Method, device and equipment for determining steering mode of multi-axle all-wheel steering vehicle

Abstract

The embodiment of the invention provides a method, a device and equipment for determining a steering mode of a multi-axle all-wheel steering vehicle. The method comprises the following steps: acquiring positioning information of a target vehicle and path point information of a driving path of the target vehicle; determining a reference path point closest to the current position of the target vehicle and the distance between the reference path point and the target vehicle; calculating an included angle between the current orientation of the target vehicle and the orientation of the reference path point; if the included angle is smaller than a preset angle threshold value, the target gear of the target vehicle is determined to be a forward gear, and otherwise, the target gear of the target vehicle is determined to be a reverse gear; and determining the target steering mode of the target vehicle according to the target gear of the target vehicle, the distance between the reference path point and the target vehicle and the radius of a circle formed by a plurality of points in front of or behind the reference path point on the driving path. According to the technical scheme, frequent mode switching can be avoided, and driving smoothness is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a method, device and equipment for determining a steering mode of a multi-axle all-wheel steering vehicle. Background Art

[0002] All-Wheel Drive (AWD) vehicles usually refer to vehicles with more than two axles and all wheels of multiple axles can participate in steering. All-Wheel Drive vehicles have a series of advantages over traditional two-wheel drive vehicles, especially in the application of autonomous driving scenarios in some unmanned ports. In order to cope with the complex port environment and port space, its advantages in maneuverability and handling performance can greatly improve the steering ability of the vehicle.

[0003] In the current technical solutions, whether to switch between front-wheel steering and four-wheel steering modes is often decided by evaluating the curvature of the path point. Specifically, when the curvature of the path point exceeds the preset maximum constraint value, the system will enable the four-wheel steering mode to enhance the vehicle's handling and stability. When the curvature is lower, the front-wheel steering mode is used to simplify control. However, this method has certain limitations. It relies on the change of the curvature of the path point to switch the steering mode, which may lead to frequent mode switching and affect the driving smoothness. Summary of the invention

[0004] The embodiments of the present application provide a method, device and apparatus for determining the steering mode of a multi-axle all-wheel steering vehicle, thereby avoiding frequent mode switching to a certain extent and ensuring driving smoothness.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a method for determining a steering mode of a multi-axle all-wheel steering vehicle is provided, comprising: Obtaining the location information of the target vehicle and the path point information of its driving path; Traversing the path point information, determining a reference path point that is closest to the current position of the target vehicle, and a distance between the reference path point and the target vehicle; Calculating the angle between the current orientation of the target vehicle and the orientation of the reference path point; If the included angle is less than a preset angle threshold, determining that the target gear position of the target vehicle is a forward gear, otherwise, determining that the target gear position of the target vehicle is a reverse gear; The target steering mode of the target vehicle is determined according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0007] According to one aspect of an embodiment of the present application, a device for determining a steering mode of a multi-axle all-wheel steering vehicle is provided, comprising: An acquisition module is used to obtain the positioning information of the target vehicle and the path point information of its driving path; A first determination module, configured to traverse the path point information, determine a reference path point closest to the current position of the target vehicle, and a distance between the reference path point and the target vehicle; A calculation module, used to calculate the angle between the current orientation of the target vehicle and the orientation of the reference path point; A second determination module is used to determine that the target gear position of the target vehicle is a forward gear if the included angle is less than a preset angle threshold, otherwise, determine that the target gear position of the target vehicle is a reverse gear; The processing module is used to determine the target steering mode of the target vehicle according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0008] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for determining the steering mode of a multi-axle all-wheel steering vehicle as described in the above embodiment is implemented.

[0009] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement a method for determining a steering mode of a multi-axle all-wheel steering vehicle as described in the above embodiments.

[0010] According to one aspect of an embodiment of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for determining the steering mode of a multi-axle all-wheel steering vehicle provided in the above embodiment.

