Narrow Area Passage Method, Device and Equipment for Multi-Axle All-Wheel Steering Vehicles

Abstract

Embodiments of the present application provide a method, device, and equipment for a multi-axis all-wheel steering vehicle to pass through a narrow area. The method includes: obtaining the positioning information of the target vehicle and the path point information of its initial driving path; when the section to be driven in front of the target vehicle is a straight section, identifying the narrow area in the section to be driven; in the case where it is determined that there is a narrow area in the section to be driven, generating a reverse path according to the path point information in the section to be driven, so that when the target vehicle reverses along the reverse path, the vehicle body is adjusted to a straightened state with respect to the narrow area; generating a corresponding return path according to the reverse path, so that the target vehicle returns to the initial driving path and passes through the narrow area under the guidance of the return path. The technical solution of the embodiments of the present application can improve the planning efficiency of the passing path in the narrow area and the effectiveness of the planned path, thereby improving the passing efficiency of the vehicle in the narrow area.

Description

Technical Field

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

[0002] As core hubs for global trade, ports handle approximately 90% of international trade. Ports are accelerating their transformation toward digitalization and full automation to improve operational efficiency and reduce labor costs. However, existing automated vehicles, such as Intelligent Guided Vehicles (IGVs), still face significant technical bottlenecks in navigating narrow areas, such as obstructed passageways or container yards.

[0003] Traditional path planning algorithms, such as the A* algorithm, can be computationally expensive and can even fail to find a valid path. Even if a path is successfully planned, the vehicle may struggle to accurately follow the planned trajectory due to the limited space available, leading to a failed route. Summary of the Invention

[0004] The embodiments of the present application provide a method, device and equipment for a multi-axle all-wheel steering vehicle to pass through narrow areas, which can improve the planning efficiency of the narrow area passage path and the effectiveness of the planned path to a certain extent, thereby improving the vehicle's passage efficiency in narrow areas.

[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 a multi-axle all-wheel steering vehicle to pass through a narrow area is provided, comprising:

[0007] Obtain the target vehicle's positioning information and the path point information of its initial driving path;

[0008] Identify based on the path point information whether the road section ahead of the target vehicle to be driven is a straight road section;

[0009] When the road section to be traveled in front of the target vehicle is a straight road section, performing narrow area recognition on the road section to be traveled;

[0010] If it is determined that there is a narrow area in the road section to be traveled, a reversing path is generated according to the path point information in the road section to be traveled, so that the target vehicle adjusts its body to be aligned with the narrow area during the process of reversing along the reversing path;

[0011] When the body of the target vehicle is in a straight state with respect to the narrow area, a corresponding return path is generated according to the reverse path, so that the target vehicle returns to the initial driving path under the guidance of the return path and travels along the initial driving path through the narrow area.

[0012] According to one aspect of the embodiments of the present application, a narrow area passing device for a multi-axis all-wheel steering vehicle is provided, including:

[0013] An acquisition module, configured to acquire the positioning information of the target vehicle and the path point information of its initial driving path;

[0014] A first recognition module, configured to recognize according to the path point information to determine whether the section to be traveled in front of the target vehicle is a straight section;

[0015] A second recognition module, configured to perform narrow area recognition on the section to be traveled when the section to be traveled in front of the target vehicle is a straight section;

[0016] An adjustment module, configured to generate a reverse path according to the path point information in the section to be traveled when it is determined that there is a narrow area in the section to be traveled, so that the target vehicle adjusts its body to a straight state with respect to the narrow area during the reverse process along the reverse path;

[0017] A processing module, configured to generate a corresponding return path according to the reverse path when the body of the target vehicle is in a straight state with respect to the narrow area, so that the target vehicle returns to the initial driving path under the guidance of the return path and travels along the initial driving path through the narrow area.

[0018] According to one aspect of the embodiments of the present application, a computer-readable medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the narrow area passing method for a multi-axis all-wheel steering vehicle as described in the above embodiments is implemented.

[0019] According to one aspect of the embodiments of the present application, an electronic device is provided, including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the narrow area passing method for a multi-axis all-wheel steering vehicle as described in the above embodiments.

