Determination method and device of tracking backing planning path, medium, equipment and vehicle

Abstract

The invention discloses a method and a device for determining a tracking backing-up planned path, a medium, equipment and a vehicle. The method comprises the following steps: acquiring a historical driving path before tracking backing-up; according to the first historical advancing path and the second historical advancing path, a tracking backing-up fitting curve segment is obtained; according to the end point of the second historical forward path and the starting point of the tracking backing fitting curve segment, obtaining a first tracking backing planned path; according to the end point of the tracking back-up fitting curve segment and the starting point of the first historical forward path, a second tracking back-up planned path is obtained; and obtaining a target tracking backing-up planned path according to the first tracking backing-up planned path, the tracking backing-up fitting curve segment and the second tracking backing-up planned path. Compared with a tracking backing path returning on an original path, the target tracking backing planning path only comprises a backing driving path, the driving path is simple and smooth, the distance is greatly shortened, and therefore the tracking backing efficiency and the comfort level of a driver and passengers can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to a method, device, medium, equipment and vehicle for determining a tracking reverse planning path. Background Art

[0002] Tracking reversing is an auxiliary function in the assisted driving system. The reversing assistance function in the driving assistance system will record the driving route before reversing, and can automatically reverse the corresponding distance by following the route without the driver controlling the steering wheel. Especially when reversing in narrow roads such as narrow alleys, it can support automatic tracking and returning to the original route function, and the reversing operation can be completed automatically without manual operation.

[0003] However, when the historical driving route is complex and lengthy, the reverse path of this return route will also be relatively complex and lengthy. In the scenario where the gear is shifted from D to R and then to D, that is, the car first drives forward, deviates from the original route to reverse, and finally drives forward on the new route, if the reverse path of the return route is used for automatic reverse, it will be a complex and lengthy three-stage route. Figure 1 As shown, the vehicle first travels from point O to point A along road S1, then deviates from road S1 from point A and reverses to point B on road S2, and finally travels along road S2 to point E. If the reversing path of returning to the original route is adopted, the vehicle needs to automatically reverse along three sections EB, BA, and AO, and the reversing planning path is complex and lengthy. Summary of the invention

[0004] The present application provides a method, device, medium, equipment and vehicle for determining a tracking and reversing planning path, which can solve the problem that when the historical driving path is relatively complex and lengthy, the tracking and reversing path returning along the original route will also be relatively complex and lengthy.

[0005] The specific technical solutions are as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for determining a tracking reverse planning path, the method comprising:

[0007] Acquire a historical driving path before reversing, wherein the historical driving path includes a first historical forward path, a historical reversing path, and a second historical forward path in sequence;

[0008] According to the first historical forward path and the second historical forward path, a tracking and reversing fitting curve segment is acquired, wherein a starting point of the tracking and reversing fitting curve segment is located on the second historical forward path, an end point of the tracking and reversing fitting curve segment is located on the first historical forward path, and a vehicle driving direction of the tracking and reversing fitting curve segment from the starting point to the end point is a reversing direction of the vehicle;

[0009] Acquire a first tracking reverse planning path according to an end point of the second historical forward path and a starting point of the tracking reverse fitting curve segment;

[0010] Acquire a second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path; and

[0011] A target tracking and reversing planned path is obtained with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path.

[0012] Through the above scheme, it can be known that the embodiment of the present application first obtains the tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, and then obtains the first tracking reverse planning path according to the end point of the second historical forward path and the starting point of the tracking reverse fitting curve segment, and obtains the second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path, and finally obtains the target tracking reverse planning path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reverse planning path, the tracking reverse fitting curve segment, and the second tracking reverse planning path. Compared with the tracking reverse path that requires reverse driving, forward driving, and reverse driving to return to the original path, the target tracking reverse planning path only includes the reverse driving path, the driving path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of tracking reverse driving and the comfort of the driver and passengers.

[0013] In a first possible implementation manner of the first aspect, acquiring a tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path includes:

[0014] Sampling the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path;

[0015] In the case where both the first angle and the second angle are greater than or equal to the preset angle threshold, sampling the first intermediate path and the second intermediate path to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path, wherein the first intermediate path includes a path between the starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and the end point of the second historical forward path on the second historical forward path, the first angle includes an angle between a path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between a path formed by the first sampling point and the second sampling point and the second intermediate path;

[0016] Curve fitting is performed on the third sampling point and the fourth sampling point to obtain a tracking and reversing fitting curve segment, wherein the third sampling point is an end point of the tracking and reversing fitting curve segment, and the fourth sampling point is a starting point of the tracking and reversing fitting curve segment.

[0017] Through the above scheme, it can be known that the embodiment of the present application can, after obtaining the historical driving path including the first historical forward path, the historical reverse path and the second historical forward path, first sample the first historical forward path and the second historical forward path, until the first angle and the second angle determined based on the first sampling point and the second sampling point are both greater than or equal to the preset angle threshold, and then continue to sample the first intermediate path and the second intermediate path respectively with the first sampling point and the second sampling point as boundary points, and perform curve fitting on the third sampling point and the fourth sampling point obtained by the sampling to obtain the tracking reverse fitting curve segment. The tracking reverse fitting curve segment obtained by this two-layer sampling method is more smoothly connected with the first tracking reverse planning path and the second tracking reverse planning path, thereby further improving the comfort of the driver and passengers on the basis of shortening the distance.

