Vehicle reversing behavior decision method and device

Abstract

The present application relates to a method and device for making a decision on the reversing behavior of a vehicle, wherein the method comprises: obtaining at least one candidate valid target with at least one corner point in a preset area of ​​interest around the vehicle; determining whether the valid target and the front of the vehicle meet a preset passable condition; if both meet the preset passable condition, determining whether the vehicle meets a preset reversing condition, and controlling the vehicle to perform a reversing action when the preset reversing condition is met, until it is detected that the vehicle or the valid target meets a preset reversing exit condition. The embodiment of the present application can obtain at least one candidate valid target from a preset area of ​​interest around the vehicle, and when it is determined that the valid target and the front of the vehicle both meet the passable condition, control the vehicle to perform a reversing action to avoid obstacles, taking into account the complexity of the parking environment, thereby improving the safety of the vehicle's reversing, ensuring the intelligence and practicality of the vehicle, and enhancing user stickiness.

Description

Technical Field

[0001] The present application relates to the field of vehicle automatic driving technology, and in particular to a method and device for making decisions on vehicle reversing behavior. Background Art

[0002] At present, due to the rapid growth of the number of motor vehicles and the weak awareness of standardized driving among some drivers, illegal reversing of vehicles occurs from time to time. This behavior greatly reduces the road's traffic capacity, easily causes traffic accidents, and results in casualties and property losses.

[0003] In related technologies, autonomous vehicle behavior decisions typically involve receiving map information, positioning information, target obstacle information, drivable area information, and the vehicle's status information. The decision then determines the optimal behavior for the vehicle, while ensuring safety. These behaviors include turning, U-turns, braking, and reversing. When reversing, the vehicle can also be used as a target vehicle to obtain and analyze obstacle data in its surroundings, demarcating drivable areas and avoiding collisions during reverse.

[0004] However, in related technologies, the vehicle's behavioral decision-making framework does not take into account the complexity of the parking environment and the inaccuracy of sensors, nor does it take into account the predicted trajectory of the kinematic constraints of surrounding vehicles. It cannot improve the safety of the vehicle when reversing, reduces the vehicle's intelligence and practicality, and makes it difficult to increase user stickiness, which urgently needs to be improved. Summary of the Invention

[0005] The present application provides a method and device for making a decision on the reversing behavior of a vehicle to solve the problems in the related art, that is, the vehicle behavior decision framework does not take into account the complexity of the parking environment and the inaccuracy of sensors, does not take into account the predicted trajectory of the kinematic constraints of surrounding vehicles, cannot improve the safety of the vehicle when reversing, reduces the intelligence and practicality of the vehicle, and is difficult to improve user stickiness.

[0006] The first aspect of the present application provides a method for deciding the reversing behavior of a vehicle, comprising the following steps: obtaining at least one candidate valid target with at least one corner point in a preset area of ​​interest around the vehicle, and selecting a valid target with the closest longitudinal distance to the vehicle from the at least one candidate valid target; judging whether the valid target and the front of the vehicle meet a preset passable condition; if both meet the preset passable condition, judging whether the vehicle meets a preset reversing condition, and when the preset reversing condition is met, controlling the vehicle to perform a reversing action until it is detected that the vehicle or the valid target meets a preset reversing exit condition.

[0007] According to the above technical means, the embodiment of the present application can obtain at least one candidate valid target from the preset area of ​​interest around the vehicle. When it is determined that the valid target and the front of the vehicle meet the passable conditions, the vehicle is controlled to perform a reversing action to avoid obstacles, taking into account the complexity of the parking environment, thereby improving the safety of the vehicle's reversing, ensuring the intelligence and practicality of the vehicle, and enhancing user stickiness.

[0008] Optionally, in one embodiment of the present application, the judgment of whether the valid target and the front of the vehicle meet the preset passable conditions includes: calculating the distance from the corner point of the valid target to the roadside on both sides, and when the distances are all less than a first safety distance obtained from the vehicle width, determining that the front of the vehicle is impassable; calculating the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and when the spacing between the multiple consecutive points is all less than the first safety distance, determining that the front of the vehicle is impassable; when the distance from the corner point of the valid target to any roadside is greater than the second safety distance obtained from the vehicle width of the valid target, performing feasible trajectory planning based on the midpoint of the vertical line between the corner point of the valid target and any roadside, and when planning fails, determining that the front of the vehicle is impassable; when the maximum value of the spacing between the multiple consecutive points is greater than the first safety distance, performing feasible trajectory planning with the midpoint of the two points corresponding to the maximum value as the end point, and when planning fails, determining that the front of the vehicle is impassable.

[0009] According to the above-mentioned technical means, the embodiment of the present application can calculate the distance from the corner point of the effective target to the roadside on both sides, calculate the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and determine that the road ahead of the vehicle is impassable through one or more methods, thereby improving the efficiency and safety of vehicle driving and parking.

[0010] Optionally, in one embodiment of the present application, the judgment of whether the valid target and the front of the vehicle meet the preset passable conditions also includes: when the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the spacing between the multiple consecutive points are both less than the second safety distance, the valid target is determined to be impassable; when the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, a feasible trajectory is planned according to the minimum turning radius of the valid target and based on the midpoint of the vertical line between the corner point on either side and the roadside, and when the planning fails, the valid target is determined to be impassable; when the maximum value of the spacing between the multiple consecutive points is greater than the second safety distance, a feasible trajectory is planned according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point, and when the planning fails, the valid target is determined to be impassable.

