Processing method and device of expected driving track, equipment and storage medium

Abstract

The invention provides an expected driving track processing method and device, equipment and a storage medium, and relates to the technical field of vehicle remote control. According to a control instruction for a target vehicle, the target vehicle is controlled to run along a preset driving direction; acquiring a current scene image of the target vehicle at a visual angle corresponding to the preset driving direction; according to the control instruction and current driving state information of a preset reference point of the target vehicle at the current moment, an expected driving track of the preset reference point in the preset driving direction is generated; and generating and displaying expected track guidance information corresponding to the expected driving track in the current scene image. When the target vehicle is remotely controlled, by adopting the method provided by the invention, the expected track guiding information corresponding to the expected driving track can be generated and displayed in the current scene image under the corresponding view angle of the target vehicle, so that an operator can intuitively check the expected track guiding information in the current scene image; and the operation safety of remotely controlling the target vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle remote control technology, and in particular to a method, device, equipment and storage medium for processing an expected driving trajectory. Background Art

[0002] The importance of vehicle remote control in large-scale engineering construction is becoming increasingly prominent. Take loaders as an example. Loaders are engineering machinery widely used in the field of civil construction. In scenarios such as clearing materials from port cabins, remote-controlled loaders can overcome the problems of harsh working environment and low working safety, and have broad application prospects.

[0003] Currently, when remotely controlling a vehicle, the vehicle's main-view scene image is usually transmitted to the client in real time. The operator needs to observe the main-view scene image with the naked eye to predict the vehicle's driving trajectory, but the operator's visual errors may cause misjudgment. Remote control of the vehicle in this way is less safe. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned prior art, the present application provides a method, device, equipment and storage medium for processing an expected driving trajectory, so as to solve the problems existing in the prior art.

[0005] The technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for processing an expected driving trajectory, comprising:

[0007] According to the input control instruction for the target vehicle, the target vehicle is controlled to travel along the preset travel direction; the target vehicle includes a front body and a rear body that are hingedly connected;

[0008] Acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction;

[0009] Generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; the current driving state information at least includes: the current steering angle of the target vehicle, the current steering angle is used to indicate the current rotation angle between the front vehicle body and the rear vehicle body;

[0010] Generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0011] In one embodiment, generating the expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0012] Generate expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point at the current moment, wherein the expected driving state at least includes: an expected steering angle of the target vehicle, and the expected steering angle is used to indicate an expected rotation angle between the front vehicle body and the rear vehicle body;

[0013] The expected driving trajectory is generated according to the expected driving state information at the multiple future moments.

[0014] In one embodiment, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0015] According to the control instruction, the current driving state information, and the historical driving state information of the preset reference point at historical moments, a dynamic model for the target vehicle is used to generate the first expected driving state information of the preset reference point at the preset driving direction at the multiple future moments.

[0016] In one embodiment, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0017] According to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is adopted to generate the second expected driving state information of the preset reference point in the preset driving direction at the multiple future moments.

[0018] In one embodiment, the generating, according to the control instruction, the current driving state information and the size parameters of the target vehicle, of the second expected driving state information of the preset reference point at the preset driving direction at the multiple future time points by using the kinematic algorithm of the target vehicle includes:

[0019] Determining a rotation radius of the preset reference point according to a current steering angle of the target vehicle and a size parameter of the target vehicle;

[0020] Obtaining the driving speed of the target vehicle according to the control instruction;

[0021] The second expected driving state information is determined according to the driving speed and the rotation radius of the preset reference point.

[0022] In one embodiment, the preset driving direction is: forward driving direction, the current driving state information further includes: the current position of the front vehicle body, and the expected driving state information further includes: the expected position of the front vehicle body; or,

[0023] The preset driving direction is: a backward driving direction, the current driving state information further includes: a current position of the rear vehicle body, and the expected driving state information further includes: an expected position of the rear vehicle body.

[0024] In one embodiment, the generating and displaying the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image includes:

[0025] Converting the multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system to obtain multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system;

[0026] Converting the multiple groups of reference positions from the preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points;

[0027] The expected trajectory guidance information is generated according to the multiple groups of target pixel points.

[0028] In one embodiment, generating the expected trajectory guidance information according to the multiple groups of target pixels includes:

[0029] The expected trajectory guidance information is generated according to the multiple groups of target pixel points and the preset distance annotation information.

[0030] In one embodiment, generating the expected trajectory guidance information according to the multiple groups of target pixel points and the preset distance annotation information includes:

[0031] Generating trajectory lines according to the multiple groups of target pixel points;

[0032] According to the preset distance annotation information, the annotation symbol information corresponding to the trajectory line is generated.

[0033] In a second aspect, the embodiment of the present application further provides an expected driving trajectory processing device, including:

[0034] A control module, used for controlling the target vehicle to travel along the preset travel direction according to the input control instruction for the target vehicle; the target vehicle comprises a front body and a rear body which are articulated;

[0035] An acquisition module, used to acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction;

[0036] A generating module, configured to generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; the current driving state information at least includes: a current steering angle of the target vehicle, the current steering angle being used to indicate a current rotation angle between the front vehicle body and the rear vehicle body;

[0037] A display module is used to generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0038] In the third aspect, an embodiment of the present application also provides a computer device, including: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the computer device is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to implement the expected driving trajectory processing method described in the above embodiment.