[0011] In the technical solution provided by some embodiments of the present application, by obtaining the positioning information of the target vehicle and the path point information of its driving path, traversing the path point information, determining the reference path point closest to the current position of the target vehicle, and the distance between the reference path point and the target vehicle, then calculating the angle between the current orientation of the target vehicle and the orientation of the reference path point, if the angle is less than a preset angle threshold, then determining the target gear of the target vehicle as the forward gear, otherwise, determining the target gear of the target vehicle as the reverse gear, then, according to the target gear of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of the circle formed by several points in front of or behind the reference path point on the driving path, determining the target steering mode of the target vehicle. In this way, frequent switching of steering modes can be avoided, thereby ensuring the smoothness of driving.

[0012] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 A schematic diagram of the structure of a multi-axle all-wheel steering vehicle to which the embodiments of the present application can be applied is shown; Figure 2 Shows Figure 1 A schematic diagram of the steering mode of a multi-axle all-wheel steering vehicle is shown; Figure 3 A schematic flow chart of a method for determining a steering mode of a multi-axle all-wheel steering vehicle according to an embodiment of the present application is shown; Figure 4 A schematic diagram showing the calculation of the center of a circle formed by a number of points according to an embodiment of the present application is shown; Figure 5 A block diagram of a device for determining a steering mode of a multi-axle all-wheel steering vehicle according to an embodiment of the present application is shown; Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0014] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0015] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0016] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0017] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0018] Figure 1 The structure diagram of a multi-axle all-wheel steering vehicle to which the embodiment of the present application can be applied is shown. Figure 1 As shown, the vehicle may have three axles, which are located at the front, the middle and the rear of the vehicle. In different application scenarios and working conditions, the vehicle can select a suitable steering mode to improve the steering effect and steering efficiency. It should be noted that in other embodiments, the multi-axle all-wheel steering vehicle may also have other numbers of axles, and this application does not make any special restrictions on this. In one example, the multi-axle all-wheel steering vehicle may be an intelligent guided transport vehicle (IGV), which may also be other mobile handling robots or unmanned vehicles, and this is not particularly limited.

[0019] Specifically, Figure 2 As shown, Figure 1 The multi-axle all-wheel steer vehicle shown can have the following steering modes: Front half eight mode: that is, front-wheel steering mode, in which the first and second axles of the vehicle are steered in coordination, and the third axle remains fixed; Rear half eight mode: that is, rear-wheel steering mode, in which the second and third axes of the vehicle are steered in coordination, and the first axis remains fixed; Oblique mode: the three axles of the vehicle are turned in the same direction and angle; Full eight mode: the first and third axles of the vehicle steer in opposite directions, while the second axle remains fixed.

[0020] It should be understood that flexibly selecting a steering mode suitable for the current working conditions during driving can enable the vehicle to better follow the route and ensure the efficiency and safety of cargo transportation.

[0021] Figure 3 A schematic flow chart of a method for determining a steering mode of a multi-axle all-wheel steering vehicle according to an embodiment of the present application is shown.

[0022] It should be noted that the method can be applied to a terminal device or a server, wherein the terminal device may include one or more of a smart phone, a tablet computer, a portable computer, and a desktop computer; the server may be a physical server or a cloud server.

[0023] It is worth noting that the method can also be applied to the on-board terminal carried by the multi-axle all-wheel steering vehicle itself, which can perform corresponding control of the vehicle (such as steering, power output, etc.), and during the driving of the vehicle, the on-board terminal can obtain information related to the vehicle and perform real-time calculations, thereby executing the method for determining the steering mode of the multi-axle all-wheel steering vehicle provided in the embodiment of the present application.

[0024] The implementation details of the technical solution of the embodiment of the present application are described in detail below: like Figure 3 As shown, the method for determining the steering mode of a multi-axle all-wheel steering vehicle provided in the embodiment of the present application includes at least steps S310 to S350. The following is an example of applying the method to a vehicle-mounted terminal for explanation: In step S310, the positioning information of the target vehicle and the path point information of its driving path are obtained.

