Method and device for determining steering wheel request direction in automatic parking, medium and equipment

Abstract

The invention relates to the field of computer models, and discloses a method and device for determining a steering wheel request direction in automatic parking, a medium and equipment. The method comprises the steps of obtaining an expected arc track of a vehicle; determining a first point and a second point on the expected arc track; according to the first point and the second point, the left-right relative relation between the vehicle and the expected arc-shaped track is determined; if it is determined that the vehicle is not located on the expected arc-shaped track based on the left-right relative relation, determining an arc inside-outside relative relation between the vehicle and the expected arc-shaped track according to the left-right relative relation and the curvature of the second point; according to the curvature of the second point, the left-right relative relation and the arc inside-outside relative relation, the steering wheel request direction of the vehicle in the expected movement direction of the vehicle is determined. According to the invention, the path tracking precision is ensured, the number of parking times is effectively reduced, the parking efficiency is improved, and the problem of abnormal reverse hitting during switching is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a method, device, medium and equipment for determining a steering wheel request direction in automatic parking. Background Art

[0002] In the lateral position trajectory tracking of automatic parking, the direction of the steering wheel or front wheel angle needs to be calculated first during the front-end processing. Traditional means will simply confirm the direction of left or right by the positive or negative x or y coordinates of the vehicle and the trajectory information in the Cartesian coordinate system. However, this will bring the following problems: 1. If only x or y coordinates are used for calculation, the lateral error is inaccurate. For example, as the vehicle posture changes, the vehicle changes from close to the x-axis to close to the y-axis. At this time, the calculation of the lateral error should be switched from y coordinate calculation to x coordinate calculation. If only one axis is used for calculation, it will bring huge errors, resulting in poor trajectory tracking effect and steady-state deviation. If the logic of switching between x and y axes is used, there will be a potential risk of incorrect steering wheel reverse at the moment of switching when the switching conditions are met, which will eventually cause the instantaneous trajectory tracking effect to be completely reversed and require re-planning, which increases the number of automatic parking rubbing times and reduces parking efficiency. 2. Traditional methods only use a single coordinate deviation to determine the direction the steering wheel needs to be turned. This will result in the failure to calculate the correct steering wheel request when reverse feedback correction is required due to the uniformity of the positive and negative signs of the deviation in the same area, resulting in poor lateral coordinate trajectory tracking, affecting the final parking posture and failing to meet customer needs. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present invention provides a method, device, medium and equipment for determining a steering wheel request direction in automatic parking.

[0004] According to a first aspect, a method for determining a steering wheel request direction in automatic parking provided by an embodiment of the present invention includes:

[0005] Obtaining a desired arc trajectory of the vehicle;

[0006] Determine a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory that is closest to the vehicle, and the second point is a point next to the first point on the desired arc trajectory;

[0007] Determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point;

[0008] If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determining the arc inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point;

[0009] The steering wheel request direction of the vehicle in the expected movement direction of the vehicle is determined according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0010] In one embodiment, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point includes: determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle according to the first point and the second point;

[0011] Correspondingly, determining the steering wheel requested direction of the vehicle in the expected movement direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes:

[0012] Determining a steering wheel request direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0013] Determining whether the desired movement direction of the vehicle is consistent with the default movement direction of the vehicle;

[0014] If yes, taking the steering wheel requested direction of the vehicle in the default moving direction of the vehicle as the steering wheel requested direction of the vehicle in the expected moving direction of the vehicle;

[0015] Otherwise, the opposite direction of the steering wheel requested direction of the vehicle in the default moving direction of the vehicle is used as the steering wheel requested direction of the vehicle in the desired moving direction of the vehicle.

[0016] In one embodiment, the default moving direction of the vehicle is forward; correspondingly, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the default moving direction of the vehicle according to the first point and the second point includes:

[0017] Determine a first vector and a second vector according to the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0018] Perform a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0019] In the default movement direction of the vehicle, if the fork product result is greater than the first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein the first near-zero preset value is greater than 0.

[0020] In one embodiment, determining the arc inner and outer relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point includes at least one of the following:

[0021] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory;

[0022] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0023] When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0024] In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

[0025] In one embodiment, determining the steering wheel requested direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes at least one of the following:

[0026] If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left;

[0027] If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0028] If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0029] If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left;

[0030] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0031] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0032] In one embodiment, the method further comprises: if the vehicle is located on the expected arc trajectory, not steering the vehicle.