[0018] In a second possible implementation manner of the first aspect, before sampling the first historical forward path and the second historical forward path, the method further includes:

[0019] According to the directions of the last two track points on the first historical forward path, the first historical forward path is extended by a preset length;

[0020] The sampling of the first historical forward path and the second historical forward path includes:

[0021] The extended first historical forward path and the extended second historical forward path are sampled.

[0022] It can be seen from the above scheme that the embodiment of the present application samples the extended first historical forward path and the second historical forward path after extending the first historical forward path by a preset length, thereby preventing the first historical forward path from being unable to be sampled when sampling to the end point of the second historical forward path in extreme cases.

[0023] In a third possible implementation manner of the first aspect, obtaining, according to the first tracking and reversing planned path, the tracking and reversing fitting curve segment, and the second tracking and reversing planned path, a target tracking and reversing planned path with an end point of the second historical forward path as a starting point and a starting point of the first historical forward path as an end point includes:

[0024] When the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path are spliced ​​to obtain a target tracking and reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

[0025] It can be seen from the above scheme that the embodiment of the present application splices the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path only when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, so that the vehicle can safely pass the tracking and reversing fitting curve segment and avoid the problem of the vehicle being unable to drive because it cannot reach the curvature of the tracking and reversing fitting curve segment.

[0026] In a fourth possible implementation manner of the first aspect, the method further includes:

[0027] In a case where the maximum curvature of the tracking and reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle, the step of returning to the step of sampling the first intermediate path and the second intermediate path is performed.

[0028] In a fifth possible implementation manner of the first aspect, when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, splicing the first tracking and reversing planned path, the tracking and reversing fitting curve segment, and the second tracking and reversing planned path includes:

[0029] When the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, sampling the ordinate of the tracking and reversing fitting curve segment to obtain a plurality of fifth sampling points;

[0030] Determine a polygonal outline of the vehicle at each of the fifth sampling points;

[0031] Calculate the shortest distance from each point on the static obstacle to each of the polygonal contours;

[0032] When all the closest distances are greater than zero, the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path are spliced.

[0033] It can be seen from the above scheme that the embodiment of the present application simulates whether the vehicle will collide with the surrounding static obstacles when traveling along the tracking and reversing fitting curve segment by judging the shortest distance between the static obstacle and the polygonal outline of the vehicle at each fifth sampling point on the tracking and reversing fitting curve segment. Only when there is no collision, the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path are spliced, thereby improving the safety of tracking and reversing.

[0034] In a sixth possible implementation manner of the first aspect, the method further includes:

[0035] In the case that the closest distances are both less than or equal to zero, returning to the step of sampling the first intermediate path and the second intermediate path.

[0036] In a seventh possible implementation manner of the first aspect, the method further includes:

[0037] When the first angle or the second angle is smaller than the preset angle threshold, the step of returning to the step of sampling the first historical forward path and the second historical forward path.

[0038] In a second aspect, an embodiment of the present application provides a device for determining a tracking reverse planning path, the device comprising:

[0039] A historical path acquisition unit, used to acquire a historical driving path before following the track and reversing, wherein the historical driving path includes a first historical forward path, a historical reversing path, and a second historical forward path in sequence;

[0040] a fitting curve acquisition unit, configured to acquire a tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, wherein a starting point of the tracking reverse fitting curve segment is located on the second historical forward path, an end point of the tracking reverse fitting curve segment is located on the first historical forward path, and a vehicle driving direction of the tracking reverse fitting curve segment from the starting point to the end point is a vehicle reverse direction;

[0041] A first planned reversing path acquisition unit, configured to acquire a first planned reversing path according to an end point of the second historical forward path and a starting point of the reversing fitting curve segment;

[0042] A second planned reversing path acquisition unit, configured to acquire a second planned reversing path according to an end point of the reversing fitting curve segment and a starting point of the first historical forward path;

[0043] The target reversing planned path obtaining unit is used to obtain a target tracking reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reversing planned path, the tracking reversing fitting curve segment, and the second tracking reversing planned path.

[0044] In a first possible implementation manner of the second aspect, the fitting curve acquiring unit includes:

[0045] A first sampling module, configured to sample the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path;

[0046] a second sampling module, configured to sample the first intermediate path and the second intermediate path when both the first angle and the second angle are greater than or equal to a preset angle threshold, to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path, wherein the first intermediate path includes a path between a starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and an end point of the second historical forward path on the second historical forward path, the first angle includes an angle between a path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between a path formed by the first sampling point and the second sampling point and the second intermediate path;

[0047] A fitting module is used to perform curve fitting on the third sampling point and the fourth sampling point to obtain a tracking and reversing fitting curve segment, wherein the third sampling point is an end point of the tracking and reversing fitting curve segment, and the fourth sampling point is a starting point of the tracking and reversing fitting curve segment.

[0048] In a second possible implementation manner of the second aspect, the fitting curve acquisition unit further includes:

[0049] an extension module, configured to extend the first historical forward path by a preset length according to the directions of the last two trajectory points on the first historical forward path before sampling the first historical forward path and the second historical forward path;

[0050] The first sampling module is used to sample the extended first historical forward path and the second historical forward path.