[0011] According to the above technical means, the embodiment of the present application can determine that the valid target is impassable when the maximum value of the distance from the corner point of the vehicle to the roadside on both sides and the distance between multiple consecutive points are both less than the second safety distance, or the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, or the feasible trajectory planning fails, thereby determining that the front of the vehicle is impassable through one or more methods, thereby further improving the efficiency and safety of vehicle driving and parking.

[0012] Optionally, in one embodiment of the present application, the preset reversing conditions include that the vehicle is in automatic driving mode, the stationary stay time of the vehicle and the valid target is greater than a preset time length, the front of the vehicle does not meet the preset passable condition and the duration is greater than a first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration is greater than a second preset time, and a dynamic target appears in front of the reference line of the vehicle and lasts for a third preset time and remains stationary for a third preset time, while there are no obstacles behind the reference line and there is a drivable area.

[0013] According to the above technical means, the embodiments of the present application can determine that certain reversing conditions are met and reversing can be performed when the vehicle is in automatic driving mode, the stationary stay time of the vehicle and the valid target is greater than the preset time length, the front of the vehicle does not meet the preset passable conditions and the duration is greater than the first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration is greater than the second preset time, and a dynamic target appears in front of the reference line of the vehicle and lasts for a third preset time and remains stationary for a third preset time, while there is no obstacle behind the reference line and there is a drivable area, thereby improving the intelligence and practicality of the vehicle.

[0014] Optionally, in one embodiment of the present application, the preset reversing exit conditions include that the front of the vehicle meets the preset passable condition and lasts for a fifth preset time, the valid target meets the preset passable condition and lasts for a sixth preset time, the gear of the vehicle is not in the forward gear, or the valid target reverses and lasts for a seventh preset time, or the vehicle fails to plan a drivable trajectory.

[0015] According to the above technical means, the embodiment of the present application can determine that the current vehicle meets certain reversing exit conditions when the preset passable conditions in front of the vehicle are met and last for the fifth preset time, the valid target meets the preset passable conditions and lasts for the sixth preset time, the vehicle's gear is not in the forward gear, or the valid target is reversing and lasts for the seventh preset time, or the vehicle fails to plan a drivable trajectory. This takes into account the complexity of the vehicle's surrounding environment and improves the safety of reversing.

[0016] The second aspect of the present application provides a vehicle reversing behavior decision-making device, including: an acquisition module, used to acquire at least one candidate valid target with at least one corner point in a preset area of ​​interest around the vehicle, and select a valid target with the closest longitudinal distance to the vehicle from the at least one candidate valid target; a judgment module, used to judge whether the valid target and the front of the vehicle meet the preset passable conditions; a reversing module, used to judge whether the vehicle meets the preset reversing conditions when both meet the preset passable conditions, and control the vehicle to perform a reversing action when the preset reversing conditions are met until it is detected that the vehicle or the valid target meets the preset reversing exit conditions.

[0017] Optionally, in one embodiment of the present application, the judgment module includes: a first judgment unit, used to calculate the distance from the corner point of the valid target to the roadside on both sides, and when the distances are all less than a first safety distance obtained from the vehicle width, determine that the front of the vehicle is impassable; a second judgment unit, used to calculate the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and when the spacing between the multiple consecutive points is all less than the first safety distance, determine that the front of the vehicle is impassable; a third judgment unit, used to perform feasible trajectory planning based on the midpoint of the vertical line between the corner point of the valid target and any roadside when the distance from the corner point of the valid target is greater than the second safety distance obtained from the vehicle width of the valid target, and determine that the front of the vehicle is impassable when planning fails; a fourth judgment unit, used to perform feasible trajectory planning with the midpoint of the two points corresponding to the maximum value as the end point when the maximum value of the spacing between the multiple consecutive points is greater than the first safety distance, and determine that the front of the vehicle is impassable when planning fails.

[0018] Optionally, in one embodiment of the present application, the judgment module also includes: a fifth judgment unit, which is used to determine that the valid target is not passable when the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the spacing between the multiple consecutive points are both less than the second safety distance; a sixth judgment unit, which is used to plan a feasible trajectory according to the minimum turning radius of the valid target and based on the midpoint of the vertical line between the corner point on either side and the roadside when the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, and determine that the valid target is not passable when the planning fails; a seventh judgment unit, which is used to plan a feasible trajectory according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point when the maximum value of the spacing between the multiple consecutive points is greater than the second safety distance, and determine that the valid target is not passable when the planning fails.

[0019] Optionally, in one embodiment of the present application, the preset reversing conditions include that the vehicle is in automatic driving mode, the stationary stay time of the vehicle and the valid target is greater than a preset time length, the front of the vehicle does not meet the preset passable condition and the duration is greater than a first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration is greater than a second preset time, and a dynamic target appears in front of the reference line of the vehicle and lasts for a third preset time and remains stationary for a third preset time, while there are no obstacles behind the reference line and there is a drivable area.

[0020] Optionally, in one embodiment of the present application, the preset reversing exit conditions include that the front of the vehicle meets the preset passable condition and lasts for a fifth preset time, the valid target meets the preset passable condition and lasts for a sixth preset time, the gear of the vehicle is not in the forward gear, or the valid target reverses and lasts for a seventh preset time, or the vehicle fails to plan a drivable trajectory.

[0021] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle reversing behavior decision method as described in the above embodiment.

[0022] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned vehicle reversing behavior decision method.

