Route planning method and device for tracking backing, medium, equipment and vehicle

Abstract

The invention discloses a route planning method and device for tracking backing, a medium, equipment and a vehicle, and the method comprises the steps: obtaining an actual driving track point before tracking backing, and obtaining a historical track record before tracking backing according to the actual driving track point, and the historical track record comprises a first historical forward track and a second historical forward track; sampling the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point and a second sampling point; when a third sampling point and a fourth sampling point exist in the abscissa range of the first sampling point and the second sampling point, taking the four sampling points as interpolation points for interpolation to generate a middle curve segment, and sampling the middle curve segment to obtain a middle curve segment track; and generating a target tracking backing planning route according to a first tracking backing planning route taking the starting point of the first historical advancing track and the first sampling point as end points, the middle curve section track and a second tracking backing planning route taking the second sampling point and the end point of the second historical advancing track as end points.

Description

Technical Field

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

[0002] Reverse tracking means that the vehicle can reverse along the original route according to the just traveled trajectory without the need to control the steering wheel during the reverse trajectory. When entering a complex environment such as a narrow road, reverse parking along the original route has high requirements for driving skills. The reverse tracking function records the operation trajectory during the just driving process and uses the vehicle computer memory to automatically reverse the vehicle along the track, greatly reducing the difficulty of reverse parking.

[0003] However, when the historical driving trajectory is relatively complex and long, the reverse tracking trajectory of returning along the original route will also be relatively complex and long. For example, in the scenario of shifting from D gear to R gear and then to D gear, that is, first driving forward, deviating from the original route midway to reverse, and finally moving forward on the new route. If the reverse tracking trajectory of returning along the original route is used for automatic reverse parking, it will be a complex and long three-segment road, resulting in low reverse parking efficiency. Summary of the Invention

[0004] The present application provides a method, device, medium, equipment and vehicle for route planning of reverse tracking, which can solve the problem that when the historical driving trajectory is relatively complex and long, the reverse tracking trajectory of returning along the original route will also be relatively complex and long, resulting in low reverse parking efficiency.

[0005] Specific technical solutions are as follows:

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

[0007] Obtain the actual driving trajectory points before reverse tracking;

[0008] According to the actual driving trajectory points, obtain the historical trajectory record before reverse tracking, wherein the historical trajectory record includes a first historical forward trajectory and a second historical forward trajectory, a connection line between the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory forms an intermediate reference line, and an angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to an angle threshold;

[0009] Sample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory;

[0010] When there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point are used as interpolation points for interpolation calculation to generate an intermediate curve segment passing through the interpolation points, and the intermediate curve segment is sampled at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points;

[0011] A target reverse tracking planning route is generated according to a first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and a second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

[0012] As can be seen from the above solution, the embodiment of the present application can first obtain the actual driving trajectory points before reverse tracking, and according to the actual driving trajectory points, obtain a historical trajectory record including a first historical forward trajectory and a second historical forward trajectory, and the angle between the first historical forward trajectory and the intermediate reference line (that is, the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory) is greater than or equal to an angle threshold, and the first historical forward trajectory and the second historical forward trajectory are respectively sampled to obtain a first sampling point and a second sampling point, and then the first sampling point, the second sampling point, and a third sampling point and a fourth sampling point existing within the abscissa range of the first sampling point and the second sampling point are used as interpolation points for interpolation calculation to generate an intermediate curve segment passing through these interpolation points, and the intermediate curve segment is sampled to obtain an intermediate curve segment trajectory, and finally, according to a first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and a second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints, a target reverse tracking planning route is generated. Compared with the reverse tracking route of returning along the original route, the distance of the target reverse tracking planning route generated by the embodiment of the present application is greatly reduced and the transition of the intermediate section is very smooth, so it can not only improve the efficiency of reverse tracking, but also improve the comfort of the driver and passengers.

[0013] In the first possible implementation manner of the first aspect, before sampling the first historical forward trajectory and the second historical forward trajectory, the method further includes:

[0014] When the distance between adjacent trajectory points in the historical trajectory record is greater than or equal to a first distance threshold, encryption processing is performed on the adjacent trajectory points with a distance greater than or equal to the first distance threshold to obtain the encrypted historical trajectory record.

