Automatic driving control method, system, vehicle and storage medium

Abstract

The present application provides an automatic driving control method, system, vehicle and storage medium, which relate to the field of automatic driving technology. The method is applied to an automatic driving control system, which includes a front-end acquisition component, an electronic control unit and an execution component. The method includes: obtaining driving data representing the vehicle's driving conditions, historical paths and surrounding environment through the front-end acquisition component; planning the vehicle's reversing and / or U-turn driving path based on the driving data through the electronic control unit; and controlling the vehicle to drive along the driving path through the execution component. In this way, during the automatic reversing process, the vehicle automatically plans a path for the vehicle's reversing and U-turn instructions according to the environment around the vehicle, realizing the vehicle's flexible automatic reversing and U-turn functions, and improving the problem that the traditional assisted driving method cannot complete automatic driving according to user needs when facing complex parking environments.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, system, vehicle and storage medium. Background Art

[0002] Whether you are a novice driver who has just obtained a driver's license or an experienced driver, you will always feel overwhelmed when faced with complex and narrow parking spaces or parking lot environments.

[0003] In recent years, with the further development of assisted driving functions, more and more assisted driving technologies have begun to help car owners share the difficulties and pain points of driving. During driving, reversing and turning around are undoubtedly the most challenging for drivers. Especially in narrow roads, dimly lit parking lots, or in complex environments with heavy traffic, long-distance reversing and turning around are a big problem.

[0004] At present, when drivers operate vehicles to perform reverse and U-turn operations in garages, parking lots and other places, they usually rely on the on-board camera to capture the surrounding environment of the vehicle and display the deflection angle of the vehicle body and the distance between the vehicle body and the wall or road boundary on the vehicle computer. However, this assisted driving method is still limited by the user's operating level when it comes to complex parking environments and cannot meet the user's needs for autonomous driving in complex environments. Summary of the invention

[0005] In view of this, the purpose of the embodiments of the present application is to provide an automatic driving control method, system, vehicle and storage medium, which can improve the problem that traditional assisted driving methods cannot complete automatic driving according to user needs in complex parking environments.

[0006] In order to achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0007] In a first aspect, an embodiment of the present application provides an autonomous driving control method, which is applied to an autonomous driving control system, wherein the autonomous driving control system includes a front-end acquisition component, an electronic control unit, and an execution component, and the method includes:

[0008] Acquire driving data representing the vehicle's driving conditions, historical paths and surrounding environment through the front-end acquisition component;

[0009] Planning a driving path for reversing and / or turning the vehicle according to the driving data by the electronic control unit;

[0010] The vehicle is controlled to travel along the driving path by the actuator.

[0011] In combination with the first aspect, in some optional implementations, the front-end acquisition component includes a positioning module, a wheel speed sensor and a steering angle sensor, and the driving data includes positioning information sensed by the positioning module, a vehicle travel distance sensed by the wheel speed sensor, and steering information sensed by the steering angle sensor;

[0012] Planning a driving path for reversing and / or turning the vehicle according to the driving data by the electronic control unit includes:

[0013] When the positioning information satisfies a first preset condition, a memory path representing the path taken by the vehicle to the current position is generated according to the vehicle travel distance and the turning information, wherein the first preset condition represents that the vehicle is on a non-highway section and the vehicle speed is lower than a preset speed;

[0014] The driving path is determined according to the memory path and a preset reversing end point.

[0015] In combination with the first aspect, in some optional implementations, when the electronic control unit receives a first instruction carrying a position parameter representing a reversing end point, the reversing end point indicated by the position parameter is used as the preset reversing end point;

[0016] When the electronic control unit does not receive the first instruction, the end of the memory path away from the current position of the vehicle is used as the preset reversing end point.

[0017] In combination with the first aspect, in some optional implementations, the front-end acquisition component further includes a perception sensor, and the driving data further includes road environment information sensed by the perception sensor;

[0018] Planning a driving path for reversing and / or turning the vehicle according to the driving data by the electronic control unit also includes:

[0019] Acquiring the road environment information;

[0020] According to the road environment information, a section of the road in the memory path that meets a second preset condition is used as a U-turn section;

[0021] The driving path is determined according to the memorized path, the U-turn section and the preset reversing end point.

