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

Abstract

Embodiments of the present application provide a method, device and equipment for determining a steering mode of a multi-axle all-wheel steering vehicle. The method comprises: obtaining 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 a current position of the target vehicle and a distance between the reference path point and the target vehicle; calculating an included angle between a current orientation of the target vehicle and an orientation of the reference path point; if the included angle is less than a preset angle threshold, determining a target gear of the target vehicle as a forward gear, otherwise, determining the target gear of the target vehicle as a reverse gear; and determining a 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 a radius of a circle formed by a plurality of points on the driving path in front of or behind the reference path point. The technical solution of the embodiments of the present application can avoid frequent mode switching and ensure driving smoothness.

Description

Technical Field

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

[0002] All-wheel drive (AWD) vehicles typically refer to vehicles with more than two axles, where all wheels can participate in steering. AWD vehicles offer a number of advantages over traditional two-wheel drive vehicles, particularly in autonomous driving scenarios such as unmanned ports. Their maneuverability and handling capabilities significantly enhance the vehicle's steering capabilities, particularly in complex port environments and spaces.

[0003] In current technical solutions, the decision on whether to switch between front-wheel steering and four-wheel steering modes is often made 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 adopted 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 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:

[0007] Obtaining the target vehicle's location information and the path point information of its driving path;

[0008] Traversing the path point information, determining 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;

[0009] Calculating the angle between the current orientation of the target vehicle and the orientation of the reference path point;

[0010] 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;

[0011] 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.

[0012] 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:

[0013] An acquisition module is used to obtain the positioning information of the target vehicle and the path point information of its driving path;

[0014] A first determining module is configured to traverse the path point information to 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;

[0015] a calculation module, configured to calculate an angle between a current orientation of the target vehicle and an orientation of the reference path point;

[0016] a second determining module, configured 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, and otherwise, determine that the target gear position of the target vehicle is a reverse gear;

[0017] The processing module is used to determine the target steering mode of the target vehicle 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.

[0018] 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.

[0019] 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, which, when executed by the one or more processors, enables the one or more processors to implement a method for determining a steering mode of a multi-axle all-wheel steering vehicle as described in the above embodiments.

[0020] According to an aspect of an embodiment of the present application, a computer program product or computer program is provided, which comprises computer instructions 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 performs the method for determining the steering mode of the multi-axle all-wheel steering vehicle provided in the above embodiments.

[0021] In the technical solution provided in some embodiments of the present application, by obtaining the positioning information of the target vehicle and the path point information of the driving path thereof, 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, then the included angle between the current orientation of the target vehicle and the orientation of the reference path point is calculated, if the included angle is less than a preset angle threshold, it is determined that the target gear of the target vehicle is the forward gear, otherwise, it is determined that the target gear of the target vehicle is the reverse gear, and then the target steering mode of the target vehicle is determined 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 the points located in front of or behind the reference path point on the driving path. In this way, frequent switching of the steering mode can be avoided, and the smoothness of driving is ensured.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0024] Figure 1 A structural schematic diagram of a multi-axle all-wheel steering vehicle to which an embodiment of the present application can be applied is shown;

[0025] Figure 2 A structural schematic diagram of a multi-axle all-wheel steering vehicle to which an embodiment of the present application can be applied is shown; Figure 1 A steering mode schematic diagram of the multi-axle all-wheel steering vehicle is shown;

[0026] Figure 3 A flowchart of a method for determining the steering mode of a multi-axle all-wheel steering vehicle according to an embodiment of the present application is shown;

[0027] Figure 4 A calculation schematic diagram of the center of a circle formed by a plurality of points according to an embodiment of the present application is shown.

[0028] Figure 5 A block diagram of a steering mode determination apparatus of a multi-axle all-wheel steering vehicle is shown according to an embodiment of the present application;

[0029] Figure 6 A structural diagram of a computer system of an electronic device suitable for implementing embodiments of the present application is shown. DETAILED DESCRIPTION

[0030] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these example implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0031] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0032] The block diagrams in the drawings show only the functional entities and not necessarily the physical separate entities. That is, the functional entities can be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0033] The flow diagrams shown in the drawings are merely examples and not necessarily to be construed as including all content and operations / steps, nor necessarily to be executed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so that the actual execution order can be changed according to the actual situation.

