Method, device, medium and equipment for determining tracking reverse planning path and vehicle

Abstract

The application discloses a method, device, medium, equipment and vehicle for determining a tracking reverse planning path. The method comprises: obtaining a historical driving path before tracking reverse; obtaining a tracking reverse fitting curve segment according to a first historical forward path and a second historical forward path; obtaining a first tracking reverse planning path according to an end point of the second historical forward path and a start point of the tracking reverse fitting curve segment; obtaining a second tracking reverse planning path according to an end point of the tracking reverse fitting curve segment and a start point of the first historical forward path; and obtaining a target tracking reverse planning path according to the first tracking reverse planning path, the tracking reverse fitting curve segment and the second tracking reverse planning path. Compared with a tracking reverse path of returning along an original path, the target tracking reverse planning path only comprises a reverse driving path, the driving path is simple and smooth, and the distance is greatly reduced, so that the efficiency of tracking reverse and the comfort of a driver and passengers can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to a method, apparatus, medium, equipment, and vehicle for determining a reversing path. Background Technology

[0002] Reverse tracking is an auxiliary function in driver assistance systems. The reversing assist function in the driver assistance system records the driving route before reversing and can automatically reverse back the corresponding distance without the driver controlling the steering wheel. Especially when reversing in narrow roads such as narrow alleys, it supports the function of automatically returning to the original route without manual operation.

[0003] However, when the historical driving path is complex and lengthy, this reversing path of returning to the original route will also be relatively complex and lengthy. In a scenario where you shift from D to R and then back to D, meaning you first drive forward, then deviate from the original route to reverse, and finally drive forward on the new route, using a reversing path of returning to the original route for automatic reversing would result in three complex and lengthy segments. For example... Figure 1 As shown, the vehicle first travels along road S1 from point O to point A, then starts to deviate from road S1 and reverses to point B on road S2, and finally travels along road S2 to point E. If the original path is used for reversing, the vehicle needs to automatically reverse along three road segments: EB, BA, and AO. The reversing path planning is complex and lengthy. Summary of the Invention

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

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a method for determining a reversing path, the method comprising:

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

[0008] Based on the first historical forward path and the second historical forward path, a tracking reversing fitting curve segment is obtained, wherein the starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the ending point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction from the starting point to the ending point of the tracking reversing fitting curve segment is the vehicle reversing direction.

[0009] Based on the end point of the second historical forward path and the starting point of the tracking reverse fitting curve segment, obtain the first tracking reverse planning path;

[0010] Based on the endpoint of the line-following reversing fitting curve segment and the starting point of the first historical forward path, a second line-following reversing planning path is obtained; and

[0011] Based on the first reversing path, the reversing curve segment, and the second reversing path, a target reversing path is obtained, starting from the end of the second historical forward path and ending at the beginning of the first historical forward path.

[0012] As can be seen from the above scheme, the embodiments of this application first obtain a tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path. Then, based on the end point of the second historical forward path and the start point of the tracking reversing fitting curve segment, a first tracking reversing planning path is obtained. Based on the end point of the tracking reversing fitting curve segment and the start point of the first historical forward path, a second tracking reversing planning path is obtained. Finally, based on the first tracking reversing planning path, the tracking reversing fitting curve segment, and the second tracking reversing planning path, a target tracking reversing planning path is obtained, 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 ending point. Compared to a tracking reversing path that requires reversing, then moving forward, and then reversing again to return to the original route, this target tracking reversing planning path only includes the reversing driving path. The driving path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of tracking reversing and the comfort of drivers and passengers.

[0013] In a first possible implementation of the first aspect, obtaining the tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path includes:

[0014] The first historical forward path and the second historical forward path are sampled to obtain the first sampling point on the first historical forward path and the second sampling point on the second historical forward path;

[0015] When both the first included angle and the second included angle are greater than or equal to a preset angle threshold, the first intermediate path and the second intermediate path are sampled to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path. The first intermediate path includes the 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 the path between the second sampling point and the ending point of the second historical forward path on the second historical forward path. The first included angle includes the angle between the path formed by the first sampling point and the second sampling point and the first intermediate path. The second included angle includes the angle between the 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 the line-following reversing fitting curve segment, wherein the third sampling point is the end point of the line-following reversing fitting curve segment and the fourth sampling point is the start point of the line-following reversing fitting curve segment.