[0023] Beneficial effects of the embodiments of the present application:

[0024] (1) The embodiment of the present application can obtain at least one candidate valid target from a preset area of ​​interest around the vehicle. When it is determined that the valid target and the front of the vehicle meet the passable conditions, the vehicle is controlled to perform a reverse action to avoid obstacles. This takes into account the complexity of the parking environment, thereby improving the safety of the vehicle's reverse, ensuring the intelligence and practicality of the vehicle, and enhancing user stickiness.

[0025] (2) The embodiments of the present application can calculate the distance from the corner point of the effective target to the roadside on both sides, calculate the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and determine that the front of the vehicle is impassable through one or more methods, thereby improving the efficiency and safety of vehicle driving and parking.

[0026] (3) The embodiment of the present application can determine that the current vehicle meets certain reversing exit conditions when the preset passable condition in front of the vehicle is met and lasts for the fifth preset time, the valid target meets the preset passable condition and lasts for the sixth preset time, the vehicle is not in the forward gear, or the valid target is reversed and lasts for the seventh preset time, or the vehicle fails to plan a drivable trajectory, taking into account the complexity of the vehicle's surrounding environment and improving the safety of reversing.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0029] Figure 1 This is a flowchart of a vehicle reversing behavior decision method provided according to an embodiment of the present application;

[0030] Figure 2 Schematic diagram of the principle of a method for making a decision on a vehicle's reversing behavior according to one embodiment of the present application;

[0031] Figure 3 Schematic diagram of the principle of a method for making a decision on a vehicle's reversing behavior according to one embodiment of the present application;

[0032] Figure 4 A diagram of a meeting situation at an intersection according to a method for making a decision on a vehicle's reversing behavior according to one embodiment of the present application;

[0033] Figure 5 A schematic structural diagram of a vehicle reversing behavior decision-making device provided according to an embodiment of the present application;

[0034] Figure 6 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0035] Among them, 10-vehicle reversing behavior decision-making device: 100-acquisition module, 200-judgment module, 300-reversing module. DETAILED DESCRIPTION

[0036] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0037] The following describes a method and device for determining the reverse behavior of a vehicle according to an embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the above background technology, the vehicle behavior decision framework does not consider the complexity of the parking environment and the inaccuracy of the sensors, does not consider the predicted trajectories of the kinematic constraints of the surrounding vehicles, cannot improve the safety of the vehicle when reversing, reduces the vehicle's intelligence and practicality, and is difficult to improve user stickiness. The present application provides a method for determining the reverse behavior of a vehicle, in which at least one candidate valid target can be obtained from a preset region of interest around the vehicle. When it is determined that the valid target and the front of the vehicle both meet the passable conditions, the vehicle is controlled to perform a reverse action, taking into account the complexity of the parking environment, thereby improving the safety of the vehicle when reversing and ensuring the vehicle's intelligence and practicality. Thus, the present application solves the problems in the related art, in which the vehicle behavior decision framework does not consider the complexity of the parking environment and the inaccuracy of the sensors, does not consider the predicted trajectories of the kinematic constraints of the surrounding vehicles, cannot improve the safety of the vehicle when reversing, reduces the vehicle's intelligence and practicality, and is difficult to improve user stickiness.

[0038] Specifically, Figure 1 A flowchart of a vehicle reversing behavior decision-making method provided in an embodiment of the present application.

[0039] like Figure 1 As shown, the vehicle reversing behavior decision method includes the following steps:

[0040] In step S101 , at least one candidate valid target with at least one corner point in a preset region of interest around a vehicle is obtained, and a valid target with the shortest longitudinal distance to the vehicle is selected from the at least one candidate valid target.

[0041] It is understandable that the preset region of interest in the embodiment of the present application may be a target region of interest, such as Figure 2 As shown, V1 is the rear axle center of the vehicle, V2 is the rear axle center of the target vehicle, and the polygonal area composed of V1-ABCD-V1 is the target area of ​​interest; the vehicle in the embodiment of the present application is a vehicle driven autonomously by a computer program, and its capabilities include perception of the surrounding environment, autonomous behavioral decision-making, autonomous path planning and autonomous vehicle control to achieve specific functions.

[0042] For example, an embodiment of the present application can determine a certain area of ​​interest around the vehicle, connecting the center V1 of the vehicle's rear axle and the midpoints of the left and right sides of the vehicle, and the line connecting the two and 20 meters in front of the vehicle's front guard line. The closed area determined by the roadside within this range is the target area of ​​interest. When the target obstacle perceived by the vehicle has at least one corner point within this area, this target is determined to be a candidate valid target. Among the candidate valid targets, the target with the closest longitudinal distance to the vehicle is selected as the valid target, selected and tracked, thereby providing a basis for subsequent determination of whether the valid targets in the area of ​​interest and the front of the vehicle meet certain passable conditions, thereby effectively controlling the vehicle to reverse to avoid obstacle targets, improving the safety of vehicle reversing, and improving the intelligence and practicality of the vehicle.

[0043] In step S102, it is determined whether the valid target and the area in front of the vehicle meet the preset passable conditions.

[0044] It can be understood that the traffic application scenarios in the embodiments of the present application include but are not limited to parking lots where the two-way lanes are narrow and only one car can pass at the same time, and two cars are meeting each other in opposite directions; in places where U-turns are made, vehicles cannot pass through by moving forward alone; when a vehicle that has stopped in the lane temporarily drives to the opposite reverse lane, there are oncoming vehicles; at an intersection, when an oncoming vehicle enters the intersection in advance and intersects with the vehicle, the vehicle needs to back up to avoid it, etc.