[0020] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the 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 passing through a narrow area of a multi-axis all-wheel steering vehicle provided in the above embodiments.

[0021] In the technical solutions provided in some embodiments of the present application, by obtaining the positioning information of the target vehicle and the path point information of the initial driving path, identifying according to the path point information, and determining whether the section to be traveled in front of the target vehicle is a straight section. When the section to be traveled is a straight section, narrow area identification is performed on the section to be traveled. When it is determined that there is a narrow area, a reverse driving path is generated according to the path point information in the section to be traveled, so that when the target vehicle reverses along the reverse driving path, the vehicle body is adjusted to a straightened state with respect to the narrow area. Then, a corresponding return path is generated according to the reverse driving path, so that the target vehicle returns to the initial driving path along the return path to drive through the narrow area. In this way, when a narrow area appears, through the generation of the reverse driving path, the target vehicle can adjust its vehicle body to a straightened state with respect to the narrow area according to it, thereby facilitating passing through the narrow area, improving the planning efficiency of the passing path in the narrow area and the effectiveness of the planned path, and further improving the passing efficiency of the vehicle in the narrow area.

[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 THE DRAWINGS

[0023] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0024] Figure 1 A flowchart showing the method for passing through a narrow area of a multi-axis all-wheel steering vehicle according to an embodiment of the present application;

[0025] Figure 2 A schematic diagram showing the conversion between the world coordinate system and the vehicle coordinate system according to an embodiment of the present application;

[0026] Figure 3 A flowchart showing the determination of whether it is a straight section according to an embodiment of the present application;

[0027] Figure 4 The block diagram of a narrow - area passing device of a multi - axis all - wheel steering vehicle according to an embodiment of the present application is shown;

[0028] Figure 5 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. Detailed implementation manners

[0029] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various 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 thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

[0030] In addition, 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 the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well - known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0031] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0032] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the content and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0033] Figure 1 The schematic flow diagram of a narrow - area passing method of a multi - axis all - wheel steering vehicle according to an embodiment of the present application is shown.

[0034] Among them, the multi - axis all - wheel steering vehicle can have three axles, which are respectively located at the front of the vehicle, the middle of the vehicle body, 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 - axis all - wheel steering vehicle can also have other numbers of axles, and the present application does not make special limitations on this.

[0035] In one example, the multi-axis all-wheel steering vehicle can be an Intelligent Guided Vehicle (IGV), and it can also be other mobile handling robots or driverless vehicles, without special limitation in this regard.

[0036] It should be noted that the above method can be applied to a terminal device or a server. Among them, the terminal device can include, but is not limited to, one or more of a smart phone, a tablet computer, a portable computer, and a desktop computer. The terminal device can also be an on-vehicle terminal set on the multi-axis all-wheel steering vehicle. The on-vehicle terminal can perform corresponding controls on the vehicle (such as steering, power output, etc.). Moreover, during the driving process of the vehicle, the on-vehicle terminal can obtain information related to the vehicle and perform real-time calculations, so as to execute the narrow area passing method for the multi-axis all-wheel steering vehicle provided in the embodiments of the present application. The server can be a physical server or a cloud server.

[0037] The following takes the application of this method to an on-vehicle terminal as an example for illustration. As Figure 1 shown, the narrow area passing method for the multi-axis all-wheel steering vehicle at least includes steps S110 to step S150, which are introduced in detail as follows:

[0038] In step S110, obtain the positioning information of the target vehicle and the path point information of its initial driving path.

[0039] Among them, the positioning information of the vehicle can include, but is not limited to, dynamic parameters such as the position coordinates of the vehicle, the vehicle orientation (such as the angle between the current driving direction of the vehicle and the due north direction), and the speed.

[0040] The initial driving path can be the default route of the target vehicle, and the on-vehicle terminal can obtain it from the dispatching system. The initial driving path can be composed of a series of path points. The path point information of each path point can include its coordinate information and orientation, and the orientation can be the path tangent direction at this path point.

