Vehicle trajectory determination method and device

Abstract

The invention discloses a vehicle trajectory determination method and device. The method comprises the steps that a guiding route on a map corresponding to a loading area is acquired, and the guiding route is used for guiding a vehicle to run in the loading area; a plurality of to-be-detected path planning areas are determined on the map by taking points on the guide route as reference points, and the plurality of to-be-detected path planning areas are used for representing the spatial range of reversing operation executed at the reference position of the vehicle in the loading area; in response to a target path planning area meeting a vehicle reversing condition in the plurality of to-be-detected path planning areas, determining a driving track of the vehicle in the target path planning area based on the target path planning area, the vehicle reversing condition is used for judging whether a minimum space range allowing the vehicle to execute reversing operation exists at a reference position in the loading area or not. According to the invention, the technical problems of low planning efficiency and unstable planning quality of the vehicle driving track are solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for determining a trajectory of a vehicle. Background Art

[0002] In the current map-making method, dispatchers need to manually draw detailed vehicle driving routes (anchor point trajectories), and only after multiple attempts and adjustments can they ensure that the planned path meets the requirements of complex driving behaviors such as vehicle changes. This is not only time-consuming and labor-intensive, but human factors also affect the planning efficiency and stability of the driving trajectory.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for determining a vehicle trajectory, so as to at least solve the technical problems of low planning efficiency and unstable planning quality of vehicle driving trajectory.

[0005] According to one aspect of an embodiment of the present invention, a method for estimating and determining a vehicle is provided. The method comprises: obtaining a guide route on a map corresponding to a loading area, wherein the guide route is used to guide the vehicle to travel in the loading area; using a point on the guide route as a reference point, determining a plurality of path planning areas to be detected on the map, wherein the plurality of path planning areas to be detected are used to characterize the spatial range of the vehicle performing a turning operation at a reference position in the loading area, and the reference position corresponds to the reference point; in response to the presence of a target path planning area that satisfies a vehicle turning condition among the plurality of path planning areas to be detected, determining the vehicle's driving trajectory in the target path planning area based on the target path planning area, wherein the vehicle turning condition is used to determine whether there is a minimum spatial range at the reference position in the loading area that allows the vehicle to perform a turning operation.

[0006] Optionally, taking a point on the guidance route as a reference point, multiple path planning areas to be detected are determined on the map, including: taking any point on the guidance route as a reference point; establishing a reference coordinate system with the reference point as the origin, wherein the direction of one coordinate axis of the reference coordinate system is consistent with the direction of the tangent of the reference point, and the direction of another coordinate axis of the reference coordinate system is consistent with the direction of the perpendicular to the tangent of the reference point; establishing multiple straight lines in the reference coordinate system, wherein the multiple straight lines pass through the reference point; based on the multiple straight lines, multiple path planning areas to be detected are determined on the map.

[0007] Optionally, based on multiple straight lines, multiple path planning areas to be detected are determined on the map, including: selecting any one straight line from the multiple straight lines as a target straight line; taking the intersection of the target straight line and the guide route as the first sampling point, and determining multiple sampling points on the guide route according to the sampling interval; determining the target sampling point from the multiple sampling points, and determining the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point, wherein the long side is parallel to the target straight line, and the angle between the direction of the long side and the direction of the guide route at the first sampling point is within a preset angle threshold range; determining the vertical line of the target straight line and multiple intersection points with the boundary of the loading area on the map within the range corresponding to the first sampling point to the target sampling point; determining the short side of the path planning area to be detected corresponding to the target straight line based on the multiple intersection points, wherein the short side is parallel to the vertical line of the target straight line; and determining the path planning area to be detected corresponding to the target straight line based on the long side and the short side.

[0008] Optionally, determining the target sampling point from the multiple sampling points includes: determining the angles between the directions of the guidance route at the multiple sampling points and the target straight line respectively; and determining the target sampling point from the multiple sampling points based on the angle between the direction of the guidance route at a second sampling point and the target straight line, wherein the second sampling point is a sampling point adjacent to the first sampling point, and the direction of the guidance route at the target sampling point is consistent with the direction of the guidance route at the second sampling point.

[0009] Optionally, determining the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point includes: determining the long side of the path planning area to be detected based on a straight line segment corresponding to the guide route between the first sampling point and the target reference point on the target straight line; the method also includes: performing calculus processing on a curve formed by the guide route between the first sampling point and the target reference point to obtain the length of the long side.

[0010] Optionally, multiple intersection points are distributed on both sides of the target straight line, and based on the multiple intersection points, the short side of the path planning area to be detected corresponding to the target straight line is determined, including: respectively calculating the distances between the multiple intersection points distributed on both sides of the target straight line and the target straight line; based on the distances between the multiple intersection points and the target straight line, determining a target intersection point that is closest to the target straight line from both sides of the target straight line to obtain two target intersection points; based on the distances between the two target intersection points and the target straight line, determining the short side of the path planning area to be detected corresponding to the target straight line; the method also includes: adding the distances between the two target intersection points and the target straight line to obtain the length of the short side.

[0011] Optionally, the vehicle trajectory determination method also includes: judging whether there is a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected; in response to the presence of a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected, determining the path planning area as a target path planning area.