[0025] The vehicle's positioning information may include, but is not limited to, the vehicle's position coordinates, vehicle orientation (such as the angle between the vehicle's current driving direction and the north direction), speed and other dynamic parameters.

[0026] The driving path may be composed of a series of path points, and the path point information of each path point may include its coordinate information and direction, and the direction may be the tangent direction of the path at the path point.

[0027] In this embodiment, the vehicle terminal can obtain the real-time positioning information of the vehicle through the vehicle GPS / IMU (Inertial Measurement Unit). Then, the vehicle can also load the path point information of the target vehicle's driving path from the pre-stored navigation map or cloud scheduling system for subsequent processing.

[0028] In step S320, the path point information is traversed to determine the reference path point closest to the current position of the target vehicle and the distance between the reference path point and the target vehicle.

[0029] In this embodiment, the vehicle terminal can determine the distance between each path point and the target vehicle one by one according to the coordinate information of the current position of the target vehicle and the coordinate information of each path point. In one example, the vehicle terminal can calculate the Euclidean distance between the path point and the coordinate information of the center position of the target vehicle according to the coordinate information of the path point, thereby determining the distance between the target vehicle and each path point.

[0030] Then, the vehicle terminal can determine the path point closest to the target vehicle as the reference path point P, and record the distance between the reference path point P and the target vehicle as dst. It should be understood that the distance between the reference path point and the target vehicle is the shortest, so it can be used as a reference point for subsequently determining the steering mode of the vehicle.

[0031] In step S330, the angle between the current orientation of the target vehicle and the orientation of the reference path point is calculated.

[0032] In this embodiment, after determining the reference path point P, the vehicle terminal can obtain the orientation of the reference path point and calculate the angle θ between the two in combination with the current orientation of the target vehicle. For example, if the current orientation of the target vehicle is 30° and the orientation of the reference path point is 45°, then θ=15°.

[0033] In step S340, if the included angle is less than a preset angle threshold, it is determined that the target gear position of the target vehicle is a forward gear; otherwise, it is determined that the target gear position of the target vehicle is a reverse gear.

[0034] In this embodiment, the preset angle threshold θ1 can be predetermined by those skilled in the art based on prior experience, for example, the preset angle threshold θ1 can be 90°, etc. After determining the angle θ between the orientation of the reference path point and the current orientation of the target vehicle, the vehicle-mounted terminal can compare it with the preset angle threshold θ1. If the angle θ<preset angle θ1, it means that the orientation of the target vehicle is compatible with the driving path, that is, it is determined that the target vehicle can follow the driving path forward, and therefore, the target gear of the target vehicle is determined to be the forward gear. On the contrary, if the angle θ≥preset angle θ1, it means that the target vehicle needs to be reversed, and therefore, the target gear of the target vehicle is determined to be the reverse gear.

[0035] In step S350, the target steering mode of the target vehicle is determined based on the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0036] In this embodiment, if the target gear position of the target vehicle is the forward gear, the vehicle-mounted terminal can obtain the coordinate information of several points on the driving path that are located in front of the reference path point, and then calculate the radius of the circle formed by the several points; if the target gear position of the target vehicle is the reverse gear, the vehicle-mounted terminal can obtain the coordinate information of several points on the driving path that are located behind the reference path point, and then calculate the radius of the circle formed by the several points.

[0037] Then, the vehicle-mounted terminal can comprehensively consider the distance between the target vehicle and the reference path point, as well as the radius of the circle, to determine the target steering mode of the target vehicle. It should be understood that the steering modes that can be selected are different depending on the target gear of the target vehicle. For example, when the target gear of the target vehicle is the forward gear, the steering modes that can be selected include the oblique mode, the front half eight mode and the full eight mode. When the target gear of the target vehicle is the reverse gear, the steering modes that can be selected include the oblique mode, the rear half eight mode and the full eight mode.