[0041] In this embodiment, narrow_aisle_R_stg is set to default to 0. It should be noted that narrow_aisle_R_stg represents several stages of narrow area processing: 0: default; 1: the vehicle is in a straight driving condition in front; 2: the vehicle is in a straight driving condition and there are obstacles on both sides of the route. The on-vehicle terminal can obtain the real-time positioning information of the vehicle through the on-vehicle GPS / IMU (Inertial Measurement Unit). The on-vehicle terminal can also load the path point information of the initial driving path that the target vehicle is currently driving from the pre-stored navigation map or the cloud dispatching system for subsequent processing. In one example, an id can be assigned to each driving path to prevent confusion of the on-vehicle terminal during subsequent driving. For example, the id of the initial driving path = 0.

[0042] After obtaining the initial driving path, the in-vehicle terminal can convert it into the vehicle coordinate system of the target vehicle, thereby converting the global route into a driving path relative to the target vehicle. It should be noted that the global route is the path points in the world coordinate system (utm), which is an absolute coordinate, while the route relative to the vehicle refers to the positional relationship of the route relative to the vehicle. That is, the path points in the world coordinate system are converted into the path points in the vehicle coordinate system.

[0043] In one example, as Figure 2 shown, the center of the vehicle body of the target vehicle can be used as the origin, the direction from the center of the vehicle body to the front of the vehicle as the X-axis, and the direction perpendicular to the X-axis as the Y-axis, thereby establishing the vehicle coordinate system. Converting the initial driving path into the vehicle coordinate system of the target vehicle can facilitate subsequent processing.

[0044] In step S120, based on the path point information, it is identified whether the upcoming driving section in front of the target vehicle is a straight section.

[0045] In this embodiment, after converting the initial driving path into the vehicle coordinate system of the target vehicle, the in-vehicle terminal can identify based on the coordinate point information of the converted initial driving path, determine the geometric characteristics of the upcoming driving section in front of the target vehicle, and further determine whether the upcoming driving section is a straight section. It should be understood that if the upcoming driving section is a straight section, it means that the possibility of obstacles on both sides is relatively high. Therefore, narrow area identification needs to be performed.

[0046] In one embodiment, identifying whether the upcoming driving section in front of the target vehicle is a straight section based on the path point information includes:

[0047] Traverse the path point information of the initial driving path to determine the reference path point closest to the target vehicle;

[0048] Based on the coordinate information of several points on the initial driving path in front of the reference path point, determine the radius of the circle formed by the several points;

[0049] When the radius of the circle is greater than a predetermined radius threshold, it is determined that the upcoming driving section in front of the target vehicle is a straight section.

[0050] In this embodiment, the in-vehicle terminal can calculate the coordinate information of each path point respectively with the position coordinate of the target vehicle (this position coordinate can be the coordinate of the center point of the target vehicle) based on the path point information of the converted initial driving path, so as to determine the distance from the target vehicle.

[0051] Next, the path point closest to the target vehicle is determined as the reference path point, and then the coordinate information of several points in front of the reference path point on the initial driving path is obtained. It should be noted that the selected points can be path points or points with a specific distance from the reference path point, and no special limitation is made in this regard. In addition, the "several" mentioned in this application can be any number of three or more.

[0052] The vehicle-mounted terminal can determine the radius of the circle formed by the several points according to the obtained coordinate information of the several points, and then compare the radius of the circle with a predetermined radius threshold. Here, the predetermined radius threshold can be preset by those skilled in the art according to prior experience. For example, the predetermined radius threshold can be 100m, etc. If the radius of the circle is greater than the predetermined radius threshold, it can be considered that the to-be-traveled section is a straight-line section, and narrow_aisle_R_stg is set to 1; conversely, when the radius of the circle is less than or equal to the predetermined radius threshold, it can be considered that the to-be-traveled section is a non-straight-line section.

[0053] Take Figure 3 as an example. Suppose after calculation, point P is the path point closest to the target vehicle. The vehicle-mounted terminal can obtain the coordinate information of three other points A, B, and C (13m, 17m, and 20m away from point P respectively, and the distance can be calibrated) in front of point P, so as to calculate the radius R of the circle O formed by points A, B, and C. Then, the radius R is compared with the predetermined radius threshold 100. If R>100, it can be considered that the to-be-traveled section is a straight-line section.