[0034] Figure 1 A structural diagram of a multi-axle all-wheel steering vehicle to which embodiments of the present application can be applied is shown. As shown in FIG. 1, the multi-axle all-wheel steering vehicle includes a front axle 10 and a rear axle 20. The front axle 10 includes a front left wheel 11, a front right wheel 12, a front left steering motor 13, and a front right steering motor 14. The rear axle 20 includes a rear left wheel 21, a rear right wheel 22, a rear left steering motor 23, and a rear right steering motor 24. Figure 1As shown, the vehicle may have three axles, located at the front, middle and 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 specifically limit this. In one example, the multi-axle all-wheel steering vehicle may be an intelligent guided vehicle (IGV), which may also be other mobile transport robots or unmanned vehicles, and this is not specifically limited.

[0035] Specifically, if Figure 2 As shown, Figure 1 The multi-axle all-wheel steering vehicle shown can have the following steering modes:

[0036] 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;

[0037] Rear half-eight mode: that is, rear-wheel steering mode, in which the second and third axles of the vehicle are steered in coordination, while the first axle remains fixed;

[0038] Oblique mode: the three axles of the vehicle are turned in the same direction and angle;

[0039] Full eight mode: The first and third axles of the vehicle steer in opposite directions, while the second axle remains fixed.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] It is worth noting that this 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.

[0044] The implementation details of the technical solutions of the embodiments of the present application are described in detail as follows:

[0045] As shown in Figure 3 The method for determining the steering mode of the multi-axle all-wheel steering vehicle provided by the embodiments of the present application at least includes steps S310 to S350, which are described below by taking the case that the method is applied to a vehicle terminal:

[0046] In step S310, the positioning information of the target vehicle and the path point information of the driving path thereof are acquired.

[0047] The positioning information of the vehicle can include but is not limited to the position coordinates of the vehicle, the orientation of the vehicle (for example, the included angle between the current driving direction of the vehicle and the north direction), the speed and other dynamic parameters.

[0048] The driving path can be composed of a series of path points, and the path point information of each path point can include the coordinate information and the orientation thereof, and the orientation can be the path tangent direction at the path point.

[0049] In this embodiment, the vehicle terminal can acquire the real-time positioning information of the vehicle through the vehicle-mounted GPS / IMU (inertial measurement unit). Then, the vehicle can also load the path point information of the driving path on which the target vehicle is driving from the pre-stored navigation map or the cloud scheduling system for subsequent processing.

[0050] 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.

[0051] 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 an example, the vehicle terminal can calculate the Euclidean distance between the coordinate information of the path point and the coordinate information of the center position of the target vehicle to determine the distance between the target vehicle and each path point.

[0052] 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 closest, so it can be used as a reference point for subsequent determination of the steering mode of the vehicle.

[0053] In step S330, the included angle between the current orientation of the target vehicle and the orientation of the reference path point is calculated.

[0054] In this embodiment, after determining the reference path point P, the vehicle-mounted terminal can obtain the orientation of the reference path point and, combined with the current orientation of the target vehicle, calculate the angle θ between the two. 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°.

[0055] In step S340 , if the included angle is less than a preset angle threshold, the target gear position of the target vehicle is determined to be a forward gear; otherwise, the target gear position of the target vehicle is determined to be a reverse gear.

[0056] 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 is less than the preset angle θ1, it indicates 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 in a forward direction. Therefore, the target gear position of the target vehicle is determined to be the forward gear. Conversely, if the angle θ is greater than or equal to the preset angle θ1, it indicates that the target vehicle needs to reverse and adjust. Therefore, the target gear position of the target vehicle is determined to be the reverse gear.

[0057] 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 in front of or behind the reference path point on the driving path.

[0058] In this embodiment, if the target gear of the target vehicle is the forward gear, the on-board 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 of the target vehicle is the reverse gear, the on-board 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.