[0022] In combination with the first aspect, in some optional implementations, the execution component includes a vehicle controller, a transmission control unit, and an electric power steering controller;

[0023] Controlling the vehicle to travel along the driving path by the execution component includes:

[0024] The vehicle is controlled to travel along the driving path by the vehicle controller, the transmission control unit and the electric power steering controller.

[0025] In combination with the first aspect, in some optional implementations, the automatic driving control system further includes a vehicle computer and an instrument;

[0026] The method further comprises:

[0027] Reconstructing and rendering the road environment information and / or the memory path by the electronic control unit to obtain a three-dimensional reversing scene;

[0028] The three-dimensional reversing scene is sent to the vehicle computer and / or the instrument for display through the electronic control unit.

[0029] In a second aspect, an embodiment of the present application further provides an automatic driving control system, the system comprising a front-end acquisition component, an electronic control unit connected to the front-end acquisition component, and an execution component connected to the electronic control unit;

[0030] The front-end acquisition component is used to obtain driving data representing the vehicle's driving conditions, historical paths and surrounding environment;

[0031] The electronic control unit is used to plan a driving path for reversing and / or turning the vehicle according to the driving data;

[0032] The execution component is used to control the vehicle to travel along the driving path.

[0033] In conjunction with the second aspect, in some optional implementations, the system further includes a vehicle computer and an instrument;

[0034] The electronic control unit is also used for:

[0035] Reconstructing and rendering the road environment information and / or the memory path to obtain a three-dimensional reversing scene;

[0036] The three-dimensional reversing scene is sent to the vehicle computer and / or the instrument for display.

[0037] In a third aspect, an embodiment of the present application also provides a vehicle, which includes a vehicle body and the above-mentioned automatic driving control system.

[0038] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed on a computer, the computer executes the above method.

[0039] The invention adopting the above technical solution has the following advantages:

[0040] In the technical solution provided in the present application, driving data representing the vehicle's driving conditions, historical paths and surrounding environment are first acquired through the front-end acquisition component. Then, the electronic control unit plans the vehicle's driving path for reversing and / or turning according to the driving data. Finally, the execution component controls the vehicle to drive along the driving path. In this way, during the automatic reversing process, the vehicle automatically plans a path for the vehicle's reversing and turning instructions according to the environment around the vehicle, thereby realizing the vehicle's flexible automatic reversing and turning functions, and improving the problem that traditional assisted driving methods cannot complete automatic driving according to user needs in complex parking environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present application may be further described by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings may be obtained based on these drawings without creative effort.

[0042] Figure 1 This is one of the structural block diagrams of the autonomous driving control system provided in an embodiment of the present application.

[0043] Figure 2 This is the second structural block diagram of the autonomous driving control system provided in an embodiment of the present application.

[0044] Figure 3 This is one of the flow charts of the automatic driving control method provided in the embodiment of the present application.

[0045] Figure 4 The second flowchart of the automatic driving control method provided in the embodiment of the present application.

[0046] Icons: 200-autopilot control system; 210-front-end acquisition component; 220-execution component; 3-electronic control unit;

[0047] 1-wheel speed sensor; 2-steering angle sensor; 4-positioning module; 5-vehicle computer; 6-instrument; 7-sensing sensor; 8-vehicle controller; 9-transmission control unit; 10-electric power steering controller. DETAILED DESCRIPTION

[0048] The present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions, similar or identical parts use the same figure numbers, and the implementation methods not shown or described in the drawings are forms known to ordinary technicians in the relevant technical field. In the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0049] Please refer to Figure 1 An embodiment of the present application provides an autonomous driving control system 200, which includes a front-end acquisition component 210, an electronic control unit 3 connected to the front-end acquisition component 210, and an execution component 220 connected to the electronic control unit 3.

[0050] In this embodiment, the automatic driving control system 200 is used to obtain driving data through the front-end acquisition component 210, and plan the vehicle's reversing and / or U-turn driving path based on the driving data through the electronic control unit 3, and finally control the vehicle to drive along the driving path through the execution component 220.