[0054] Please continue to refer to Figure 1 , in step S130, when the to-be-traveled section in front of the target vehicle is a straight-line section, narrow area recognition is performed on the to-be-traveled section.

[0055] Among them, narrow area recognition can be preset by those skilled in the art, and it is a processing process for determining the distribution of obstacles on both sides of the driving path.

[0056] In this embodiment, if it is determined that the to-be-traveled section is a straight-line section, it means that the possibility of its existence of a narrow area is relatively large. Therefore, the vehicle-mounted terminal can trigger narrow area recognition to determine the distribution of obstacles on both sides of the to-be-traveled section, and then determine whether there is a narrow area in the to-be-traveled section, so as to be able to respond in time.

[0057] In some embodiments of this application, performing narrow area recognition on the to-be-traveled section includes:

[0058] Obtaining point cloud data obtained by scanning in front of the target vehicle;

[0059] Based on the path point information of the initial driving path, determine the distance between the laser points in the point cloud data and each path point in the initial driving path;

[0060] Respectively count the number of laser points with a distance less than a predetermined distance threshold from any of the path points on both sides of the initial driving path;

[0061] When the quantity meets the predetermined quantity condition, determine that there is a narrow area in the to-be-driven section.

[0062] In this embodiment, when it is determined that the to-be-driven section is a straight-line section, the vehicle-mounted terminal can obtain the point cloud data obtained by scanning in front of the target vehicle. This point cloud data can be obtained by the lidar configured on the target vehicle scanning the surrounding environment. It should be understood that the point cloud data may include the coordinate information corresponding to several laser points.

[0063] Next, the vehicle-mounted terminal can traverse the path points of the converted initial driving path and each laser point to determine the distance between each laser point and each path point. Then, respectively count the number of laser points with a distance less than a predetermined distance threshold from any of the path points on both sides of the initial driving path. Specifically, left_obs_cnt and right_obs_cnt can be default set to 0. If the distance between a certain laser point and any path point is less than the predetermined distance threshold (for example, the predetermined distance threshold is 1.7 m), then identify the azimuth relationship between the laser point and the initial driving path, that is, determine whether the laser point is on the left or right side of the initial driving path. If the laser point is on the left side of the initial driving path, add 1 to left_obs_cnt. If the laser point is on the right side of the initial driving path, add 1 to right_obs_cnt. In this way, the number of laser points with a relatively close distance on both sides of the initial driving path can be accurately counted.

[0064] In one embodiment, the vehicle-mounted terminal can traverse forward from the path point closest to the target vehicle, so as to reduce the occupation of computing resources. When the traversal reaches the length s of the to-be-driven section is 20 m, or when left_obs_cnt > 2 and right_obs_cnt > 2, end the traversal. It should be understood that s being 20 m means that the narrow area 20 m later is still at a certain distance from the target vehicle (the vehicle still has to drive 20 m to reach the narrow area), and the current vehicle can still drive forward normally without stopping, and only when approaching the narrow area will the next operation be activated.

[0065] Next, after stopping traversing, if left_obs_cnt > 2 and right_obs_cnt > 2, narrow_aisle_R_stg can be set to 2, indicating that there is a narrow area in the to-be-traveled section. It should be noted that the above numbers are only exemplary examples, and those skilled in the art can determine the corresponding predetermined quantity conditions according to actual implementation needs, and no special limitations are made thereto.

[0066] Please continue to refer to Figure 1 , in step S140, when it is determined that there is a narrow area in the to-be-traveled section, a reverse path is generated according to the path point information in the to-be-traveled section, so that during the reverse driving of the target vehicle along the reverse path, the vehicle body is adjusted to a straightened state with respect to the narrow area.

[0067] In this embodiment, when it is determined that there is a narrow area in the to-be-traveled section in front of the target vehicle, in order to avoid collisions and improve subsequent work efficiency, the in-vehicle terminal can generate a corresponding reverse path according to the path point information in the to-be-traveled section, so that the target vehicle adjusts the vehicle body to a pulled state with respect to the narrow area under the guidance of the reverse path, that is, approaching to be directly facing the narrow area. In this way, it is convenient for the target vehicle to pass through the narrow area.