[0051] In a third possible implementation of the second aspect, the target reversing planned path obtaining unit is used to, when the maximum curvature of the tracing reversing fitting curve segment is less than the maximum curvature of the vehicle, splice the first tracing reversing planned path, the tracing reversing fitting curve segment and the second tracing reversing planned path to obtain a target tracing reversing planned path having the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

[0052] In a fourth possible implementation manner of the second aspect, the second sampling module is further used to sample the first intermediate path and the second intermediate path when the maximum curvature of the tracking and reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

[0053] In a fifth possible implementation manner of the second aspect, the target reversing planned path obtaining unit includes:

[0054] A third sampling module is used to sample the ordinate of the tracking and reversing fitting curve segment to obtain a plurality of fifth sampling points when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle;

[0055] A determination module, used for determining a polygonal outline of the vehicle at each of the fifth sampling points;

[0056] A calculation module, used to calculate the shortest distance from each point on the static obstacle to each of the polygonal contours;

[0057] A splicing module is used to splice the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path when all the closest distances are greater than zero.

[0058] In a sixth possible implementation manner of the second aspect, the second sampling module is further configured to sample the first intermediate path and the second intermediate path when the closest distances are both less than or equal to zero.

[0059] In a seventh possible implementation manner of the second aspect, the first sampling module is further configured to sample the first historical forward path and the second historical forward path when the first angle or the second angle is smaller than the preset angle threshold.

[0060] Through the above scheme, it can be known that the embodiment of the present application first obtains the tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, and then obtains the first tracking reverse planning path according to the end point of the second historical forward path and the starting point of the tracking reverse fitting curve segment, and obtains the second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path, and finally obtains the target tracking reverse planning path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reverse planning path, the tracking reverse fitting curve segment, and the second tracking reverse planning path. Compared with the tracking reverse path of returning to the original route, the target tracking reverse planning path is not only simple and smooth, but also greatly shortens the distance, thereby improving the efficiency of tracking reverse and the comfort of the driver and passengers.

[0061] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any possible implementation manner of the first aspect.

[0062] In a fourth aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0063] one or more processors;

[0064] The processor is coupled to a storage device, and the storage device is used to store one or more programs;

[0065] When one or more programs are executed by one or more processors, the electronic device implements the method described in any possible implementation manner of the first aspect.

[0066] In a fifth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a device as described in any possible implementation of the second aspect, or comprising an electronic device as described in the fourth aspect.

[0067] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0069] Figure 1An example diagram of a historical driving route provided in an embodiment of the present application;

[0070] Figure 2 A flowchart of a method for determining a tracking and reversing planning path provided in an embodiment of the present application;

[0071] Figure 3 An example diagram of a method for determining a tracking and reversing planning path provided in an embodiment of the present application;

[0072] Figure 4 A flowchart of another method for determining a tracking and reversing planning path provided in an embodiment of the present application;

[0073] Figure 5 A block diagram of a device for determining a tracking and reversing planning path provided in an embodiment of the present application;

[0074] Figure 6 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0076] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0077] Figure 2 The present invention is a flow chart of a method for determining a path for tracking and reversing planning. The method can be applied to electronic equipment or computer equipment, and can be specifically applied to a terminal or a server. The method includes:

[0078] S110: Acquire the historical driving path before reversing.

[0079] The historical driving path before the reverse tracking includes the historical driving path from the target position set by the driver to reverse to the current position. The historical driving paths in the scenario targeted by the embodiment of the present application include the first historical forward path, the historical reverse path, and the second historical forward path. Figure 3 As shown, the first historical forward path is OA, the historical reverse path is AB, and the second historical forward path is BE.

[0080] It should be noted that the first historical forward path and the second historical forward path may be either a straight path or a curved path, but both are forward driving paths and do not include a reverse path.

[0081] S120: Obtaining a tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path.

[0082] The starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the end point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction of the tracking reversing fitting curve segment from the starting point to the end point is the vehicle reversing direction.

[0083] Methods for obtaining the tracking reversing fitting curve segment according to the first historical forward path and the second historical forward path include but are not limited to the following:

[0084] First method:

[0085] A1. Sample the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path.

[0086] In this embodiment, the first historical forward path and the second historical forward path may be cross-sampled. For two points, cross sampling means fixing one point and moving the second point, that is, sampling the second point. After the second point is sampled, it is fixed and the first point is sampled. Cross sampling the first historical forward path and the second historical forward path means sampling the first historical forward path and the second historical forward path in sequence. Figure 3 As shown, the first sampling point obtained by sampling on OA is A', and the second sampling point obtained by sampling on BE is B'.

[0087] A2. When the first angle and the second angle are both greater than or equal to a preset angle threshold, sample the first intermediate path and the second intermediate path to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path.

[0088] The first intermediate path includes a path between the starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and the end point of the second historical forward path on the second historical forward path, the first angle includes an angle between the path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between the path formed by the first sampling point and the second sampling point and the second intermediate path. The preset angle threshold is an obtuse angle, and the specific value can be determined based on actual experience, for example, it can be 120 degrees.

[0089] like Figure 3 As shown, the first intermediate path is OA', the second intermediate path is B'E, the third sampling point is point C, the fourth sampling point is point D, the first angle is the angle between OA' and A'B', and the second angle is the angle between A'B' and B'E.