[0012] Optionally, the vehicle turning condition includes at least a first length threshold that the long side of the path planning area to be detected needs to meet, and a second length threshold that the short side of the path planning area to be detected needs to meet. Judging whether there is a path planning area that meets the vehicle turning condition from multiple path planning areas to be detected includes: respectively determining the lengths of the long sides of multiple path planning areas to be detected and the lengths of the short sides of multiple path planning areas to be detected; comparing the lengths of the long sides of the multiple path planning areas to be detected with the first length threshold to obtain a first comparison result, and comparing the lengths of the short sides of the multiple path planning areas to be detected with the second length threshold to obtain a second comparison result; based on the first comparison result and the second comparison result, judging whether there is a path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected.

[0013] Optionally, based on the first comparison result and the second comparison result, it is determined whether there is a path planning area that meets the vehicle turning condition among multiple path planning areas to be detected, including: in response to the first comparison result indicating that there is a first path planning area whose long side length is greater than a first length threshold among multiple path planning areas to be detected, and the second comparison result indicating that there is a second path planning area whose short side length is greater than or equal to a second length threshold among multiple path planning areas to be detected, determining whether the first path planning area and the second path planning area are the same path planning area; in response to the first path planning area and the second path planning area being the same path planning area, determining the area corresponding to the first path planning area and the second path planning area as the path planning area that meets the vehicle turning condition.

[0014] Optionally, the vehicle trajectory determination method further includes: determining a first length threshold and / or a second length threshold based at least on a body length of the vehicle and a turning radius of the vehicle.

[0015] According to another aspect of an embodiment of the present invention, a vehicle trajectory determination device is also provided, including: an acquisition unit, used to acquire a guide route on a map corresponding to a loading area, wherein the guide route is used to guide the vehicle to travel in the loading area; a first determination unit, used to determine a plurality of path planning areas to be detected on the map with points on the guide route as reference points, wherein the plurality of path planning areas to be detected are used to characterize the spatial range in which the vehicle performs a turning operation at a reference position in the loading area, and the reference position corresponds to the reference point; a second determination unit, used to determine the driving trajectory of the vehicle in the target path planning area in response to the presence of a target path planning area that meets the vehicle turning condition among the plurality of path planning areas to be detected, based on the target path planning area, wherein the vehicle turning condition is used to determine whether there is a minimum spatial range at the reference position in the loading area that allows the vehicle to perform a turning operation.

[0016] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0021] In an embodiment of the present invention, a guidance route on a map corresponding to a loading area is obtained, wherein the guidance route is used to guide the vehicle to travel in the loading area; a plurality of path planning areas to be detected are determined on the map with points on the guidance route as reference points, wherein the plurality of path planning areas to be detected are used to characterize a spatial range within which the vehicle performs a turning operation at a reference position within the loading area, and the reference position corresponds to the reference point; in response to the presence of a target path planning area among the plurality of path planning areas to be detected that satisfies a vehicle turning condition, a driving trajectory of the vehicle within the target path planning area is determined based on the target path planning area, wherein the vehicle turning condition is used to determine whether a minimum spatial range that allows the vehicle to perform a turning operation exists at the reference position within the loading area. That is to say, in an embodiment of the present invention, based on a predetermined guidance route, a plurality of path planning areas to be detected are automatically determined on a map corresponding to the loading area, and then it is determined whether the plurality of path planning areas to be detected meet the vehicle turning conditions, and when the path planning areas to be detected meet the vehicle turning conditions, the vehicle's driving trajectory is determined. This ensures that the determined vehicle's driving trajectory can meet complex operational behaviors such as vehicle turning during driving, and does not require manual drawing. This greatly improves the planning efficiency of the vehicle's driving trajectory in the loading area, and can more accurately find the spatial area required to meet driving behaviors such as vehicle turning, thereby improving the accuracy and reliability of path planning, and thereby solving the technical problems of low planning efficiency and unstable planning quality of vehicle driving trajectories. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a method for determining a vehicle trajectory according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a path planning area to be detected according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of another path planning area to be detected according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of another area to be planned for path detection according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a vehicle trajectory determination device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes 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.

[0030] Example 1

[0031] According to an embodiment of the present invention, a method embodiment for determining a trajectory of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 is a flow chart of a vehicle trajectory determination method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0033] Step S101, obtaining a guidance route on a map corresponding to a loading area.

[0034] In the technical solution provided in the above step S101 of the present application, the guide route is a predetermined guide road center line used to guide the vehicle to travel in the loading area.

[0035] In this embodiment, the guidance route may be a guidance route drawn in advance in the map of the loading area by the dispatcher based on the map boundary information of the loading area and the starting position and target position of the vehicle traveling in the loading area.

[0036] Optionally, the guidance route may also be pre-drawn by a vehicle path planning system. For example, the vehicle path planning system may pre-draw a guidance route based on map boundary information corresponding to the loading area, and the starting position and target position of the vehicle in the loading area. This is only an illustrative example and does not limit the method for obtaining the guidance route.

[0037] Step S102, using points on the guidance route as reference points, determining a plurality of path planning areas to be detected on the map.

[0038] In the technical solution provided in the above step S102 of the present application, the reference point can be any point on the guidance route, and multiple path planning areas to be detected are used to characterize the spatial range in which the vehicle performs a switching operation at the reference position in the loading area, wherein the reference position in the loading area corresponds to the reference point on the guidance route.

[0039] In this embodiment, any point on the guide route is selected as a reference point, and a reference coordinate system is established with the reference point as the coordinate origin, wherein the reference coordinate system is a local coordinate system used to describe the spatial features related to the reference point. The reference coordinate system usually takes the tangent direction of the guide route at the reference point as the x-axis and the direction perpendicular to the tangent as the y-axis.