[0039] In a fourth aspect, an embodiment of the present application further provides a readable storage medium having program instructions stored thereon, and when the program instructions are executed by a processor, the method for processing the expected driving trajectory described in the above embodiment is implemented.

[0040] The beneficial effects of the present application are: providing a method for processing an expected driving trajectory, including controlling a target vehicle to travel along a preset driving direction according to an input control instruction for the target vehicle; obtaining a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction; generating an expected driving trajectory of a preset reference point in a preset driving direction according to the control instruction and the current driving state information of a preset reference point of the target vehicle at the current moment; and generating and displaying expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0041] When remotely controlling a target vehicle, the method of the present application is used to generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image under the corresponding perspective of the target vehicle, so that the operator can intuitively view the expected driving trajectory in the current scene image, thereby lowering the operational threshold of remote control and improving the efficiency and operational safety of remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 One of the flowcharts of the method for processing the expected driving trajectory provided in one embodiment of the present application;

[0044] Figure 2 One of the structural schematic diagrams of the target vehicle provided in this application;

[0045] Figure 3 A second flowchart of a method for processing an expected driving trajectory provided in an embodiment of the present application;

[0046] FIG4( a) is a second schematic diagram of the structure of the target vehicle provided by the present application;

[0047] FIG4( b ) is a third structural schematic diagram of the target vehicle provided by the present application;

[0048] Figure 5 A third flowchart of a method for processing an expected driving trajectory provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the steering angle of the target vehicle provided in this application;

[0050] Figure 7 A schematic diagram of the driving area of ​​the target vehicle provided for this application;

[0051] Figure 8 A fourth flowchart of a method for processing an expected driving trajectory provided in an embodiment of the present application;

[0052] Fig. 9 A schematic diagram of the expected trajectory guidance information provided for this application;

[0053] Fig.10 A schematic diagram of the structure of a device for processing an expected driving trajectory provided in an embodiment of the present application;

[0054] Fig.11 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0056] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0057] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0058] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, and it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0061] The scenario on which this application is based is remote control of vehicles. For existing remote control vehicles, the client usually only displays the scene images obtained by the vehicle's main perspective camera. The operator needs to judge the vehicle's driving direction and possible risks based on these scene images. Since there is no trajectory visualization, the risk cannot be intuitively estimated, which reduces the operator's remote operation efficiency. In addition, the operator's visual errors may cause misjudgment, and the safety of remote control of the vehicle is low.

[0062] Therefore, the present application provides a method for processing an expected driving trajectory, which can solve the above-mentioned problem. The method can be completed by any computer device with computing and processing capabilities. The computer device can be, for example, a terminal-oriented computer device or a back-end server.

[0063] The following is a specific example description of the method for processing the expected driving trajectory provided by the present application through multiple examples in combination with the accompanying drawings.

[0064] Figure 1 One of the flowcharts of the method for processing the expected driving trajectory provided in one embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0065] S101. According to an input control instruction for a target vehicle, control the target vehicle to travel along a preset driving direction.

[0066] By inputting a control command for a target vehicle, the target vehicle can be controlled to travel along a preset driving direction. The control command may include but is not limited to one or more of the following: throttle pulse width modulation parameters (throttle PWM), brake pulse width modulation parameters (brake PWM), steering pulse width modulation parameters (steering PWM), vehicle speed control parameters. In this application, the target vehicle refers to a vehicle including an articulated front body and a rear body (such as an articulated loader, an articulated bus, etc., for example Figure 2 The loader shown comprises an articulated rear body 01 and a front body 02).

[0067] Among them, the preset driving direction can be, for example, forward driving or backward driving, that is, moving forward or reversing; the throttle pulse width modulation parameter is used to control the vehicle throttle size, and the brake pulse width modulation parameter is used to control the vehicle brake size; the steering pulse width modulation parameter is for a vehicle comprising a front body and a rear body with an articulated connection, and the steering pulse width modulation parameter is used to control the steering angle between the front body and the rear body; the vehicle speed control parameter is used to control the vehicle's driving speed.

[0068] S102: Acquire a current scene image of the target vehicle at a viewing angle corresponding to a preset driving direction.

[0069] The target vehicle is equipped with an image acquisition device (such as a camera, laser, etc.). When the target vehicle is traveling, the image acquisition device can acquire in real time the current scene image of the target vehicle at the viewing angle corresponding to the preset driving direction. The scene image is also the image of the driving scene of the target vehicle.

[0070] The preset driving direction may be forward or backward, and correspondingly, image acquisition devices may be installed in different preset driving directions to acquire current scene images at viewing angles corresponding to different preset driving directions. Figure 2 In the present invention, image acquisition devices 101 and 102 are installed on the top of the target vehicle. When the preset driving direction is forward, the image acquisition device 101 facing the front of the target vehicle acquires the scene image in front of the target vehicle in real time. When the preset driving direction is backward, the image acquisition device 102 facing the rear of the target vehicle acquires the scene image behind the target vehicle in real time.

[0071] S103, generating an expected driving trajectory of the preset reference point in a preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment.