[0017] As can be seen from the above scheme, the embodiments of this application, 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 a preset angle threshold. Then, the first intermediate path and the second intermediate path, which are respectively used as boundary points by the first sampling point and the second sampling point, are sampled. Curve fitting is then performed on the sampled third sampling point and the fourth sampling point to obtain the line-following reverse fitting curve segment. The line-following reverse fitting curve segment obtained by this two-layer sampling method has a smoother connection with the first line-following reverse planning path and the second line-following reverse planning path, thereby further improving the comfort of the driver and passengers while shortening the distance.

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

[0019] Extend the first historical forward path by a preset length according to the direction of the last two trajectory points on the first historical forward path;

[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 second historical forward path are sampled.

[0022] As can be seen from the above scheme, the embodiments of this application, by extending the first historical forward path by a preset length and then sampling the extended first historical forward path and the second historical forward path, can prevent the first historical forward path from being unable to be sampled when the sampling reaches the end point of the second historical forward path in extreme cases.

[0023] In a third possible implementation of the first aspect, obtaining the target reversing path, which starts at the end of the second historical forward path and ends at the start of the first historical forward path, based on the first reversing path, the reversing fitted curve segment, and the second reversing path, includes:

[0024] When the maximum curvature of the tracking reversing fitting curve segment is less than the maximum curvature of the vehicle, the first tracking reversing planning path, the tracking reversing fitting curve segment, and the second tracking reversing planning path are spliced ​​together to obtain a target tracking 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 ending point.

[0025] As can be seen from the above scheme, in this embodiment of the application, the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path are spliced ​​together only when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle. This allows the vehicle to safely pass through the reversing fitting curve segment and avoids the problem of the vehicle being unable to drive because it cannot reach the curvature of the reversing fitting curve segment.

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

[0027] If the maximum curvature of the tracking reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle, return to the sampling of the first intermediate path and the second intermediate path.

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

[0029] When the maximum curvature of the reversing tracking curve segment is less than the maximum curvature of the vehicle, the ordinate of the reversing tracking curve segment is sampled to obtain multiple fifth sampling points.

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

[0031] Calculate the nearest distance from each point on the static obstacle to each polygonal contour;

[0032] If all the nearest distances are greater than zero, the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path are spliced ​​together.

[0033] As can be seen from the above scheme, the embodiments of this application simulate whether the vehicle will collide with the surrounding static obstacles when driving along the tracking reversing fitting curve segment by judging the shortest distance between the static obstacle and the polygonal outline at each fifth sampling point on the tracking reversing fitting curve segment. Only when no collision occurs will the first tracking reversing planning path, the tracking reversing fitting curve segment and the second tracking reversing planning path be spliced ​​together, thereby improving the safety of tracking reversing.

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

[0035] If the nearest distances are all less than or equal to zero, return to the step of sampling the first intermediate path and the second intermediate path.

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

[0037] If either the first included angle or the second included angle is less than the preset angle threshold, the process returns to sampling the first historical forward path and the second historical forward path.

[0038] Secondly, embodiments of this application provide a device for determining a reversing path, the device comprising:

[0039] The historical path acquisition unit is used to acquire the historical driving path before the reverse driving, wherein the historical driving path includes a first historical forward path, a historical reverse path and a second historical forward path in sequence.

[0040] The fitting curve acquisition unit is used to acquire a tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path, wherein the starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the ending point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction from the starting point to the ending point of the tracking reversing fitting curve segment is the vehicle reversing direction.

[0041] The first reversing path acquisition unit is used to acquire the first reversing path based on the end point of the second historical forward path and the starting point of the reversing fitting curve segment.