[0090] In a possible implementation, when the first angle or the second angle is less than the preset angle threshold, it means that the transition between the subsequent tracking and reversing fitting curve segments and the first tracking and reversing planning path and the second tracking and reversing planning path is not smooth enough, which increases the difficulty of reversing. In order to reduce the difficulty of reversing and improve the efficiency of reversing, the first historical forward path and the second historical forward path can be sampled again, and the first historical forward path and the second historical forward path can be sampled again to obtain new first sampling points and second sampling points, until the first angle or the second angle is less than the preset angle threshold, and then the subsequent operation is performed.

[0091] A3. Perform curve fitting on the third sampling point and the fourth sampling point to obtain a tracking reverse fitting curve segment.

[0092] There are many methods for curve fitting, such as least squares method, spline method, maximum likelihood estimation method, polynomial curve fitting method, etc.

[0093] The following is a detailed description of the process of curve fitting for the third sampling point and the fourth sampling point based on the polynomial curve fitting method:

[0094] A Frenet coordinate system is established based on the first historical forward path. The coordinates of the point in the Frenet coordinate system are (s, l, l′, l″), where l′ and l′′ respectively represent the first-order derivative and second-order derivative of the horizontal coordinate l with respect to the vertical coordinate s; an expression of a quintic polynomial curve is established based on the Frenet coordinate system: l=a0+a1s+a2s 2 +a3s 3 +a4s 4 +a5s 5; Solution: Given the starting point (s0, l0, l′0, l″0) and the end point (s1, l1, l′1, l″1), substituting them into the above expression, we can get a set of six-variable linear equations. Solving this set of equations can obtain the quintic polynomial coefficients (a0, a1, a2, a3, a4, a5) of the tracking reversing fitting curve segment in the Frenet coordinate system. Figure 3 As shown, the tracking reversing fitting curve segment fitted based on this method is curve CD.

[0095] Through the above scheme, it can be known that the embodiment of the present application can, after obtaining the historical driving path including the first historical forward path, the historical reverse path and the second historical forward path, first sample the first historical forward path and the second historical forward path, until the first angle and the second angle determined based on the first sampling point and the second sampling point are both greater than or equal to the preset angle threshold, and then continue to sample the first intermediate path and the second intermediate path respectively with the first sampling point and the second sampling point as boundary points, and perform curve fitting on the third sampling point and the fourth sampling point obtained by the sampling to obtain the tracking reverse fitting curve segment. The tracking reverse fitting curve segment obtained by this two-layer sampling method is more smoothly connected with the first tracking reverse planning path and the second tracking reverse planning path, thereby further improving the comfort of the driver and passengers on the basis of shortening the distance.

[0096] Second method:

[0097] B1. In a Cartesian coordinate system, sampling the first historical forward path and the second historical forward path to obtain a sixth sampling point on the first historical forward path and a seventh sampling point on the second historical forward path;

[0098] B2. Use the clothoid plus straight line method to connect the sixth sampling point and the seventh sampling point to obtain a tracking reverse fitting curve segment.

[0099] Third method:

[0100] C1. Draw a perpendicular line from the starting point of the second historical forward path to the first historical forward path to obtain a first perpendicular point on the first historical forward path, and use the path on the first historical forward path between the starting point of the first historical forward path and the first perpendicular point as the third intermediate path;

[0101] C2. Sampling the third intermediate path and the second historical forward path to obtain an eighth sampling point on the third intermediate path and a ninth sampling point on the second historical forward path;

[0102] C3. Perform curve fitting on the eighth sampling point and the ninth sampling point to obtain a tracking reverse fitting curve segment.

[0103] There are many methods for curve fitting, such as least squares method, spline method, maximum likelihood estimation method, polynomial curve fitting method, etc.

[0104] It should be added that in order to ensure that the vehicle has sufficient driving space when reversing into the third intermediate path during the tracking and reversing process, such as at least ensuring that the vehicle can be straightened on the third intermediate path, step C2 is executed only when the length of the third intermediate path is greater than or equal to the first length threshold, otherwise the third method is abandoned; step C3 is executed only when the path length from the starting point of the first historical forward path to the seventh sampling point is greater than or equal to the second length threshold, otherwise the third method is abandoned.

[0105] Among them, the first length threshold is greater than the second length threshold, and the specific value can be determined according to actual experience requirements.

[0106] Fourth method:

[0107] D1. Draw a perpendicular line from the end point of the first historical forward path to the second historical forward path to obtain a second perpendicular point on the second historical forward path, and use the path on the second historical forward path between the second perpendicular point and the end point of the second historical forward path as the fourth intermediate path;

[0108] D2. Sampling the first historical forward path and the fourth intermediate path to obtain the tenth sampling point on the first historical forward path and the eleventh sampling point on the fourth intermediate path;

[0109] D3. Perform curve fitting on the tenth sampling point and the eleventh sampling point to obtain a tracking reverse fitting curve segment.

[0110] There are many methods for curve fitting, such as least squares method, spline method, maximum likelihood estimation method, polynomial curve fitting method, etc.