[0051] In this embodiment, refer to Figure 2 The front-end acquisition component 210 may include a wheel speed sensor 1, an angle sensor 2 (also known as a steering angle sensor), a positioning module 4 and a perception sensor 7 connected to an electronic control unit 3 (ECU). The control component includes a vehicle control unit 8 (VCU), a transmission control unit 9 (TCU) and an electric power steering controller (EPS) connected to the electronic control unit 3.

[0052] In this embodiment, the automatic driving control system 200 further includes a head unit 5 (HU) and an instrument panel 6 (Instrument Panel) connected to the electronic control unit 3 .

[0053] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the automatic driving control system 200 described above can refer to the corresponding process of each step in the following method, and will not be elaborated here.

[0054] Please refer to Figure 3 The present application also provides an automatic driving control method, which can be applied to the automatic driving control system 200, and each step in the method is executed or implemented by the automatic driving control system 200. The automatic driving control method may include the following steps:

[0055] Step 110, obtaining driving data representing the vehicle's driving conditions, historical paths, and surrounding environment through the front-end acquisition component 210;

[0056] Step 120, planning a driving path for reversing and / or turning the vehicle according to the driving data by the electronic control unit 3;

[0057] Step 130 , controlling the vehicle to travel along the driving path through the execution component 220 .

[0058] In the above-mentioned implementation, the driving data representing the driving condition, historical path and surrounding environment of the vehicle are first acquired through the front-end acquisition component. Then, the driving path for reversing and / or turning the vehicle is planned according to the driving data by the electronic control unit 3. Finally, the execution component 220 controls the vehicle to drive along the driving path. In this way, during the automatic reversing process, the vehicle automatically plans the path for the reversing and turning instructions of the vehicle according to the environment around the vehicle, realizes the flexible automatic reversing and turning functions of the vehicle, and improves the problem that the traditional assisted driving method cannot complete automatic driving according to user needs when facing complex parking environments.

[0059] The following is a detailed description of each step of the automatic driving control method:

[0060] In step 110, the driving data may include positioning information sensed by the aforementioned positioning module 4, vehicle travel distance sensed by the wheel speed sensor 1, steering information sensed by the steering angle sensor 2, and road environment information sensed by the perception sensor 7, etc.

[0061] In this embodiment, the acquisition of driving data can be in the actual vehicle driving scene, after the front-end acquisition component 210 collects relevant data in real time, it is directly sent to the electronic control unit 3 for subsequent driving path planning, and the driving path is sent to the execution component 220, and the execution component 220 controls the vehicle to drive along the driving path; or, the acquisition of driving data can also be in the test scene of the vehicle development stage, after the front-end acquisition component 210 collects relevant data in real time, it is sent to the electronic control unit 3 or a memory connected to the electronic control unit 3 for storage, and is called based on the user's instructions in the subsequent test process, so as to facilitate the success rate, flexibility, etc. of the subsequent test vehicle driving path planning and execution (i.e., controlling the vehicle to drive along the driving path). The method of acquiring driving data is not specifically limited here.

[0062] In this embodiment, the memory may be, but is not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, etc. In this embodiment, the memory may be used to store driving data, driving paths, etc. Of course, the memory may also be used to store programs, and each component in the automatic driving control system 200 executes the program after receiving the corresponding execution instruction.

[0063] In step 120, planning the driving path of the vehicle for reversing and / or turning around according to the driving data by the electronic control unit 3 may include:

[0064] When the positioning information satisfies a first preset condition, a memory path representing the path taken by the vehicle to the current position is generated according to the vehicle travel distance and the turning information, wherein the first preset condition represents that the vehicle is on a non-highway section and the vehicle speed is lower than a preset speed;

[0065] The driving path is determined according to the memory path and a preset reversing end point.

[0066] In the present embodiment, it is understandable that the present technical solution is mainly aimed at narrow parking lot environments. Therefore, the first preset condition may be that when the positioning information sensed by the positioning module 4 indicates that the vehicle is in a non-highway section area (such as a parking lot, a square parking space, etc.) and the vehicle speed is lower than a preset speed (flexibly set according to actual needs, for example, the vehicle speed is lower than 20 km / h), the electronic control unit 3 turns on the path memory function, that is, the steering information sensed by the steering sensor and the driving distance sensed by the wheel speed sensor 1 are used to construct the path that the vehicle passes through after the path memory function is turned on as a memory path.