[0042] The second reversing planning path acquisition unit is used to acquire the second reversing planning path based on the end point of the line-following reversing fitting curve segment and the starting point of the first historical forward path.

[0043] The target reversing planning path acquisition unit is used to obtain a target reversing 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 ending point, based on the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path.

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

[0045] The first sampling module is used 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] The second sampling module is used to sample the first intermediate path and the second intermediate path when both the first included angle and the second included 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. The first intermediate path includes the 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 the path between the second sampling point and the ending point of the second historical forward path on the second historical forward path. The first included angle includes the angle between the path formed by the first sampling point and the second sampling point and the first intermediate path. The second included angle includes the angle between the path formed by the first sampling point and the second sampling point and the second intermediate path.

[0047] The fitting module is used to perform curve fitting on the third sampling point and the fourth sampling point to obtain a line-following reversing fitting curve segment, wherein the third sampling point is the end point of the line-following reversing fitting curve segment and the fourth sampling point is the start point of the line-following reversing fitting curve segment.

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

[0049] The extension module is used to extend the first historical forward path by a preset length according to the direction 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 planning path obtaining unit is used to splice the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path together when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, so as to obtain a target reversing 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 ending point.

[0052] In a fourth possible implementation of the second aspect, 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 reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

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

[0054] The third sampling module is used to sample the ordinate of the reversing fitting curve segment when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, and obtain multiple fifth sampling points.

[0055] A determination module is used to determine the polygonal profile of the vehicle at each of the fifth sampling points;

[0056] The calculation module is used to calculate the nearest distance from each point on the static obstacle to each polygonal contour;

[0057] The splicing module is used to splice the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path when all the nearest distances are greater than zero.

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

[0059] In a seventh possible implementation 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 included angle or the second included angle is less than the preset angle threshold.

[0060] As can be seen from the above scheme, the embodiments of this application first obtain a reversing trajectory fitting curve segment based on the first historical forward path and the second historical forward path. Then, based on the end point of the second historical forward path and the start point of the reversing trajectory fitting curve segment, a first reversing trajectory planning path is obtained. Based on the end point of the reversing trajectory fitting curve segment and the start point of the first historical forward path, a second reversing trajectory planning path is obtained. Finally, based on the first reversing trajectory planning path, the reversing trajectory fitting curve segment, and the second reversing trajectory planning path, a target reversing trajectory planning path is obtained, 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 ending point. Compared with the reversing trajectory path that returns along the original route, this target reversing trajectory planning path is not only simple and smooth, but also greatly reduces the distance, thereby improving the efficiency of reversing trajectory and the comfort of drivers and passengers.

[0061] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any possible implementation of the first aspect.

[0062] Fourthly, embodiments of this application provide an electronic device, which includes:

[0063] One or more processors;

[0064] The processor is coupled to a storage device for storing one or more programs;

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

[0066] Fifthly, embodiments of this application provide a vehicle that includes the means as described in any possible implementation of the second aspect, or includes electronic equipment as described in the fourth aspect.

[0067] In a sixth aspect, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any possible implementation of the first aspect. Attached Figure Description

[0068] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

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

[0070] Figure 2 A flowchart illustrating a method for determining a reversing path planning method provided in an embodiment of this application;

[0071] Figure 3 An example diagram illustrating a method for determining a reversing path planning method provided in an embodiment of this application;

[0072] Figure 4 A flowchart illustrating another method for determining a reversing path planning method provided in an embodiment of this application;

[0073] Figure 5 A block diagram illustrating the composition of a device for determining a reversing path planning method, as provided in an embodiment of this application.

[0074] Figure 6 This is a schematic diagram of the structure of an electronic device or computer device provided in an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

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

[0077] Figure 2 This is a flowchart illustrating a method for determining a reversing path, which can be applied to electronic or computer equipment, specifically to a terminal or server. The method includes:

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

[0079] The historical driving path before reversing includes the historical driving path from the target position set by the driver to which they want to reverse to to the current position. In the scenario addressed in this application embodiment, the historical driving path sequentially includes a first historical forward path, a historical reversing path, and a second historical forward path. For example... 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 both the first and second historical forward paths can be straight or curved, but they are all forward-moving paths and do not include reverse paths.