[0038] So, based on Figure 3 The illustrated embodiment can avoid frequent mode switching caused by relying solely on the curvature of a single path point, thereby ensuring the smooth driving of the multi-axle all-wheel steering vehicle.

[0039] In some embodiments of the present application, determining the target steering mode of the target vehicle according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: If the distance between the reference path point and the target vehicle is greater than a distance threshold, the target steering mode of the target vehicle is determined to be a diagonal driving mode; otherwise, the target steering mode of the target vehicle is determined based on the target gear position of the target vehicle and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0040] In this embodiment, the vehicle terminal can first compare the distance dst between the reference path point and the target vehicle with a preset distance threshold dst1. If the distance dst> the distance threshold dst1, it means that the distance between the target vehicle and the reference path point P is large. In order to achieve rapid movement, the target steering mode of the target vehicle can be determined to be the oblique mode.

[0041] If the distance dst≤the distance threshold dst1, the vehicle-mounted terminal needs to further consider the target gear position of the target vehicle and the radius of the circle formed by several points in front of or behind the reference path point on the driving path, so as to determine the target steering mode of the target vehicle to ensure the effectiveness of the target steering mode determination.

[0042] In some embodiments of the present application, determining the target steering mode of the target vehicle according to the target gear position of the target vehicle and the radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: According to the target gear position of the target vehicle, obtaining coordinate information of a predetermined number of points on the driving path that are located in front of or behind the reference path point, and calculating the radius of a circle formed by the predetermined number of points; If the radius of the circle is less than a predetermined radius threshold, the target steering mode of the target vehicle is determined to be the front half eight mode or the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined based on the relative position between the center of the circle and the target vehicle, and the obstacle detection results around the target vehicle.

[0043] In this embodiment, as described above, when the distance dst between the target vehicle and the reference path point ≤ the distance threshold dst1, the vehicle-mounted terminal needs to further consider the target gear position of the target vehicle and the radius of the circle formed by several points on the driving path located in front of or behind the reference path point, so as to determine the target steering mode of the target vehicle.

[0044] Specifically, when the target gear position of the target vehicle is the forward gear, the vehicle-mounted terminal can obtain the coordinate information of a predetermined number of points on the driving path that are located in front of the reference path point P, and calculate the radius of the circle formed by the several points; conversely, if the target gear position of the target vehicle is the reverse gear, the vehicle-mounted terminal can obtain the coordinate information of a predetermined number of points on the driving path that are located behind the reference path point P, and calculate the radius of the circle formed by the several points.

[0045] It should be understood that in order to determine a circle formed by a predetermined number of points, the predetermined number should be greater than or equal to 3. Those skilled in the art can determine the specific value of the predetermined number according to actual implementation needs, and this application does not make any special limitation on this.

[0046] In some embodiments of the present application, the predetermined number may be three, and calculating the radius of a circle formed by the predetermined number of points includes: According to the coordinate information of the three points, determine the area of ​​the triangle formed by them and the length of each side of the triangle; If the area is equal to 0, the radius of the circle is determined to be 100. If the area is not equal to 0, the radius of the circle is determined according to the following formula: R1= min(100, AB*BC*AC / (4*S1)), where AB, BC and AC are the lengths of the three sides of the triangle respectively, and S is the area of ​​the triangle.

[0047] In this embodiment, if Figure 4 As shown in the figure (taking the target gear of the target vehicle as the forward gear as an example), the vehicle terminal can obtain the coordinate information of the three points in front of the reference path point, A (x1, y1), B (x2, y2), C (x3, y3), which are respectively 0m, 4m, and 7m away from the reference path point P. The vehicle terminal can calculate the radius R1 of the circle O1 formed by the three points A, B, and C according to the following steps: a. Calculate the area of ​​the triangle formed by points A, B, and C: S1 = 0.5*∣x1(y2 - y3)+x2(y3 - y1)+x3(y1 - y2)∣; b. Calculate the lengths of the three sides of the triangle: AB = sqrt((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1)); BC = sqrt((x2 - x3) * (x2 - x3) + (y2 - y3) * (y2 - y3)); AC = sqrt((x3 - x1) * (x3 - x1) + (y3 - y1) * (y3 - y1)); c. Calculate R1: If S1=0, then determine R1 = 100; if S1≠0, then determine R1 = min(100, AB*BC*AC / (4*S1)).