[0111] It should be added that in order to ensure that there is enough driving space when the vehicle starts to reverse on the fourth intermediate path during the tracking and reversing process, such as at least ensuring that the vehicle can reverse into the tracking and reversing fitting curve segment from the eleventh sampling point on the fourth intermediate path, step D2 is executed only when the length of the fourth intermediate path is greater than or equal to the third length threshold, otherwise the fourth method is abandoned; step D3 is executed only when the path length from the end point of the second historical forward path to the eleventh sampling point is greater than or equal to the fourth length threshold, otherwise the fourth method is abandoned.

[0112] Among them, the third length threshold is greater than the fourth length threshold, and the specific value can be determined according to actual experience requirements.

[0113] S130: Obtain a first tracking reverse planning path according to an end point of the second historical forward path and a starting point of the tracking reverse fitting curve segment.

[0114] On the second historical forward path, a path between an end point of the second historical forward path and a starting point of the tracking and reversing fitting curve segment may be used as the first tracking and reversing planned path.

[0115] S140: Obtain a second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path.

[0116] On the first historical forward path, the path between the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path can be used as the second tracking reverse planning path.

[0117] S150: Obtaining a target tracking reverse planning path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reverse planning path, the tracking reverse fitting curve segment, and the second tracking reverse planning path.

[0118] After obtaining the three planned paths, namely, the first tracking and reversing planned path, the tracking and reversing fitting curve segment, and the second tracking and reversing planned path, the three can be spliced ​​in sequence to obtain the target tracking and reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

[0119] like Figure 3 As shown, the first tracking and reversing planned path is ED, the tracking and reversing fitting curve segment is DC, the second tracking and reversing planned path is CO, and the target tracking and reversing planned path is EDCO.

[0120] The method for determining the tracking and reversing planned path provided in the embodiment of the present application can first obtain the tracking and reversing fitting curve segment according to the first historical forward path and the second historical forward path, and then obtain the first tracking and reversing planned path according to the end point of the second historical forward path and the starting point of the tracking and reversing fitting curve segment, and obtain the second tracking and reversing planned path according to the end point of the tracking and reversing fitting curve segment and the starting point of the first historical forward path, and finally obtain the target tracking and reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path. Compared with the tracking and reversing path that requires first reversing, then forwarding and then reversing to return to the original path, the target tracking and reversing planned path only includes the reversing driving path, and the driving path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of tracking and reversing and the comfort of the driver and passengers.

[0121] In a possible implementation, in order to prevent the first historical forward path from being unable to be sampled when sampling the end point of the second historical forward path in extreme cases, before sampling the first historical forward path and the second historical forward path, the first historical forward path can be extended by a preset length in the direction of the last two trajectory points on the first historical forward path; and then the extended first historical forward path and the second historical forward path are sampled.

[0122] The directions of the last two trajectory points on the first historical forward path refer to the direction from the second to last trajectory point on the first historical forward path to the last trajectory point.

[0123] The value of the preset length is determined according to actual experience, as long as it is long enough to solve the above technical problems. For example, it can be 1.5 times the Euclidean distance between the end point of the first historical forward path and the end point of the second historical forward path. Figure 3 As shown, OA can be extended to become OA".

[0124] In a possible implementation, in order to enable the vehicle to safely pass through the tracking and reversing fitting curve segment, before splicing the first tracking and reversing planning path, the tracking and reversing fitting curve segment and the second tracking and reversing planning path, it can be determined whether the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle. If the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, the first tracking and reversing planning path, the tracking and reversing fitting curve segment and the second tracking and reversing planning path are spliced ​​to obtain a target tracking and reversing planning path with the end point of the second historical forward path as the starting point and the start point of the first historical forward path as the end point. If the maximum curvature of the tracking and reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle, the first intermediate path and the second intermediate path are sampled again, that is, the third sampling point and the fourth sampling point are replaced by resampling until the maximum curvature of the tracking and reversing fitting curve segment obtained by fitting is less than the maximum curvature of the vehicle.

[0125] The method for determining the maximum curvature of the tracking and reversing fitting curve segment includes: uniformly sampling the ordinate within the ordinate range of the tracking and reversing fitting curve segment to obtain multiple fifth sampling points, calculating the Frenet coordinates of each fifth sampling point based on a quintic polynomial, calculating the curvature of each fifth sampling point in the Cartesian coordinate system based on the Frenet coordinates of each fifth sampling point using the Frenet and Cartesian coordinate system conversion formula, and selecting the maximum curvature from the curvatures of all fifth sampling points as the maximum curvature of the tracking and reversing fitting curve segment. In a possible implementation, when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, sampling the ordinate of the tracking and reversing fitting curve segment to obtain multiple fifth sampling points; determining the polygonal contour of the vehicle at each fifth sampling point; respectively calculating the closest distance from each point on the static obstacle to each polygonal contour; and when all the closest distances are greater than zero, splicing the first tracking and reversing planning path, the tracking and reversing fitting curve segment, and the second tracking and reversing planning path.