[0033] In one embodiment, determining the left-right relative relationship between the vehicle and the expected arc trajectory based on the first point and the second point includes: determining the left-right relative relationship between the vehicle and the expected arc trajectory in the expected movement direction of the vehicle based on the first point and the second point.

[0034] According to a second aspect, a device for determining a steering wheel request direction in automatic parking provided by an embodiment of the present invention comprises:

[0035] A trajectory acquisition module, used to acquire a desired arc trajectory of the vehicle;

[0036] A two-point determination module, used to determine a first point and a second point on the expected arc trajectory; wherein the first point is the point on the expected arc trajectory that is closest to the vehicle, and the second point is the next point of the first point on the expected arc trajectory;

[0037] a left-right determination module, configured to determine a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point;

[0038] an inside-outside determination module, configured to determine an inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point if it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory;

[0039] The direction determination module is used to determine the steering wheel request direction of the vehicle in the expected movement direction of the vehicle according to the curvature of the second point, the left-right relative relationship and the inside-outside relative relationship of the arc.

[0040] According to the third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the method provided in the first aspect.

[0041] According to a fourth aspect, a computing device provided by an embodiment of the present invention includes a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, the method provided by the first aspect is implemented.

[0042] The embodiment of the present invention has the following technical effects: first, the expected arc trajectory of the vehicle is obtained, and then the point closest to the vehicle and the next point of the point are found on the expected arc trajectory to obtain the first point and the second point. Then, the left-right relative relationship between the vehicle and the expected arc trajectory is determined based on the two points. If the vehicle is not located on the expected arc trajectory, then the arc inside-outside relative relationship between the vehicle and the expected arc trajectory is determined according to the left-right relative relationship and the curvature of the second point, and then the steering wheel request direction of the vehicle in the expected direction of movement of the vehicle is determined according to the curvature of the second point, the left-right relative relationship, and the arc inside-outside relative relationship. It can be seen that in the embodiment of the present invention, the steering wheel request direction is determined according to the left-right relative relationship between the vehicle and the expected arc trajectory, the arc inside-outside relative relationship, etc., and has nothing to do with the area where the actual posture of the vehicle is located. Therefore, even in the same area, the steering wheel request direction can be correctly calculated due to the change of the arc inside-outside relative relationship. Compared with the traditional method of determining the direction in which the steering wheel needs to be turned only by a single coordinate deviation, the embodiment of the present invention can avoid the error caused by single-axis calculation, that is, reduce lateral error, reduce steady-state deviation, ensure path tracking accuracy, effectively reduce the number of rubbing warehouses, and improve parking efficiency. In addition, since the embodiment of the present invention does not only use the coordinates of the x-axis or the y-axis for calculation, there is no need to switch from one axis to another, so there will be no problem of abnormal reverse printing during switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a method for determining a steering wheel request direction in automatic parking in one embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of an embodiment of the present invention in which a vehicle is located outside the arc of a desired arc trajectory when moving forward;

[0046] Figure 3 is a schematic diagram of an embodiment of the present invention in which a vehicle is located inside an arc of a desired arc trajectory when moving forward;

[0047] Figure 4 is a schematic diagram of an embodiment of the present invention in which a vehicle is located outside the arc of a desired arc trajectory when backing up;

[0048] Figure 5 is a schematic diagram of a vehicle located inside an arc of a desired arc trajectory when backing up in one embodiment of the present invention;

[0049] Figure 6 It is a structural block diagram of a device for determining a steering wheel request direction in automatic parking in one embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. 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 belong to the scope of protection of the present invention.

[0051] In a first aspect, an embodiment of the present invention provides a method for determining a steering wheel request direction in automatic parking, see Figure 1 The method comprises the following steps S110 to S150:

[0052] S110, obtaining a desired arc trajectory of the vehicle;

[0053] The expected arc trajectory refers to the expected trajectory of the vehicle, which is an arc, so it is called the expected arc trajectory. The expected arc trajectory is composed of multiple discrete points, and the first point and the second point mentioned below are two of these discrete points. Each of these discrete points has its own number. The expected arc trajectory has a direction, and the numbers of the discrete points are sorted from small to large along the direction of the expected arc trajectory.

[0054] S120, determining a first point and a second point on the expected arc trajectory; wherein the first point is the point on the expected arc trajectory that is closest to the vehicle, and the second point is the next point of the first point on the expected arc trajectory;

[0055] In actual scenarios, the coordinates of the points in the embodiments of the present invention may be coordinates in a Cartesian coordinate system or in a Frenet coordinate system, wherein the Frenet coordinate system is a tangent-normal coordinate system.