[0072] Based on the size and / or indicated direction of each parameter in the control instruction, as well as the current driving state information of the preset reference point of the target vehicle at the current moment, the driving trajectory of the preset reference point in the preset driving direction at a future moment, that is, the expected driving trajectory, can be predicted.

[0073] Among them, the current driving status information includes at least the current steering angle of the target vehicle, and the current steering angle is used to indicate the current rotation angle between the front body and the rear body. The preset reference point can be any point or multiple points on the target vehicle. Taking the target vehicle as a loader and the preset driving direction as forward as an example, the preset reference point can be any point on the loader bucket, or two or more arbitrary points; taking the target vehicle as a loader and the preset driving direction as backward as an example, the preset reference point can be at least one arbitrary point on the rear body of the loader.

[0074] S104: Generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0075] After the expected driving trajectory is obtained, expected trajectory guidance information corresponding to the expected driving trajectory is generated. The expected trajectory guidance information is used to represent the expected driving trajectory in the current scene image.

[0076] The expected trajectory guidance information is displayed in the current scene image, and the operator can intuitively see the expected trajectory guidance information in the current scene image, thereby intuitively observing whether the target vehicle has the risk of colliding with objects in the driving scene. If there is a collision risk, the target vehicle is controlled to change the driving direction or stop driving.

[0077] In summary, this embodiment provides a method for processing an expected driving trajectory. When remotely controlling a target vehicle, the method of this embodiment is adopted to generate and display the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image under the corresponding perspective of the target vehicle, so that the operator can intuitively view the expected driving trajectory in the current scene image, reduce the operating threshold of remote control, and improve the efficiency and operational safety of remote control.

[0078] Figure 3 The second flowchart of the method for processing the expected driving trajectory provided by an embodiment of the present application is as follows: Figure 3 As shown, S103, generating an expected driving trajectory of a preset reference point in a preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment, may include:

[0079] S201. Generate expected driving state information of a preset reference point in a preset driving direction at multiple future moments according to a control instruction and current driving state information of a preset reference point of a target vehicle at the current moment.

[0080] The preset reference point may be any point or multiple points on the target vehicle. For example, if the target vehicle is a loader and the preset driving direction is forward, the preset reference point may be any point on the loader bucket, or any two points on the bucket. The expected driving state information may at least include information such as the position of the preset reference point, the driving speed of the target vehicle, the expected steering angle and steering angular velocity of the target vehicle. The expected steering angle is used to indicate the expected rotation angle between the front vehicle body and the rear vehicle body.

[0081] According to the control instructions, the expected driving state information of the preset reference point of the target vehicle in the preset driving direction at multiple future moments can be obtained.

[0082] S202: Generate an expected driving trajectory based on expected driving state information at multiple future moments.

[0083] Then, based on the expected driving state information at multiple future moments, an expected driving trajectory can be generated. The following is an illustrative description of the method for generating the expected driving trajectory in combination with specific examples.

[0084] In one embodiment, generating expected driving state information of a preset reference point in a preset driving direction at multiple future moments according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment in S202 may include:

[0085] According to the control instruction, the current driving state information and the historical driving state information of the preset reference point at the historical moment, the dynamic model for the target vehicle is used to generate the first expected driving state information of the preset reference point at multiple future moments in the preset driving direction. The historical driving state information at least includes: the steering angle of the target vehicle at the historical moment.

[0086] The target vehicle includes a front body and a rear body that are articulated. When the preset driving direction of the target vehicle is the forward driving direction, that is, when the target vehicle is driving toward its front body, the first expected driving state information includes: the expected position of the front body at multiple future moments, the expected speed of the front body, the expected steering angle of the target vehicle, and the expected steering angular velocity; when the preset driving direction of the target vehicle is the backward driving direction, that is, when the target vehicle is driving toward its rear body (for example, reversing), the first expected driving state information includes: the expected position of the rear body at multiple future moments, the expected speed of the rear body, the expected steering angle of the target vehicle, and the expected steering angular velocity.

[0087] Taking the preset driving direction of the target vehicle as the backward driving direction as an example, the first expected driving state information can be obtained through the dynamic model of the target vehicle, specifically including: inputting the throttle pulse width modulation parameters (throttle PWM), brake pulse width modulation parameters (brake PWM), steering pulse width modulation parameters (steering PWM), rear vehicle body position, steering angle at multiple consecutive historical moments (20 historical moments) and the current moment, that is, 21 moments into the dynamic model, a total of 105 parameters, and the rear vehicle body position and steering angle at the next moment adjacent to the current moment can be obtained. According to multiple cycles and iterations of the dynamic model, the first expected driving state information at multiple future moments consecutive to the current moment can be obtained, and then the expected driving trajectory of the rear vehicle body is generated, which can be applied to the trajectory visualization of the target vehicle when driving backward.

[0088] Among them, inputting data at multiple historical moments can avoid introducing errors caused by control delays into the dynamic model when there is control delay in the target vehicle, thereby improving the accuracy of obtaining the expected driving state information and further improving the accuracy of obtaining the expected driving trajectory.