[0126] In a possible implementation, during the driving process of the vehicle, the perceived static obstacles, such as walls, pillars, curbs on the ground, etc., can be recorded. When the driver turns on the tracking and reversing function, if the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, that is, the vehicle can travel within the curvature range of the tracking and reversing fitting curve segment, then in order to further ensure the safety of reversing, collision detection can also be performed. Specifically, the polygonal contour of the vehicle can be calculated when each fifth sampling point is used as a target point such as the center of the rear axle of the vehicle or the center of gravity of the vehicle, and then the closest distance from each point on each static obstacle to each polygonal contour is calculated. The closest distance has positive and negative directions. When a point on the static obstacle is located within a polygonal contour, the calculated closest distance is less than zero. When a point on the static obstacle is located outside a polygonal contour, the calculated closest distance is greater than zero. When all the closest distances are greater than zero, it means that the vehicle will not collide with the static obstacle, and the first tracking and reversing planning path, the tracking and reversing fitting curve segment, and the second tracking and reversing planning path can continue to be spliced. When the closest distances are all less than or equal to zero, it means that the vehicle will collide with a static obstacle. For safety reasons, it is necessary to return to sample the first intermediate path and the second intermediate path, that is, to resample the first intermediate path and the second intermediate path to obtain new third sampling points and fourth sampling points until the vehicle does not collide with the obstacle when reversing along the obtained tracking reversing fitting curve segment.

[0127] The embodiment of the present application simulates whether a vehicle will collide with surrounding static obstacles when traveling along a tracking and reversing fitting curve segment by judging the shortest distance between a static obstacle and the polygonal outline of the vehicle at each fifth sampling point on the tracking and reversing fitting curve segment. Only when no collision occurs, the first tracking and reversing planned path, the tracking and reversing fitting curve segment, and the second tracking and reversing planned path are spliced, thereby improving the safety of tracking and reversing.

[0128] It should be noted that the above method of resampling the starting point and end point of the tracing reversing fitting curve segment by judging the maximum curvature of the tracing reversing fitting curve segment and performing collision detection along the tracing reversing fitting curve segment to obtain a smoother and safer tracing reversing fitting curve segment is also applicable to the improvement of the tracing reversing fitting curve segment obtained by the second, third or fourth method mentioned above, which will not be elaborated here.

[0129] In one embodiment, in combination Figure 3 , the scheme of the combination of the above-mentioned method embodiments is described in detail, such as Figure 4 As shown, the method includes:

[0130] S210: Extend S1.

[0131] S220: Sample point A' and point B' at [O, A] and [B, E] respectively.

[0132] S230: Determine whether the angle between A'B' and OA', and the angle between A'B' and B'E are both greater than or equal to 120 degrees; if both are greater than 120 degrees, execute step S240; if any of the angles is less than or equal to 120 degrees, return to execute step S220.

[0133] S240: Sample point C and point D at [O, A'] and [B', E] respectively.

[0134] S250: Sampling point connection: In the Frenet coordinate system, use a quintic polynomial to connect the CDs.

[0135] S260: Calculate the maximum curvature of the curve segment CD.

[0136] S270: Determine whether the maximum curvature of curve segment CD is less than the maximum curvature of the vehicle; if it is less than the maximum curvature of the vehicle, execute step S280; if it is greater than or equal to the maximum curvature of the vehicle, return to execute step S240.

[0137] S280: Determine whether the vehicle will collide with a static obstacle while traveling along the curved segment CD; if a collision will occur, return to step S240; if no collision will occur, execute step S290.

[0138] S290: Plan a reverse path by taking EDCO as the target.

[0139] Based on the above method embodiment, Figure 5 As shown, another embodiment of the present application provides a device for determining a tracking reverse planning path, the device comprising:

[0140] A historical path acquisition unit 310 is used to acquire a historical driving path before the tracking and reversing, wherein the historical driving path includes a first historical forward path, a historical reversing path, and a second historical forward path in sequence;

[0141] a fitting curve acquisition unit 320, configured to acquire a tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, wherein a starting point of the tracking reverse fitting curve segment is located on the second historical forward path, an end point of the tracking reverse fitting curve segment is located on the first historical forward path, and a vehicle driving direction of the tracking reverse fitting curve segment from the starting point to the end point is a vehicle reverse direction;

[0142] A first planned reversing path acquisition unit 330, configured to acquire a first planned reversing path according to an end point of the second historical forward path and a starting point of the reversing fitting curve segment;

[0143] A second planned reversing path acquisition unit 340 is used to acquire a second planned reversing path according to the end point of the reversing fitting curve segment and the starting point of the first historical forward path;

[0144] The target reversing planned path obtaining unit 350 is used to obtain a target tracking reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reversing planned path, the tracking reversing fitting curve segment, and the second tracking reversing planned path.

[0145] In a possible implementation, the fitting curve acquiring unit 320 includes:

[0146] A first sampling module, configured to sample the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path;

[0147] a second sampling module, configured to sample the first intermediate path and the second intermediate path when both the first angle and the second angle are greater than or equal to a preset angle threshold, to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path, wherein the first intermediate path includes a path between a starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and an end point of the second historical forward path on the second historical forward path, the first angle includes an angle between a path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between a path formed by the first sampling point and the second sampling point and the second intermediate path;

[0148] The fitting unit module is used to perform curve fitting on the third sampling point and the fourth sampling point to obtain a tracking and reversing fitting curve segment, wherein the third sampling point is the end point of the tracking and reversing fitting curve segment, and the fourth sampling point is the starting point of the tracking and reversing fitting curve segment.