[0056] For example, in the pre-processing of the lateral coordinate deviation feedback control, the expected arc trajectory includes multiple discrete points in the Cartesian coordinate system, and the i-th discrete point is recorded as (x i ,y i ), i = 0, 1, 2..., the coordinates of the vehicle are [actPt.X, actPt.Y], and the square of the distance between the vehicle and the i-th discrete point in the desired arc trajectory is: (actPt.Xx i ) 2 +(actPt.Yy i ) 2 In this way, the distance between the vehicle and each discrete point in the expected arc trajectory can be calculated. Compare the sizes of the distances and find the discrete point with the smallest distance, that is, the first point a. The coordinates of the first point a are marked as (vecAEndPt.X, vecAEndPt.Y). The next numbered point of the first point on the expected arc trajectory is the second point b, and the coordinates of the second point b are marked as (vecBEndPt.X, vecBEndPt.Y).

[0057] When the vehicle is moving forward and is located outside the arc of the desired arc trajectory, the schematic diagram of the first point a and the second point b is shown in FIG. Figure 2 When the vehicle is moving forward and is located inside the arc of the desired arc trajectory, the schematic diagram of the first point a and the second point b is shown in Figure 3 When the vehicle is moving backward and the vehicle is outside the arc of the desired arc trajectory, the schematic diagram of the first point a and the second point b is shown in Figure 4 When the vehicle is moving backward and is located inside the arc of the desired arc trajectory, the schematic diagram of the first point a and the second point b is shown in Figure 5 .

[0058] S130, determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point;

[0059] The left-right relative relationship refers to whether the vehicle is located on the left side, right side or on the expected arc trajectory, that is, it reflects the left-right relative relationship between the vehicle and the expected arc trajectory.

[0060] It can be seen that the left-right relative relationship between the vehicle and the expected arc trajectory can be determined based on the two points determined in S120.

[0061] S140: If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determine the arc inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point;

[0062] The so-called relative relationship between the inside and outside of the arc refers to whether the vehicle is located on the inside or outside of the arc of the desired arc trajectory.

[0063] That is, if the left-right relative relationship obtained in S130 is that the vehicle is located on the left or right side of the expected arc track, then it is necessary to further determine the inside-outside relative relationship of the vehicle and the expected arc track. In the process of determining the inside-outside relative relationship, it is necessary to base on the left-right relative relationship obtained in S130 and the curvature of the second point.

[0064] S150: Determine a steering wheel request direction of the vehicle in a desired direction of movement of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0065] The desired movement direction of the vehicle is the direction in which the vehicle is expected to move, which may be forward or backward.

[0066] That is to say, based on the curvature of the second point, the left-right relative relationship obtained in S130, and the inside-outside relative relationship of the arc obtained in S140, the requested steering wheel direction of the vehicle in the desired direction of movement of the vehicle can be obtained, that is, it can be known whether the steering wheel needs to be turned left or right.

[0067] It can be seen that in the embodiment of the present invention, the requested direction of the steering wheel is determined based on the left-right relative relationship between the vehicle and the expected arc trajectory, the relative relationship between the inside and outside of the arc, etc., and has nothing to do with the area where the actual posture of the vehicle is located. Therefore, even in the same area, the requested direction of the steering wheel can be correctly calculated due to the change in the relative relationship between the inside and outside of the arc. Compared with the traditional method of determining the direction in which the steering wheel needs to be turned only by a single positive and negative coordinate deviation, the embodiment of the present invention can avoid the error caused by single-axis calculation, that is, reduce lateral errors, reduce steady-state deviations, ensure path tracking accuracy, effectively reduce the number of parking times, and improve parking efficiency. In addition, since the embodiment of the present invention does not only use the coordinates of the x-axis or y-axis for calculation, there is no need to switch from one axis to another, so there will be no problem of abnormal reverse steering during switching.