[0067] In this way, through the various sensors and controllers carried by the vehicle itself, the parking memory path can be automatically established in the background, without the user manually turning on the path memory function, and it can adapt to ground / underground parking lot scenarios and has strong adaptability.

[0068] In this embodiment, while constructing the memory path, the electronic control unit 3 can also reconstruct and render the road environment information and / or the memory path to obtain a three-dimensional reversing scene;

[0069] The three-dimensional reversing scene is sent to the vehicle computer 5 and / or the instrument 6 for display via the electronic control unit 3 .

[0070] In this embodiment, the aforementioned perception sensor 7 can sense the road environment information around the vehicle, such as the vehicle surrounding environment, fixed obstacles without mobility, dynamic obstacles with mobility, etc. After the electronic control unit 3 constructs the memory path and obtains the road environment information, it combines the user's touch operation on the vehicle computer 5 and the instrument 6 to reconstruct and render the two, obtain a three-dimensional reversing scene, and display it on the vehicle computer 5 and the instrument 6.

[0071] In this embodiment, when the electronic control unit 3 receives the first instruction carrying the position parameter representing the reversing end point, the reversing end point indicated by the position parameter is used as the preset reversing end point;

[0072] When the electronic control unit 3 does not receive the first instruction, the end of the memory path away from the current position of the vehicle is used as the preset reversing end point.

[0073] In this embodiment, the first instruction can be understood as an operation instruction for a user-defined automatic reversing endpoint. The user touches and clicks a point on the memory path on the vehicle computer 5, and customizes the point as the reversing endpoint. After the user completes the touch operation of customizing the reversing endpoint, the vehicle computer 5 generates a first instruction carrying the position parameter of the reversing endpoint, and sends the first instruction to the electronic control unit 3. The electronic control unit 3 uses the reversing endpoint indicated by the position parameter in the first instruction as the preset reversing endpoint according to the first instruction, thereby using the current position of the vehicle as the reversing starting point, the customized preset reversing endpoint as the endpoint, and the memory path as the path to be passed during the reversing process, and constructing a driving path.

[0074] In this embodiment, it is understandable that the memory path is an irregular curve of a limited distance, and the two ends of the curve are the starting point of the memory path (i.e., the position of the vehicle when the vehicle starts the path memory function) and the end point (i.e., the current position of the vehicle). In this embodiment, when the user does not customize the reversing end point through the first instruction, the electronic control unit 3 can use the current position of the vehicle in the memory path as the starting point of the driving path of the reversing function, and the other end of the memory path as the end point of the driving path (i.e., the preset reversing end point) to construct the driving path.

[0075] In this embodiment, planning the driving path of the vehicle for reversing and / or turning around according to the driving data by the electronic control unit 3 may also include:

[0076] Acquiring the road environment information;

[0077] According to the road environment information, a section of the road in the memory path that meets a second preset condition is used as a U-turn section;

[0078] The driving path is determined according to the memorized path, the U-turn section and the preset reversing end point.

[0079] In this embodiment, it is understandable that when the vehicle needs to make a U-turn during the reversing process, the perception sensor 7 senses the road information, especially the width of the road and the obstacles in the vehicle's memory path. In order to realize the automatic U-turn of the vehicle, the second preset condition can be that the width of the road is greater than the preset width (flexibly set according to the actual situation, for example, the preset width is the length of the vehicle × 1.2, which is convenient for reserving enough space for the vehicle to turn around), and there are no obstacles in the memory path. It is understandable that in actual applications, there may be multiple sections in the memory path that meet the second precondition, and one of them can be randomly selected. In actual applications, the road environment information can be that when the vehicle builds the memory path, the perception sensor 7 senses and records the road environment in advance, and then the second preset condition is judged according to the recorded road environment information during the vehicle's arrival; or, the vehicle can first travel along the memory path, and the road environment information can also be that the vehicle travels along the memory path, and the perception sensor 7 senses the road environment information in real time, and the U-turn section is selected based on the second preset condition. That is, the present embodiment does not specifically limit the order of constructing the driving path and driving the vehicle along the driving path. The construction of the driving path can be gradually improved while controlling the vehicle to drive along the memory path, or it can be constructed in advance by the electronic control unit 3 before the vehicle drives according to the memory path and the preset reversing end point.