[0040] Optionally, after determining the reference coordinate system, the reference coordinate system can be scanned along the y-axis direction (i.e., the direction perpendicular to the tangent of the guidance route) to find the points that intersect with the map boundary, thereby defining the path planning area to be detected. These areas are usually described as regular shapes centered on the reference point, such as rectangles, whose length and width must meet specific vehicle turning requirements.

[0041] For example, Figure 2 is a schematic diagram of a path planning area to be detected according to an embodiment of the present invention. Figure 2 As shown, the point Point on the guide route N As the origin of the coordinate system, a reference coordinate system is established, and then a scan is performed along one of the coordinate axes of the reference coordinate system (i.e., the direction perpendicular to the tangent of the guide route). Each scanning straight line passes through the origin of the coordinate system, such as y=k1x, y=k2x, ... y=k N x, where k N The value range of is [-∞, +∞], which can ensure that the direction of the long side of the path planning area to be detected formed by each scanning straight line is within the range of [0°, 180°] of the guidance route. According to this method, multiple path planning areas to be detected can be determined at each point on the guidance route.

[0042] Step S103, in response to the presence of a target path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected, determining a driving trajectory of the vehicle in the target path planning area based on the target path planning area.

[0043] In the technical solution provided in the above step S103 of the present application, the vehicle turning condition is used to determine whether there is a minimum space range at the reference position in the loading area that allows the vehicle to perform a turning operation, wherein the vehicle turning condition includes a parameter [P width , P Length ]. Among them, P width Used to define the width of the minimum space range, P Length Used to limit the length of the minimum space range. Since different vehicles require different minimum space ranges when performing a turn-around operation, the vehicle turn-around conditions corresponding to different vehicles are also different. The vehicle turn-around conditions corresponding to each vehicle type can be set in advance according to the vehicle's body size, turning radius, and the vehicle's safe turn-around distance.

[0044] In this embodiment, after determining a plurality of path planning areas to be detected at each point on the guidance route, for each path planning area to be detected at each point on the guidance route, it can be determined whether it meets the vehicle turning condition. For example, after determining the vehicle type of the vehicle traveling in the loading area, the vehicle turning condition corresponding to the vehicle type can be obtained according to the vehicle type, and then the length of each planned path area to be detected is compared with the length parameter in the vehicle turning condition, and the width of each planned path area to be detected is compared with the width parameter in the vehicle turning condition to determine whether the path planning area to be detected meets the vehicle turning condition.

[0045] Optionally, if there is an area that meets the vehicle's turning conditions among the multiple path planning areas to be detected at a certain point on the guidance route, it means that the vehicle can perform a turning operation at the position corresponding to the point in the loading area. In this case, the path planning system can plan the vehicle's driving trajectory at this position according to the vehicle's operating requirements.

[0046] Alternatively, if Figure 2 As shown, there are multiple path planning areas to be detected in the loading area (W width , L length ), wherein the plurality of path planning areas to be detected can be referred to as self-test surfaces. N The self-checking surface set ((W width1 , L length1 )...,(W widthN , L lengthN )), when there is W width ≥P width, and L Length ≥P Length When a self-inspection surface is detected, it means that the vehicle's driving trajectory can be planned in the area corresponding to the self-inspection surface.

[0047] In this step, after judging multiple path planning areas to be detected at each point on the guidance route according to the vehicle turning conditions, all position points on the guidance route that meet the vehicle turning requirements can be determined, and then the vehicle's driving trajectory can be planned based on these position points, so that the vehicle can perform turning operations at positions that meet the vehicle turning requirements, avoiding the risk of collision due to insufficient space and improving the safety of the autonomous driving vehicle when performing turning tasks.

[0048] Furthermore, by detecting the switching space at each point, the feasibility of the path can be evaluated more accurately, ensuring that the planned path can not only reach the destination but also perform necessary switching operations at key points along the way, thereby enhancing the rationality and accuracy of path planning.

[0049] In the above steps S101 to S103, based on the predetermined guidance route, multiple path planning areas to be detected are automatically determined on the map corresponding to the loading area, and then it is determined whether the multiple path planning areas to be detected meet the vehicle turning conditions, and when the path planning areas to be detected meet the vehicle turning conditions, the vehicle's driving trajectory is determined. In this way, it can be ensured that the determined vehicle driving trajectory can meet complex operation behaviors such as vehicle turning during driving, and no manual drawing is required, which greatly improves the planning efficiency of the vehicle's driving trajectory in the loading area, and can more accurately find the spatial area required to meet the driving behaviors such as vehicle turning, improve the accuracy and reliability of path planning, and thus solve the technical problems of low planning efficiency and unstable planning quality of vehicle driving trajectory.

[0050] Next, the method for determining the trajectory of the vehicle is further introduced.

[0051] As an optional implementation, step S102, taking a point on the guidance route as a reference point, determines multiple path planning areas to be detected on the map, including: taking any point on the guidance route as a reference point; establishing a reference coordinate system with the reference point as the origin, wherein the direction of one coordinate axis of the reference coordinate system is consistent with the direction of the tangent of the reference point, and the direction of another coordinate axis of the reference coordinate system is consistent with the direction of the perpendicular to the tangent of the reference point; establishing multiple straight lines in the reference coordinate system, wherein the multiple straight lines pass through the reference point; based on the multiple straight lines, determine multiple path planning areas to be detected on the map.

[0052] In this embodiment, when a plurality of path planning areas to be detected are determined on the map corresponding to the loading area, a plurality of path planning areas to be detected may be determined at each point on the guidance route.