[0089] Throttle pulse width modulation parameters, brake pulse width modulation parameters and steering pulse width modulation parameters can be obtained through control instructions, the position of the rear body can be obtained through a positioning device installed on the rear body (such as a laser sensor, GPS device, etc.), the speed of the rear body can be obtained through a wheel speed meter installed on the rear body, and the steering angle and steering angular velocity can be obtained through an encoder installed on the hinge point (the hinge point is the connection point between the front body and the rear body). In addition, for the first expected driving state information at each historical moment, the rear body position can be converted into the front body position through the steering angle, thereby obtaining the expected driving trajectory of the front body, which can be applied to the trajectory visualization of the target vehicle when driving forward.

[0090] The dynamic model of the target vehicle can be pre-trained. For example, the input of the fully connected neural network is set to a plurality of consecutive historical moments (20 historical moments) and the current moment, that is, the throttle pulse width modulation parameters (throttle PWM), brake pulse width modulation parameters (brake PWM), steering pulse width modulation parameters (steering PWM), rear vehicle body position, and steering angle at 21 moments. The output is set to the rear vehicle body position and steering angle at the next moment adjacent to the current moment. By collecting the above input and output data at multiple moments, the fully connected neural network can be trained through deep learning to obtain the vehicle dynamics model.

[0091] Optionally, when the preset driving direction of the target vehicle is the forward driving direction, the fully connected neural network is trained to obtain a vehicle dynamics model, and the input and output data may also be the data of the front vehicle body. The obtained vehicle dynamics model can predict the front vehicle body data at the next future moment based on the historical data and current data of the front vehicle body, thereby obtaining the expected driving trajectory of the front vehicle body, and the front vehicle body data can be converted according to the steering angle to obtain the rear vehicle body data, thereby obtaining the expected driving trajectory of the rear vehicle body.

[0092] Optionally, when training a fully connected neural network, the input and output data may also include the speed of the rear vehicle body / front vehicle body and the steering angular velocity. After obtaining the speed of the rear vehicle body / front vehicle body and the steering angular velocity, this information may be displayed in the scene image so that the operator can more accurately judge whether the target vehicle will collide with an object in the scene based on this information.

[0093] In one embodiment, generating expected driving state information of a preset reference point in a preset driving direction at multiple future moments according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment in S202 may also include:

[0094] According to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is used to generate the second expected driving state information of the preset reference point in the preset driving direction at multiple future moments. If the preset driving direction of the target vehicle is the forward driving direction, the second expected driving state information includes the expected position of the front vehicle body, and if the preset driving direction of the target vehicle is the backward driving direction, the second expected driving state information includes the expected position of the rear vehicle body.

[0095] Taking the target vehicle as a loader as an example, as shown in Figure 4(a) and Figure 4(b), the vehicle size parameters that need to be calibrated by the kinematic algorithm include: the length of the boom joint lm; the length of the bucket joint lk; the distance lf between the connection point T of the front body and the rear body and the center of the front body wheel, the distance lr between the connection point T and the center of the front body wheel, the distance ax between the body steering axis and the root of the boom, the distance bt from the center of the wheel of the rear body to the rear of the vehicle, the maximum width w of the body, the horizontal distance la between the bucket tooth tip and the root of the boom, and the maximum height h of the vehicle.

[0096] Among them, the horizontal distance la between the bucket tooth tip and the boom root can be calculated according to the preset formula of the horizontal distance la through the boom joint length lm, the bucket joint length lk, and the angle between the boom and the bucket; the angle between the boom and the bucket is measured by the inclination sensors installed on the boom and the bucket.

[0097] The boom and bucket may be installed with inclination sensors and / or position sensors. By measuring the angle between the boom and the bucket using the inclination sensors installed on the boom and the bucket, the horizontal distance from the bucket tooth tip to the end of the boom can be obtained in real time, denoted as la. Alternatively, the horizontal distance la from the bucket tooth tip to the end of the boom can be calculated based on the position difference between the bucket and the boom using the position sensors installed on the bucket and the boom.

[0098] Figure 5 The third flowchart of the method for processing the expected driving trajectory provided by an embodiment of the present application is as follows: Figure 5 As shown, specifically, according to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is used to generate the second expected driving state information of the preset reference point in the preset driving direction at multiple future moments, which may include:

[0099] S301. Determine a rotation radius of a preset reference point according to a current steering angle of a target vehicle and size parameters of the target vehicle.

[0100] The preset reference point can be the center point K of the front wheel axle, Figure 6 A schematic diagram of the steering angle of the target vehicle provided in this application, such as Figure 6As shown, point T represents the hinge point of the front body and the rear body, KT represents the wheelbase of the front body, denoted as lf, RT represents the wheelbase of the rear body, denoted as lr, point I represents a wheel on the front body of the target vehicle, point K represents the center point of the axle on the front body (i.e., the center point of the two wheels on the front body), point S represents the intersection of point T on the extension line of the wheelbase lf of the rear body and the extension line of line segment IK, point J represents a wheel on the rear body of the target vehicle, point R represents the center point of the axle on the rear body (i.e., the center point of the two wheels on the rear body), point M represents the intersection of point T on the extension line of the wheelbase lr of the front body and the extension line of line segment JR, and O is the common rotation center of the wheel on the front body and the wheel on the rear body of the vehicle. The wheelbase lf of the front body and the wheelbase lr of the rear body can be obtained by measurement.

