Reversing route automatic generation method and system

Abstract

The invention belongs to the technical field of automatic driving, and provides a reversing route automatic generation method and system. The method comprises the following steps: acquiring a map of a vehicle before backing up, and a starting pose and a terminal berth pose of the vehicle before backing up, and generating an initial backing-up path by adopting a reverse RRT algorithm; in the reverse RRT algorithm optimization process, a search function is adopted, and a node corresponding to the minimum value of the search function is selected as a father node of the target pose; the poses of all the nodes in the random tree reach the destination parking position pose; extracting an initial reversing path according to a father node relationship in the random tree; and smoothing the initial reversing path to obtain an optimal reversing path, and displaying the optimal reversing path in a holographic image system. The initial reversing path is generated through the improved reverse RRT algorithm, the initial reversing path is smoothed, the optimal reversing path is obtained, the collision rate of the to-be-reversed vehicle can be reduced, and the safety of the to-be-reversed vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and more particularly to a method and system for automatically generating a reversing route. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous increase in the popularity of automobiles and the rapid development of the vehicle industry, driving assistance functions have become standard features of almost all new models of various vehicle manufacturers, and the application rate of driving assistance functions is also growing rapidly. Among them, reversing radar and panoramic images have also become standard driving assistance configurations for many models. However, the automatic parking function basically requires high-end models, relying on 12 ultrasonic and 4 surround cameras as sensors, and a separate parking controller is required, which is relatively expensive. For users who do not have automatic parking functions and have poor car sense, parking in a narrow garage is a problem. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method and system for automatically generating a reversing route. The present invention generates an initial reversing path through an improved reverse RRT algorithm, and smoothes the initial reversing path to obtain an optimal reversing path, which can reduce the collision rate of vehicles to be reversed and improve the safety of vehicles to be reversed.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a method for automatically generating a reversing route.

[0007] A method for automatically generating a reversing route, comprising:

[0008] Obtain the map before the vehicle reverses, the starting position and the terminal parking position before the vehicle reverses, and use the reverse RRT algorithm to generate the initial reversing path; in the reverse RRT algorithm optimization process, use the search function to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; extract the initial reversing path according to the parent node relationship in the random tree;

[0009] The initial reversing path is smoothed to obtain the optimal reversing path, which is then displayed in the holographic imaging system.

[0010] Furthermore, the initial position and terminal berth position of the vehicle before reversing both include position information and a heading angle of the vehicle.

[0011] Furthermore, the position information is collected by a radar, and the map before the vehicle reverses is collected by cameras arranged around the vehicle and then generated by a controller.

[0012] Furthermore, the search function is expressed by the following formula:

[0013] T(m)=A(m)+B(m)+λ1C(m)+λ2D(m)+λ3E(m)

[0014] Among them, A(m) represents the actual path length from the starting point to node m, B(m) represents the estimated cost from node m to the target end point, λ1, λ2, and λ3 represent the weight of angle change, the weight of direction change, and the authority of reversing, respectively. C(m), D(m), and E(m) represent the cost of angle change, the cost of direction change, and the cost of reversing, respectively.

[0015] Furthermore, the initial reversing path is smoothed to obtain an optimal reversing path; the method includes:

[0016] Step 1: Import the initial reversing path RRT_path;

[0017] Step 2: Let the smooth path be smooth_path, and node smooth_path(1)=RRT_path(1);

[0018] Step 3: Let i be the maximum number of nodes in RRT_path;

[0019] Step 4: Determine whether the line connecting RRT_path(i) and smooth_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, set i=i-1 and repeat step 4; otherwise, go to step 5;

[0020] Step 5: Add RRT_path(i) to the end of smooth_path(end);

[0021] Step 6: Determine whether the line connecting smooth_path(end) and RRT_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, delete nodes 1 to i of RRT_path and go to step 3; otherwise, go to step 7;

[0022] Step 7: Add RRT_path(end) to the end of smooth_path(end).

[0023] Furthermore, if the vehicle is equipped with a TBOX module, a path planning experience library is generated based on the historical reversing records of the vehicle, and the learning parameters of the reverse RRT algorithm are continuously learned and optimized.

[0024] A second aspect of the present invention provides a system for automatically generating a reversing route.

[0025] A system for automatically generating a reversing route, comprising:

[0026] The path generation module is configured to: obtain the map before the vehicle reverses, the starting position and the terminal parking position of the vehicle before reversing, and use the reverse RRT algorithm to generate an initial reversing path; in the reverse RRT algorithm optimization process, use a search function to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; extract the initial reversing path according to the parent node relationship in the random tree;

[0027] The smoothing module is configured to: smooth the initial reversing path to obtain the optimal reversing path and display it in the holographic imaging system.

[0028] A third aspect of the present invention provides a computer-readable storage medium.