[0081] S120: Based on the first historical forward path and the second historical forward path, obtain the tracking reverse fitting curve segment.

[0082] The starting point of the line-following reversing fitting curve segment is located on the second historical forward path, and the ending point of the line-following reversing fitting curve segment is located on the first historical forward path. The vehicle's driving direction from the starting point to the ending point of the line-following reversing fitting curve segment is the vehicle's reversing direction.

[0083] The methods for obtaining the line-following reversing fitting curve segment based on the first historical forward path and the second historical forward path include, but are not limited to, the following:

[0084] The first method:

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

[0086] In this embodiment, cross-sampling can be performed on the first historical forward path and the second historical forward path. For two points, cross-sampling means fixing one point, moving the second point (i.e., sampling the second point), and after the second point is sampled, fixing it and sampling the first point. 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 sequentially. For example... 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 both the first included angle and the second included angle are greater than or equal to the preset angle threshold, the first intermediate path and the second intermediate path are sampled to obtain the third sampling point on the first intermediate path and the fourth sampling point on the second intermediate path.

[0088] The first intermediate path includes the path between the starting point and the first sampling point on the first historical forward path. The second intermediate path includes the path between the second sampling point and the ending point on the second historical forward path. The first included angle includes the angle between the path formed by the first and second sampling points and the first intermediate path. The second included angle includes the angle between the path formed by the first and second sampling points and the second intermediate path. The preset angle threshold is an obtuse angle, and the specific value can be determined based on practical 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 included angle is the angle between OA' and A'B', and the second included angle is the angle between A'B' and B'E.

[0090] In one possible implementation, if the first or second included angle is less than a preset angle threshold, it indicates that the transition between the subsequently fitted line-following reversing curve segment and the first and second line-following reversing planned paths is not smooth enough, increasing the difficulty of reversing. To reduce the difficulty of reversing and improve reversing efficiency, the process can be reversed to sample the first and second historical forward paths, re-sample the first and second historical forward paths to obtain new first and second sampling points, until the first or second included angle is less than the preset angle threshold, before proceeding with subsequent operations.

[0091] A3. Perform curve fitting on the third and fourth sampling points to obtain the tracking reversing 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 section details the process of curve fitting for the third and fourth sampling points using the polynomial curve fitting method:

[0094] A Frenet coordinate system is established based on the first historical forward path. The coordinates of a point in the Frenet coordinate system are (s, l, l′, l″), where l′ and l′′ represent the first and second derivatives of the abscissa l with respect to the ordinate s, respectively. An expression for a quintic polynomial curve is established based on the Frenet coordinate system: l = a0 + a1s + a2s 2 +a3s 3 +a4s 4 +a5s 5Solution: Given the starting point (s0, l0, l′0, l″0) and the ending point (s1, l1, l′1, l″1), substituting them into the above expression yields a system of six linear equations. Solving this system of equations provides the fifth-order polynomial coefficients (a0, a1, a2, a3, a4, a5) of the tracking reversing curve segment in the Frenet coordinate system. Figure 3 As shown, the tracking reversing fitting curve segment obtained based on this method is curve CD.

[0095] As can be seen from the above scheme, the embodiments of this application, 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 a preset angle threshold. Then, the first intermediate path and the second intermediate path, which are respectively used as boundary points by the first sampling point and the second sampling point, are sampled. Curve fitting is then performed on the sampled third sampling point and the fourth sampling point to obtain the line-following reverse fitting curve segment. The line-following reverse fitting curve segment obtained by this two-layer sampling method has a smoother connection with the first line-following reverse planning path and the second line-following reverse planning path, thereby further improving the comfort of the driver and passengers while shortening the distance.

[0096] The second method:

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

[0098] B2. Connect the sixth and seventh sampling points using the method of spiral curve and straight line to obtain the tracking reversing fitting curve segment.