[0053] For example, take any point on the guidance route as an example. For the convenience of explanation, this arbitrary point is referred to as a reference point. A reference coordinate system is established with the reference point as the origin of the coordinates. Afterwards, with the reference point as the center, scan along the tangent direction perpendicular to the guidance route, and then establish multiple straight lines in the reference coordinate system based on the multiple scanning lines. Since each scanning line has an intersection with the map boundary of the loading area, multiple path planning areas to be detected can be determined on the map based on the intersection of each scanning line with the boundary of the loading area.

[0054] Next, the specific process of determining multiple path planning areas to be detected on the map based on multiple straight lines is further introduced.

[0055] As an optional implementation, based on multiple straight lines, multiple path planning areas to be detected are determined on a map, including: selecting any one straight line from the multiple straight lines as a target straight line; taking the intersection of the target straight line and the guide route as the first sampling point, and determining multiple sampling points on the guide route according to the sampling interval; determining the target sampling point from the multiple sampling points, and determining the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point, wherein the long side is parallel to the target straight line, and the angle between the direction of the long side and the direction of the guide route at the reference point is within a preset angle threshold range; determining the vertical line of the target straight line and multiple intersection points with the boundary of the loading area on the map within the range corresponding to the first sampling point to the target sampling point; determining the short side of the path planning area to be detected corresponding to the target straight line based on the multiple intersection points, wherein the short side is parallel to the vertical line of the target straight line; determining the path planning area to be detected corresponding to the target straight line based on the long side and the short side.

[0056] In this embodiment, any one of the plurality of straight lines is taken as an example. For the convenience of explanation, any one of the straight lines is referred to as a target straight line. After the target straight line is selected from the plurality of straight lines, the intersection point (i.e., the coordinate origin) of the target straight line and the guide route can be taken as the first sampling point, and sampling can be performed on the guide route according to the sampling interval to obtain a plurality of sampling points.

[0057] Optionally, after determining the plurality of sampling points, a target sampling point may be further determined from the plurality of sampling points, wherein the orientation of the guide route at the target sampling point is consistent with the orientation of the guide route at the first sampling point. After determining the target sampling point, the long side of the path planning area to be detected corresponding to the target straight line may be determined based on the first sampling point and the target sampling point, and the short side of the path planning area to be detected corresponding to the target straight line may be determined based on the vertical line of the target straight line and the plurality of intersection points with the boundary of the loading area on the map within the range corresponding to the first sampling point to the target sampling point.

[0058] Optionally, Figure 3 is a schematic diagram of another path planning area to be detected according to an embodiment of the present invention. Figure 3 As shown, Point N Used to indicate the first sampling point, Point M Used to indicate the target sampling point. N With Point M By performing calculus operation on the curve corresponding to the guidance route between, the long side of the path planning area to be detected corresponding to the straight line can be obtained.

[0059] Optionally, Figure 4 is a schematic diagram of another area to be planned for path detection according to an embodiment of the present invention. Figure 4 As shown, Point N Used to indicate the first sampling point, Point M Used to indicate the target sampling point, the perpendicular line of the straight line y=k1x is at Point N With Point M The intersection points between the loading area and the boundary of the loading area constitute the point set Point A (p A1 , ..., p AN ),Point B (p b1 , ..., p bN ). Among them, the short side of the path planning area to be detected can be determined according to the intersection point with the closest distance to the straight line among the multiple intersection points.

[0060] Next, the specific process of determining the target sampling point from multiple sampling points is introduced.

[0061] As an optional implementation, determining a target sampling point from a plurality of sampling points includes: determining angles between directions of the guide route at the plurality of sampling points and the target straight line respectively; determining the target sampling point from the plurality of sampling points based on the angle between the direction of the guide route at a second sampling point and the target straight line, wherein the second sampling point is a sampling point adjacent to the first sampling point, and the direction of the guide route at the target sampling point is consistent with the direction of the guide route at the second sampling point.

[0062] In this embodiment, the angle between the direction of the guided route at each sampling point and the target straight line can be calculated. The sampling points are set along the guided route to capture the details and changes of the route. The direction of the guided route can be understood as the instantaneous direction of the route at that point.

[0063] Optionally, a second sampling point adjacent to the first sampling point is selected, and the angle between the direction of the guided route at the second sampling point and the target straight line is calculated. The size of the angle reflects the degree of deviation between the route direction at the second sampling point and the target straight line direction.

[0064] Optionally, when determining the target sampling point, it is necessary to ensure that the direction of the guidance route at this point is consistent with the direction at the second sampling point. This ensures that the direction of the path planning from the first sampling point to the target sampling point remains continuous without sudden turns or changes. For autonomous vehicles, it is very important to maintain the continuity and consistency of path planning, which helps the vehicle to drive smoothly and safely.

[0065] As an optional implementation, determining the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point includes: determining the long side of the path planning area to be detected based on the straight line segment corresponding to the guide route between the first sampling point and the target reference point on the target straight line; the vehicle trajectory determination method also includes: performing calculus processing on the curve formed by the guide route between the first sampling point and the target reference point to obtain the length of the long side.

[0066] In this embodiment, after the first sampling point and the target sampling point are determined, the straight line segment corresponding to the guidance route between the first sampling point and the target sampling point can be determined according to the projection of the guidance route between the first sampling point and the target sampling point on the target straight line, and then the straight line segment is determined as the long side of the path planning area to be detected.

[0067] Optionally, after determining the long side of the path planning area to be detected, an integration process may be performed on the curve corresponding to the guide route between the first sampling point and the target sampling point to obtain the length of the long side of the path planning area to be detected.