[0029] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the method for automatically generating a reversing route as described in the first aspect above.

[0030] A fourth aspect of the present invention provides a computer device.

[0031] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for automatically generating a reversing route as described in the first aspect above are implemented.

[0032] A fifth aspect of the present invention provides a computer program product or a computer program.

[0033] The present invention provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the method for automatically generating a reversing route as described in the first aspect above.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention obtains the map before the vehicle reverses, the starting position and the terminal parking position before the vehicle reverses, and uses the reverse RRT algorithm to generate the initial reverse path; in the reverse RRT algorithm optimization process, a search function is used to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; the initial reverse path is extracted according to the parent node relationship in the random tree; the initial reverse path is smoothed to obtain the optimal reverse path, and displayed in the holographic imaging system. This allows users who do not have an automatic parking function and have a poor sense of the car to drive the vehicle along the generated optimal reverse path to complete the reverse, reducing the collision rate of the vehicle to be reversed and improving the safety of the vehicle to be reversed.

[0036] The present invention can help users who have difficulty parking and have a poor sense of the car to avoid obstacles and complete the parking action when there are only a few sensors, cameras, radars, etc. on the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0038] Figure 1 is a flow chart of a method for automatically generating a reversing route shown in the present invention;

[0039] Figure 2 is a display UI schematic diagram shown in the present invention;

[0040] Figure 3 is a structural diagram of a reverse route automatic generation system shown in the present invention;

[0041] Figure 4 It is a structural diagram of related hardware involved in the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0046] Embodiment 1

[0047] like Figure 1 As shown, this embodiment provides a method for automatically generating a reversing route. This embodiment uses the method applied to a server as an example for illustration. It is understandable that the method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network servers, cloud communications, middleware services, domain name services, security services CDN, and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited to this. The terminal and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in this application. In this embodiment, the method includes the following steps:

[0048] Obtain the map before the vehicle reverses, the starting position and the terminal parking position before the vehicle reverses, and use the reverse RRT algorithm to generate the initial reversing path; in the reverse RRT algorithm optimization process, use the search function to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; extract the initial reversing path according to the parent node relationship in the random tree;

[0049] The initial reversing path is smoothed to obtain the optimal reversing path, which is then displayed in the holographic imaging system.

[0050] The present embodiment is described in detail below:

[0051] Step 1: Obtain the map before the vehicle reverses, the starting position of the vehicle before reverses, and the terminal parking position;

[0052] The map before the vehicle reverses should include environmental information of the vehicle's reverse area, such as parking layout, obstacle location, road boundaries, etc. This information helps the vehicle determine the reverse path and avoid collisions. If there are new obstacles or changes in parking spaces, moving objects can be acquired in real time through sensors such as radar and cameras and filled into the map to ensure the accuracy and timeliness of the map.

[0053] The starting position and final parking position of the vehicle before reversing include the vehicle's position information and heading angle. The position information can be obtained through sensors such as GPS, camera, radar, etc., and the heading angle can be obtained through the vehicle's attitude sensor (such as gyroscope, accelerometer, etc.).

[0054] Before reversing, the vehicle needs to sense the surrounding environment, including the size and shape of the parking space, the location of obstacles, etc. Through sensors such as cameras and radars, the vehicle can obtain this environmental information in real time, and process and analyze it.

[0055] In addition to the location information, the terminal parking space posture also includes the size information of the parking space, such as length, width, etc.

[0056] Step 2: Use the reverse RRT algorithm to generate an initial reversing path; in the reverse RRT algorithm optimization process, use the search function to select the node corresponding to the minimum value of the search function as the parent node of the target posture; until all node postures in the random tree have reached the terminal berth posture; extract the initial reversing path according to the parent node relationship in the random tree; specifically, the process of this step includes:

[0057] Step 2.1: Import the map, vehicle starting position, and terminal berth position information;

[0058] Step 2.2: Generate a random pose with a certain probability or use the end berth pose as the target pose;

[0059] Step 2.3: Determine whether the target posture is legal. If so, go to step 2.4; otherwise, go to step 2.2;

[0060] Step 2.4: Use the search function to select the node corresponding to the minimum value of the search function as the parent node of the target pose;

[0061] Step 2.5: Determine whether all node positions in the random tree have reached the terminal berth position. If not, go to step 2.2; if yes, go to step 2.6;

[0062] Step 2.6: Extract the initial reversing path based on the parent node relationship in the random tree.

[0063] In one or more implementations, the search function may be expressed using the following formula:

[0064] T(m)=A(m)+B(m)+λ1C(m)+λ2D(m)+λ3E(m)

[0065] Among them, A(m) represents the actual path length from the starting point to node m, B(m) represents the estimated cost from node m to the target end point, λ1, λ2, and λ3 represent the weight of angle change, the weight of direction change, and the authority of reversing, respectively. C(m), D(m), and E(m) represent the cost of angle change, the cost of direction change, and the cost of reversing, respectively.