[0101] The steering angle refers to the rotation angle ∠KOR between the front and rear bodies of the target vehicle, denoted as and, The rotation radius of the preset reference point is OK, recorded as R f .

[0102] According to the steering angle, determining the rotation radius of a preset reference point on the front body of the target vehicle includes: according to the steering angle The wheelbase lf of the front vehicle body and the wheelbase lr of the rear vehicle body, as well as formula (1), can determine the rotation radius R of the preset reference point K f .

[0103]

[0104] Optionally, the steering angle The maximum width and maximum length of the target vehicle and the distance between the preset reference point and the vehicle hinge point T are used to calculate the rotation radius of the preset reference point.

[0105] S302: Obtain the driving speed of the target vehicle according to the control instruction.

[0106] The control instruction includes a vehicle speed control parameter for controlling the driving speed of the vehicle. Therefore, the driving speed of the target vehicle can be obtained according to the control instruction.

[0107] S303: Determine second expected driving state information according to the driving speed and the rotation radius of a preset reference point.

[0108] Figure 7 A schematic diagram of the driving area of ​​the target vehicle provided for this application, such as Figure 7As shown, AC=BD=la+ax, EG=FH=lr+bt, AB=CD=EF=GH=w, A'B' is the expected arrival position of the outer edge AB of the target vehicle after the preset future time t, and A'ABB' is the two-dimensional projection of the area swept by the AB edge at the preset future time on the horizontal plane.

[0109] Steering angle refers to Figure 7 In A steering angle sensor can be installed at the hinge point T between the front body and the rear body of the target vehicle, and the steering angle can be measured by the steering angle sensor. Moreover, since the front body and the rear body of the target vehicle are hingedly connected, the rotation angle between the front body and the rear body can change as the operating conditions of the target vehicle change during driving, that is, the value of the steering angle can change. During the driving process of the target vehicle, the value of the steering angle can be measured in real time.

[0110] It should also be noted that if the target vehicle is not an articulated vehicle but an integral vehicle, the steering angle can also be the angle formed by the center line when the front wheels of the vehicle turn to the left or right to the extreme position and the front wheels do not deflect, wherein the front wheels of the vehicle refer to the two wheels located in front in the direction of travel of the vehicle, and the center line refers to the central axis of the vehicle body.

[0111] like Figure 7 , according to the driving speed v, the rotation radius R of the preset reference point K f According to formula (2), the rotation angle ω of the front vehicle body when it moves to the preset future time t is calculated. The rotation angle of all points on the front vehicle body when they move to the preset future time is ω, for example, ∠BOB′=AOA′=ω.

[0112]

[0113] Then, according to the current position and rotation angle of the front vehicle body, the second expected driving state information of the preset reference point at multiple future moments can be obtained. Figure 7 Taking the AB side in as an example, after obtaining the rotation angle ω, the position A'B' of the AB side at the preset future time can be calculated based on the current real-time position of the AB side and the rotation angle.

[0114] Optionally, when the preset driving direction of the target vehicle is backward, similar to the kinematic algorithm for the forward direction, the position of the rear vehicle body at a preset future time can also be obtained based on the kinematic algorithm.

[0115] Figure 8 A fourth flowchart of a method for processing an expected driving trajectory provided in an embodiment of the present application is shown in FIG. Figure 8As shown, the step of generating and displaying the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image in S104 may include:

[0116] S401, converting multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system, and obtaining multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system.

[0117] In this embodiment, a group of trajectory points refers to more than two points. In this embodiment, point A and point B at the front end of the bucket are used as a group of trajectory points. Multiple groups of expected trajectory points refer to multiple groups of different coordinates of point A and point B in the vehicle coordinate system of the target vehicle at multiple different future moments.

[0118] Taking the preset driving direction of the target vehicle as forward and the target vehicle equipped with camera 101 as an example, the vehicle coordinate system can be a coordinate system with any point on the target vehicle as the coordinate origin, for example, it can be the center K of the front wheel axle, and the preset camera coordinate system is a coordinate system with the position of the camera as the coordinate origin.

[0119] Since the relative position of the front vehicle axle center K and the camera 101 is fixed, the conversion relationship between the vehicle coordinate system and the preset camera coordinate system is known. After obtaining multiple sets of different coordinates of point A and point B in the vehicle coordinate system of the target vehicle, the multiple sets of different coordinates can be directly converted to the preset camera coordinate system to obtain multiple sets of reference positions.

[0120] S402: Convert multiple groups of reference positions from a preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points.

[0121] The camera coordinate system is a three-dimensional coordinate system, and the preset image coordinate system is a two-dimensional coordinate system. In this embodiment, multiple sets of reference positions can be converted from the preset camera coordinate system to the preset image coordinate system respectively through the camera pinhole imaging principle shown in formula (3).

[0122] [u,v,1] T =K[x,y,z,1] T (3)

[0123] Among them, K is the camera intrinsic parameter, which can be obtained through calibration technology, x, y, z are the coordinates of the reference position in the preset camera coordinate system, and u, v are the coordinates of the target pixel point in the preset image coordinate system.

[0124] S403: Generate expected trajectory guidance information according to multiple groups of target pixel points.