[0149] In a possible implementation, the fitting curve acquiring unit 320 further includes:

[0150] an extension module, configured to extend the first historical forward path by a preset length according to the directions of the last two trajectory points on the first historical forward path before sampling the first historical forward path and the second historical forward path;

[0151] The first sampling module is used to sample the extended first historical forward path and the second historical forward path.

[0152] In a possible implementation, the target reversing planned path obtaining unit 350 is used to splice the first tracking reversing planned path, the tracking reversing fitting curve segment and the second tracking reversing planned path when the maximum curvature of the tracking reversing fitting curve segment is less than the maximum curvature of the vehicle, so as to obtain a target tracking reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

[0153] In a possible implementation, the second sampling module is further configured to sample the first intermediate path and the second intermediate path when the maximum curvature of the tracking and reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

[0154] In a possible implementation, the target reverse planning path obtaining unit 350 includes:

[0155] A third sampling module is used to sample the ordinate of the tracking and reversing fitting curve segment to obtain a plurality of fifth sampling points when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle;

[0156] A determination module, used for determining a polygonal outline of the vehicle at each of the fifth sampling points;

[0157] A calculation module is used to calculate the closest distance from each point on the static obstacle to each of the polygonal contours respectively; a splicing module is used to splice the first tracking and reversing planning path, the tracking and reversing fitting curve segment and the second tracking and reversing planning path when all the closest distances are greater than zero.

[0158] In a possible implementation manner, the second sampling module is further configured to sample the first intermediate path and the second intermediate path when the closest distances are both less than or equal to zero.

[0159] In a possible implementation, the first sampling module is further configured to sample the first historical forward path and the second historical forward path when the first angle or the second angle is smaller than the preset angle threshold.

[0160] The device for determining the tracking reverse planning path provided in the embodiment of the present application can first obtain the tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, and then obtain the first tracking reverse planning path according to the end point of the second historical forward path and the starting point of the tracking reverse fitting curve segment, and obtain the second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path, and finally obtain the target tracking reverse planning path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reverse planning path, the tracking reverse fitting curve segment, and the second tracking reverse planning path. Compared with the tracking reverse path that requires reverse driving, forward driving, and reverse driving to return to the original path, the target tracking reverse planning path only includes the reverse driving path, and the driving path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of tracking reverse driving and the comfort of the driver and passengers.

[0161] Based on the above method embodiments, another embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any of the above embodiments is implemented.

[0162] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Figure 6 As shown, including:

[0163] one or more processors 410;

[0164] The processor 410 is coupled to a storage device 420, and the storage device 420 is used to store one or more programs;

[0165] When the one or more programs are executed by the one or more processors 410, the electronic device or computer device implements the method described in any of the above embodiments.

[0166] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device as described in any of the above embodiments, or includes the electronic device as described above.

[0167] Based on the above embodiments, another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any of the above embodiments.

[0168] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here. It can be understood by those skilled in the art that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0169] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a planned path for tracking and reversing, characterized in that: The method comprises: Acquire a historical driving path before reversing, wherein the historical driving path includes a first historical forward path, a historical reversing path, and a second historical forward path in sequence; According to the first historical forward path and the second historical forward path, a tracking and reversing fitting curve segment is acquired, wherein a starting point of the tracking and reversing fitting curve segment is located on the second historical forward path, an end point of the tracking and reversing fitting curve segment is located on the first historical forward path, and a vehicle driving direction of the tracking and reversing fitting curve segment from the starting point to the end point is a reversing direction of the vehicle; Acquire a first tracking reverse planning path according to an end point of the second historical forward path and a starting point of the tracking reverse fitting curve segment; Acquire a second tracking reverse planning path according to the end point of the tracking reverse fitting curve segment and the starting point of the first historical forward path; and A target tracking and reversing planned path is obtained with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path.

2. The method according to claim 1, characterized in that The acquiring the tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path includes: Sampling the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path; In the case where both the first angle and the second angle are greater than or equal to the preset angle threshold, sampling the first intermediate path and the second intermediate path to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path, wherein the first intermediate path includes a path between the starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and the end point of the second historical forward path on the second historical forward path, the first angle includes an angle between a path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between a path formed by the first sampling point and the second sampling point and the second intermediate path; Curve fitting is performed on the third sampling point and the fourth sampling point to obtain the tracking and reversing fitting curve segment, wherein the third sampling point is an end point of the tracking and reversing fitting curve segment, and the fourth sampling point is a starting point of the tracking and reversing fitting curve segment.

3. The method according to claim 2, characterized in that Before sampling the first historical forward path and the second historical forward path, the method further includes: According to the directions of the last two track points on the first historical forward path, the first historical forward path is extended by a preset length; The sampling of the first historical forward path and the second historical forward path includes: The extended first historical forward path and the extended second historical forward path are sampled.

4. The method according to claim 2, characterized in that: The step of obtaining a target tracking reverse planning path having an end point of the second historical forward path as a starting point and a starting point of the first historical forward path as an end point according to the first tracking reverse planning path, the tracking reverse fitting curve segment, and the second tracking reverse planning path includes: When the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path are spliced ​​to obtain a target tracking and reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

5. The method according to claim 4, characterized in that The method further comprises: In a case where the maximum curvature of the fitting curve segment is greater than or equal to the maximum curvature of the vehicle, returning to the step of sampling the first intermediate path and the second intermediate path.