[0068] In actual scenarios, there are two implementation methods:

[0069] (1) The left-right relative relationship determined in S130 is the left-right relative relationship under the default movement direction of the vehicle, so the arc inside-outside relative relationship determined in S140 is also the arc inside-outside relative relationship under the default movement direction of the vehicle. Therefore, in S150, the steering wheel request direction under the default movement direction of the vehicle is first determined based on the left-right relative relationship and the arc inside-outside relative relationship under the default movement direction of the vehicle, and then the steering wheel request direction under the expected movement direction of the vehicle is determined. Among them, the default movement direction of the vehicle is the direction extracted and specified, and the default movement direction of the vehicle usually does not change. For example, forward is specified as the default movement direction of the vehicle. Of course, backward can also be specified as the default movement direction of the vehicle.

[0070] (2) The left-right relative relationship in the desired direction of movement of the vehicle is directly determined in S130, so that the inside-outside relative relationship of the arc determined in S140 is also the inside-outside relative relationship of the arc in the desired direction of movement of the vehicle. Therefore, the steering wheel request direction in the desired direction of movement of the vehicle is directly obtained in S150.

[0071] Based on the above implementation (1), in one embodiment, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point in S130 may include S131:

[0072] S131, determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle according to the first point and the second point;

[0073] Correspondingly, determining the steering wheel request direction of the vehicle in the desired direction of movement of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc in S150 may include S151 to S154:

[0074] S151, determining a steering wheel request direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0075] S152, determining whether the expected movement direction of the vehicle is consistent with the default movement direction of the vehicle;

[0076] S153: If yes, taking the steering wheel requested direction of the vehicle in the default moving direction of the vehicle as the steering wheel requested direction of the vehicle in the expected moving direction of the vehicle;

[0077] S154: Otherwise, take the opposite direction of the steering wheel request direction of the vehicle in the default moving direction of the vehicle as the steering wheel request direction of the vehicle in the expected moving direction of the vehicle.

[0078] It can be seen that what is determined in S130 is the left-right relative relationship under the default direction of motion of the vehicle, and then after executing S140, the relative relationship between the inside and outside of the arc under the default direction of motion of the vehicle is obtained. For this reason, in S150, the steering wheel request direction under the default direction of motion of the vehicle is first determined, and then it is determined whether the default direction of motion of the vehicle and the expected direction of motion of the vehicle are consistent; if they are consistent, the steering wheel request direction under the default direction of motion of the vehicle is directly used as the steering wheel request direction under the expected direction of motion of the vehicle; if they are inconsistent, it means that the default direction of motion of the vehicle and the expected direction of motion of the vehicle are opposite, and at this time, the opposite direction of the steering wheel request direction under the default direction of motion of the vehicle is used as the steering wheel request direction under the expected direction of motion of the vehicle, for example, if the steering wheel request direction under the default direction of motion of the vehicle is to turn left, then the steering wheel request direction under the expected direction of motion of the vehicle is to turn right.

[0079] The advantage of achieving this goal in this way is that each time the lateral coordinate deviation feedback control pre-processing is required, the left-right relative relationship determination rules in S130 are the same. Therefore, only one set of left-right relative relationship determination rules needs to be set for the case of the vehicle's default movement direction. There is no need to set separate left-right relative relationship determination rules for both forward and reverse movement. Finally, only the steering wheel request needs to be processed in the opposite direction in S150 when the vehicle's default movement direction and the vehicle's expected movement direction are inconsistent.

[0080] In one embodiment, taking the default moving direction of the vehicle as forward as an example, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the default moving direction of the vehicle according to the first point and the second point in S131 may include the following steps S131a to S131c:

[0081] S131a. Determine a first vector and a second vector according to the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0082] For example, see Figure 2 to Figure 5 , the first vector A and the second vector B constructed based on the first point a and the second point b mentioned above are:

[0083] First vector A: [(vecAEndPt.X-actPt.X), (vecAEndPt.Y-actPt.Y)];

[0084] The second vector B: [(vecBEndPt.X-actPt.X),(vecBEndPt.Y-actPt.Y)].

[0085] It can be seen that the first vector A is the vector formed by the vehicle pointing to the first point a, and the vector B is the vector formed by the vehicle pointing to the second point b.

[0086] S131b, performing a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0087] For example, the cross product calculation process is:

[0088] crossProd = (vecAEndPt.X - actPt.X)*(vecBEndPt.Y - actPt.Y) - (vecAEndPt.Y - actPt.Y)*(vecBEndPt.X - actPt.X); where crossProd is the cross product result.

[0089] S131c. Under the default movement direction of the vehicle, if the fork product result is greater than the first near-zero preset value, the vehicle is located on the left side of the expected arc-shaped trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc-shaped trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc-shaped trajectory; wherein the first near-zero preset value is greater than 0.