[0099] The third method:

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

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

[0102] C3. Perform curve fitting on the eighth and ninth sampling points to obtain the 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 there is enough driving space when the vehicle reverses into the third intermediate path during the reversing process, such as ensuring that the vehicle can be straightened in 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] The first length threshold is greater than the second length threshold, and the specific value can be determined based on actual experience and needs.

[0106] The fourth method:

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

[0108] D2. Sample 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 and eleventh sampling points to obtain the tracking reversing 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 sufficient driving space when the vehicle starts reversing on the fourth intermediate path during the reversing process, such as ensuring that the vehicle can reverse into the 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 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] The third length threshold is greater than the fourth length threshold, and the specific value can be determined based on actual experience and needs.

[0113] S130: Obtain the first reversing planning path based on the end point of the second historical forward path and the starting point of the reversing fitting curve segment.

[0114] On the second historical forward path, the path between the end point of the second historical forward path and the starting point of the line-following reverse fitting curve segment can be used as the first line-following reverse planning path.

[0115] S140: Obtain the second reversing planning path based on the end point of the reversing 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 line-following reverse fitting curve segment and the starting point of the first historical forward path can be used as the second line-following reverse planning path.

[0117] S150: Based on the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path, obtain the target line-following 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 ending point.

[0118] After obtaining the three planned paths—the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path—these three can be spliced ​​together in sequence to obtain the target line-following 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 ending point.

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

[0120] The method for determining a reversing path provided in this application first obtains a reversing curve segment based on a first historical forward path and a second historical forward path. Then, it obtains a first reversing path based on the end point of the second historical forward path and the start point of the reversing curve segment. It then obtains a second reversing path based on the end point of the reversing curve segment and the start point of the first historical forward path. Finally, it obtains a target reversing 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 ending point, based on the first reversing path, the reversing curve segment, and the second reversing path. Compared to a reversing path that requires reversing, then moving forward, and then reversing again to return to the original route, this target reversing path only includes the reversing path. The path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of reversing and the comfort of the driver and passengers.

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

[0122] The direction of the last two trajectory points on the first historical path refers to the direction from the penultimate trajectory point to the last trajectory point on the first historical path.

[0123] The preset length is determined based on practical experience; it only needs to be long enough to solve the aforementioned technical problems. For example, it could be 1.5 times the Euclidean distance between the endpoints of the first and second historical paths. Figure 3 As shown, OA can be extended to become OA.

[0124] In one possible implementation, to ensure the vehicle can safely traverse the reversing curve segment, before concatenating the first reversing planned path, the reversing curve segment, and the second reversing planned path, it can be determined whether the maximum curvature of the reversing curve segment is less than the maximum curvature of the vehicle. If the maximum curvature of the reversing curve segment is less than the maximum curvature of the vehicle, the first reversing planned path, the reversing curve segment, and the second reversing planned path are concatenated to obtain the target reversing planned 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 ending point. If the maximum curvature of the reversing curve segment is greater than or equal to the maximum curvature of the vehicle, the process returns to sampling the first and second intermediate paths, i.e., resampling, changing the third and fourth sampling points, until the maximum curvature of the fitted reversing curve segment is less than the maximum curvature of the vehicle.