[0066] Step 3: Smoothing the initial reversing path to obtain the optimal reversing path; specifically, the process of this step includes:

[0067] Step 3.1: Import the path RRT_path;

[0068] Step 3.2: Let the smooth path be smooth_path, and node smooth_path(1)=RRT_path(1);

[0069] Step 3.3: Let i be the maximum number of nodes in RRT_path;

[0070] Step 3.4: Determine whether the line connecting RRT_path(i) and smooth_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, set i=i-1 and repeat step 3.4; otherwise, go to step 3.5;

[0071] Step 3.5: Add RRT_path(i) to the end of smooth_path(end);

[0072] Step 3.6: Determine whether the line connecting smooth_path(end) and RRT_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, delete nodes 1 to i of RRT_path and go to step 3.3; otherwise, go to step 3.7;

[0073] Step 3.7: Add RRT_path(end) to the end of smooth_path(end).

[0074] In order to avoid the interference of initial path noise points on path smoothing, after the first smoothing, the path is flipped as a whole and then smoothed twice. After the second smoothing process, the optimal reversing path is obtained.

[0075] Step 4: Display the optimal reversing path in the holographic imaging system;

[0076] In UI design, the auxiliary lines are used to help users make the actual vehicle trajectory consistent with the planned path. In the car model and the single-side view of the AVM interface, the blue lines ( Figure 2 The color of the planned path can be represented by lines of other colors, and the line map is displayed in the AVM display interface. When the two lines overlap, parking can be completed smoothly.

[0077] In the AVM interface, ultrasonic ranging is used to display obstacle distance information in real time. At the same time, if the vehicle is equipped with a small number of radars, it can be compensated by visual algorithms.

[0078] When the vehicle is off the assembly line, the relevant size parameters (vehicle length, width, height, wheelbase, etc.) are written into the IHU so that the system can locate its own boundaries when establishing environmental coordinates. When the user is driving at a low speed, the ultrasonic probe and the surround view camera are always working to locate and memorize obstacles in the environment. When the user needs to use this function, click to enter the AVM interface, then click the parking assistance button at the top of the interface, select a specific parking space, and the system will generate a planned path for reversing based on the recognized and memorized environmental information and its own size information using a path planning algorithm. Users can park easily according to the animation guidance and the obstacle distance information on the AVM interface. When the user reverses along the path planned by the system, the system can update the route according to the latest situation. At the same time, if the vehicle is equipped with a TBOX module, the user's usage experience and feedback can be transmitted back to the system to form a path planning experience library, which continuously learns and optimizes the learning parameters of the reverse RRT algorithm, thereby improving the accuracy of path generation.

[0079] Embodiment 2

[0080] This embodiment provides a system for automatically generating a reversing route.

[0081] like Figure 3 As shown, a system for automatically generating a reversing route comprises:

[0082] The path generation module is configured to: obtain the map before the vehicle reverses, the starting position and the terminal parking position of the vehicle before reversing, and use the reverse RRT algorithm to generate an initial reversing path; in the reverse RRT algorithm optimization process, use a search function to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; extract the initial reversing path according to the parent node relationship in the random tree;

[0083] The smoothing module is configured to: smooth the initial reversing path to obtain the optimal reversing path and display it in the holographic imaging system.

[0084] In some embodiments, the path generation module is further configured as follows: the starting position and the terminal berth position of the vehicle before reversing both include the position information and heading angle of the vehicle; the position information is collected by radar, and the map of the vehicle before reversing is collected by cameras arranged around the vehicle and generated by a controller.

[0085] In some embodiments, the search function is expressed by the following formula:

[0086] T(m)=A(m)+B(m)+λ1C(m)+λ2D(m)+λ3E(m)

[0087] Among them, A(m) represents the actual path length from the starting point to node m, B(m) represents the estimated cost from node m to the target end point, λ1, λ2, and λ3 represent the weight of angle change, the weight of direction change, and the authority of reversing, respectively. C(m), D(m), and E(m) represent the cost of angle change, the cost of direction change, and the cost of reversing, respectively.

[0088] In some embodiments, the smoothing module is further configured to perform the following steps:

[0089] Step 1: Import the initial reversing path RRT_path;

[0090] Step 2: Let the smooth path be smooth_path, and node smooth_path(1)=RRT_path(1);

[0091] Step 3: Let i be the maximum number of nodes in RRT_path;

[0092] Step 4: Determine whether the line connecting RRT_path(i) and smooth_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, set i=i-1 and repeat step 4; otherwise, go to step 5;

[0093] Step 5: Add RRT_path(i) to the end of smooth_path(end);

[0094] Step 6: Determine whether the line connecting smooth_path(end) and RRT_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, delete nodes 1 to i of RRT_path and go to step 3; otherwise, go to step 7;

[0095] Step 7: Add RRT_path(end) to the end of smooth_path(end) to obtain the optimal reversing path.