[0048] It should be noted that during the calculation process, in order to avoid divisor being zero, when S1 is 0, R1 is directly set to 100. It should be understood that when the route is basically a straight line, the calculated R1 will be very large, but in this application, it is only necessary to switch to the full eight mode when the turning radius is less than a certain value. Therefore, R1=100 can be defaulted to a straight line route.

[0049] Next, after calculating the radius R1 of the circle, the vehicle-mounted terminal can compare the radius R1 of the circle with the predetermined radius threshold Ra. It should be noted that the predetermined radius threshold Ra can be the minimum turning radius of the target vehicle in the half-eight mode (i.e., the front half-eight mode and the rear half-eight mode).

[0050] If the radius R1 of the circle is less than the predetermined radius threshold Ra, it means that the current or subsequent path is a sharp curve, and the target steering mode of the target vehicle can be determined to be the front half eight mode or the rear half eight mode, thereby reducing the turning radius and avoiding understeering due to excessive path curvature. It should be understood that if the target gear of the target vehicle is the forward gear, the front half eight mode should be selected, and if the target gear of the target vehicle is the reverse gear, the rear half eight mode should be selected.

[0051] If the radius R1 of the circle ≥ the predetermined radius threshold Ra, it means that the path is relatively slow. At this time, the vehicle terminal can determine the target steering mode of the target vehicle based on the relative position between the center of the circle and the target vehicle and the obstacle detection results around the target vehicle.

[0052] To ensure the accuracy of the judgment of the steepness of the path in front of or behind the target vehicle, in some embodiments of the present application, the coordinate information of three points on the driving path that are located in front of or behind the reference path point can be obtained according to the target gear position of the target vehicle, and then the radius R1 of the circle formed by them can be determined. Then, the coordinate information of another three points on the driving path that are located further ahead or behind the reference path point can be obtained to determine the radius R2 of the circle formed by them.

[0053] by Figure 4Taking the figure as an example, after calculating the radius R1 of the circle O1 formed by the three points A, B, and C in front of the reference path point P, the vehicle terminal can further obtain the coordinate information of the other three points E, F, and G in front of the reference path point P (13m, 17m, and 20m away from the reference path point P respectively), and calculate the radius R2 of the circle O2 formed by the three points E, F, and G.

[0054] After determining the radius R1 and the radius R2, the vehicle terminal can compare both R1 and R2 with the predetermined radius threshold Ra. As long as one of the radius R1 and the radius R2 is less than the predetermined radius threshold Ra (i.e., R1 < Ra or R2 < Ra), the target steering mode of the target vehicle can be determined to be the front half eight mode (forward gear) or the rear half eight mode (reverse gear). Otherwise, the vehicle terminal needs to further determine the target steering mode of the target vehicle based on the relative position between the center of the circle closer to the target vehicle (i.e., the aforementioned circle O1) and the target vehicle, as well as the obstacle detection results around the target vehicle.

[0055] It should be noted that the above figures are only illustrative examples, and those skilled in the art can determine the distance between the selected point and the reference path point according to actual implementation needs, and this application does not make any special limitation on this.

[0056] In some embodiments of the present application, determining a target steering mode of the target vehicle according to a relative position between the center of the circle and the target vehicle and an obstacle detection result around the target vehicle includes: When the target gear of the target vehicle is the forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, if there are obstacles around the target vehicle and behind the side where the center of the circle is located, determining that the target steering mode of the target vehicle is the front half eight mode, otherwise determining that the target steering mode of the target vehicle is the full eight mode; When the target gear position of the target vehicle is the reverse gear, the center of the circle is determined to be located on the left or right side of the target vehicle. If there are obstacles in front of the target vehicle on different sides of the center of the circle, the target steering mode of the target vehicle is determined to be the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined to be the full eight mode.