[0045] During the actual implementation process, the embodiment of the present application can determine whether the valid target and the front of the vehicle meet certain passable conditions. When it is determined that the certain passable conditions are met, the vehicle can be controlled to pass. When it is determined that the certain passable conditions are not met, the vehicle can be controlled to stop passing and reverse, thereby improving the efficiency of vehicle driving or reversing and effectively avoiding obstacles.

[0046] It should be noted that the preset passable conditions can be set by those skilled in the art according to actual conditions and are not specifically limited here.

[0047] Optionally, in one embodiment of the present application, determining whether the valid target and the front of the vehicle meet preset passable conditions includes: calculating the distance from the corner point of the valid target to the roadside on both sides, and determining that the front of the vehicle is impassable when the distances are all less than a first safety distance obtained from the vehicle width; calculating the spacing between multiple consecutive points in a drivable area of ​​a preset area of ​​interest, and determining that the front of the vehicle is impassable when the spacing between multiple consecutive points is all less than the first safety distance; when the distance from the corner point of the valid target to any roadside is greater than a second safety distance obtained from the vehicle width of the valid target, performing feasible trajectory planning based on the midpoint of the vertical line between the corner point of the valid target and any roadside, and determining that the front of the vehicle is impassable when the planning fails; when the maximum value of the spacing between multiple consecutive points is greater than the first safety distance, performing feasible trajectory planning with the midpoint of the two points corresponding to the maximum value as the end point, and determining that the front of the vehicle is impassable when the planning fails.

[0048] It can be understood that the first safety distance in the embodiment of the present application can be, but is not limited to, the vehicle width plus a safety distance of 0.5 meters, and the second safety distance can be, but is not limited to, the vehicle width of the effective target plus a safety distance of 0.5 meters.

[0049] For example, an embodiment of the present application can select a valid target, calculate the distance from the corner point of the valid target to the roadside on both sides, and when the distances are all less than the first safety distance of the vehicle width plus 0.5 meters, it is determined that the vehicle's front is impassable; an embodiment of the present application can calculate the distance between multiple consecutive points in a drivable area of ​​a certain area of ​​interest, and when the distances between multiple consecutive points are all less than the first safety distance of the vehicle width plus 0.5 meters, it is determined that the vehicle's front is impassable; an embodiment of the present application can calculate the distance between the corner point of the valid target and any roadside when the distance is greater than the second safety distance of the valid target width plus 0.5 meters. When leaving, a feasible trajectory is planned for the vehicle, wherein the selected planning end point is the corner point of the valid target and the midpoint of the vertical line connecting any roadside. When the feasible trajectory planning of the vehicle fails, it is determined that the front of the vehicle is impassable. The embodiment of the present application can calculate the maximum value of the spacing between consecutive points of FreeSpace (a dotted representation of the passable area around the current vehicle) in the area of ​​interest to be greater than the first safety distance of 0.5 meters plus the vehicle width, and calculate a feasible forward trajectory, with the midpoint of the two points corresponding to the maximum value as the planning end point. When a valid trajectory cannot be planned, it is determined that the front of the vehicle is impassable.

[0050] Furthermore, when the passable conditions are met, the passable time can be calculated, and when it is not passable, the passable time of the vehicle is set to 0; when it is not passable and both the vehicle and the target vehicle are stopped, the timing starts, and when the vehicle is passable, the inpassable time is set to 0.

[0051] The embodiment of the present application can calculate the distance from the corner point of the effective target to the roadside on both sides, calculate the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and determine that the front of the vehicle is impassable through one or more methods, so as to reverse to avoid obstacles, improve the efficiency and safety of vehicle driving, and improve user stickiness.

[0052] Optionally, in one embodiment of the present application, determining whether the valid target and the front of the vehicle meet the preset passable conditions also includes: when the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the spacing between multiple consecutive points are both less than the second safety distance, determining that the valid target is not passable; when the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, performing feasible trajectory planning according to the minimum turning radius of the valid target and based on the midpoint of the vertical line between the corner point on either side and the roadside, and when the planning fails, determining that the valid target is not passable; when the maximum value of the spacing between multiple consecutive points is greater than the second safety distance, performing feasible trajectory planning according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point, and when the planning fails, determining that the valid target is not passable.

[0053] It can be understood that the second safety distance in the embodiment of the present application can be, but is not limited to, the vehicle width of the effective target plus a safety distance of 0.5 meters, and the minimum turning radius in the embodiment of the present application can be, but is not limited to, 5 meters.

[0054] For example, the embodiment of the present application may consider the rectangular boundary of the vehicle, calculate the distance from the corner point of the vehicle to the roadside, calculate the continuous point spacing of the FreeSpace points in the area of ​​interest around the vehicle, and when the maximum value of the distance from the corner point of the vehicle to the roadside on both sides and the continuous point spacing of the FreeSpace points in the area of ​​interest around the vehicle are both less than the vehicle width of the effective target plus a safety distance of 0.5 meters, it is determined that the target vehicle is not passable; the embodiment of the present application may, when the distance from the corner point of the vehicle to either side of the roadside is greater than the effective target width plus a safety distance of 0.5 meters, follow the minimum turning radius of the effective target as 5 meters A feasible trajectory is planned for the target vehicle, and the selected planning end point is the midpoint of the vertical line connecting the corner point of the vehicle and the roadside. When a feasible operation trajectory cannot be planned, the valid target is determined to be impassable. In this embodiment of the application, when the maximum value of the continuous point spacing of FreeSpace points in the area of ​​interest around the vehicle is greater than the effective target width plus a safety distance of 0.5 meters, a feasible trajectory is planned for the target vehicle according to the minimum turning radius of the effective target of 5 meters. The selected planning end point is the midpoint of the two points with the calculated maximum spacing. When a feasible operation trajectory cannot be planned, the valid target is determined to be impassable.