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

[0126] In one possible implementation, during vehicle operation, perceived static obstacles, such as walls, pillars, and curbs, can be recorded. When the driver activates the reversing tracking function, if the maximum curvature of the reversing tracking fitted curve segment is less than the maximum curvature of the vehicle (meaning the vehicle can travel within the curvature range of the reversing tracking fitted curve segment), collision detection can be performed to further ensure reversing safety. Specifically, the polygonal outline of the vehicle can be calculated first, taking each fifth sampling point as a target point such as the rear axle center or the vehicle's center of gravity. Then, the nearest distance from each point on each static obstacle to each polygonal outline can be calculated. This nearest distance has positive and negative directions: when a point on a static obstacle is within a polygonal outline, the calculated nearest distance is less than zero; when a point on a static obstacle is outside a polygonal outline, the calculated nearest distance is greater than zero. If all nearest distances are greater than zero, it indicates that the vehicle will not collide with the static obstacle, and the first reversing tracking planning path, the reversing tracking fitted curve segment, and the second reversing tracking planning path can be spliced ​​together. If the nearest distance is less than or equal to zero, it means that the vehicle will collide with the static obstacle. For safety reasons, it is necessary to return to the first intermediate path and the second intermediate path to sample again. That is, to resample the first intermediate path and the second intermediate path to obtain new third and fourth sampling points, until the vehicle will not collide with the obstacle when reversing along the obtained tracking reversing fitting curve segment.

[0127] This application embodiment simulates whether the vehicle will collide with surrounding static obstacles when driving along the tracking and reversing fitting curve segment by determining the nearest distance between the static obstacle and the polygonal outline at each fifth sampling point on the tracking and reversing fitting curve segment. Only when no collision occurs is the first tracking and reversing planning path, the tracking and reversing fitting curve segment, and the second tracking and reversing planning path spliced ​​together, thereby improving the safety of tracking and reversing.

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

[0129] In one implementation, combined with Figure 3 The solutions combining the above-mentioned method embodiments are described in detail, such as... Figure 4 As shown, the method includes:

[0130] S210: Extend S1.

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

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

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

[0134] S250: Sampling point connection: Connect CD using a fifth-order polynomial in the Frenet coordinate system.

[0135] S260: Calculate the maximum curvature of 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, proceed to step S280; if it is greater than or equal to the maximum curvature of the vehicle, return to step S240.

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

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

[0139] Based on the above method embodiments, such as Figure 5 As shown, another embodiment of this application provides a device for determining a reversing path, the device comprising:

[0140] The historical path acquisition unit 310 is used to acquire the historical driving path before the reverse driving, wherein the historical driving path includes a first historical forward path, a historical reverse path and a second historical forward path in sequence.

[0141] The fitting curve acquisition unit 320 is used to acquire a tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path, wherein the starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the ending point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction from the starting point to the ending point of the tracking reversing fitting curve segment is the vehicle reversing direction.

[0142] The first reversing planning path acquisition unit 330 is used to acquire the first reversing planning path based on the end point of the second historical forward path and the starting point of the reversing fitting curve segment.

[0143] The second reversing path acquisition unit 340 is used to acquire a second reversing path based on the end point of the reversing fitting curve segment and the starting point of the first historical forward path.

[0144] The target reversing planning path acquisition unit 350 is used to obtain a target 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 ending point, based on the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path.

[0145] In one possible implementation, the fitting curve acquisition unit 320 includes:

[0146] The first sampling module is used 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] The second sampling module is used to sample the first intermediate path and the second intermediate path when both the first included angle and the second included 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. The first intermediate path includes the 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 the path between the second sampling point and the ending point of the second historical forward path on the second historical forward path. The first included angle includes the angle between the path formed by the first sampling point and the second sampling point and the first intermediate path. The second included angle includes the angle between the 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 line-following reversing fitting curve segment, wherein the third sampling point is the end point of the line-following reversing fitting curve segment, and the fourth sampling point is the start point of the line-following reversing fitting curve segment.

[0149] In one possible implementation, the fitting curve acquisition unit 320 further includes:

[0150] The extension module is used to extend the first historical forward path by a preset length according to the direction 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 one possible implementation, the target reversing planning path obtaining unit 350 is used to splice the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, to obtain a target reversing 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 ending point.

[0153] In one 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 reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

[0154] In one possible implementation, the target reversing path acquisition unit 350 includes:

[0155] The third sampling module is used to sample the ordinate of the reversing fitting curve segment when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, and obtain multiple fifth sampling points.

[0156] A determination module is used to determine the polygonal profile of the vehicle at each of the fifth sampling points;

[0157] The calculation module is used to calculate the nearest distance from each point on the static obstacle to each polygonal contour; the stitching module is used to stitch together the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path when all the nearest distances are greater than zero.