[0068] For example, Figure 3As shown, the first sampling point Point of the guidance route N is the starting point, and the next point according to the sampling rhythm is Point N* , and Point N With Point N* The corresponding distance on the map is X. The tangent direction of the guide route is N The angle of the tangent is θ, and the cosecant line L of X is Xcosθ. Based on this, the first sampling point Point can be calculated by the following formula N To the target sampling point Point M The length of the cosecant line corresponding to the guidance route between is the length of the long side of the planning area to be detected.

[0069]

[0070] Optionally, the length of the long side of each planned area to be detected may be determined according to the above method, which will not be described in detail here.

[0071] Next, the process of determining the short side of the planning area to be detected is further introduced.

[0072] As an optional implementation, multiple intersection points are distributed on both sides of a target straight line, and based on the multiple intersection points, a short side of a path planning area to be detected corresponding to the target straight line is determined, including: respectively calculating the distances between the multiple intersection points distributed on both sides of the target straight line and the target straight line; based on the distances between the multiple intersection points and the target straight line, determining a target intersection point that is closest to the target straight line from both sides of the target straight line to obtain two target intersection points; based on the distances between the two target intersection points and the target straight line, determining the short side of the path planning area to be detected corresponding to the target straight line; the vehicle trajectory determination method also includes: adding the distances between the two target intersection points and the target straight line to obtain the length of the short side.

[0073] In this embodiment, the target straight line is also used as an example for explanation. There are multiple intersection points between the target straight line and the boundary of the loading area. Based on this, for each intersection point, the vertical distance between it and the target straight line is calculated. This distance can be obtained by a simple geometric method, for example, using the distance formula from a point to a straight line. It is worth noting that since the target straight line is located in the middle of the map, the intersection points are usually distributed on both sides of the straight line, so the distances of the intersection points on both sides need to be calculated separately.

[0074] Optionally, from the intersection points on both sides of the target straight line, select one intersection point closest to the target straight line, and then determine the short side of the path planning area to be detected based on the distance between the two intersection points and the target straight line, and determine the sum of the distances between the two points and the target straight line as the length of the short side. This length reflects the minimum width required for the vehicle to change direction and is one of the key parameters for detecting whether the path planning area meets the turning conditions. If the length of the short side is large enough, that is, it exceeds the minimum width required for the vehicle to change direction, then the area at this point is considered to be able to meet the vehicle's turning requirements.

[0075] For example, Figure 4 As shown, take the straight line y=k1x as an example, Point N (X0, Y0) is the starting point and extends along the slope k1 direction L length Length. The perpendicular line of the straight line y=k1x and the map boundary form a set of intersection points Point A (p A1 , ..., p AN ), Point B (p b1 , ..., p bN ), the coordinates of the point are map coordinates, such as point A1 (x A1 ,y A1 ). The vertical distance from each point in the point set to the straight line is S, and the minimum value S is taken. min The vertical distances of point set A and point set B to the line y=k1x can be calculated by the following formula:

[0076]

[0077] Optionally, the width of the path planning area to be detected is: W widthK1 =S N =S Amin +S Bmin .

[0078] Next, the process of selecting a target path planning area that meets the vehicle turning conditions from multiple path planning areas to be detected is briefly introduced.

[0079] As an optional implementation, the vehicle trajectory determination method also includes: judging whether there is a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected; in response to the presence of a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected, determining the path planning area as a target path planning area.

[0080] In this embodiment, on the guidance route, after identifying multiple path planning areas to be detected that may meet the vehicle turning conditions through the calculation method of sampling points, long sides and short sides introduced above, each path planning area to be detected can be evaluated to determine whether it meets the pre-set turning conditions, and the path planning area that meets the vehicle turning conditions can be determined as the target path planning area.

[0081] Optionally, when judging whether each path planning area to be detected meets the requirements based on the vehicle's turning conditions, it involves comparing the actual length and width of the path planning area to be detected with the required minimum length and width. Only when both parameters meet or exceed the minimum requirements, the area is considered as a potential target path planning area.

[0082] As an optional implementation, the vehicle turning condition includes at least a first length threshold that the long side of the path planning area to be detected needs to meet, and a second length threshold that the short side of the path planning area to be detected needs to meet. Judging whether there is a path planning area that meets the vehicle turning condition from multiple path planning areas to be detected includes: respectively determining the lengths of the long sides of multiple path planning areas to be detected and the lengths of the short sides of multiple path planning areas to be detected; comparing the lengths of the long sides of the multiple path planning areas to be detected with the first length threshold to obtain a first comparison result, and comparing the lengths of the short sides of the multiple path planning areas to be detected with the second length threshold to obtain a second comparison result; and judging whether there is a path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected based on the first comparison result and the second comparison result.

[0083] In this embodiment, the first length threshold in the vehicle turning condition is the minimum requirement for the length of the long side of the path planning area, and the second length threshold is the minimum requirement for the length of the short side of the path planning area. The first length threshold and the second length threshold are usually related to the size of the vehicle, the space required for turning, and the safety buffer distance. The length of the long side must at least reach this threshold to ensure that the vehicle will not collide with obstacles outside the guide route during the turning process. The length of the short side must at least meet this threshold to ensure that the vehicle has enough space to perform the turning action and avoid the risks of operating in a narrow area. Based on this, the length of the long side in each path planning area to be detected can be compared with the first length threshold to determine whether the long side of the path planning area to be detected meets the minimum requirement for the vehicle to perform the turning. Similarly, the length of the short side in each path planning area to be detected can be compared with the second length threshold to determine whether the length of the short side in the path planning area to be detected meets the minimum requirement for the vehicle to perform the turning.