[0125] According to multiple sets of target pixel points and preset distance annotation information, the expected trajectory guidance information can be generated, such as Fig. 9 As shown, Fig. 9It includes the scene image captured by the camera 101 and part of the target vehicle.

[0126] In one embodiment, a method for generating expected trajectory guidance information according to multiple groups of target pixel points and preset distance annotation information may include:

[0127] First, based on multiple groups of target pixels, trajectory lines are generated, that is, Fig. 9 The line marks in the figure indicate the predicted driving trajectory of the target vehicle.

[0128] Then, according to the preset distance annotation information, the annotation symbol information corresponding to the trajectory line is generated, that is, Fig. 9 The digital identifier in the symbol is used to indicate the distance between the target vehicle’s predicted driving position and its current position at multiple future moments, for example Fig. 9 As shown, at the moment after the current moment, the distance between the predicted driving position of the target vehicle and the current position is 1.0 m, and at the moments after the current moment, the distance between the predicted driving position of the target vehicle and the current position is 2.5 m.

[0129] In summary, the embodiment of the present application provides a method for processing an expected driving trajectory, which has the following advantages:

[0130] 1. Generate and display the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image under the corresponding perspective of the target vehicle, so that the operator can intuitively view the expected driving trajectory in the current scene image, lower the operating threshold of remote control, and improve the efficiency and operational safety of remote control.

[0131] 2. The scene image in front of the target vehicle is obtained when driving forward, and the scene image behind the target vehicle is obtained when driving backward. The expected trajectory guidance information can be generated in the scene image under the current driving direction, which improves the flexibility of generating and displaying the expected driving trajectory in the scene image.

[0132] 3. The expected trajectory guidance information displayed in the scene image includes trajectory lines and annotation symbol information. The operator can not only know the predicted driving trajectory of the target vehicle in the future based on the trajectory lines, but also know the predicted driving position of the target vehicle in the future based on the annotation symbol information, thereby improving the accuracy of judging whether the target vehicle will collide with an object based on the expected trajectory guidance information.

[0133] The following is a corresponding explanation of the device, equipment and storage medium for executing the method for processing the expected driving trajectory provided by any of the above embodiments of the present application. Its specific implementation process and the technical effects produced are the same as those of the corresponding method embodiments mentioned above. For the sake of brief description, for the parts not mentioned in the following embodiments, please refer to the corresponding contents in the method embodiments.

[0134] Fig.10 A schematic diagram of the structure of a device for processing an expected driving trajectory provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the device comprises:

[0135] The control module 10 is used to control the target vehicle to travel along a preset travel direction according to the input control instruction for the target vehicle; the target vehicle includes a front body and a rear body that are hingedly connected.

[0136] The acquisition module 20 is used to acquire the current scene image of the target vehicle at a viewing angle corresponding to a preset driving direction.

[0137] A generation module 30 is used to generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; the current driving state information at least includes: the current steering angle of the target vehicle, and the current steering angle is used to indicate the current rotation angle between the front body and the rear body.

[0138] The display module 40 is used to generate and display the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0139] Optionally, the generation module 30 is used to generate expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment, and the expected driving state information also includes at least: an expected steering angle of the target vehicle, and the expected steering angle is used to indicate the expected rotation angle between the front vehicle body and the rear vehicle body; and generate an expected driving trajectory according to the expected driving state information at multiple future moments.

[0140] Optionally, the generation module 30 is used to generate the first expected driving state information of the preset reference point at the preset driving direction at the multiple future moments based on the control instruction, the current driving state information, and the historical driving state information of the preset reference point at the historical moments, using a dynamic model for the target vehicle.

[0141] Optionally, the generation module 30 is used to generate the second expected driving state information of the preset reference point in the preset driving direction at the multiple future moments according to the control instruction, the current driving state information and the size parameters of the target vehicle, using the kinematic algorithm of the target vehicle.

[0142] Optionally, the generation module 30 is used to determine the rotation radius of a preset reference point based on the current steering angle of the target vehicle and the size parameters of the target vehicle; obtain the driving speed of the target vehicle according to the control instruction; and determine the second expected driving state information based on the driving speed and the rotation radius of the preset reference point.

[0143] Optionally, the display module 40 is used to convert multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system to obtain multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system; convert the multiple groups of reference positions from the preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points; and generate expected trajectory guidance information based on the multiple groups of target pixel points.

[0144] Optionally, the display module 40 is used to generate expected trajectory guidance information according to multiple groups of target pixel points and preset distance annotation information.

[0145] Optionally, the display module 40 is used to generate trajectory lines according to multiple groups of target pixel points; and generate annotation symbol information corresponding to the trajectory lines according to preset distance annotation information.

[0146] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0147] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0148] Fig.11 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown in FIG. Fig.11 As shown, an embodiment of the present application further provides a computer device, including: a processor 100, a storage medium 200 and a bus 300, and the processor and the storage medium communicate through the bus.