[0059] Then, the vehicle-mounted terminal can comprehensively consider the distance between the target vehicle and the reference path point, as well as the size of the radius of the above-mentioned circle, to determine the target steering mode of the target vehicle. It should be understood that, depending on the target gear of the target vehicle, the steering modes that can be selected are also different. 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.

[0060] So, based on Figure 3The 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.

[0061] In some embodiments of the present application, determining a target steering mode of the target vehicle based on 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:

[0062] 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.

[0063] In this embodiment, the vehicle-mounted terminal may first compare the distance dst between the reference path point and the target vehicle with a pre-set distance threshold dst1. If the distance dst exceeds the distance threshold dst1, it indicates that the distance between the target vehicle and the reference path point P is large. To achieve rapid movement, the target vehicle's target steering mode may be determined to be a diagonal mode.

[0064] If the distance dst ≤ the distance threshold dst1, the on-board terminal needs to further consider the target gear 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.

[0065] In some embodiments of the present application, 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 before or after the reference path point includes:

[0066] Obtaining coordinate information of a predetermined number of points on the driving path that are located ahead of or behind the reference path point according to the target gear position of the target vehicle, and calculating the radius of a circle formed by the predetermined number of points;

[0067] 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.

[0068] In this embodiment, as mentioned 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 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.

[0069] Specifically, when the target gear of the target vehicle is the forward gear, the on-board 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 these points; conversely, if the target gear of the target vehicle is the reverse gear, the on-board 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 these points.

[0070] 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 impose any special limitation on this.

[0071] 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:

[0072] Determine the area of ​​the triangle formed by the three points and the length of each side of the triangle based on the coordinate information of the three points;

[0073] 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:

[0074] R1= min(100, AB*BC*AC / (4*S1)), where AB, BC, and AC are the lengths of the three sides of the triangle, and S is the area of ​​the triangle.

[0075] In this embodiment, if Figure 4 As shown in the figure (taking the target gear of the target vehicle as forward gear as an example), the vehicle terminal can obtain the coordinate information of three points in front of the reference path point, A(x1,y1), B(x2,y2), and C(x3,y3), which are 0m, 4m, and 7m away from the reference path point P respectively. 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:

[0076] a. Calculate the area of ​​the triangle formed by points A, B, and C:

[0077] S1 = 0.5*∣x1(y2 - y3)+x2(y3 - y1)+x3(y1 - y2)∣;

[0078] b. Calculate the lengths of the three sides of the triangle:

[0079] AB = sqrt((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1));

[0080] BC = sqrt((x2 - x3) * (x2 - x3) + (y2 - y3) * (y2 - y3));

[0081] AC = sqrt((x3 - x1) * (x3 - x1) + (y3 - y1) * (y3 - y1));

[0082] c. Calculate R1: If S1 = 0, determine R1 = 100; if S1 ≠ 0, determine R1 = min(100, AB*BC*AC / (4*S1)).

[0083] It should be noted that during the calculation process, in order to avoid divisor 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.

[0084] Then, 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).

[0085] If the radius R1 of the circle is less than the predetermined radius threshold Ra, it indicates that the current or subsequent path is a sharp curve. The target steering mode of the target vehicle can then be determined to be either the forward half-eight mode or the reverse 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 forward, the forward half-eight mode should be selected, and if the target gear of the target vehicle is reverse, the reverse half-eight mode should be selected.

[0086] 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.

[0087] In order 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 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 located further ahead of or behind the reference path point can be obtained to determine the radius R2 of the circle formed by them.

[0088] by Figure 4 Taking the example shown, 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.

[0089] After determining radius R1 and radius R2, the vehicle-mounted terminal can compare both R1 and R2 with a predetermined radius threshold Ra. As long as either radius R1 or 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-mounted terminal needs to further determine the target steering mode of the target vehicle based on the relative position between the center of the circle closest 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.

[0090] It should be noted that the above numbers are only illustrative examples. 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 limitations on this.