[0068] In one example, the in-vehicle terminal can determine that a new reverse route is generated when narrow_aisle_R_st = 2 and both the target speed and the actual speed of the target vehicle are less than a certain value.

[0069] In some embodiments of the present application, generating a reverse path according to the path point information in the to-be-traveled section includes:

[0070] Determining the linear equation of the straight line where the reverse path is located according to the coordinate information of several path points in the to-be-traveled section;

[0071] According to the linear equation, starting from the point on the initial driving path that is closest to the target vehicle, several reverse path points are determined at intervals to obtain the reverse path.

[0072] In this embodiment, the vehicle-mounted terminal can traverse the path point information of the initial driving path, determine the point closest to the target vehicle, denoted as Q. Then, obtain three points E, F, and G on the initial driving path in front of point Q. The three points can be 13m, 17m, and 20m away from point Q respectively, and the above numbers can be calibrated. Also, obtain the headings of the three points E, F, and G as theta_E, theta_F, and theta_G respectively. Calculate path_heading = (theta_E + theta_F + theta_G) / 3 + PI, where PI = 180°; then obtain the coordinate information of point G as (x_G, y_G). Next, calculate polynomial_b = y_G - tan(path_heading) * x_G.

[0073] In this way, through the above calculations, the slope path_heading and the y-intercept polynomial_b of the straight-line equation of the reverse driving path can be obtained. Then, take the X-axis coordinate x_Q of point Q, set the id of the generated reverse driving path to 1, and the length to s meters (for example, 30m). Let i = 0. When i < s, loop through the following steps to determine several reverse driving path points:

[0074] c.1. x_tmp = x_Q + i, y_tmp = tan(path_heading) * x_tmp + polynomial_b;

[0075] c.2. Add (x_tmp, y_tmp) to the route with id = 1.

[0076] In this way, the reverse driving path point information included in the reverse driving path can be obtained. When the vehicle-mounted terminal detects a route with id = 1 (i.e., the reverse driving path), the vehicle-mounted terminal can regard it as the preferred route and convert it to the vehicle coordinate system of the target vehicle to obtain the route relative to the target vehicle. The vehicle switches to the reverse gear according to the heading of the reverse driving path and drives according to the reverse driving path, so that the vehicle body can be adjusted to a state pulled with the narrow area.

[0077] In some embodiments of the present application, the method further includes:

[0078] Convert the reverse driving path to the vehicle coordinate system of the target vehicle;

[0079] When the target vehicle reverses along the converted reverse driving path, determine in real time the point on the converted reverse driving path that is closest to the target vehicle, and when the heading and abscissa of the point meet the parking conditions, control the target vehicle to stop.

[0080] In this embodiment, the in-vehicle terminal can first convert the reverse path to the vehicle coordinate system of the target vehicle, and then reverse according to the converted reverse path. During the reverse process, the in-vehicle terminal can determine in real time the point K on the converted reverse path that is closest to the target vehicle. The in-vehicle terminal can judge in real time the orientation theta_K of this point K in the vehicle coordinate system and the abscissa y_K in the vehicle coordinate system. When the parking condition is met, it means that the body of the target vehicle is in a straightened state with the narrow area. At this time, the target vehicle can be controlled to stop. In one example, the orientation theta_K can be the angle between the straight line where the reverse path is located and the positive direction of the X-axis of the vehicle coordinate system. Because during the reverse process of the target vehicle, its body posture will change, that is, the angle between the positive direction of the X-axis of its vehicle coordinate system and the straight line where the reverse path is located will gradually decrease.

[0081] In one example, when |theta_K| < theta_thd (calibratable, such as 2°), and the absolute value of the abscissa of point K |y_K| < y_thd (calibratable, such as 0.2 m), the target speed of the target vehicle is set to 0, that is, it is controlled to stop.

[0082] Please continue to refer to Figure 1 , in step S150, when the body of the target vehicle is in a straightened state with the narrow area, a corresponding return path is generated according to the reverse path, so that the target vehicle returns to the initial driving path under the guidance of the return path and drives along the initial driving path to pass through the narrow area.