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

[0159] In one 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 included angle or the second included angle is less than the preset angle threshold.

[0160] The device for determining a reversing path according to the embodiments of this application can first obtain a reversing fitting curve segment based on a first historical forward path and a second historical forward path. Then, based on the end point of the second historical forward path and the start point of the reversing fitting curve segment, a first reversing path is obtained. Based on the end point of the reversing fitting curve segment and the start point of the first historical forward path, a second reversing path is obtained. Finally, based on the first reversing path, the reversing fitting curve segment, and the second reversing path, a target reversing path is obtained, 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 ending point. Compared to a reversing path that requires reversing, then moving forward, and then reversing again to return to the original route, this target reversing path only includes the reversing path. The path is simple and smooth, and the distance is greatly reduced, thereby improving the efficiency of reversing and the comfort of the driver and passengers.

[0161] Based on the above method embodiments, another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the above embodiments.

[0162] Based on the above method embodiments, another embodiment of this application provides an electronic device or computer device, such as... Figure 6 As shown, it includes:

[0163] One or more processors 410;

[0164] The processor 410 is coupled to a storage device 420, the storage device 420 being 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 performs the method as described in any of the above embodiments.

[0166] Based on the above method embodiments, another embodiment of this application provides a vehicle that 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 this application provides a computer program product, which includes instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any of the above embodiments.

[0168] The above-described apparatus embodiments correspond to the method embodiments and have the same technical effects. For detailed descriptions, please refer to the method embodiments. The apparatus embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0169] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining a reversing path, characterized in that, The method includes: Obtain the historical driving path before reversing, wherein the historical driving path includes, in sequence, a first historical forward path, a historical reversing path, and a second historical forward path; Based on the first historical forward path and the second historical forward path, a tracking reversing fitting curve segment is obtained, wherein the starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the ending point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction from the starting point to the ending point of the tracking reversing fitting curve segment is the vehicle reversing direction. Based on the end point of the second historical forward path and the starting point of the tracking reverse fitting curve segment, obtain the first tracking reverse planning path; Based on the endpoint of the line-following reversing fitting curve segment and the starting point of the first historical forward path, a second line-following reversing planning path is obtained; and Based on the first reversing path, the reversing curve segment, and the second reversing path, a target reversing path is obtained, starting from the end of the second historical forward path and ending at the beginning of the first historical forward path.

2. The method according to claim 1, characterized in that, The step of obtaining the tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path includes: The first historical forward path and the second historical forward path are sampled to obtain the first sampling point on the first historical forward path and the second sampling point on the second historical forward path; When both the first included angle and the second included angle are greater than or equal to a preset angle threshold, the first intermediate path and the second intermediate path are sampled to obtain a third sampling point on the first intermediate path and a fourth sampling point on the second intermediate path. The first intermediate path includes the 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 the path between the second sampling point and the ending point of the second historical forward path on the second historical forward path. The first included angle includes the angle between the path formed by the first sampling point and the second sampling point and the first intermediate path. The second included angle includes the angle between the 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 line-following reversing fitting curve segment, wherein the third sampling point is the end point of the line-following reversing fitting curve segment and the fourth sampling point is the start point of the line-following 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: Extend the first historical forward path by a preset length according to the direction of the last two trajectory points on the first historical forward path; The sampling of the first historical forward path and the second historical forward path includes: The extended first historical forward path and the second historical forward path are sampled.

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

5. The method according to claim 4, characterized in that, The method further includes: If the maximum curvature of the fitted curve segment is greater than or equal to the maximum curvature of the vehicle, return to the sampling of 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 reversing tracking fitting curve segment is less than the maximum curvature of the vehicle, concatenating the first reversing tracking planning path, the reversing tracking fitting curve segment, and the second reversing tracking planning path includes: When the maximum curvature of the reversing tracking curve segment is less than the maximum curvature of the vehicle, the ordinate of the reversing tracking curve segment is sampled to obtain multiple fifth sampling points. Determine the polygonal profile of the vehicle at each of the fifth sampling points; Calculate the nearest distance from each point on the static obstacle to each polygonal contour; If all the nearest distances are greater than zero, the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path are spliced ​​together.