[0015] As can be seen from the above solution, in the embodiment of the present application, after encrypting the adjacent trajectory points in the historical trajectory record whose distance is greater than or equal to the first distance threshold, the first historical forward trajectory and the second historical forward trajectory are sampled. This can not only provide more alternative sampling points, increasing the possibility of finding interpolation points, but also make the interpolation range closer to the inflection points of the recorded trajectory (i.e., the two endpoints of the intermediate reference line).

[0016] In the second possible implementation manner of the first aspect, generating the target reverse tracking planning route according to the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints includes:

[0017] Sampling the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point located on the first reverse tracking planning route and a sixth sampling point located on the second reverse tracking planning route;

[0018] Determine the trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as the first target trajectory, and determine the trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as the second target trajectory;

[0019] With the curvature threshold as a limit, perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory to obtain an optimized intermediate curve segment trajectory;

[0020] Generate the target reverse tracking planning route according to the third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized intermediate curve segment trajectory, and the fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints.

[0021] As can be seen from the above solution, in the embodiment of the present application, by optimizing the interpolated intermediate curve segment trajectory, an intermediate curve segment trajectory that is smoother and has a curvature less than the curvature threshold can be obtained. Therefore, when the vehicle performs reverse tracking according to the target reverse tracking planning route, it will not be unable to drive due to being unable to reach the curvature of the intermediate curve segment trajectory, thereby improving the feasibility of the target reverse tracking planning route.

[0022] In the third possible implementation manner of the first aspect, the method further includes:

[0023] In the case that there is no third sampling point and / or fourth sampling point within the abscissa range of the first sampling point and the second sampling point, return to perform sampling on the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point located on the first historical forward trajectory and a second sampling point located on the second historical forward trajectory.

[0024] In a fourth possible implementation manner of the first aspect, the obtaining of the historical trajectory record before track following reverse according to the actual driving trajectory points includes:

[0025] Record the first historical forward trajectory at a preset trajectory recording interval, where the first historical forward trajectory includes a plurality of the actual driving trajectory points;

[0026] Starting from when the vehicle starts to reverse, determine whether the target angle is greater than or equal to the angle threshold, where the target angle is the angle between the line connecting the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning, and the first historical forward trajectory;

[0027] When the target angle is less than the angle threshold, discard the actual driving trajectory point of the current positioning until the target angle is greater than or equal to the angle threshold, and then determine whether the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to a second distance threshold;

[0028] When the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold, discard the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold, record the actual driving trajectory point of the current positioning, and when it is determined that the vehicle is currently in the forward state, determine the recorded actual driving trajectory point of the current positioning as the starting point of the second historical forward trajectory;

[0029] Starting from the starting point of the second historical forward trajectory, record the actual driving trajectory points of the current positioning at the preset trajectory recording interval until a track following reverse instruction is received, and record the second historical forward trajectory.

[0030] It can be seen from the above solution that in the process of manually driving a vehicle in the embodiment of the present application, by positioning and recording the required trajectory points while discarding the trajectory points whose angles and distances do not meet the requirements, the storage amount of the historical trajectory can be reduced and the storage space can be saved.

[0031] In a fifth possible implementation manner of the first aspect, the obtaining of the historical trajectory record before track following reverse according to the actual driving trajectory points includes:

[0032] Obtain the actual historical trajectory before following the track in reverse. Among them, the actual historical trajectory includes the complete actual driving trajectory between the starting point and the ending point of following the track in reverse. The actual historical trajectory includes a first actual forward trajectory, an actual reverse trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include a plurality of the actual driving trajectory points;

[0033] Sample the second actual forward trajectory to obtain a seventh sampling point;

[0034] When the included angle between the connection line of the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the included angle threshold, return to execute sampling the second actual forward trajectory to obtain a seventh sampling point until the included angle between the connection line of the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the included angle threshold. Then, use the trajectory points between the seventh sampling point and the ending point of the second actual forward trajectory as the second historical forward trajectory, and use the first actual forward trajectory as the first historical forward trajectory.

[0035] It can be seen from the above solution that the embodiments of the present application can, while saving the actual historical trajectory, obtain the historical trajectory record required for the route planning of following the track in reverse through preprocessing of the actual historical trajectory. Thus, not only can the historical trajectory record be obtained, but it is also convenient to apply the actual historical trajectory to other scenarios.