[0080] In practical applications, the second preset condition may also be that the road width of the target U-turn section defined by the user is greater than the preset width. In this embodiment, the user can select the position where the vehicle automatically turns around by touch operation on the vehicle computer 5, and set the position as the target U-turn section. After the user completes the setting operation of the target U-turn section on the vehicle computer 5, the vehicle computer 5 generates a second instruction, which carries the location information of the target U-turn section, and then sends the second instruction to the electronic control unit 3. The electronic control unit 3 determines whether the section meets the second preset condition based on the road width of the target U-turn section. If it meets the second preset condition, the vehicle is controlled to turn around at the target U-turn section through the above control component; if it does not meet the second preset condition, the user is prompted to select a new target U-turn section.

[0081] In this way, through the sensors carried by the vehicle and the corresponding control logic and algorithms, the vehicle's automatic reversing and U-turn can be realized, which has the advantages of low cost and high efficiency. It can effectively assist users to complete long-distance reversing, automatic U-turn and other vehicle operations in complex sections, dead-end roads, and narrow sections, ensuring driving safety while reducing the user's operating burden.

[0082] In step 130, controlling the vehicle to travel along the driving path through the execution component 220 may include:

[0083] The vehicle is controlled to travel along the driving path by the vehicle controller 8 , the transmission control unit 9 and the electric power steering controller 10 .

[0084] In this embodiment, the vehicle controller 8, the transmission control unit 9 and the electric power steering controller 10 are used to realize automatic steering, adaptive acceleration and deceleration, etc. of the vehicle during reversing and turning, thereby reducing the user's operating burden.

[0085] In summary, please refer to Figure 4 After the vehicle is powered on, the vehicle performs a self-check. If the self-check is correct and the vehicle is in a normal driving process, the positioning module 4 in the automatic driving control system 200 locates the vehicle in a non-highway section and the vehicle speed is lower than the preset speed. The electronic control unit 3 automatically records the wheel speed signal (i.e., driving distance), steering information, and road environment information through the wheel speed sensor 1, the angle sensor 2, and the perception sensor 7, and displays the relevant information through the vehicle computer 5 and the instrument 6. When the user requires the vehicle to perform long-distance reversing, U-turn, etc., the electronic control unit 3 determines whether the user reconstructs the scene through the vehicle computer 5 or the instrument 6, and specifies the tracking reversing end point (i.e., the user specifies the preset reversing end point). If the user specifies the tracking reversing end point, the system controls the vehicle to reverse according to the memory path and stop at the tracking reversing end point; if the tracking reversing end point is not specified, the vehicle directly reverses according to the memory path, that is, reverses according to the memory path and stops at the other end of the memory path. During this process, if the user has a U-turn requirement, he or she can turn on the automatic U-turn switch and specify a U-turn section that meets the second preset condition (i.e. the road is wider and has space for U-turn), or not specify a U-turn section (i.e. the vehicle automatically selects a section that meets the second preset condition as the U-turn section). After the vehicle turns around at the U-turn section, it can continue to drive in the opposite direction along the memorized path. If the user does not have a U-turn requirement (i.e. the automatic U-turn switch is not turned on), the vehicle can be directly controlled to drive along the memorized path until it reaches the preset reversing end point.

[0086] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is run on a computer, the computer executes the automatic driving control method described in the above embodiment.

[0087] The present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the automatic driving control method described in the above embodiment can be implemented.

[0088] Through the description of the above implementation methods, technical personnel in this field can clearly understand that the present application can be implemented by hardware, and can also be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0089] In summary, the embodiments of the present application provide an automatic driving control method, system, vehicle and storage medium. In this technical solution, the driving data representing the vehicle's driving conditions, historical paths and surrounding environment are first acquired through the front-end acquisition component 210. Then, the electronic control unit 3 plans the vehicle's reversing and / or U-turn driving path based on the driving data. Finally, the execution component 220 controls the vehicle to drive along the driving path. In this way, during the automatic reversing process, the vehicle automatically plans a path for the vehicle's reversing and U-turn instructions according to the environment around the vehicle, thereby realizing the vehicle's flexible automatic reversing and U-turn functions, and improving the problem that the traditional assisted driving method cannot complete automatic driving according to user needs when facing complex parking environments.

