integrate" it onto a PLD, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0124] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0125] 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, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 of automatically marking a turnable position, characterized in that, include: Based on the vehicle perception device of the target vehicle, the first available driving space of the target vehicle at the first position 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; 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; If the first judgment result indicates that the target vehicle can make a U-turn using the first available driving space, then the first position is marked as a U-turn position in the target vehicle's driving trajectory; wherein, the driving trajectory is obtained by real-time recording during the target vehicle's forward driving process, and the driving trajectory and the U-turn position are recorded in a cyclical overlay manner; The determination of whether the target vehicle can make a U-turn using the first available driving space specifically includes: Determine whether both the first length and the second length are greater than or equal to a preset length threshold; the preset length threshold is set based on the diagonal length of the target vehicle and a safe distance; the safe distance is a preset minimum distance between the target vehicle and the obstacle; The method further includes: Based on the first posture information of the target vehicle at its current second position, determine the target posture information of the target vehicle after completing the U-turn process; During the process of the target vehicle making a U-turn, the current position and orientation information of the target vehicle and the third available driving space at the current position are obtained; Based on the target posture information, the current posture information, and the third 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 fourth determination 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.

2. The method as described in claim 1, characterized in that, After marking the first position as a U-turn location in the target vehicle's driving trajectory, the method further includes: After receiving the reversing command for the target vehicle, the target turning position of the target vehicle is determined based on the driving trajectory and the possible turning position. Generate reversing path planning information with the target U-turn location as the destination, so that the target vehicle can make a U-turn at the designated U-turn location.

3. The method as described in claim 2, characterized in that, The generation of reversing route planning information with the target U-turn location as the destination specifically includes: Based on the driving trajectory and the target U-turn location, a reversing path planning information is generated with the target U-turn location as the destination; the reversing path planning information is used to instruct the target vehicle to reverse along the driving trajectory.

4. The method as described in claim 2, characterized in that, After generating the reversing route planning information with the target U-turn location as the destination, the method further includes: Obtain the second location of the target vehicle; Determine whether the distance between the second position and the target turning position is less than a first distance threshold to obtain a second determination result; If the second judgment result indicates that the distance between the second position and the target U-turn position is less than the first distance threshold, then the U-turn path planning information of the target vehicle at the second position is generated.

5. The method as described in claim 4, characterized in that, After generating the U-turn path planning information for the target vehicle at the second location, the method further includes: Based on the U-turn path planning information, determine the path the target vehicle will take during the U-turn process; During the process of the target vehicle making a U-turn, the second available driving space of the target vehicle at its current position is obtained; Based on the second available driving space, determine whether a new obstacle appears in the driving path, and obtain a third judgment result; If the third judgment result indicates that an obstacle has appeared in the path to be driven, 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 for the U-turn process; If the driver receives the pause command, the target vehicle stops moving until the obstacle disappears.

6. The method as described in claim 5, characterized in that, The first prompt message can also be used to prompt the driver to input a rerouting command; After generating the first prompt message, the method further includes: If the driver's replanning instruction is received, the U-turn route planning information for the target vehicle at its current location is regenerated.

7. The method as described in claim 1, characterized in that, After marking the first position as a U-turn location in the target vehicle's driving trajectory, the method further includes: Based on the vehicle perception device of the target vehicle, the fourth available driving space of the target vehicle at the third position is obtained; Determine whether the target vehicle can make a U-turn using the fourth available driving space, and obtain the fifth determination result; If the fifth judgment result indicates that the target vehicle can make a U-turn using the fourth available driving space, then the third position is marked as the U-turn position in the target vehicle's driving trajectory.

8. A vehicle that automatically marks U-turn locations, characterized in that, include: Vehicle sensing devices are used to acquire environmental perception data of the vehicle itself. A controller is used to process the environmental perception data to determine the first available driving space for the target vehicle at the first location; 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; A first length of the available space in front of and behind the target vehicle is determined, and a second length of the available space on both sides of the target vehicle is determined; 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 determination result is obtained; The memory is used to store the driving trajectory and U-turn position of the vehicle body, and records the driving trajectory and U-turn position in a cyclic overwrite manner; wherein, the driving trajectory is obtained by real-time recording during the forward driving of the target vehicle; the U-turn position is obtained by marking the first position in the driving trajectory when the first judgment result indicates that the target vehicle can complete the U-turn using the first available driving space; The determination of whether the target vehicle can make a U-turn using the first available driving space specifically includes: Determine whether both the first length and the second length are greater than or equal to a preset length threshold; the preset length threshold is set based on the diagonal length of the target vehicle and a safe distance; the safe distance is a preset minimum distance between the target vehicle and the obstacle; The vehicle is also used for: Based on the first posture information of the target vehicle at its current second position, determine the target posture information of the target vehicle after completing the U-turn process; During the process of the target vehicle making a U-turn, the current position and orientation information of the target vehicle and the third available driving space at the current position are obtained; Based on the target posture information, the current posture information, and the third 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 fourth determination 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.

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