[0036] In a second aspect, the embodiments of the present application provide a route planning device for following the track in reverse. The device includes:

[0037] A first acquisition unit, configured to acquire the actual driving trajectory points before following the track in reverse;

[0038] A second acquisition unit, configured to obtain the historical trajectory record before following the track in reverse according to the actual driving trajectory points. Among them, the historical trajectory record includes a first historical forward trajectory and a second historical forward trajectory. The connection line between the ending point of the first historical forward trajectory and the starting point of the second historical forward trajectory forms an intermediate reference line, and the included angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to the included angle threshold;

[0039] A first sampling unit, configured to sample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point located on the first historical forward trajectory and a second sampling point located on the second historical forward trajectory;

[0040] An interpolation unit, configured to perform interpolation calculation by using the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points when there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, and generate an intermediate curve segment passing through the interpolation points;

[0041] A second sampling unit, configured to sample the intermediate curve segment at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points;

[0042] A generating unit, configured to generate a target reverse tracking planning route according to a first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and a second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

[0043] In the first possible implementation manner of the second aspect, the device further includes:

[0044] An encryption unit, configured to perform encryption processing on adjacent trajectory points with a distance greater than or equal to a first distance threshold in the historical trajectory record before sampling the first historical forward trajectory and the second historical forward trajectory, so as to obtain the encrypted historical trajectory record.

[0045] In the second possible implementation manner of the second aspect, the generating unit includes:

[0046] A first sampling module, configured to sample the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point located on the first reverse tracking planning route and a sixth sampling point located on the second reverse tracking planning route;

[0047] A first determination module, configured to determine a trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as a first target trajectory, and determine a trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as a second target trajectory;

[0048] An optimization processing module, configured to perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory with a curvature threshold as a limit, so as to obtain an optimized intermediate curve segment trajectory;

[0049] A generation module, configured to generate the target reverse tracking planning route according to a third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized middle curve segment trajectory, and a fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints.

[0050] In a third possible implementation manner of the second aspect, the first sampling unit is further configured to resample the first historical forward trajectory and the second historical forward trajectory when there is no third sampling point and / or fourth sampling point within the abscissa range of the first sampling point and the second sampling point, to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory.

[0051] In a fourth possible implementation manner of the second aspect, the obtaining unit includes:

[0052] A recording module, configured to record the first historical forward trajectory at a preset trajectory recording interval, where the first historical forward trajectory includes a plurality of the actual driving trajectory points;

[0053] A judgment module, configured to judge whether a target angle is greater than or equal to the angle threshold from the start of vehicle reverse, where the target angle is the angle between the line connecting the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning, and the first historical forward trajectory;

[0054] A discarding module, configured to discard the actual driving trajectory point of the current positioning when the target angle is less than the angle threshold;

[0055] The judgment module is further configured to judge whether the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to a second distance threshold until the target angle is greater than or equal to the angle threshold;

[0056] The discarding module is further configured to discard the actual driving trajectory point of the current positioning when the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold;

[0057] The recording module is further configured to record the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold;

[0058] A second determination module, configured to determine the actual driving trajectory point of the current positioning recorded as the starting point of the second historical forward trajectory when it is determined that the vehicle is currently in the forward state;

[0059] The recording module is further configured to start from the starting point of the second historical forward trajectory and record the actual driving trajectory points of the current positioning at the preset trajectory recording interval until the track following reverse instruction is received, and record the second historical forward trajectory.

[0060] In a fifth possible implementation manner of the second aspect, the obtaining unit includes:

[0061] An obtaining module, configured to obtain the actual historical trajectory before track following reverse, where the actual historical trajectory includes the complete actual driving trajectory between the starting point and the ending point of the track following reverse, the actual historical trajectory includes a first actual forward trajectory, an actual reverse trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include a plurality of the actual driving trajectory points;

[0062] A second sampling module, configured to sample the second actual forward trajectory to obtain a seventh sampling point; when the included angle between the line formed by the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the included angle threshold, return to execute sampling the second actual forward trajectory to obtain the seventh sampling point;

[0063] A second determining module, configured to until the included angle between the line connecting the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the included angle threshold, use the trajectory points between the seventh sampling point and the ending point of the second actual forward trajectory as the second historical forward trajectory, and use the first actual forward trajectory as the first historical forward trajectory.