[0055] Furthermore, the embodiment of the present application can calculate the passable time when the passable conditions are met, and when it is not passable, the effective target passable time is set to 0; when it is not passable and both the vehicle and the target vehicle are stopped, the timing is started, and when the vehicle is passable, the inpassable time is set to 0.

[0056] In an embodiment of the present application, when the maximum value of the distance from the corner point of the vehicle to the roadside on both sides and the spacing between multiple consecutive points is less than the second safety distance, or the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, or the feasible trajectory planning fails, it can be determined that the valid target is impassable, thereby determining that the front of the vehicle is impassable through one or more methods, thereby further improving the efficiency and safety of vehicle driving and parking.

[0057] In step S103, if the preset passable conditions are met, it is determined whether the vehicle meets the preset reversing conditions, and when the preset reversing conditions are met, the vehicle is controlled to perform the reversing action until it is detected that the vehicle or valid target meets the preset reversing exit conditions.

[0058] It can be understood that the behavioral decision-making method for executing reversing and exiting reversing in the embodiment of the present application includes, but is not limited to, input information such as: parking lot map information (at least including curve information and roadside information), reference lines given by the global path module, targets around the vehicle (at least the position information, speed information, and movement direction information of the corner points of the targets are required), dot representation of the passable area around the vehicle, the vehicle's speed, the vehicle's gear position, the current working mode, and the current vehicle's position in the map coordinate system.

[0059] During the actual implementation process, the embodiment of the present application can determine whether the vehicle meets certain reversing conditions when both the valid target and the front of the vehicle meet certain passable conditions, and when the certain reversing conditions are met, control the vehicle to perform reversing actions and perform safe reversing until it is detected that the vehicle or the valid target meets certain reversing exit conditions, ensuring that the reversing of the front vehicle ends after it reverses and continues for a certain period of time, and maintains the reversing end sign before the vehicle stops.

[0060] The embodiment of the present application can obtain at least one candidate valid target from a preset area of ​​interest around the vehicle, and when it is determined that the valid target and the front of the vehicle meet the passable conditions, control the vehicle to perform a reversing action, thereby taking into account the complexity of the parking environment, improving the safety of the vehicle's reversing, and ensuring the intelligence and practicality of the vehicle.

[0061] Optionally, in one embodiment of the present application, the preset reversing conditions include the vehicle being in automatic driving mode, the stationary stay time of the vehicle and the valid target being greater than a preset time length, the front of the vehicle not meeting the preset passable conditions and the duration being greater than a first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration being greater than a second preset time, and a dynamic target appearing in front of the reference line of the vehicle and lasting for a third preset time and being stationary for a third preset time, while there are no obstacles behind the reference line and there is a drivable area.

[0062] It can be understood that in the embodiment of the present application, the first preset time is shorter, the second preset time is longer, and the third preset time is further longer.

[0063] As a possible implementation method, the embodiment of the present application can determine the current driving mode of the vehicle. When it is an automatic driving mode and not a driving mode with a higher priority, the driving mode meets certain reversing conditions. The embodiment of the present application can determine whether the stay time of the vehicle and the valid target to be avoided in the curve meets certain reversing conditions, and whether the trajectory points passed by the vehicle are signs of being in the curve. When it is determined that the vehicle has just entered the curve, the stay time is short, that is, it is considered that the reversing conditions are met in the curve; when the vehicle has entered the curve, the stay time is lengthened to meet the reversing conditions of the vehicle; when the vehicle has just exited the curve, the stay time should continue to be lengthened to meet the reversing conditions of the vehicle.

[0064] Furthermore, the embodiment of the present application can determine whether the traffic conditions in front of the vehicle meet the reversing conditions. When the front along the reference line is impassable and the duration exceeds a certain time, it is determined that the impassable situation in front meets certain reversing conditions; the embodiment of the present application can determine whether the traffic conditions for valid targets around the vehicle meet the reversing conditions. When it is determined that the obstacle target vehicle along the vehicle reference line cannot pass through the drivable area around the vehicle and the duration is certain, it is determined that the effective target in front cannot be passed around the vehicle, that is, the effective target is impassable and meets the reversing conditions of the vehicle; the embodiment of the present application can determine whether the obstacle target around the vehicle meets the reversing conditions. When a dynamic target appears in front of the vehicle reference line and lasts for a period of time, and then the effective target remains stationary for a certain time, and at the same time there is no obstacle behind the reference line and there is a drivable area, it is determined that the obstacle target in front meets the reversing conditions.

[0065] The embodiment of the present application can reverse when it is determined that certain reversing conditions are met, thereby improving the intelligence and practicality of the vehicle and enhancing user stickiness.

[0066] Optionally, in one embodiment of the present application, the preset reversing exit conditions include the front of the vehicle meeting the preset passable condition and lasting for the fifth preset time, the valid target meeting the preset passable condition and lasting for the sixth preset time, the vehicle's gear is not in the forward gear, or the valid target is reversing and lasting for the seventh preset time, or the vehicle fails to plan a drivable trajectory.