[0090] The first near-zero preset value is a value close to 0, which can be set as needed, for example, 1*10 -6 .

[0091] If the cross product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, it means that the cross product result is close to 0. If the cross product result is greater than the first near-zero preset value, it can be approximately considered that the cross product result is positive. If the cross product result is less than the negative value of the first near-zero preset value, it can be approximately considered that the cross product result is negative.

[0092] It can be seen that, in the default moving direction of the vehicle, if the cross product result is approximately positive, it means that the vehicle is located on the left side of the expected arc track; if the cross product result is approximately negative, it means that the vehicle is located on the right side of the expected arc track; if the cross product result is close to 0, it means that the vehicle is located on the expected arc track. It can be seen that the cross product result can reflect the left-right relative relationship between the vehicle and the expected arc track.

[0093] Among them, S131c provides a set of rules for determining the left-right relative relationship under the default movement direction of the vehicle, and the default movement direction of the vehicle is forward.

[0094] In one embodiment, determining the arc inner and outer relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point in S140 includes at least one of the following four items:

[0095] (1) in the default moving direction of the vehicle, when the vehicle is located on the left side of the expected arc-shaped trajectory, if the curvature is greater than a second near-zero preset value, the vehicle is located on the inner side of the arc of the expected arc-shaped trajectory;

[0096] (2) in the default moving direction of the vehicle, when the vehicle is located on the left side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0097] (3) in the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0098] (4) In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located on the inner side of the arc of the expected arc-shaped trajectory.

[0099] In the definition of curvature, it is considered that hitting to the left is positive and hitting to the right is negative.

[0100] The second near-zero preset value is a value close to 0, which can be set as needed, for example, 1*10 -6 .

[0101] Among them, if the curvature is less than the negative value of the second near-zero preset value, the curvature is approximately considered to be a negative value; if the curvature is greater than the second near-zero preset value, the curvature is approximately considered to be a positive value; if the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, the curvature is considered to be close to 0.

[0102] In actual scenarios, when the vehicle is located on the right side of the expected arc track, if the curvature of the second point is close to 0, the vehicle is still considered to be located on the right side of the expected arc track. When the vehicle is located on the left side of the expected arc track, if the curvature of the second point is close to 0, the vehicle is still considered to be located on the left side of the expected arc track.

[0103] It can be seen that the above four items provide a set of arc inner and outer relative relationship determination rules for S140 under the default moving direction of the vehicle, and the default moving direction of the vehicle is forward. In fact, if the default moving direction of the vehicle is backward, then the arc inner and outer relative relationship can also be determined according to the above arc inner and outer relative relationship determination rules in S140. That is, the above arc inner and outer relative relationship determination rules are applicable to both directions.

[0104] In one embodiment, determining the steering wheel requested direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc in S151 may include at least one of the following six items:

[0105] (1) If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left;

[0106] (2) if the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0107] That is, based on (1) and (2) above, when the curvature of the second point is approximately considered to be a positive value, if the vehicle is on the inner side of the arc of the expected arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn left; if the vehicle is on the outer side of the arc of the expected arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn right.

[0108] (3) if the curvature is less than the negative value of the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default direction of motion of the vehicle is to turn right;

[0109] (4) if the curvature is less than the negative value of the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left;

[0110] That is, based on the above (3) and (4), when the curvature of the second point is approximately considered to be a negative value, if the vehicle is on the outside of the arc of the expected arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn right; if the vehicle is on the inside of the arc of the expected arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn left.

[0111] (5) if the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, then the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0112] (6) If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0113] That is, based on (5) and (6) above, when the curvature of the second point is close to 0, if the vehicle is on the left side of the expected arc trajectory, the steering wheel request direction under the vehicle's default movement direction is to turn right; if the vehicle is on the right side of the expected arc trajectory, the steering wheel request direction under the vehicle's default movement direction is to turn left.

[0114] It can be seen that the above six items provide a set of steering wheel request direction determination rules for S151 under the default moving direction of the vehicle, and the default moving direction of the vehicle is forward. In fact, if the default moving direction of the vehicle is backward, then the steering wheel request direction determination rules can also be used to determine the steering wheel request direction in S151. That is, the above steering wheel request direction determination rules are applicable to both directions.

[0115] In one embodiment, the method may further include: if the vehicle is located on the expected arc trajectory, not steering the vehicle.

[0116] It can be seen that if the vehicle is on the expected arc trajectory, then there is no need to adjust the direction at this time.