[0064] As can be seen from the above solution, the embodiment of the present application can first obtain the actual driving trajectory points before reverse tracking, and based on the actual driving trajectory points, obtain a historical trajectory record including a first historical forward trajectory and a second historical forward trajectory, and the angle between the first historical forward trajectory and the intermediate reference line (i.e., the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory) is greater than or equal to the angle threshold, and sample the first historical forward trajectory and the second historical forward trajectory respectively to obtain a first sampling point and a second sampling point, and then use the first sampling point, the second sampling point, and the third sampling point and the fourth sampling point existing within the abscissa range of the first sampling point and the second sampling point as interpolation points for interpolation calculation to generate an intermediate curve segment passing through these interpolation points, and sample the intermediate curve segment to obtain an intermediate curve segment trajectory, and finally generate a target reverse tracking planning route according to the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints. Compared with the reverse tracking route of returning along the original route, the distance of the target reverse tracking planning route generated by the embodiment of the present application is greatly reduced and the transition of the intermediate section is very smooth, so it can not only improve the efficiency of reverse tracking, but also improve the comfort of the driver and passengers.

[0065] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method described in any possible implementation manner of the first aspect.

[0066] In a fourth aspect, an embodiment of the present application provides an electronic device, which includes:

[0067] One or more processors;

[0068] The processor is coupled to the storage device, and the storage device is used to store one or more programs;

[0069] When one or more programs are executed by one or more processors, the electronic device implements the method described in any possible implementation manner of the first aspect.

[0070] In a fifth aspect, an embodiment of the present application provides a vehicle, which includes the device described in any possible implementation manner of the second aspect, or includes the electronic device described in the fourth aspect.

[0071] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions, and when the instructions run on a computer or a processor, the computer or the processor is caused to execute the method described in any possible implementation manner of the first aspect. Description of the Drawings

[0072] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0073] Figure 1 It is a schematic flowchart of a route planning method for following - track reverse driving provided by an embodiment of the present application;

[0074] Figure 2 It is an example diagram of a route planning method for following - track reverse driving provided by an embodiment of the present application;

[0075] Figure 3 It is a block diagram of a composition of a route planning device for following - track reverse driving provided by an embodiment of the present application;

[0076] Figure 4 It is a schematic diagram of the structure of an electronic device or a computer device provided by an embodiment of the present application. Specific embodiments

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present application.

[0078] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "include" and "have" in the embodiments of the present application and any variations thereof are intended to cover non - exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0079] To simplify the following - track reverse driving route, an embodiment of the present application provides a route planning method for following - track reverse driving. This method can be applied to an electronic device or a computer device, and specifically can be applied to a terminal or a server. The terminal can be a vehicle, such as Figure 1 As shown, this method includes:

[0080] S110: Obtain the actual driving trajectory points before following - track reverse driving.

[0081] The actual driving trajectory point refers to the positioning point during the actual driving process.

[0082] S120: Obtain the historical trajectory record before reverse tracking according to the actual driving trajectory point.

[0083] Among them, the historical trajectory record includes the first historical forward trajectory and the second historical forward trajectory. The line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory forms an intermediate reference line, and the angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to the angle threshold. The angle threshold can be determined according to actual experience, usually an obtuse angle, specifically 120 degrees.

[0084] In one implementation, the method for determining the angle between the first historical forward trajectory and the intermediate reference line includes but is not limited to the following: (1) The angle between the line formed by the last N trajectory points in the first historical forward trajectory and the intermediate reference line, where N is a positive integer greater than or equal to 2; (2) After fitting the first historical forward trajectory into a smooth straight line, the angle between this straight line and the intermediate reference line.

[0085] When the embodiment of the present application is applied to a vehicle, the obtained historical trajectory record is the historical trajectory record of the vehicle itself; when the embodiment of the present application is applied to a server, the obtained historical trajectory record is the historical trajectory record of the vehicle that requests the target reverse tracking planning route from the server.