[0067] Among them, the embodiment of the present application can determine that the vehicle meets certain reversing exit conditions when the front of the vehicle meets certain passable conditions and continues for the fifth preset time, the valid target meets certain passable conditions and continues for the sixth preset time, the vehicle's gear is not in the forward gear, or the valid target is reversing and continues for the seventh preset time, or the vehicle fails to plan a drivable trajectory. The embodiment of the present application can consider the complexity of the vehicle's surrounding environment when determining that the current vehicle meets certain reversing exit conditions to improve the safety of the vehicle's reversing.

[0068] Specifically, combined Figure 2 and Figure 4 As shown, the working principle of the vehicle reversing behavior decision method of the embodiment of the present application is described in detail with a specific embodiment.

[0069] like Figure 2 As shown, V1 in the embodiment of the present application is the center of the rear axle of the vehicle, V2 is the center of the rear axle of the target vehicle, and the polygonal area formed by V1-ABCD-V1 is the area of ​​interest around the target.

[0070] like Figure 3 As shown, V1 in the embodiment of the present application is the geometric center of the vehicle, V2 is the center of the rear axle of the target vehicle, and the polygonal areas composed of V1-AB-V1 and V1-CD-V1 are the areas of interest around the target.

[0071] like Figure 4 As shown in the figure, this embodiment of the application illustrates a situation where vehicles are meeting at an intersection. V1 is the center of the vehicle's rear axle, V2 is the center of the target vehicle's rear axle, M is the vehicle's geometric center, the dotted line is the vehicle's reference trajectory, A is the target's front left corner, B is the corner of the protruding door, C is the vehicle's front left corner, and F1, F2, and F3 are three FreeSpace points.

[0072] In an embodiment of the present application, it is assumed that vehicle V1 is moving along the reference line of the dotted dashed line and is about to enter the intersection. At this time, a vehicle V2 suddenly turns right and enters the intersection, and brakes to a stop at the intersection together with vehicle V1. It is assumed that vehicle V1 is 4.5 meters long and 1.8 meters wide, vehicle V2 is 4.8 meters long and 2 meters wide, the distance between AB is 1 meter, the distance between F1 and the right line of the target vehicle V2 is 0.3 meters, the right side of vehicle V1 is 0.4 meters away from the curb, the left side is 4.5 meters away from the curb, and the left side of vehicle V1 is 4.2 meters away from point F3.

[0073] First, the embodiment of the present application can select a valid target. Within the area 20 meters within the reference line track in front of the vehicle and the roadside surrounding it, V2 has four points within it. At the same time, there is only one target V2, and V2 is selected as the valid target.

[0074] Secondly, the embodiment of the present application can determine whether the vehicle ahead is passable. For the left side of the target vehicle, the AB distance (1m) is less than the width of vehicle V1 plus the safety distance of 0.5 meters (2.3m). At the same time, for the right side of the target vehicle, the distance from F1 to the right side of the target vehicle (0.3m) is less than the width of vehicle V1 plus the safety distance of 0.5 meters (2.3m). Therefore, it is determined that the vehicle ahead is not passable.

[0075] Next, the embodiment of the present application can determine whether the target front is passable. For the right side of vehicle V1, the distance from the curb (0.4m) is less than the target vehicle width plus a safety distance (2.5m). For the left side of vehicle V1, the distance from the left sideline to F3 (4.2m) and the distance from the curb (4.5m) are both greater than the target vehicle width plus a safety distance (2.5m). However, if the trajectory of the target vehicle is planned according to the kinematic constraints, in the most extreme way, the front vehicle turns around the center of circle O with a minimum turning radius of 5 meters, and its left front corner will pass through point D and has invaded the vehicle. Therefore, the target vehicle cannot directly move forward under the conditions of kinematic constraints, so the target is impassable.

[0076] Then, the embodiment of the present application can determine the start of reverse. Assuming that the vehicle is in autonomous driving mode, both vehicle V1 and target vehicle V2 have stopped for a predetermined time, and the vehicle ahead is determined to be impassable for a predetermined time. Furthermore, the target vehicle is determined to be impassable in the area surrounding the vehicle. At the same time, since the target vehicle is moving and then stationary, both conditions for vehicle V1 to enter reverse are met. Therefore, vehicle V1 enters reverse, outputs the reverse flag, and performs dynamic reverse planning and control.

[0077] Finally, the reversing is concluded. Since the remaining space to the left of vehicle V1 is greater than the target vehicle width plus the safety distance, as long as the left front corner of the target vehicle does not intrude into the vehicle's boundary plus a certain safety distance when moving within the minimum turning radius, it will be sufficient. If this condition is met and reversing has been in progress for more than 1 second, the vehicle can exit the reversing state, brake to the stop, and wait for the vehicle in front of vehicle V1 to pass. Vehicle V1 can then switch to normal driving and continue forward along the reference line indicated by the dotted line.

[0078] According to the vehicle reversing behavior decision-making method proposed in the embodiment of the present application, at least one candidate valid target can be obtained from a preset area of ​​interest around the vehicle. When it is determined that both the valid target and the area in front of the vehicle meet the passable conditions, the vehicle is controlled to perform a reverse action to avoid the obstacle. This takes into account the complexity of the parking environment, thereby improving the safety of the vehicle's reversing, ensuring the vehicle's intelligence and practicality, and enhancing user stickiness. This solves the problem in the related art that the vehicle's behavior decision-making framework does not consider the complexity of the parking environment and the inaccuracy of sensors, does not consider the predicted trajectory of the kinematic constraints of surrounding vehicles, cannot improve the safety of the vehicle when reversing, reduces the vehicle's intelligence and practicality, and has difficulty in improving user stickiness.