[0084] As an optional implementation, based on the first comparison result and the second comparison result, it is determined whether there is a path planning area that meets the vehicle turning condition among multiple path planning areas to be detected, including: in response to the first comparison result indicating that there is a first path planning area with a long side length greater than a first length threshold among multiple path planning areas to be detected, and the second comparison result indicating that there is a second path planning area with a short side length greater than or equal to a second length threshold among multiple path planning areas to be detected, determining whether the first path planning area and the second path planning area are the same path planning area; in response to the first path planning area and the second path planning area being the same path planning area, determining the area corresponding to the first path planning area and the second path planning area as the path planning area that meets the vehicle turning condition.

[0085] In this embodiment, after determining the first comparison result of the length of the long side of each path planning area to be detected and the first length threshold, and the second comparison result of the length of the short side of each path planning area to be detected and the second length threshold, it can be determined whether each path planning area to be detected meets the space requirements for vehicle turning in the long side direction and the short side direction based on the first comparison result and the second comparison result.

[0086] Optionally, based on the first comparison result and the second comparison result, it is comprehensively judged whether each path planning area to be detected meets the vehicle turning condition. If the lengths of the long side and the short side of a certain area exceed the corresponding length threshold, then the area is determined as a path planning area that meets the vehicle turning condition, that is, a "target path planning area".

[0087] As an optional implementation, the vehicle trajectory planning method further includes: determining a first length threshold and / or a second length threshold based at least on a body length of the vehicle and a turning radius of the vehicle.

[0088] In this embodiment, the first length threshold is mainly related to the length of the long side on the guide route, which ensures that the vehicle has a long enough straight driving space when performing a change operation. The body length of the vehicle is a key parameter, because a longer vehicle requires a larger space to complete the action when changing direction, especially when the vehicle needs to complete a U-turn or similar complex change on one side of the guide road. If the first length threshold is set too low, it may not be enough to accommodate the entire body of the vehicle, resulting in a collision during the change process or failure to successfully complete the change action.

[0089] Optionally, the second length threshold is related to the width of the short side of the path planning area, which ensures that the vehicle has enough space on both sides of the guide road to change direction. The turning radius of the vehicle refers to the distance from the turning center to the outermost side of the vehicle when the vehicle turns. This parameter is crucial for determining whether the vehicle can safely complete the change within a given width. If the second length threshold is set too narrow, the vehicle may not be able to complete the action within the planned area when turning, especially in the case of large vehicle size or large turning radius. Therefore, the second length threshold needs to be at least equal to twice the minimum turning radius of the vehicle (taking into account the space on both sides of the guide road) to ensure that the vehicle has enough space to complete the turning operation when turning and maintain a safe distance from obstacles.

[0090] Optionally, the above are only illustrative examples. In actual applications, the first length threshold and the second length threshold can be flexibly set by comprehensively considering factors such as the vehicle body length, turning radius, and safety buffer distance.

[0091] Through the above steps, it is possible to automatically detect and evaluate whether there is an area in the loading area that meets the vehicle turning conditions, thereby improving the efficiency and reliability of the vehicle's path planning.

[0092] According to an embodiment of the present invention, a vehicle trajectory determination device is also provided. It should be noted that the vehicle trajectory determination device can be used to execute the vehicle trajectory determination method in the embodiment of the present invention.

[0093] Figure 5 is a schematic diagram of a vehicle trajectory determination device according to an embodiment of the present invention. The vehicle trajectory determination device 500 comprises: an acquisition unit 501 , a first determination unit 502 , and a second determination unit 503 .

[0094] The acquisition unit 501 is used to acquire a guidance route on a map corresponding to the loading area, wherein the guidance route is used to guide the vehicle to travel in the loading area.

[0095] The first determination unit 502 is used to determine a plurality of path planning areas to be detected on a map using a point on the guidance route as a reference point, wherein the plurality of path planning areas to be detected are used to characterize a spatial range in which the vehicle performs a turning operation at a reference position within the loading area, and the reference position corresponds to the reference point.

[0096] The second determination unit 503 is used to determine the driving trajectory of the vehicle in the target path planning area in response to the presence of a target path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected, based on the target path planning area, wherein the vehicle turning condition is used to determine whether there is a minimum spatial range at a reference position in the loading area that allows the vehicle to perform a turning operation.

[0097] Optionally, the first determination unit 502 also includes: a first determination module, used to take any point on the guidance route as a reference point; a first establishment module, used to establish a reference coordinate system with the reference point as the origin, wherein the direction of one coordinate axis of the reference coordinate system is consistent with the direction of the tangent of the reference point, and the direction of another coordinate axis of the reference coordinate system is consistent with the direction of the perpendicular to the tangent of the reference point; a second establishment module, used to establish multiple straight lines in the reference coordinate system, wherein the multiple straight lines pass through the reference point; and a second determination module, used to determine multiple path planning areas to be detected on the map based on the multiple straight lines.