[0086] The method for obtaining the historical trajectory record before reverse tracking according to the actual driving trajectory point includes but is not limited to the following two:

[0087] The first method: Directly record the historical trajectory record before reverse tracking according to the trajectory recording strategy of steps A1 - A5.

[0088] A1: Record the first historical forward trajectory according to the preset trajectory recording interval.

[0089] Among them, the first historical forward trajectory includes multiple actual driving trajectory points. The preset trajectory recording interval can be the positioning interval or a preset fixed interval, such as 0.2m.

[0090] A2: Starting from the vehicle's reverse, determine whether the target angle is greater than or equal to the angle threshold, where the target angle is the angle between the line connecting the end point of the first historical forward trajectory and the current positioned actual driving trajectory point, and the first historical forward trajectory.

[0091] A3: When the target angle is less than the angle threshold, discard the currently positioned actual driving trajectory point until the target angle is greater than or equal to the angle threshold, and then determine whether the distance between the end point of the first historical forward trajectory and the currently positioned actual driving trajectory point is greater than or equal to the second distance threshold.

[0092] The second distance threshold may be the same as or different from the preset trajectory recording interval. When they are different, generally the second distance threshold is greater than the preset trajectory recording interval. For example, when the preset trajectory recording interval = 0.2 m, the second distance threshold may be an empirical value greater than or equal to 0.2 m.

[0093] A4. When the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold, discard the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold, and then record the actual driving trajectory point of the current positioning. And when it is determined that the vehicle is currently in the forward state, determine the recorded actual driving trajectory point of the current positioning as the starting point of the second historical forward trajectory.

[0094] Starting from when the vehicle starts to reverse, instead of recording each trajectory point, first determine whether the target angle between the first historical forward trajectory and the line connecting the end point of the first historical forward trajectory and the trajectory point of the current positioning is greater than or equal to the angle threshold. When the target angle is less than the angle threshold, discard the actual driving trajectory point of the current positioning until the target angle is greater than or equal to the angle threshold. Then continue to determine whether the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to the second distance threshold. When the distance is less than the second distance threshold, continue to discard the actual driving trajectory point of the current positioning until the target angle is greater than or equal to the angle threshold and the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to the second distance threshold, and then record the actual driving trajectory point of the current positioning.

[0095] A5. Starting from the starting point of the second historical forward trajectory, record the actual driving trajectory points of the current positioning at the preset trajectory recording interval until a trace-back reverse instruction is received, and then the second historical forward trajectory is obtained.

[0096] Starting from the starting point of the second historical forward trajectory, the vehicle moves forward, so the actual driving trajectory points of the current positioning can continue to be recorded at the preset trajectory recording interval until a trace-back reverse instruction is received, and then determine the actual driving trajectory point of the current positioning as the end point of the second historical forward trajectory, thereby obtaining the second historical forward trajectory.

[0097] The second method: First store the actual historical trajectory before trace-back reverse, and then preprocess the actual historical trajectory through the methods of steps B1 - B3 to obtain the historical trajectory record.

[0098] B1. Obtain the actual historical trajectory before reverse tracking. Among them, the actual historical trajectory includes the complete actual driving trajectory between the starting point and the ending point of reverse tracking. The actual historical trajectory includes the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include multiple actual driving trajectory points.

[0099] The actual historical trajectory refers to the historical trajectory without discarded positioning points. For example, Figure 2 As shown in the figure, the vehicle first drives from point O to point A along road S1, then starts to deviate from road S1 and reverses to point B on road S2 from point A, and finally drives along road S2 to point G, thereby obtaining the actual historical trajectory. Among them, the first actual forward trajectory is OA, the actual reverse trajectory is AB, and the second actual forward trajectory is BG.

[0100] B2. Sample the second actual forward trajectory to obtain the seventh sampling point.

[0101] For example, Figure 2 As shown in the figure, sampling can be performed on the BG section to obtain the seventh sampling point B'.

[0102] B3. When the included angle between the connection line of the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the included angle threshold, return to execute sampling the second actual forward trajectory to obtain the seventh sampling point until the included angle between the connection line of the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the included angle threshold. Then, take the trajectory points between the seventh sampling point and the ending point of the second actual forward trajectory as the second historical forward trajectory, and take the first actual forward trajectory as the first historical forward trajectory.