[0079] Next, a vehicle reversing behavior decision-making device proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0080] Figure 5 It is a structural diagram of the vehicle reversing behavior decision-making device in an embodiment of the present application.

[0081] like Figure 5 As shown, the vehicle reversing behavior decision device 10 includes: an acquisition module 100 , a judgment module 200 and a reversing module 300 .

[0082] Specifically, the acquisition module 100 is used to acquire at least one candidate valid target with at least one corner point in a preset region of interest around the vehicle, and select a valid target with the shortest longitudinal distance to the vehicle from the at least one candidate valid target.

[0083] The judgment module 200 is used to judge whether the valid target and the front of the vehicle meet the preset passable conditions.

[0084] The reversing module 300 is used to determine whether the vehicle meets the preset reversing conditions when all preset passable conditions are met, and when the preset reversing conditions are met, control the vehicle to perform the reversing action until it is detected that the vehicle or valid target meets the preset reversing exit conditions.

[0085] Optionally, in one embodiment of the present application, the judgment module 200 includes: a first judgment unit, a second judgment unit, a third judgment unit and a fourth judgment unit.

[0086] The first determination unit is configured to calculate the distance from the corner point of the valid target to the roadside edges on both sides, and determine that the area ahead of the vehicle is impassable when the distances are both less than a first safety distance obtained from the vehicle width.

[0087] The second determination unit is configured to calculate the distances between a plurality of consecutive points in a drivable area of ​​a preset area of ​​interest, and determine that the area ahead of the vehicle is impassable when the distances between the plurality of consecutive points are all less than a first safety distance.

[0088] The third determination unit is used to plan a feasible trajectory based on the midpoint of the vertical line between the corner point of the valid target and any roadside when the distance from the corner point of the valid target to any roadside is greater than the second safety distance obtained by the vehicle width of the valid target, and to determine that the road ahead of the vehicle is impassable when the planning fails.

[0089] The fourth determination unit is used to plan a feasible trajectory with the midpoint of the two points corresponding to the maximum value as the end point when the maximum value of the distance between multiple consecutive points is greater than the first safety distance, and to determine that the front of the vehicle is impassable when the planning fails.

[0090] Optionally, in one embodiment of the present application, the judgment module 200 further includes: a fifth judgment unit, a sixth judgment unit and a seventh judgment unit.

[0091] The fifth determination unit is configured to determine that the valid target is impassable when the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the distance between multiple consecutive points are both less than the second safety distance.

[0092] The sixth determination unit is used to plan a feasible trajectory according to the minimum turning radius of the valid target and based on the midpoint of the vertical line connecting the corner point on either side and the roadside when the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, and to determine that the valid target is not passable when the planning fails.

[0093] The seventh determination unit is used to plan a feasible trajectory according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point when the maximum value of the distance between multiple consecutive points is greater than the second safety distance, and to determine that the valid target is not passable when the planning fails.

[0094] Optionally, in one embodiment of the present application, the preset reversing conditions include the vehicle being in automatic driving mode, the stationary stay time of the vehicle and the valid target being greater than a preset time length, the front of the vehicle not meeting the preset passable conditions and the duration being greater than a first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration being greater than a second preset time, and a dynamic target appearing in front of the reference line of the vehicle and lasting for a third preset time and being stationary for a third preset time, while there are no obstacles behind the reference line and there is a drivable area.

[0095] Optionally, in one embodiment of the present application, the preset reversing exit conditions include the front of the vehicle meeting the preset passable condition and lasting for the fifth preset time, the valid target meeting the preset passable condition and lasting for the sixth preset time, the vehicle's gear is not in the forward gear, or the valid target is reversing and lasting for the seventh preset time, or the vehicle fails to plan a drivable trajectory.

[0096] It should be noted that the above explanation of the embodiment of the vehicle reversing behavior decision method is also applicable to the vehicle reversing behavior decision device of this embodiment, and will not be repeated here.

[0097] The vehicle reversing behavior decision-making device proposed in the embodiment of the present application can obtain at least one candidate valid target from a preset area of ​​interest around the vehicle. When it is determined that both the valid target and the area in front of the vehicle meet the passable conditions, the vehicle is controlled to perform a reverse action to avoid the obstacle. This takes into account the complexity of the parking environment, thereby improving the safety of the vehicle's reversing, ensuring the vehicle's intelligence and practicality, and enhancing user stickiness. This solves the problem in the related art that the vehicle's behavior decision-making framework does not consider the complexity of the parking environment and the inaccuracy of sensors, does not consider the predicted trajectory of the kinematic constraints of surrounding vehicles, cannot improve the safety of the vehicle when reversing, reduces the vehicle's intelligence and practicality, and has difficulty in improving user stickiness.

[0098] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0099] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0100] When the processor 602 executes the program, the vehicle reversing behavior decision method provided in the above embodiment is implemented.