[0083] In this embodiment, after the target vehicle reverses along the reverse path and has stopped in a straightened state with the narrow area, the in-vehicle terminal can generate a corresponding return path according to the reverse path. This return path is used to guide the target vehicle back to the initial driving path to continue subsequent driving. It should be understood that when the target vehicle returns to the initial driving path along the return path, its body posture is also in a straightened state with the narrow area. Therefore, it can smoothly pass through the narrow area along the initial driving path.

[0084] In one embodiment, the above step S150 specifically includes:

[0085] When the body of the target vehicle is in a straightened state with the narrow area, traverse the reverse path points included in the reverse path from back to front and add them to the return path;

[0086] Guide the target vehicle to drive forward along the return path, and during the driving process, determine in real time the minimum distance between the initial driving path and the target vehicle. When the minimum distance meets the predetermined distance condition, switch to the initial driving path for driving to pass through the narrow area.

[0087] In this embodiment, when the target vehicle stops backing up, the in-vehicle terminal can traverse the backing path with id = 1 from the end point backwards and add the traversed path points to the route with id = 2. After the traversal is completed, the backing path with id = 1 is deleted. At this time, the route with id = 2 is the return path.

[0088] Next, when the in-vehicle terminal detects the existence of the return path with id = 2, it regards it as the priority route and converts it to the route relative to the vehicle. The target vehicle switches to the forward gear according to the orientation of this relative route and follows this return path to drive.

[0089] When the target vehicle is driving along the route of the return path, the in-vehicle terminal can obtain the closest point N(x_N, y_N) of the relative route obtained by converting the target vehicle and the initial driving path with id = 0, and calculate N_dst = (x_N * x_N + y_N * y_N) 0.5 . When N_dst < N_dst_thd (calibratable, such as 0.5 m), it means that the distance between the target vehicle and the initial driving path is relatively close, and it can switch to the initial driving path to drive. The in-vehicle terminal can delete the return path with id = 2, and then continue to follow the initial driving path with id = 0 to drive, so as to smoothly pass through the narrow area.

[0090] In this way, based on the method provided by the embodiment of the present application, the operation time and risk of the target vehicle in the narrow area can be minimized, ensuring that the vehicle can quickly and smoothly pass through the narrow area on the premise of ensuring safety.

[0091] The following introduces the device embodiment of the present application, which can be used to execute the narrow area passing method of the multi-axis all-wheel steering vehicle in the above embodiment of the present application. For the details not disclosed in the device embodiment of the present application, please refer to the embodiment of the narrow area passing method of the multi-axis all-wheel steering vehicle above.

[0092] Figure 4 The block diagram of the narrow area passing device of the multi-axis all-wheel steering vehicle according to an embodiment of the present application is shown.

[0093] Refer to Figure 4 As shown, the narrow area passing device of the multi-axis all-wheel steering vehicle according to an embodiment of the present application includes:

[0094] An acquisition module, configured to acquire the positioning information of the target vehicle and the path point information of its initial driving path;

[0095] A first recognition module, configured to recognize according to the path point information to determine whether the road section to be traveled in front of the target vehicle is a straight road section;

[0096] A second recognition module, configured to recognize narrow areas in the to-be-traveled road section when the to-be-traveled road section in front of the target vehicle is a straight road section;

[0097] An adjustment module, configured to generate a reverse path according to path point information in the to-be-traveled road section when it is determined that there is a narrow area in the to-be-traveled road section, so that when the target vehicle reverses along the reverse path, the vehicle body is adjusted to be in a straightened state with respect to the narrow area;

[0098] A processing module, configured to generate a corresponding return path according to the reverse path when the vehicle body of the target vehicle is in a straightened state with respect to the narrow area, so that the target vehicle returns to the initial travel path under the guidance of the return path and travels through the narrow area along the initial travel path.

[0099] In an embodiment of the present application, generating a reverse path according to the path point information in the to-be-traveled road section includes:

[0100] Determining the linear equation of the straight line where the reverse path is located according to the coordinate information of several path points in the to-be-traveled road section;

[0101] According to the linear equation, taking the point on the initial travel path that is closest to the target vehicle as the starting point, and determining several reverse path points at intervals to obtain the reverse path.