[0103] For example, Figure 2 As shown in the figure, when the included angle between OA and AB' is less than the included angle threshold (such as 120 degrees), new B' points can be re-sampled on BG until the included angle between the recently obtained AB' and OA is greater than or equal to the included angle threshold. Then, stop sampling. The recently obtained B' is determined as the finally required seventh sampling point, OA is determined as the first historical forward trajectory, B'G is determined as the second historical forward trajectory, AB' constitutes the intermediate reference line, and OAB'G constitutes the historical trajectory record.

[0104] The first method of recording the required trajectory points while positioning and discarding the trajectory points whose included angles and distances do not meet the requirements can reduce the storage amount of the historical trajectory and save storage space. The second method of first saving the actual historical trajectory and then preprocessing the actual historical trajectory can facilitate the application of the actual historical trajectory to other scenarios while obtaining the historical trajectory record.

[0105] It should be noted that both the first actual forward trajectory and the second actual forward trajectory can be a straight trajectory or a curved trajectory, but they are both forward driving trajectories and do not include reverse trajectories.

[0106] S130: Sample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory.

[0107] In this embodiment, cross-sampling can be performed on the first historical forward trajectory and the second historical forward trajectory. For two points, cross-sampling means fixing one point and moving the second point, that is, sampling the second point. After the second point is sampled, it is fixed and the first point is sampled. Performing cross-sampling on the first historical forward trajectory and the second historical forward trajectory means sampling the first historical forward trajectory and the second historical forward trajectory successively. As Figure 2 shown, the first sampling point obtained by sampling on OA is C, and the second sampling point obtained by sampling on B’G is D.

[0108] S140: When there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, use the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points for interpolation calculation, generate an intermediate curve segment passing through the interpolation points, and sample the intermediate curve segment at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points.

[0109] The coordinate system where each trajectory point in the historical trajectory record is located can be the power-on coordinate system. The power-on coordinate system means that when the vehicle is powered on and started, the direction pointing to the front of the vehicle is the x-axis direction, the direction perpendicular to the x-axis and pointing to the left side of the vehicle is the y-axis direction, and the direction pointing to the top of the vehicle is the z-axis direction. In the embodiments of the present application, a two-dimensional coordinate system composed of the x-axis and the y-axis can be used only.

[0110] When the first sampling point is C, the second sampling point is D, the third sampling point is C’, and the fourth sampling point is D’, if x C <x C′ <x D′ <x D , it indicates that there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, otherwise it indicates that there is no third sampling point and / or fourth sampling point within the abscissa range of the first sampling point and the second sampling point.

[0111] In the case where there are no third sampling points and / or fourth sampling points within the abscissa range of the first sampling point and the second sampling point, return to perform sampling on the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory. That is, in the case where there are no third sampling points and / or fourth sampling points within the abscissa range of the first sampling point and the second sampling point, resample the first historical forward trajectory and the second historical forward trajectory to obtain a new first sampling point and a new second sampling point, and determine whether there are third sampling points and fourth sampling points within the abscissa range of the newly obtained first sampling point and second sampling point, until there are third sampling points and fourth sampling points within the abscissa range of the most recently obtained first sampling point and second sampling point, then stop sampling.

[0112] The method of performing interpolation calculation with the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points to generate an intermediate curve segment passing through the interpolation points includes, but is not limited to, piecewise cubic Hermite interpolation (PCHIP), cubic spline interpolation, etc.

[0113] After obtaining the continuous intermediate curve segment, first, within the abscissa range of the first sampling point and the second sampling point, sample the intermediate curve segment at a preset sampling interval to determine the abscissa of each sampling point, and then calculate the ordinate corresponding to each abscissa according to the curve equation of the intermediate curve segment, so as to obtain the abscissa and ordinate of each sampling point. The discrete point set composed of the first sampling point, the second sampling point, and the sampling points obtained by sampling the intermediate curve segment is used as the intermediate curve segment trajectory. The preset sampling interval can be the preset trajectory recording interval, such as 0.2m.

[0114] S150: Generate a target reverse tracking planning route according to the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

[0115] After obtaining the intermediate curve segment trajectory, the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints can be directly sequentially spliced to generate a target reverse tracking planning route. The starting point of the target reverse tracking planning route is the end point of the second historical forward trajectory, and the end point of the target reverse tracking planning route is the starting point of the first historical forward trajectory.