[0091] In some embodiments of the present application, determining a target steering mode of the target vehicle based on a relative position between the center of the circle and the target vehicle and obstacle detection results around the target vehicle includes:

[0092] When the target gear position of the target vehicle is a forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, and 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 a front half eight mode; otherwise, determining that the target steering mode of the target vehicle is a full eight mode;

[0093] When the target gear 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 is an obstacle in front of the target vehicle on a different side from 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.

[0094] In this embodiment, when it is necessary to further determine the target steering mode based on 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 position of the target vehicle. It should be noted that the target vehicle can be equipped with a sensor such as a laser radar to detect the environment around the target vehicle to determine whether there are obstacles and the location of the obstacles. This application will not go into details here.

[0095] Specifically, when the target gear of the target vehicle is forward, the vehicle-mounted terminal can first determine whether the center of the circle is on the left or right side of the target vehicle. If the center is on the left side of the target vehicle, it determines whether there is an obstacle to the left rear of the target vehicle (because the target gear is forward). If there is an obstacle to the left rear of the target vehicle, 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 is 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, thereby preventing the rear of the target vehicle from colliding with the obstacle.

[0096] 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 obstacle, and the target steering mode of the target vehicle can be determined to be the full eight mode, thereby obtaining the minimum turning radius.

[0097] When the target gear of the target vehicle is 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, the target steering mode of the target vehicle can be determined to be the rear half eight mode.

[0098] When there are no obstacles in front of the target vehicle on different sides of the circle center, it means that there will be no collision with the obstacle. Therefore, the target steering mode of the target vehicle can be determined to be the full eight mode to obtain the minimum turning radius. The following describes an embodiment of the device of the present application, which can be used to implement the method for determining the steering mode of a multi-axle all-wheel steering vehicle in the above-mentioned embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method for determining the steering mode of a multi-axle all-wheel steering vehicle in the above-mentioned embodiment of the present application.

[0099] 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.

[0100] 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:

[0101] An acquisition module is used to obtain the positioning information of the target vehicle and the path point information of its driving path;

[0102] A first determining module is configured to traverse the path point information to 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;

[0103] a calculation module, configured to calculate an angle between a current orientation of the target vehicle and an orientation of the reference path point;

[0104] a second determining module, configured 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, and otherwise, determine that the target gear position of the target vehicle is a reverse gear;

[0105] a processing module for determining a target steering mode of the target vehicle based on 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 ahead of or behind the reference path point.

[0106] In some embodiments of the present application, determining a target steering mode of the target vehicle based on 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:

[0107] 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.

[0108] In some embodiments of the present application, 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 before or after the reference path point includes:

[0109] Obtaining coordinate information of a predetermined number of points on the driving path that are located ahead of or behind the reference path point according to the target gear position of the target vehicle, and calculating the radius of a circle formed by the predetermined number of points;

[0110] 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.

[0111] In some embodiments of the present application, determining a target steering mode of the target vehicle based on a relative position between the center of the circle and the target vehicle and obstacle detection results around the target vehicle includes:

[0112] When the target gear position of the target vehicle is a forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, and 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 a front half eight mode; otherwise, determining that the target steering mode of the target vehicle is a full eight mode;

[0113] When the target gear 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 is an obstacle in front of the target vehicle on a different side from 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.

[0114] In some embodiments of the present application, the predetermined number is three, and calculating the radius of the circle formed by the predetermined number of points includes:

[0115] Determine the area of ​​the triangle formed by the three points and the length of each side of the triangle based on the coordinate information of the three points;

[0116] 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:

[0117] R1= min(100, AB*BC*AC / (4*S1)), where AB, BC, and AC are the lengths of the three sides of the triangle, and S1 is the area of ​​the triangle.

[0118] 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 that are located before or after 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 that are located before or after the reference path point is obtained to determine the radius R2 of the circle formed by them;

[0119] When the radius R1 or the radius R2 is smaller 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 the circle closer to the target vehicle and the target vehicle, and the obstacle detection results around the target vehicle.

[0120] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown.

[0121] 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.