[0149] The storage medium stores program instructions executable by the processor. When the processor executes the program instructions, the method implemented includes:

[0150] According to the input control instruction for the target vehicle, the target vehicle is controlled to travel along the preset travel direction; the target vehicle includes a front body and a rear body that are hingedly connected;

[0151] Acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction;

[0152] Generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; the current driving state information at least includes: the current steering angle of the target vehicle, the current steering angle is used to indicate the current rotation angle between the front vehicle body and the rear vehicle body;

[0153] Generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0154] Optionally, generating an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0155] Generate expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point at the current moment, wherein the expected driving state information at least includes: an expected steering angle of the target vehicle, and the expected steering angle is used to indicate an expected rotation angle between the front vehicle body and the rear vehicle body;

[0156] The expected driving trajectory is generated according to the expected driving state information at the multiple future moments.

[0157] Optionally, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0158] According to the control instruction, the current driving state information, and the historical driving state information of the preset reference point at historical moments, a dynamic model for the target vehicle is used to generate first expected driving state information of the preset reference point at multiple future moments in the preset driving direction;

[0159] Optionally, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0160] According to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is adopted to generate second expected driving state information of the preset reference point in the preset driving direction at multiple future moments.

[0161] Optionally, the generating, according to the control instruction, the current driving state information and the size parameters of the target vehicle, of the second expected driving state information of the preset reference point in the preset driving direction at the multiple future moments by using the kinematic algorithm of the target vehicle includes:

[0162] Determining a rotation radius of the preset reference point according to a current steering angle of the target vehicle and a size parameter of the target vehicle;

[0163] Obtaining the driving speed of the target vehicle according to the control instruction;

[0164] The second expected driving state information is determined according to the driving speed and the rotation radius of the preset reference point.

[0165] Optionally, the preset driving direction is: forward driving direction, the current driving state information further includes: the current position of the front vehicle body, and the expected driving state information further includes: the expected position of the front vehicle body; or,

[0166] The preset driving direction is: a backward driving direction, the current driving state information further includes: a current position of the rear vehicle body, and the expected driving state information further includes: an expected position of the rear vehicle body.

[0167] Optionally, the generating and displaying the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image includes:

[0168] Converting the multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system to obtain multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system;

[0169] Converting the multiple groups of reference positions from the preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points;

[0170] The expected trajectory guidance information is generated according to the multiple groups of target pixel points.

[0171] Optionally, generating the expected trajectory guidance information according to the multiple groups of target pixel points includes:

[0172] The expected trajectory guidance information is generated according to the multiple groups of target pixel points and the preset distance annotation information.

[0173] Optionally, generating the expected trajectory guidance information according to the multiple groups of target pixel points and preset distance annotation information includes:

[0174] Generating trajectory lines according to the multiple groups of target pixel points;

[0175] According to the preset distance annotation information, the annotation symbol information corresponding to the trajectory line is generated.

[0176] An embodiment of the present application further provides a readable storage medium, on which program instructions are stored. When the program instructions are executed by a processor, the method for processing the expected driving trajectory described in any of the above embodiments is implemented.

[0177] Wherein, when the computer program is executed by the processor, the execution method includes:

[0178] According to the input control instruction for the target vehicle, the target vehicle is controlled to travel along the preset travel direction; the target vehicle includes a front body and a rear body that are hingedly connected;

[0179] Acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction;

[0180] Generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; the current driving state information at least includes: the current steering angle of the target vehicle, the current steering angle is used to indicate the current rotation angle between the front vehicle body and the rear vehicle body;

[0181] Generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

[0182] Optionally, generating an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0183] Generate expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point at the current moment, wherein the expected driving state information at least includes: an expected steering angle of the target vehicle, and the expected steering angle is used to indicate an expected rotation angle between the front vehicle body and the rear vehicle body;

[0184] The expected driving trajectory is generated according to the expected driving state information at the multiple future moments.

[0185] Optionally, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0186] According to the control instruction, the current driving state information, and the historical driving state information of the preset reference point at historical moments, a dynamic model for the target vehicle is used to generate first expected driving state information of the preset reference point at multiple future moments in the preset driving direction;

[0187] Optionally, generating expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment includes:

[0188] According to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is adopted to generate second expected driving state information of the preset reference point in the preset driving direction at multiple future moments.

[0189] Optionally, the generating, according to the control instruction, the current driving state information and the size parameters of the target vehicle, of the second expected driving state information of the preset reference point in the preset driving direction at the multiple future moments by using the kinematic algorithm of the target vehicle includes:

[0190] Determining a rotation radius of the preset reference point according to a current steering angle of the target vehicle and a size parameter of the target vehicle;

[0191] Obtaining the driving speed of the target vehicle according to the control instruction;

[0192] The second expected driving state information is determined according to the driving speed and the rotation radius of the preset reference point.

[0193] Optionally, the preset driving direction is: forward driving direction, the current driving state information further includes: the current position of the front vehicle body, and the expected driving state information further includes: the expected position of the front vehicle body; or,

[0194] The preset driving direction is: a backward driving direction, the current driving state information further includes: a current position of the rear vehicle body, and the expected driving state information further includes: an expected position of the rear vehicle body.

[0195] Optionally, the generating and displaying the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image includes:

[0196] Converting the multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system to obtain multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system;

[0197] Converting the multiple groups of reference positions from the preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points;

[0198] The expected trajectory guidance information is generated according to the multiple groups of target pixel points.