[0101] Furthermore, the vehicle further comprises:

[0102] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0103] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0104] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0105] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0106] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0107] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0108] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle reversing behavior decision method.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0111] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0112] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0113] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0114] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0115] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0116] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle reversing behavior decision method, characterized in that: The following steps are involved: Acquire, from a preset region of interest around the vehicle, at least one candidate valid target having at least one corner point in the region, and select, from the at least one candidate valid target, a valid target having the shortest longitudinal distance to the vehicle; Determining whether the valid target and the front of the vehicle meet preset passable conditions, wherein the determining whether the valid target and the front of the vehicle meet the preset passable conditions includes: calculating the distances from the corner point of the valid target to the roadside edges on both sides, and determining that the front of the vehicle is impassable when the distances are all less than a first safety distance obtained from the vehicle width; calculating the spacing between multiple consecutive points in the drivable area of ​​the preset area of ​​interest, and determining that the front of the vehicle is impassable when the spacing between the multiple consecutive points is all less than the first safety distance; when the distance from the corner point of the valid target to any roadside edge is greater than a second safety distance obtained from the vehicle width of the valid target, performing feasible trajectory planning based on the midpoint of the perpendicular line between the corner point of the valid target and any roadside edge, and determining that the front of the vehicle is impassable when planning fails; when the maximum value of the spacing between the multiple consecutive points is greater than the first safety distance, performing feasible trajectory planning with the midpoint of the two points corresponding to the maximum value as the end point, and determining that the front of the vehicle is impassable when planning fails; If the preset passable conditions are met, it is determined whether the vehicle meets the preset reversing conditions, and when the preset reversing conditions are met, the vehicle is controlled to perform a reversing action until it is detected that the vehicle or the valid target meets the preset reversing exit conditions.

2. The method according to claim 1, characterized in that The determining whether the valid target and the area in front of the vehicle meet a preset passable condition further includes: When the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the distances between the multiple consecutive points are both less than the second safety distance, determining that the valid target is impassable; When the distance between the corner point of the vehicle and the roadside on either side is greater than the second safety distance, performing feasible trajectory planning according to the minimum turning radius of the valid target and based on the midpoint of the perpendicular line between the corner point on either side and the roadside, and determining that the valid target is impassable if planning fails; When the maximum value of the distances between the multiple consecutive points is greater than the second safety distance, a feasible trajectory is planned according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point, and when the planning fails, it is determined that the valid target is not passable.

3. The method according to claim 1, characterized in that The preset reversing conditions include that the vehicle is in automatic driving mode, the stationary stay time of the vehicle and the valid target is greater than the preset time length, the front of the vehicle does not meet the preset passable condition and the duration is greater than a first preset time, the valid target cannot pass through the drivable area around the vehicle and the duration is greater than a second preset time, and a dynamic target appears in front of the reference line of the vehicle and lasts for a third preset time and remains stationary for a third preset time, while there are no obstacles behind the reference line and there is a drivable area.

4. The method according to claim 1, wherein The preset reversing exit conditions include that the front of the vehicle meets the preset passable condition and lasts for the fifth preset time, the valid target meets the preset passable condition and lasts for the sixth preset time, the gear position of the vehicle is not in the forward gear, or the valid target is reversing and lasts for the seventh preset time, or the vehicle fails to plan a drivable trajectory.

5. A vehicle reversing behavior decision-making device, characterized in that: include: an acquisition module, configured to acquire, from a preset region of interest around the vehicle, at least one candidate valid target having at least one corner point in the region, and select, from the at least one candidate valid target, a valid target having the shortest longitudinal distance to the vehicle; a judgment module for judging whether the valid target and the area ahead of the vehicle meet preset passable conditions, wherein the judgment module comprises: a first judgment unit for calculating the distances from the corner point of the valid target to the curbs on both sides, and judging that the area ahead of the vehicle is impassable if the distances are all less than a first safety distance obtained from the vehicle width; a second judgment unit for calculating the spacings between a plurality of consecutive points in a drivable area of ​​the preset region of interest, and judging that the area ahead of the vehicle is impassable if the spacings between the plurality of consecutive points are all less than the first safety distance; a third judgment unit for performing feasible trajectory planning based on the midpoint of a perpendicular line connecting the corner point of the valid target and the any curb if the distances are greater than a second safety distance obtained from the vehicle width of the valid target, and judging that the area ahead of the vehicle is impassable if the planning fails; a fourth judgment unit for performing feasible trajectory planning with the midpoint of the two points corresponding to the maximum value as an end point if the maximum value of the spacings between the plurality of consecutive points is greater than the first safety distance, and judging that the area ahead of the vehicle is impassable if the planning fails; The reversing module is used to determine whether the vehicle meets the preset reversing conditions when the preset passable conditions are met, and when the preset reversing conditions are met, control the vehicle to perform a reversing action until it is detected that the vehicle or the valid target meets the preset reversing exit conditions.

6. The device according to claim 5, characterized in that The judgment module also includes: a fifth determining unit, configured to determine that the valid target is impassable when the distance from the corner point of the vehicle to the roadside on both sides and the maximum value of the distances between the plurality of consecutive points are both less than the second safety distance; a sixth determination unit, configured to, when the distance from the corner point of the vehicle to either side of the roadside is greater than the second safety distance, perform feasible trajectory planning according to the minimum turning radius of the valid target and based on the midpoint of a perpendicular line connecting the corner point on either side and the roadside, and determine that the valid target is impassable if planning fails; The seventh judgment unit is used to plan a feasible trajectory according to the minimum turning radius of the valid target and with the midpoint of the two points corresponding to the maximum value as the end point when the maximum value of the distance between the multiple consecutive points is greater than the second safety distance, and to determine that the valid target is not passable when the planning fails.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle reversing behavior decision method according to any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle reversing behavior decision method as described in any one of claims 1 to 4.

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