[0096] In some embodiments, if the vehicle is equipped with a TBOX module, a path planning experience library is generated based on the historical reversing records of the vehicle, and the learning parameters of the reverse RRT algorithm are continuously learned and optimized.

[0097] like Figure 4 As shown, the hardware system of the present invention includes: front, rear, left and right cameras (FC, RC, LC, RC), front protection radars (F1, F2, F3, F4) and rear protection radars (R1, R2, R3, R4), an electric power steering controller (EPS), and an entertainment host (IHU).

[0098] When the vehicle is driving at a low speed, there are obstacles around it, which are identified by the radar and camera on the vehicle. The radar module sends the distance information to the IHU through the CAN line. The user opens the AVM interface and can see the specific distance value. When the user starts parking, the system planning module inside the IHU will plan a specific reversing route based on the surrounding environment, and the user will park according to the support.

[0099] Embodiment 3

[0100] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for automatically generating a reversing route as described in the first embodiment above are implemented.

[0101] Embodiment 4

[0102] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for automatically generating a reversing route as described in the first embodiment are implemented.

[0103] Embodiment 5

[0104] This embodiment provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the method for automatically generating a reversing route described in the first embodiment.

[0105] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0106] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0107] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0109] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically generating a reversing route, characterized in that: include: Obtain the map before the vehicle reverses, the starting position and the terminal parking position before the vehicle reverses, and use the reverse RRT algorithm to generate the initial reverse path; In the optimization process of the reverse RRT algorithm, a search function is used to select the node corresponding to the minimum value of the search function as the parent node of the target posture; until all the node postures in the random tree have reached the terminal berth posture; the initial reversing path is extracted according to the parent node relationship in the random tree; The initial reversing path is smoothed to obtain the optimal reversing path, which is then displayed in the holographic imaging system.

2. The method for automatically generating a reverse route according to claim 1, characterized in that: The initial position and terminal position of the vehicle before reversing both include position information and a heading angle of the vehicle.

3. The method for automatically generating a reverse route according to claim 2, characterized in that: The position information is collected by radar, and the map before the vehicle reverses is collected by cameras arranged around the vehicle and generated by a controller.

4. The method for automatically generating a reverse route according to claim 1, characterized in that: The search function is expressed by the following formula: T(m)=A(m)+B(m)+λ1C(m)+λ2D(m)+λ3E(m) Among them, A(m) represents the actual path length from the starting point to node m, B(m) represents the estimated cost from node m to the target end point, λ1, λ2, and λ3 represent the weight of angle change, the weight of direction change, and the authority of reversing, respectively. C(m), D(m), and E(m) represent the cost of angle change, the cost of direction change, and the cost of reversing, respectively.

5. The method for automatically generating a reverse route according to claim 1, characterized in that: The method of smoothing the initial reversing path to obtain the optimal reversing path includes: Step 1: Import the initial reversing path RRT_path; Step 2: Let the smooth path be smooth_path, and node smooth_path(1)=RRT_path(1); Step 3: Let i be the maximum number of nodes in RRT_path; Step 4: Determine whether the line connecting RRT_path(i) and smooth_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, set i=i-1 and repeat step 4; otherwise, go to step 5; Step 5: Add RRT_path(i) to the end of smooth_path(end); Step 6: Determine whether the line connecting smooth_path(end) and RRT_path(end) collides with an obstacle or whether the length of the line is greater than the smooth length D. If so, delete nodes 1 to i of RRT_path and go to step 3; otherwise, go to step 7; Step 7: Add RRT_path(end) to the end of smooth_path(end).

6. The method for automatically generating a reverse route according to claim 1, characterized in that: If the vehicle is equipped with a TBOX module, a path planning experience library is generated based on the vehicle's historical reversing records, and the learning parameters of the reverse RRT algorithm are continuously learned and optimized.

7. A system for automatically generating a reverse route, characterized in that: include: The path generation module is configured to: obtain the map before the vehicle reverses, the starting position and the terminal parking position of the vehicle before reversing, and use the reverse RRT algorithm to generate an initial reversing path; in the reverse RRT algorithm optimization process, use a search function to select the node corresponding to the minimum value of the search function as the parent node of the target position; until all the node positions in the random tree have reached the terminal parking position; extract the initial reversing path according to the parent node relationship in the random tree; The smoothing module is configured to: smooth the initial reversing path to obtain the optimal reversing path and display it in the holographic imaging system.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method for automatically generating a reversing route as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for automatically generating a reversing route as described in any one of claims 1-6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps in the method for automatically generating a reversing route as claimed in any one of claims 1 to 6 are implemented.

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