[0122] like Figure 6 As shown, the computer system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes, such as the methods described in the above embodiments, based on programs stored in a read-only memory (ROM) 602 or programs loaded from a storage unit 608 into a random access memory (RAM) 603. RAM 603 also stores various programs and data required for system operation. CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to bus 604.

[0123] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 608 including a hard disk; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card or a modem. 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. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read from the removable media can be installed in the storage section 608 as needed.

[0124] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 609 and / or installed from removable media 611. When executed by the central processing unit (CPU) 601, the computer program performs the various functions defined in the system of the present application.

[0125] It should be noted that the computer-readable medium described in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal transmitted in baseband or as part of a carrier wave, 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 foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination of the foregoing. The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagram can represent a module, program segment, or portion of code, each of which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the drawings. For example, two blocks shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and combinations of boxes in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0126] 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. In some cases, the names of these units do not constitute limitations on the units themselves.

[0127] As another aspect, the present application further provides a computer-readable medium, which may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device implements the method described in the above embodiments.

[0128] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0129] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments 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, and includes 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 embodiments of the present application. After considering the specification and practicing the embodiments disclosed herein, those skilled in the art will easily think of other embodiments of the present application. This application is intended to cover any variations, 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 art that are not disclosed in this application.

[0130] It should be understood that the present application is not limited to the exact structure 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 target vehicle's location information and the path point information of its driving path; Traversing the path point information, determining 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; 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; determining a target steering mode for the target vehicle based on 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 travel path that are ahead of or behind the reference path point; 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, determining the target steering mode of the target vehicle to be the oblique driving mode; otherwise, determining the target steering mode of the target vehicle based on 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; 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: Obtaining coordinate information of a predetermined number of points on the driving path that are located ahead of or behind the reference path point according to the target gear position of the target vehicle, 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, determining the target steering mode of the target vehicle to be the front half eight mode or the rear half eight mode; otherwise, determining 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 result around the target vehicle; 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 position of the target vehicle is a forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, and 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 a front half eight mode; otherwise, determining that the target steering mode of the target vehicle is a full eight mode; When the target gear 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 is an obstacle in front of the target vehicle on a different side from 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.

2. The method according to claim 1, characterized in that If the predetermined number is three, calculating the radius of a circle formed by the predetermined number of points includes: Determine the area of ​​the triangle formed by the three points and the length of each side of the triangle based on the coordinate information of the three points; 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, and S1 is the area of ​​the triangle.

3. The method according to claim 2, characterized in that Obtaining coordinate information of three points on the driving path that are located before or after the reference path point according to the target gear position of the target vehicle to determine a radius R1 of a circle formed by the three points, and further obtaining coordinate information of three other points on the driving path that are located further before or further after the reference path point to determine a radius R2 of a circle formed by the three points; When the radius R1 or the radius R2 is smaller 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 the circle closer to the target vehicle and the target vehicle, and the obstacle detection results around the target vehicle.

4. 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 obtain the positioning information of the target vehicle and the path point information of its driving path; A first determining module is configured to traverse the path point information to 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, configured to calculate an angle between a current orientation of the target vehicle and an orientation of the reference path point; a second determining module, configured 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, and otherwise, determine that the target gear position of the target vehicle is a reverse gear; a processing module, configured to determine a target steering mode for the target vehicle based on 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; 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, determining the target steering mode of the target vehicle to be the oblique driving mode; otherwise, determining the target steering mode of the target vehicle based on 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; 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: Obtaining coordinate information of a predetermined number of points on the driving path that are located ahead of or behind the reference path point according to the target gear position of the target vehicle, 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, determining the target steering mode of the target vehicle to be the front half eight mode or the rear half eight mode; otherwise, determining 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 result around the target vehicle; 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 position of the target vehicle is a forward gear, determining that the center of the circle is located on the left side or the right side of the target vehicle, and 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 a front half eight mode; otherwise, determining that the target steering mode of the target vehicle is a full eight mode; When the target gear 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 is an obstacle in front of the target vehicle on a different side from 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. 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 3 is implemented.

6. 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 3.

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