6. The method according to claim 4, characterized in that When the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, splicing the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path comprises: When the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle, sampling the ordinate of the tracking and reversing fitting curve segment to obtain a plurality of fifth sampling points; Determine a polygonal outline of the vehicle at each of the fifth sampling points; Calculate the shortest distance from each point on the static obstacle to each of the polygonal contours; When all the closest distances are greater than zero, the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path are spliced.

7. The method according to claim 6, characterized in that The method further comprises: In the case that the closest distances are both less than or equal to zero, returning to the step of sampling the first intermediate path and the second intermediate path.

8. The method according to any one of claims 2 to 7, characterized in that: The method further comprises: When the first angle or the second angle is smaller than the preset angle threshold, the step of returning to the step of sampling the first historical forward path and the second historical forward path.

9. A device for determining a planned path for tracking and reversing, characterized in that: The device comprises: A historical path acquisition unit, used to acquire a historical driving path before following the track and reversing, wherein the historical driving path includes a first historical forward path, a historical reversing path, and a second historical forward path in sequence; a fitting curve acquisition unit, configured to acquire a tracking reverse fitting curve segment according to the first historical forward path and the second historical forward path, wherein a starting point of the tracking reverse fitting curve segment is located on the second historical forward path, an end point of the tracking reverse fitting curve segment is located on the first historical forward path, and a vehicle driving direction of the tracking reverse fitting curve segment from the starting point to the end point is a vehicle reverse direction; A first planned reversing path acquisition unit, configured to acquire a first planned reversing path according to an end point of the second historical forward path and a starting point of the reversing fitting curve segment; A second planned reversing path acquisition unit, configured to acquire a second planned reversing path according to an end point of the reversing fitting curve segment and a starting point of the first historical forward path; The target reversing planned path obtaining unit is used to obtain a target tracking reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point according to the first tracking reversing planned path, the tracking reversing fitting curve segment, and the second tracking reversing planned path.

10. The device according to claim 9, characterized in that The fitting curve acquisition unit comprises: A first sampling module, configured to sample the first historical forward path and the second historical forward path to obtain a first sampling point on the first historical forward path and a second sampling point on the second historical forward path; a second sampling module, configured to sample the first intermediate path and the second intermediate path when both the first angle and the second angle are greater than or equal to a preset angle threshold, to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path, wherein the first intermediate path includes a path between a starting point of the first historical forward path and the first sampling point on the first historical forward path, the second intermediate path includes a path between the second sampling point and an end point of the second historical forward path on the second historical forward path, the first angle includes an angle between a path formed by the first sampling point and the second sampling point and the first intermediate path, and the second angle includes an angle between a path formed by the first sampling point and the second sampling point and the second intermediate path; A fitting module is used to perform curve fitting on the third sampling point and the fourth sampling point to obtain a tracking and reversing fitting curve segment, wherein the third sampling point is an end point of the tracking and reversing fitting curve segment, and the fourth sampling point is a starting point of the tracking and reversing fitting curve segment.

11. The device according to claim 10, characterized in that The fitting curve acquisition unit also includes: an extension module, configured to extend the first historical forward path by a preset length according to the directions of the last two trajectory points on the first historical forward path before sampling the first historical forward path and the second historical forward path; The first sampling module is used to sample the extended first historical forward path and the second historical forward path.

12. The device according to claim 10, characterized in that The target reversing planned path obtaining unit is used to splice the first tracking reversing planned path, the tracking reversing fitted curve segment and the second tracking reversing planned path when the maximum curvature of the tracking reversing fitted curve segment is less than the maximum curvature of the vehicle, so as to obtain a target tracking reversing planned path with the end point of the second historical forward path as the starting point and the starting point of the first historical forward path as the end point.

13. The device according to claim 12, characterized in that The second sampling module is further configured to sample the first intermediate path and the second intermediate path when the maximum curvature of the tracking and reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

14. The device according to claim 12, characterized in that The target reversing planning path obtaining unit comprises: A third sampling module is used to sample the ordinate of the tracking and reversing fitting curve segment to obtain a plurality of fifth sampling points when the maximum curvature of the tracking and reversing fitting curve segment is less than the maximum curvature of the vehicle; A determination module, used for determining a polygonal outline of the vehicle at each of the fifth sampling points; A calculation module, used to calculate the shortest distance from each point on the static obstacle to each of the polygonal contours; A splicing module is used to splice the first tracking and reversing planned path, the tracking and reversing fitting curve segment and the second tracking and reversing planned path when all the closest distances are greater than zero.

15. The device according to claim 14, characterized in that The second sampling module is further configured to sample the first intermediate path and the second intermediate path when the closest distances are both less than or equal to zero.

16. The device according to any one of claims 10 to 15, characterized in that The first sampling module is further configured to sample the first historical forward path and the second historical forward path when the first angle or the second angle is smaller than the preset angle threshold.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

18. An electronic device, characterized in that: The electronic device comprises: one or more processors; The processor is coupled to a storage device, and the storage device is used to store one or more programs; When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any one of claims 1 to 8.

19. A vehicle, characterized in that: The vehicle comprises the apparatus as claimed in any one of claims 9 to 16, or comprises the electronic device as claimed in claim 18.

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