[0057] In this embodiment, when it is necessary to further determine the target steering mode in combination with the relative position between the center of the circle and the target vehicle and the obstacle detection results around the target vehicle, the vehicle-mounted terminal can perform different processing steps based on the target gear of the target vehicle. It should be noted that the target vehicle can be equipped with sensors such as laser radar to detect the surrounding environment of the target vehicle to determine whether there are obstacles and the location of the obstacles, which will not be repeated in this application.

[0058] Specifically, when the target gear of the target vehicle is the forward gear, the vehicle-mounted terminal can first determine whether the center of the circle is located on the left or right side of the target vehicle. If the center of the circle is located on the left side of the target vehicle, it is determined whether there is an obstacle to the left rear of the target vehicle (because the target gear is the forward gear). If there is an obstacle to the left rear of the target vehicle, in order to avoid collision with the obstacle, the target steering mode of the target vehicle can be determined to be the front half eight mode. Similarly, if the center of the circle is located on the right side of the target vehicle and there is an obstacle to the right rear of the target vehicle, the target steering mode of the target vehicle can also be determined to be the front half eight mode, so that the tail of the target vehicle can be prevented from colliding with the obstacle.

[0059] When there are no obstacles around the target vehicle and behind the side where the center of the circle is located, it means that there will be no collision with the obstacles, and the target steering mode of the target vehicle can be determined to be the full eight mode, thereby obtaining the minimum turning radius.

[0060] When the target gear of the target vehicle is the reverse gear, the vehicle-mounted terminal can first determine whether the center of the circle is located on the left or right side of the target vehicle. When the center of the circle is located on the left side of the target vehicle, it is determined whether there is an obstacle in front of the right side of the target vehicle. If there is an obstacle, the target steering mode of the target vehicle is determined to be the rear half eight mode. Similarly, if the center of the circle is located on the right side of the target vehicle, it is determined whether there is an obstacle in front of the left side of the target vehicle. If there is an obstacle, it can be determined that the target steering mode of the target vehicle is the rear half eight mode.

[0061] When there are no obstacles in front of the target vehicle on different sides of the center of the circle, it means that there will be no collision with the obstacles. Therefore, the target steering mode of the target vehicle can be determined as the full eight mode to obtain the minimum turning radius. The following introduces the device embodiment of the present application, which can be used to execute the method for determining the steering mode of the multi-axle all-wheel steering vehicle in the above-mentioned embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the embodiment of the method for determining the steering mode of the multi-axle all-wheel steering vehicle in the above-mentioned embodiment of the present application.

[0062] Figure 5 A block diagram of a device for determining a steering mode of a multi-axle all-wheel steering vehicle according to an embodiment of the present application is shown.

[0063] Reference Figure 5 As shown, according to an embodiment of the present application, a device for determining a steering mode of a multi-axle all-wheel steering vehicle includes: An acquisition module is used to obtain the positioning information of the target vehicle and the path point information of its driving path; A first determination module, configured to traverse the path point information, determine a reference path point closest to the current position of the target vehicle, and a distance between the reference path point and the target vehicle; A calculation module, used to calculate the angle between the current orientation of the target vehicle and the orientation of the reference path point; A second determination module is used to determine that the target gear position of the target vehicle is a forward gear if the included angle is less than a preset angle threshold, otherwise, determine that the target gear position of the target vehicle is a reverse gear; The processing module is used to determine the target steering mode of the target vehicle according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0064] In some embodiments of the present application, determining the target steering mode of the target vehicle according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: If the distance between the reference path point and the target vehicle is greater than a distance threshold, the target steering mode of the target vehicle is determined to be a diagonal driving mode; otherwise, the target steering mode of the target vehicle is determined based on the target gear position of the target vehicle and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

[0065] In some embodiments of the present application, determining the target steering mode of the target vehicle according to the target gear position of the target vehicle and the radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: According to the target gear position of the target vehicle, obtaining coordinate information of a predetermined number of points on the driving path that are located in front of or behind the reference path point, and calculating the radius of a circle formed by the predetermined number of points; If the radius of the circle is less than a predetermined radius threshold, the target steering mode of the target vehicle is determined to be the front half eight mode or the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined based on the relative position between the center of the circle and the target vehicle, and the obstacle detection results around the target vehicle.