[0102] In an embodiment of the present application, the adjustment module is further configured to:

[0103] Convert the reverse path to the vehicle coordinate system of the target vehicle;

[0104] When the target vehicle reverses along the converted reverse path, determining the point on the converted reverse path that is closest to the target vehicle in real time, and controlling the target vehicle to stop when the orientation and abscissa of the point meet the parking conditions.

[0105] In an embodiment of the present application, recognizing narrow areas in the to-be-traveled road section includes:

[0106] Obtaining point cloud data obtained by scanning in front of the target vehicle;

[0107] Based on the path point information of the initial travel path, determining the distance between the laser points in the point cloud data and each path point in the initial travel path;

[0108] Respectively counting the number of laser points whose distance from any path point on both sides of the initial travel path is less than a predetermined distance threshold;

[0109] When the quantity meets the predetermined quantity condition, it is determined that there is a narrow area in the to-be-traveled section.

[0110] In an embodiment of the present application, when the body of the target vehicle is in a straightened state with respect to the narrow area, a corresponding return path is generated according to the reverse path, so that the target vehicle returns to the initial travel path under the guidance of the return path and travels along the initial travel path to pass through the narrow area, including:

[0111] When the body of the target vehicle is in a straightened state with respect to the narrow area, traverse the reverse path points included in the reverse path from back to front and add them to the return path;

[0112] Guide the target vehicle to travel forward along the return path, and during the travel, continuously determine the minimum distance between the initial travel path and the target vehicle. When the minimum distance meets the predetermined distance condition, switch to the initial travel path to travel through the narrow area.

[0113] In an embodiment of the present application, according to the recognition of the path point information, it is determined whether the to-be-traveled section in front of the target vehicle is a straight section, including:

[0114] Traverse the path point information of the initial travel path to determine the reference path point closest to the target vehicle;

[0115] According to the coordinate information of several points on the initial travel path in front of the reference path point, determine the radius of the circle formed by the several points;

[0116] When the radius of the circle is greater than the predetermined radius threshold, it is determined that the to-be-traveled section in front of the target vehicle is a straight section.

[0117] Figure 5 The structure diagram of the computer system of the electronic device suitable for implementing the embodiments of the present application is shown.

[0118] It should be noted that Figure 5 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0119] Such as Figure 5As shown, the computer system includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 502 or the program loaded from the storage section 508 into the Random Access Memory (RAM) 503, such as executing the methods described in the above embodiments. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An Input / Output (I / O) interface 505 is also connected to the bus 504.

[0120] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read from it can be installed into the storage section 508 as needed.

[0121] Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include 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 the network via the communication section 509, and / or installed from the removable medium 511. When the computer program is executed by the Central Processing Unit (CPU) 501, various functions defined in the system of the present application are executed.

[0122] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various 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 the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of 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 blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0124] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. In some cases, the names of these units do not constitute a limitation on the unit itself.

[0125] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or may exist alone without being assembled into the electronic device. When one or more of the above programs are executed by an electronic device, the electronic device implements the methods described in the above embodiments.

[0126] It should be noted that although several modules or units of the devices for action execution are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more of the above-mentioned modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0127] From the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented in software, or in a combination of software and necessary hardware. Therefore, the technical solutions 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 (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the methods according to the embodiments of the present application.

[0128] After considering the specification and practicing the disclosed embodiments herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include common knowledge or conventional technical means in the technical field not disclosed in the present application.