[0098] Optionally, the second determination module further includes: a first determination submodule, which is used to select any one straight line from a plurality of straight lines as a target straight line; a sampling submodule, which is used to determine a plurality of sampling points on the guide route according to a sampling interval, with the intersection of the target straight line and the guide route as the first sampling point; a second determination submodule, which is used to determine the target sampling point from the plurality of sampling points, and to determine the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point, wherein the long side is parallel to the target straight line, and the angle between the direction of the long side and the direction of the guide route at the reference point is within a preset angle threshold range; a third determination submodule, which is used to determine a plurality of intersections of a perpendicular line of the target straight line and a boundary of the loading area on the map within a range corresponding to the first sampling point to the target sampling point; a fourth determination submodule, which is used to determine a short side of the path planning area to be detected corresponding to the target straight line based on the plurality of intersections, wherein the short side is parallel to the perpendicular line of the target straight line; and a fifth determination submodule, which is used to determine the path planning area to be detected corresponding to the target straight line based on the long side and the short side.

[0099] Optionally, the second determination submodule is further used to: determine the angles between the directions of the guidance route at multiple sampling points and the target straight line respectively; determine the target sampling point from the multiple sampling points based on the angle between the direction of the guidance route at the second sampling point and the target straight line, wherein the second sampling point is a sampling point adjacent to the first sampling point, and the direction of the guidance route at the target sampling point is consistent with the direction of the guidance route at the second sampling point.

[0100] Optionally, the second determination submodule is further used to determine the long side of the path planning area to be detected based on a straight line segment corresponding to the guidance route between the first sampling point and the target reference point on the target straight line.

[0101] Optionally, the vehicle trajectory determination device is further used to: perform calculus processing on a curve formed by the guidance route between the first sampling point and the target reference point to obtain the length of the long side.

[0102] Optionally, the fourth determination module is also used to: respectively calculate the distances between multiple intersection points distributed on both sides of the target straight line and the target straight line; based on the distances between the multiple intersection points and the target straight line, determine a target intersection point that is closest to the target straight line from both sides of the target straight line to obtain two target intersection points; based on the distances between the two target intersection points and the target straight line, determine the short side of the path planning area to be detected corresponding to the target straight line.

[0103] Optionally, the vehicle trajectory determination device is further used to: add the distances between the two target intersection points and the target straight line to obtain the length of the short side.

[0104] Optionally, the vehicle trajectory determination device also includes: a judgment unit, used to judge whether there is a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected; a third determination unit, used to determine the path planning area as the target path planning area in response to the presence of a path planning area that meets the vehicle turning conditions among multiple path planning areas to be detected.

[0105] Optionally, the judgment unit includes: a third determination module, used to respectively determine the length of the long sides of multiple path planning areas to be detected and the length of the short sides of multiple path planning areas to be detected; a comparison module, used to compare the length of the long sides in the multiple path planning areas to be detected with a first length threshold to obtain a first comparison result, and compare the length of the short sides in the multiple path planning areas to be detected with a second length threshold to obtain a second comparison result; a fourth determination module, used to determine whether there is a path planning area in the multiple path planning areas to be detected that meets the vehicle turning conditions based on the first comparison result and the second comparison result.

[0106] Optionally, the fourth determination module is also used to: in response to the first comparison result indicating that there is a first path planning area whose long side length is greater than a first length threshold among the multiple path planning areas to be detected, and the second comparison result indicating that there is a second path planning area whose short side length is greater than or equal to a second length threshold among the multiple path planning areas to be detected, determine whether the first path planning area and the second path planning area are the same path planning area; in response to the first path planning area and the second path planning area being the same path planning area, determine the area corresponding to the first path planning area and the second path planning area as the path planning area that meets the vehicle turning condition.

[0107] Optionally, the vehicle trajectory determination device is further used to determine the first length threshold and / or the second length threshold at least based on the vehicle body length and the vehicle turning radius.

[0108] In the device, based on the predetermined guidance route, multiple path planning areas to be detected are automatically determined on the map corresponding to the loading area, and then it is determined whether the multiple path planning areas to be detected meet the vehicle turning conditions, and when the path planning areas to be detected meet the vehicle turning conditions, the vehicle's driving trajectory is determined, so that it can be ensured that the determined vehicle driving trajectory can meet complex operation behaviors such as vehicle turning during driving, and no manual drawing is required, which greatly improves the planning efficiency of the vehicle's driving trajectory in the loading area, can more accurately find the spatial area required to meet the driving behaviors such as vehicle turning, improves the accuracy and reliability of path planning, and thus solves the technical problems of low planning efficiency and unstable planning quality of vehicle driving trajectory.

[0109] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0110] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0111] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0112] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0113] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0114] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0115] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, 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 units or modules, which can be electrical or other forms.

[0117] 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] In addition, each functional unit in each embodiment of the present invention 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 software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product 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.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0120] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining a vehicle trajectory, characterized in that: include: Acquire a guidance route on a map corresponding to the loading area, wherein the guidance route is used to guide the vehicle to travel in the loading area; Taking a point on the guidance route as a reference point, determining a plurality of path planning areas to be detected on the map, wherein the plurality of path planning areas to be detected are used to represent a spatial range in which the vehicle performs a turning operation at a reference position in the loading area, and the reference position corresponds to the reference point; In response to the presence of a target path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected, a driving trajectory of the vehicle within the target path planning area is determined based on the target path planning area, wherein the vehicle turning condition is used to determine whether there is a minimum spatial range at the reference position within the loading area that allows the vehicle to perform a turning operation.

2. The determination method according to claim 1, characterized in that: Taking the points on the guidance route as reference points, a plurality of path planning areas to be detected are determined on the map, including: Taking any point on the guidance route as the reference point; Taking the reference point as the origin, a reference coordinate system is established, wherein the direction of one coordinate axis of the reference coordinate system is consistent with the direction of the tangent of the reference point, and the direction of another coordinate axis of the reference coordinate system is consistent with the direction of the perpendicular line of the tangent of the reference point; Establishing a plurality of straight lines in the reference coordinate system, wherein the plurality of straight lines pass through the reference point; Based on the multiple straight lines, the multiple path planning areas to be detected are determined on the map.