[0117] In one embodiment, based on the above implementation method (2), determining the left-right relative relationship between the vehicle and the expected arc trajectory according to the first point and the second point in S130 may include: determining the left-right relative relationship between the vehicle and the expected arc trajectory in the expected movement direction of the vehicle according to the first point and the second point.

[0118] It can be seen that the left-right relative relationship in the desired direction of movement of the vehicle is directly determined in S130, and then the inside-outside relative relationship of the arc determined in S140 is also the inside-outside relative relationship of the arc in the desired direction of movement of the vehicle. Therefore, the steering wheel request direction in the desired direction of movement of the vehicle is directly obtained in S150.

[0119] Among them, if the expected movement direction of the vehicle is consistent with the default movement direction of the vehicle, then the left-right relative relationship determination rule used in S130 is the same as the left-right relative relationship determination rule provided in S131c. If they are inconsistent, then the left-right relative relationship determination rule used in S130 is opposite to the left-right relative relationship determination rule provided in S131c. For example, for backward movement: if the cross product result is less than the negative value of the first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the cross product result is greater than the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the cross product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory. It can be seen that the left-right relative relationship determination rules are different for the two directions of forward movement and backward movement.

[0120] The benefit of implementing method (2) is that although two sets of left-right relative relationship determination rules need to be set for forward and backward movement in S130, the final steering wheel request direction can be directly obtained in S150, and there is no need to make consistency judgment between the vehicle's default movement direction and the vehicle's expected movement direction, thereby reducing the number of steps.

[0121] When using traditional means, the steering wheel of the vehicle will reverse for a period of time. This is caused by the change in the sign of the lateral deviation calculation during the change of the vehicle heading. If the method provided by the embodiment of the present invention is adopted, the angle of the steering wheel request direction will rise smoothly, and there will be no reverse problem. It can be seen that the embodiment of the present invention ensures that the steering wheel will not reverse abnormally when switching. Moreover, the steering wheel request direction is determined based on the left-right relative relationship between the vehicle and the expected arc trajectory, the relative relationship between the inside and outside of the arc, etc., and has nothing to do with the area where the actual posture of the vehicle is located. It can be seen that even in the same area, the steering wheel request direction can be correctly calculated due to the change in the relative relationship between the inside and outside of the arc, which can ensure the path tracking accuracy, effectively reduce the number of parking rubbing times, and improve parking efficiency.

[0122] In a second aspect, an embodiment of the present invention provides a device for determining a steering wheel request direction in automatic parking, see Figure 6 , the device 100 comprises:

[0123] A trajectory acquisition module 110 is used to acquire a desired arc trajectory of the vehicle;

[0124] A two-point determination module 120 is used to determine a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory that is closest to the vehicle, and the second point is the next point of the first point on the desired arc trajectory;

[0125] A left-right determination module 130, configured to determine a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point;

[0126] an inside-outside determination module 140, configured to determine an inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point if it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory;

[0127] The direction determination module 150 is used to determine the steering wheel request direction of the vehicle in the expected movement direction of the vehicle according to the curvature of the second point, the left-right relative relationship and the inside-outside relative relationship of the arc.

[0128] In one embodiment, the left and right determination module includes:

[0129] A first determining unit, configured to determine a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle according to the first point and the second point;

[0130] Correspondingly, the direction determination module includes:

[0131] a second determining unit, configured to determine a steering wheel requested direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0132] A consistency judgment unit is used to judge whether the vehicle's expected movement direction is consistent with the vehicle's default movement direction; if so, the steering wheel request direction of the vehicle in the vehicle's default movement direction is used as the steering wheel request direction of the vehicle in the vehicle's expected movement direction; otherwise, the opposite direction of the steering wheel request direction of the vehicle in the vehicle's default movement direction is used as the steering wheel request direction of the vehicle in the vehicle's expected movement direction.

[0133] In one embodiment, the default moving direction of the vehicle is forward;

[0134] Correspondingly, the first determining unit is specifically configured to perform the following steps:

[0135] Determine a first vector and a second vector according to the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0136] Perform a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0137] In the default movement direction of the vehicle, if the fork product result is greater than the first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein the first near-zero preset value is greater than 0.