[0129] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for a multi-axle all-wheel steering vehicle to pass through a narrow area, characterized in that: include: Obtain the target vehicle's positioning information and the path point information of its initial driving path; Identify based on the path point information whether the road section ahead of the target vehicle to be driven is a straight road section; When the road section to be traveled in front of the target vehicle is a straight road section, performing narrow area recognition on the road section to be traveled; If it is determined that there is a narrow area in the road section to be traveled, a reversing path is generated according to the path point information in the road section to be traveled, so that the target vehicle adjusts its body to be aligned with the narrow area during the process of reversing along the reversing path; When the body of the target vehicle is in a straightened state with respect to the narrow area, a corresponding return path is generated according to the reversing path, so that the target vehicle returns to the initial driving path under the guidance of the return path and drives through the narrow area along the initial driving path; specifically comprising: When the body of the target vehicle is in a straightened state with respect to the narrow area, traversing the reversing path points included in the reversing path from back to front and adding them to the return path; The target vehicle is guided to travel forward along the return path, and during the travel, the minimum distance between the initial travel path and the target vehicle is determined in real time. When the minimum distance meets a predetermined distance condition, the target vehicle is switched to the initial travel path for travel to pass through the narrow area.

2. The method according to claim 1, characterized in that Generating a reversing path according to the path point information within the road section to be traveled, including: Determining a straight line equation of a reverse path based on coordinate information of a plurality of path points within the road section to be traveled; According to the straight line equation, a point on the initial driving path closest to the target vehicle is used as a starting point, and a plurality of reversing path points are determined at intervals to obtain the reversing path.

3. The method according to claim 2, characterized in that The method further comprises: Converting the reversing path into the vehicle coordinate system of the target vehicle; When the target vehicle reverses along the converted reversing path, the point on the converted reversing path closest to the target vehicle is determined in real time, and when the direction and horizontal coordinate of the point meet the parking conditions, the target vehicle is controlled to stop.

4. The method according to claim 1, wherein Identifying a narrow area on the road section to be traveled includes: Acquire point cloud data obtained by scanning the front of the target vehicle; Determining, based on the path point information of the initial driving path, a distance between the laser point in the point cloud data and each path point in the initial driving path; Counting the number of laser points whose distances from any of the path points on both sides of the initial driving path are less than a predetermined distance threshold; When the number meets a predetermined number condition, it is determined that a narrow area exists in the road section to be traveled.

5. The method according to claim 1, wherein Identifying, based on the path point information, and determining whether the road section ahead of the target vehicle to be driven is a straight road section includes: Traversing the path point information of the initial driving path to determine the reference path point closest to the target vehicle; determining, based on coordinate information of a plurality of points on the initial driving path that are located ahead of the reference path point, a radius of a circle formed by the plurality of points; When the radius of the circle is greater than a predetermined radius threshold, it is determined that the road section to be traveled in front of the target vehicle is a straight road section.

6. A narrow area passage device for 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 initial driving path; A first recognition module is used to identify, based on the path point information, whether the road section to be traveled in front of the target vehicle is a straight road section; A second recognition module is used to identify a narrow area on the road section to be traveled when the road section to be traveled in front of the target vehicle is a straight road section; an adjustment module for, when determining that a narrow area exists in the road section to be traveled, generating a reversing path based on path point information within the road section to be traveled, so that the target vehicle adjusts its vehicle body to be aligned with the narrow area during reversing along the reversing path; a processing module, configured to generate a corresponding return path according to the reversing path when the body of the target vehicle is in a straightened state relative to the narrow area, so that the target vehicle returns to the initial driving path under the guidance of the return path and drives through the narrow area along the initial driving path; Specifically include: When the body of the target vehicle is in a straightened state with respect to the narrow area, traversing the reversing path points included in the reversing path from back to front and adding them to the return path; The target vehicle is guided to travel forward along the return path, and during the travel, the minimum distance between the initial travel path and the target vehicle is determined in real time. When the minimum distance meets a predetermined distance condition, the target vehicle is switched to the initial travel path for travel to pass through the narrow area.

7. The device according to claim 6, characterized in that Generating a reversing path according to the path point information within the road section to be traveled, including: Determining a straight line equation of a reverse path based on coordinate information of a plurality of path points within the road section to be traveled; According to the straight line equation, a point on the initial driving path closest to the target vehicle is used as a starting point, and a plurality of reversing path points are determined at intervals to obtain the reversing path.

8. A computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the narrow area passing method of a multi-axle all-wheel steering vehicle according to any one of claims 1 to 5 is implemented.

9. 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 narrow area passage method of the multi-axle all-wheel steering vehicle as described in any one of claims 1 to 5.

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