[0066] In some embodiments of the present application, determining a target steering mode of the target vehicle according to a relative position between the center of the circle and the target vehicle and an obstacle detection result around the target vehicle includes: When the target gear of the target vehicle is the forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, if there are obstacles around the target vehicle and behind the side where the center of the circle is located, determining that the target steering mode of the target vehicle is the front half eight mode, otherwise determining that the target steering mode of the target vehicle is the full eight mode; When the target gear position of the target vehicle is the reverse gear, the center of the circle is determined to be located on the left or right side of the target vehicle. If there are obstacles in front of the target vehicle on different sides of the center of the circle, the target steering mode of the target vehicle is determined to be the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined to be the full eight mode.

[0067] In some embodiments of the present application, the predetermined number is three, and calculating the radius of a circle formed by the predetermined number of points includes: According to the coordinate information of the three points, determine the area of ​​the triangle formed by them and the length of each side of the triangle; If the area is equal to 0, the radius of the circle is determined to be 100. If the area is not equal to 0, the radius of the circle is determined according to the following formula: R1= min(100, AB*BC*AC / (4*S1)), where AB, BC and AC are the lengths of the three sides of the triangle respectively, and S1 is the area of ​​the triangle.

[0068] In some embodiments of the present application, according to the target gear position of the target vehicle, coordinate information of three points on the driving path located in front of or behind the reference path point is obtained to determine the radius R1 of the circle formed by them, and then coordinate information of another three points on the driving path located further in front of or further behind the reference path point is obtained to determine the radius R2 of the circle formed by them; When the radius R1 or the radius R2 is less than the predetermined radius threshold, the target steering mode of the target vehicle is determined to be the front half eight mode or the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined based on the relative position between the center of a circle closer to the target vehicle and the target vehicle, and the obstacle detection results around the target vehicle.

[0069] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0070] It should be noted that Figure 6 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0071] like Figure 6 As shown, the computer system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602 and the RAM 603 are connected to each other through the bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0072] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0073] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0074] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program used by or in combination with an instruction execution system, device, or device. The computer program contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above. The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and combinations of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0075] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0076] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0077] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0078] Through the description of the above implementation modes, it is easy for those skilled in the art to understand that the example implementation modes described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation mode of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation mode of the present application. After considering the specification and practicing the implementation modes disclosed here, it will be easy for those skilled in the art to think of other implementation modes of the present application. The present application is intended to cover any variants, uses or adaptive changes of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the technical field that are not disclosed in the present application.

[0079] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining a steering mode of a multi-axle all-wheel steering vehicle, characterized in that: include: Obtaining the location information of the target vehicle and the path point information of its driving path; Traversing the path point information, determining a reference path point that is closest to the current position of the target vehicle, and a distance between the reference path point and the target vehicle; Calculating the angle between the current orientation of the target vehicle and the orientation of the reference path point; If the included angle is less than a preset angle threshold, determining that the target gear position of the target vehicle is a forward gear, otherwise, determining that the target gear position of the target vehicle is a reverse gear; The target steering mode of the target vehicle is determined according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

2. The method according to claim 1, characterized in that Determining a target steering mode of the target vehicle according to a target gear position of the target vehicle, a distance between the reference path point and the target vehicle, and a radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: If the distance between the reference path point and the target vehicle is greater than a distance threshold, the target steering mode of the target vehicle is determined to be a diagonal driving mode; otherwise, the target steering mode of the target vehicle is determined based on the target gear position of the target vehicle and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

3. The method according to claim 2, characterized in that Determining a target steering mode of the target vehicle according to a target gear position of the target vehicle and a radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: According to the target gear position of the target vehicle, obtaining coordinate information of a predetermined number of points on the driving path that are located in front of or behind the reference path point, and calculating the radius of a circle formed by the predetermined number of points; If the radius of the circle is less than a predetermined radius threshold, the target steering mode of the target vehicle is determined to be the front half eight mode or the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined based on the relative position between the center of the circle and the target vehicle, and the obstacle detection results around the target vehicle.