3. The determination method according to claim 2, characterized in that: Based on the plurality of straight lines, determining the plurality of path planning areas to be detected on the map includes: Selecting any one of the plurality of straight lines as a target straight line; Taking the intersection of the target straight line and the guide route as the first sampling point, and determining a plurality of sampling points on the guide route according to sampling intervals; Determine a target sampling point from the multiple sampling points, and determine a long side of a path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point, wherein the long side is parallel to the target straight line, and an angle between a direction of the long side and a direction of the guidance route at the first sampling point is within a preset angle threshold range; Determine a plurality of intersection points between a perpendicular line of the target straight line and a boundary of the loading area on the map within a range corresponding to the first sampling point to the target sampling point; Based on the multiple intersection points, determine a short side of the to-be-detected path planning area corresponding to the target straight line, wherein the short side is parallel to a perpendicular line of the target straight line; Based on the long side and the short side, the to-be-detected path planning area corresponding to the target straight line is determined.

4. The determination method according to claim 3, characterized in that: Determining a target sampling point from the plurality of sampling points comprises: Determine the angles between the directions of the guidance route at the plurality of sampling points and the target straight line; The target sampling point is determined from the multiple sampling points based on an angle between a direction of the guidance route at a second sampling point and the target straight line, wherein the second sampling point is a sampling point adjacent to the first sampling point, and the direction of the guidance route at the target sampling point is consistent with the direction of the guidance route at the second sampling point.

5. The determination method according to claim 3, characterized in that: Determining the long side of the path planning area to be detected corresponding to the target straight line based on the first sampling point and the target sampling point includes: determining the long side of the path planning area to be detected based on the straight line segment corresponding to the guide route between the first sampling point and the target reference point on the target straight line; The method further includes: performing calculus processing on a curve formed by the guide route between the first sampling point and the target reference point to obtain the length of the long side.

6. The determination method according to claim 3, characterized in that: The multiple intersection points are distributed on both sides of the target straight line, Determining the short side of the to-be-detected path planning area corresponding to the target straight line based on the multiple intersection points includes: respectively calculating the distances between a plurality of intersection points distributed on both sides of the target straight line and the target straight line; Based on the distances between the multiple intersection points and the target straight line, a target intersection point with the shortest distance to the target straight line is determined from both sides of the target straight line to obtain two target intersection points; Based on the distance between the two target intersection points and the target straight line, determining the short side of the to-be-detected path planning area corresponding to the target straight line; The method further comprises: The distances between the two target intersection points and the target straight line are added to obtain the length of the short side.

7. The determination method according to claim 1, characterized in that: The method further comprises: Determining whether there is a path planning area that meets the vehicle turning condition from among the multiple path planning areas to be detected; In response to the presence of a path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected, the path planning area is determined as a target path planning area.

8. The determination method according to claim 7, characterized in that: The vehicle turning condition at least includes a first length threshold that the long side of the path planning area to be detected needs to meet, and a second length threshold that the short side of the path planning area to be detected needs to meet. Judging whether there is a path planning area satisfying the vehicle turning condition from the multiple path planning areas to be detected includes: Respectively determining the lengths of the long sides of the plurality of path planning areas to be detected and the lengths of the short sides of the plurality of path planning areas to be detected; Comparing the lengths of the long sides of the plurality of path planning areas to be detected with the first length threshold to obtain a first comparison result, and comparing the lengths of the short sides of the plurality of path planning areas to be detected with the second length threshold to obtain a second comparison result; Based on the first comparison result and the second comparison result, it is determined whether there is a path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected.

9. The determination method according to claim 8, characterized in that: Based on the first comparison result and the second comparison result, determining whether there is a path planning area that meets the vehicle turning condition among the multiple path planning areas to be detected includes: In response to the first comparison result indicating that there is a first path planning area among the multiple path planning areas to be detected whose long side has a length greater than the first length threshold, and the second comparison result indicating that there is a second path planning area among the multiple path planning areas to be detected whose short side has a length greater than or equal to the second length threshold, determining whether the first path planning area and the second path planning area are the same path planning area; In response to the first path planning area and the second path planning area being the same path planning area, an area corresponding to the first path planning area and the second path planning area is determined as a path planning area that satisfies the vehicle turning condition.

10. The determination method according to claim 9, characterized in that: The method further comprises: The first length threshold and / or the second length threshold are determined at least according to a body length of the vehicle and a turning radius of the vehicle.

11. A vehicle trajectory determination device, characterized in that: include: an acquisition unit, configured to acquire a guide route on a map corresponding to the loading area, wherein the guide route is used to guide the vehicle to travel in the loading area; A first determining unit is used to determine a plurality of path planning areas to be detected on the map with a point on the guidance route as a reference point, wherein the plurality of path planning areas to be detected are used to represent a spatial range in which the vehicle performs a turning operation at a reference position in the loading area, and the reference position corresponds to the reference point; A second determination unit is configured to determine, in response to the presence of a target path planning area that satisfies a vehicle turning condition among the multiple path planning areas to be detected, a driving trajectory of the vehicle within the target path planning area based on the target path planning area, wherein the vehicle turning condition is used to determine whether there is a minimum spatial range at the reference position within the loading area that allows the vehicle to perform a turning operation.

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