[0090] In the embodiments provided in the present application, it should be understood that the disclosed system and method can also be implemented in other ways. The system and method embodiments described above are merely schematic, for example, the flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or a code, and a part of the module, program segment or code includes one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or the flow chart, and the combination of the boxes in the block diagram and / or the flow chart can be implemented with a hardware-based system dedicated to performing the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions. In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0091] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic driving control method, characterized in that: Applied to an automatic driving control system, the automatic driving control system includes a front-end acquisition component, an electronic control unit and an execution component, and the method includes: Acquire driving data representing the vehicle's driving conditions, historical paths and surrounding environment through the front-end acquisition component; Planning a driving path for reversing and / or turning the vehicle according to the driving data by the electronic control unit; The vehicle is controlled to travel along the driving path by the actuator.

2. The method according to claim 1, characterized in that The front-end acquisition component includes a positioning module, a wheel speed sensor and a steering angle sensor, and the driving data includes positioning information sensed by the positioning module, a vehicle travel distance sensed by the wheel speed sensor, and steering information sensed by the steering angle sensor; The step of planning the driving path of the vehicle for reversing and / or turning around according to the driving data by the electronic control unit includes: When the positioning information satisfies a first preset condition, a memory path representing the path taken by the vehicle to the current position is generated according to the vehicle travel distance and the turning information, wherein the first preset condition represents that the vehicle is on a non-highway section and the vehicle speed is lower than a preset speed; The driving path is determined according to the memory path and a preset reversing end point.

3. The method according to claim 2, characterized in that When the electronic control unit receives a first instruction carrying a position parameter representing a reversing end point, the electronic control unit uses the reversing end point indicated by the position parameter as the preset reversing end point; When the electronic control unit does not receive the first instruction, the end of the memory path away from the current position of the vehicle is used as the preset reversing end point.

4. The method according to claim 2, characterized in that: The front-end acquisition component further includes a perception sensor, and the driving data further includes road environment information sensed by the perception sensor; The planning of the driving path of the vehicle for reversing and / or turning around by the electronic control unit according to the driving data further includes: Acquiring the road environment information; According to the road environment information, a section of the road in the memory path that meets a second preset condition is used as a U-turn section; The driving path is determined according to the memorized path, the U-turn section and the preset reversing end point.

5. The method according to claim 1, characterized in that The execution components include a vehicle controller, a transmission control unit and an electric power steering controller; The step of controlling the vehicle to travel along the driving path by the execution component includes: The vehicle is controlled to travel along the driving path by the vehicle controller, the transmission control unit and the electric power steering controller.

6. The method according to claim 4, characterized in that The automatic driving control system also includes a vehicle computer and an instrument; The method further comprises: Reconstructing and rendering the road environment information and / or the memory path by the electronic control unit to obtain a three-dimensional reversing scene; The three-dimensional reversing scene is sent to the vehicle computer and / or the instrument for display through the electronic control unit.

7. An automatic driving control system, characterized in that: The system comprises a front-end acquisition component, an electronic control unit connected to the front-end acquisition component, and an execution component connected to the electronic control unit; The front-end acquisition component is used to obtain driving data representing the vehicle's driving conditions, historical paths and surrounding environment; The electronic control unit is used to plan a driving path for reversing and / or turning the vehicle according to the driving data; The execution component is used to control the vehicle to travel along the driving path.

8. The system according to claim 7, characterized in that The system also includes a vehicle computer and an instrument; The electronic control unit is also used for: Reconstructing and rendering the road environment information and / or the memory path to obtain a three-dimensional reversing scene; The three-dimensional reversing scene is sent to the vehicle computer and / or the instrument for display.

9. A vehicle, characterized in that: The vehicle includes a vehicle body and an automatic driving control system as described in any one of claims 7-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 6.

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