4. The method according to claim 3, characterized in that Determining a target steering mode of the target vehicle according to a relative position between the center of the circle and the target vehicle and a result of obstacle detection around the target vehicle includes: When the target gear of the target vehicle is the forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, if there are obstacles around the target vehicle and behind the side where the center of the circle is located, determining that the target steering mode of the target vehicle is the front half eight mode, otherwise determining that the target steering mode of the target vehicle is the full eight mode; When the target gear position of the target vehicle is the reverse gear, the center of the circle is determined to be located on the left or right side of the target vehicle. If there are obstacles in front of the target vehicle on different sides of the center of the circle, the target steering mode of the target vehicle is determined to be the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined to be the full eight mode.

5. The method according to claim 3, characterized in that: If the predetermined number is three, calculating the radius of a circle formed by the predetermined number of points includes: According to the coordinate information of the three points, determine the area of ​​the triangle formed by them and the length of each side of the triangle; If the area is equal to 0, the radius of the circle is determined to be 100. If the area is not equal to 0, the radius of the circle is determined according to the following formula: R1= min(100, AB*BC*AC / (4*S1)), where AB, BC and AC are the lengths of the three sides of the triangle respectively, and S1 is the area of ​​the triangle.

6. The method according to claim 5, characterized in that According to the target gear position of the target vehicle, coordinate information of three points on the driving path located in front of or behind the reference path point is obtained to determine the radius R1 of the circle formed by them, and coordinate information of another three points on the driving path located further in front of or further behind the reference path point is obtained to determine the radius R2 of the circle formed by them; When the radius R1 or the radius R2 is less than the predetermined radius threshold, the target steering mode of the target vehicle is determined to be the front half eight mode or the rear half eight mode; otherwise, the target steering mode of the target vehicle is determined based on the relative position between the center of a circle closer to the target vehicle and the target vehicle, and the obstacle detection results around the target vehicle.

7. A device for determining a steering mode of a multi-axle all-wheel steering vehicle, characterized in that: include: An acquisition module is used to acquire the positioning information of the target vehicle and the path point information of its driving path; A first determination module, configured to traverse the path point information, determine a reference path point closest to the current position of the target vehicle, and a distance between the reference path point and the target vehicle; A calculation module, used to calculate the angle between the current orientation of the target vehicle and the orientation of the reference path point; A second determination module is used to determine that the target gear position of the target vehicle is a forward gear if the included angle is less than a preset angle threshold, otherwise, determine that the target gear position of the target vehicle is a reverse gear; The processing module is used to determine the target steering mode of the target vehicle according to the target gear position of the target vehicle, the distance between the reference path point and the target vehicle, and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

8. The device according to claim 7, characterized in that Determining a target steering mode of the target vehicle according to a target gear position of the target vehicle, a distance between the reference path point and the target vehicle, and a radius of a circle formed by a plurality of points on the driving path that are located in front of or behind the reference path point includes: If the distance between the reference path point and the target vehicle is greater than a distance threshold, the target steering mode of the target vehicle is determined to be a diagonal driving mode; otherwise, the target steering mode of the target vehicle is determined based on the target gear position of the target vehicle and the radius of a circle formed by several points on the driving path that are located in front of or behind the reference path point.

9. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining the steering mode of a multi-axle all-wheel steering vehicle according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the method for determining the steering mode of a multi-axle all-wheel steering vehicle as described in any one of claims 1 to 6.

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