7. The method according to claim 6, characterized in that, The method further includes: If the nearest distances are all less than or equal to zero, return to the step of sampling the first intermediate path and the second intermediate path.

8. The method according to any one of claims 2-7, characterized in that, The method further includes: If either the first included angle or the second included angle is less than the preset angle threshold, the process returns to sampling the first historical forward path and the second historical forward path.

9. A device for determining a reversing path, characterized in that, The device includes: The historical path acquisition unit is used to acquire the historical driving path before the reverse driving, wherein the historical driving path includes a first historical forward path, a historical reverse path and a second historical forward path in sequence. The fitting curve acquisition unit is used to acquire a tracking reversing fitting curve segment based on the first historical forward path and the second historical forward path, wherein the starting point of the tracking reversing fitting curve segment is located on the second historical forward path, the ending point of the tracking reversing fitting curve segment is located on the first historical forward path, and the vehicle driving direction from the starting point to the ending point of the tracking reversing fitting curve segment is the vehicle reversing direction. The first reversing path acquisition unit is used to acquire the first reversing path based on the end point of the second historical forward path and the starting point of the reversing fitting curve segment. The second reversing planning path acquisition unit is used to acquire the second reversing planning path based on the end point of the line-following reversing fitting curve segment and the starting point of the first historical forward path. The target reversing planning path acquisition unit is used to obtain a target reversing 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 ending point, based on the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path.

10. The apparatus according to claim 9, characterized in that, The fitting curve acquisition unit includes: The first sampling module is used 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. The second sampling module is used to sample the first intermediate path and the second intermediate path when both the first included angle and the second included 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. The first intermediate path includes the 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 the path between the second sampling point and the ending point of the second historical forward path on the second historical forward path. The first included angle includes the angle between the path formed by the first sampling point and the second sampling point and the first intermediate path. The second included angle includes the angle between the path formed by the first sampling point and the second sampling point and the second intermediate path. The fitting module is used to perform curve fitting on the third sampling point and the fourth sampling point to obtain a line-following reversing fitting curve segment, wherein the third sampling point is the end point of the line-following reversing fitting curve segment and the fourth sampling point is the start point of the line-following reversing fitting curve segment.

11. The apparatus according to claim 10, characterized in that, The fitting curve acquisition unit further includes: The extension module is used to extend the first historical forward path by a preset length according to the direction 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 apparatus according to claim 10, characterized in that, The target reversing planning path acquisition unit is used to splice the first reversing planning path, the reversing fitting curve segment, and the second reversing planning path together when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, so as to obtain a target reversing 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 ending point.

13. The apparatus 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 reversing fitting curve segment is greater than or equal to the maximum curvature of the vehicle.

14. The apparatus according to claim 12, characterized in that, The target reversing path acquisition unit includes: The third sampling module is used to sample the ordinate of the reversing fitting curve segment when the maximum curvature of the reversing fitting curve segment is less than the maximum curvature of the vehicle, and obtain multiple fifth sampling points. A determination module is used to determine the polygonal profile of the vehicle at each of the fifth sampling points; The calculation module is used to calculate the nearest distance from each point on the static obstacle to each polygonal contour; The splicing module is used to splice the first line-following reversing planning path, the line-following reversing fitted curve segment, and the second line-following reversing planning path when all the nearest distances are greater than zero.

15. The apparatus 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 nearest distances are all less than or equal to zero.

16. The apparatus according to any one of claims 10-15, 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 included angle or the second included angle is less 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 the processor, it implements the method as described in any one of claims 1-8.

18. An electronic device, characterized in that, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 1-8.

19. A vehicle, characterized in that, The vehicle includes the device as described in any one of claims 9-16, or the electronic device as described in claim 18.

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