[0138] In one embodiment, the left and right determination module is specifically configured to perform at least one of the following:

[0139] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory;

[0140] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0141] When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0142] In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

[0143] In one embodiment, the direction determination module is specifically configured to perform at least one of the following:

[0144] If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left;

[0145] If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0146] If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0147] If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left;

[0148] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right;

[0149] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0150] In one embodiment, the apparatus further comprises:

[0151] The zero output module is used for not turning the steering wheel if the vehicle is located on the expected arc trajectory.

[0152] In one embodiment, the left-right determination module is specifically used to determine the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the expected movement direction of the vehicle according to the first point and the second point.

[0153] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the device provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0154] In a third aspect, an embodiment of the present invention provides a computer-readable medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes the method provided in the first aspect.

[0155] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0156] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0157] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0158] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0159] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0160] It is understandable that the explanation, specific implementation methods, beneficial effects, examples, etc. of the relevant contents in the computer-readable medium provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0161] In a fourth aspect, an embodiment of the present specification provides a computing device, including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it implements the method in any embodiment of the specification.

[0162] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the computing device provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0163] It should be noted that the terms used in the present invention are only for describing specific embodiments, rather than limiting the scope of the present application. As shown in the present specification and claims, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0164] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a steering wheel request direction in automatic parking, characterized in that: The method comprises: Obtaining a desired arc trajectory of the vehicle; Determine a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory that is closest to the vehicle, and the second point is a point next to the first point on the desired arc trajectory; Determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point; If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determining the arc inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point; The steering wheel request direction of the vehicle in the expected movement direction of the vehicle is determined according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

2. The method according to claim 1, characterized in that The determining, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory includes: Determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle according to the first point and the second point; Correspondingly, determining the steering wheel request direction of the vehicle in the expected movement direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes: Determining a steering wheel request direction of the vehicle in the default moving direction of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc; Determining whether the desired movement direction of the vehicle is consistent with the default movement direction of the vehicle; If yes, taking the steering wheel requested direction of the vehicle in the default moving direction of the vehicle as the steering wheel requested direction of the vehicle in the expected moving direction of the vehicle; Otherwise, the opposite direction of the steering wheel requested direction of the vehicle in the default moving direction of the vehicle is used as the steering wheel requested direction of the vehicle in the desired moving direction of the vehicle.

3. The method according to claim 2, characterized in that The default moving direction of the vehicle is forward; correspondingly, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the default moving direction of the vehicle according to the first point and the second point includes: Determine a first vector and a second vector according to the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point; Perform a cross product calculation on the first vector and the second vector to obtain a cross product result; In the default movement direction of the vehicle, if the fork product result is greater than the first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein the first near-zero preset value is greater than 0.

4. The method according to claim 2, characterized in that: The determining, based on the left-right relative relationship and the curvature of the second point, the arc inner-outer relative relationship between the vehicle and the expected arc trajectory comprises at least one of the following: When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory; When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory; When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory; In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

5. The method according to claim 2, characterized in that: The determining, according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc, the steering wheel requested direction of the vehicle in the default moving direction of the vehicle comprises at least one of the following: If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left; If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right; If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right; If the curvature is less than the negative value of the second near-zero preset value, and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default moving direction of the vehicle is to turn left; If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn right; If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

6. The method according to claim 1, characterized in that Also includes: If the vehicle is located on the expected arc trajectory, the steering wheel is not turned.

7. The method according to claim 1, characterized in that The determining, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory includes: A left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the expected moving direction of the vehicle is determined according to the first point and the second point.

8. A device for determining a steering wheel request direction in automatic parking, characterized in that: The device comprises: A trajectory acquisition module, used to acquire a desired arc trajectory of the vehicle; A two-point determination module, used to determine a first point and a second point on the expected arc trajectory; wherein the first point is the point on the expected arc trajectory that is closest to the vehicle, and the second point is the next point of the first point on the expected arc trajectory; A left-right determination module, configured to determine a left-right relative relationship between the vehicle and the expected arc-shaped trajectory according to the first point and the second point; an inside-outside determination module, configured to determine an inside-outside relative relationship between the vehicle and the expected arc trajectory according to the left-right relative relationship and the curvature of the second point if it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory; The direction determination module is used to determine the steering wheel request direction of the vehicle in the expected movement direction of the vehicle according to the curvature of the second point, the left-right relative relationship and the inside-outside relative relationship of the arc.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

10. A computing device, characterized in that: The method comprises a memory and a processor, wherein the memory stores executable codes, and when the processor executes the executable codes, the method according to any one of claims 1 to 7 is implemented.

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