[0199] Optionally, generating the expected trajectory guidance information according to the multiple groups of target pixel points includes:

[0200] The expected trajectory guidance information is generated according to the multiple groups of target pixel points and the preset distance annotation information.

[0201] Optionally, generating the expected trajectory guidance information according to the multiple groups of target pixel points and preset distance annotation information includes:

[0202] Generating trajectory lines according to the multiple groups of target pixel points;

[0203] According to the preset distance annotation information, the annotation symbol information corresponding to the trajectory line is generated.

[0204] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0206] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0207] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0208] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for processing an expected driving trajectory, characterized in that: include: According to the input control instruction for the target vehicle, the target vehicle is controlled to travel along a preset travel direction; the target vehicle includes a front body and a rear body that are hingedly connected; Acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction; Generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; The current driving state information includes at least: a current steering angle of the target vehicle, the current steering angle being used to indicate a current rotation angle between the front vehicle body and the rear vehicle body; Generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

2. The method according to claim 1, characterized in that: The generating, according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment, an expected driving trajectory of the preset reference point in the preset driving direction comprises: Generate expected driving state information of the preset reference point at multiple future moments in the preset driving direction according to the control instruction and the current driving state information of the preset reference point at the current moment, wherein the expected driving state information at least includes: an expected steering angle of the target vehicle, and the expected steering angle is used to indicate an expected rotation angle between the front vehicle body and the rear vehicle body; The expected driving trajectory is generated according to the expected driving state information at the multiple future moments.

3. The method according to claim 2, characterized in that The generating, according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment, the expected driving state information of the preset reference point at multiple future moments in the preset driving direction comprises: According to the control instruction, the current driving state information, and the historical driving state information of the preset reference point at historical moments, a dynamic model for the target vehicle is used to generate the first expected driving state information of the preset reference point at the preset driving direction at the multiple future moments.

4. The method according to claim 2, characterized in that: The generating, according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment, the expected driving state information of the preset reference point at multiple future moments in the preset driving direction comprises: According to the control instruction, the current driving state information and the size parameters of the target vehicle, the kinematic algorithm of the target vehicle is adopted to generate the second expected driving state information of the preset reference point in the preset driving direction at the multiple future moments.

5. The method according to claim 4, characterized in that The step of generating, according to the control instruction, the current driving state information and the size parameters of the target vehicle, the second expected driving state information of the preset reference point at the preset driving direction at the multiple future moments by using the kinematic algorithm of the target vehicle comprises: Determining a rotation radius of the preset reference point according to a current steering angle of the target vehicle and a size parameter of the target vehicle; Obtaining the driving speed of the target vehicle according to the control instruction; The second expected driving state information is determined according to the driving speed and the rotation radius of the preset reference point.

6. The method according to claim 2, characterized in that The preset driving direction is: the forward driving direction, the current driving state information further includes: the current position of the front vehicle body, and the expected driving state information further includes: the expected position of the front vehicle body; or, The preset driving direction is: a backward driving direction, the current driving state information further includes: a current position of the rear vehicle body, and the expected driving state information further includes: an expected position of the rear vehicle body.

7. The method according to claim 1, characterized in that The generating and displaying the expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image includes: Converting the multiple groups of expected trajectory points of the expected driving trajectory from the vehicle coordinate system of the target vehicle to a preset camera coordinate system to obtain multiple groups of reference positions of the multiple groups of expected trajectory points in the preset camera coordinate system; Converting the multiple groups of reference positions from the preset camera coordinate system to a preset image coordinate system to obtain multiple groups of target pixel points; The expected trajectory guidance information is generated according to the multiple groups of target pixel points.

8. The method according to claim 7, characterized in that The generating the expected trajectory guidance information according to the multiple groups of target pixel points includes: The expected trajectory guidance information is generated according to the multiple groups of target pixel points and the preset distance annotation information.

9. The method according to claim 8, characterized in that The generating the expected trajectory guidance information according to the multiple groups of target pixel points and the preset distance annotation information includes: Generating trajectory lines according to the multiple groups of target pixel points; According to the preset distance annotation information, the annotation symbol information corresponding to the trajectory line is generated.

10. A device for processing expected driving trajectories, characterized in that: include: A control module, used for controlling the target vehicle to travel along a preset travel direction according to an input control instruction for the target vehicle; the target vehicle comprises a front body and a rear body which are articulated; An acquisition module, used to acquire a current scene image of the target vehicle at a viewing angle corresponding to the preset driving direction; A generating module, configured to generate an expected driving trajectory of the preset reference point in the preset driving direction according to the control instruction and the current driving state information of the preset reference point of the target vehicle at the current moment; The current driving state information includes at least: a current steering angle of the target vehicle, the current steering angle being used to indicate a current rotation angle between the front vehicle body and the rear vehicle body; A display module is used to generate and display expected trajectory guidance information corresponding to the expected driving trajectory in the current scene image.

11. A computer device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor. When the computer device is running, the processor and the storage medium communicate via the bus, and the processor executes the program instructions to implement the method for processing the expected driving trajectory as described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that: The readable storage medium stores program instructions, and when the program instructions are executed by a processor, the method for processing the expected driving trajectory according to any one of claims 1 to 9 is implemented.

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