[0116] Such as Figure 2As shown in the figure, the first reverse tracking planning route is OC, the trajectory of the middle curve segment is CD, the second reverse tracking planning route is DG, and the target reverse tracking planning route is GDCO.

[0117] The route planning method for reverse tracking provided by the embodiment of the present application can first obtain the actual driving trajectory points before reverse tracking, and based on the actual driving trajectory points, obtain a historical trajectory record including a first historical forward trajectory and a second historical forward trajectory, and the angle between the first historical forward trajectory and the intermediate reference line (i.e., the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory) is greater than or equal to the angle threshold. Then, sample the first historical forward trajectory and the second historical forward trajectory respectively to obtain a first sampling point and a second sampling point. Then, use the first sampling point, the second sampling point, and the third sampling point and the fourth sampling point existing within the abscissa range of the first sampling point and the second sampling point as interpolation points for interpolation calculation to generate an intermediate curve segment passing through these interpolation points, and sample the intermediate curve segment to obtain the trajectory of the intermediate curve segment. Finally, based on the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the trajectory of the intermediate curve segment, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints, generate the target reverse tracking planning route. Compared with the reverse tracking route of returning along the original path, the distance of the target reverse tracking planning route generated by the embodiment of the present application is greatly reduced and the transition of the middle section is very smooth. Therefore, it can not only improve the efficiency of reverse tracking but also improve the comfort of the driver and passengers.

[0118] In a possible implementation manner, when there is a positioning error in vehicle positioning, it may cause the interval between the recorded trajectory points to be too large and the number of historical trajectory points to be too small, which may result in the inability to find eligible interpolation points subsequently. To solve this technical problem, before sampling the first historical forward trajectory and the second historical forward trajectory, when the distance between adjacent trajectory points in the historical trajectory record is greater than or equal to the first distance threshold, encrypt the adjacent trajectory points with a distance greater than or equal to the first distance threshold to obtain an encrypted historical trajectory record. Among them, the encryption method includes but is not limited to: performing linear interpolation between adjacent trajectory points with a distance greater than or equal to the first distance threshold. The first distance threshold can be an actual experience value, for example, it can be 0.2m.

[0119] By encrypting the adjacent trajectory points with a distance greater than or equal to the first distance threshold in the embodiment of the present application, it can not only provide more alternative sampling points, increasing the possibility of finding interpolation points, but also make the interpolation range closer to the inflection points of the recorded trajectory (i.e., the two endpoints of the intermediate reference line).

[0120] In a possible implementation manner, the curvature of the intermediate curve segment trajectory obtained by interpolation cannot be guaranteed to be less than or equal to the maximum curvature of the vehicle. As a result, there may be a problem that the vehicle cannot travel due to the excessive curvature of the intermediate curve segment trajectory. To solve this technical problem, an embodiment of the present application provides a method for optimizing the intermediate curve segment trajectory:

[0121] Sample the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point on the first reverse tracking planning route and a sixth sampling point on the second reverse tracking planning route; determine the trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as the first target trajectory, and determine the trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as the second target trajectory; with the curvature threshold as a limit, perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory to obtain an optimized intermediate curve segment trajectory; generate a target reverse tracking planning route according to the third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized intermediate curve segment trajectory, and the fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints.

[0122] Among them, the curvature threshold can be less than or equal to the maximum curvature of the vehicle. Before performing discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory with the curvature threshold as a limit, it is necessary to first set the objective function and constraint conditions, and then perform discrete point smoothing operations according to the objective function and constraint conditions. Among them, the objective function = maximum smoothness + minimum length + minimum offset. The length refers to the length of the optimized intermediate curve segment trajectory, and the offset refers to the offset relative to the fifth sampling point. The constraint conditions include: (1) The optimized coordinate points search for optimization within a certain range of the original values of the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory; (2) The maximum curvature of the optimized intermediate curve segment trajectory is less than or equal to the curvature threshold.

[0123] Generating a target reverse tracking planning route according to the third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized intermediate curve segment trajectory, and the fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints includes: determining the route obtained by sequentially splicing the third reverse tracking planning route, the optimized intermediate curve segment trajectory, and the fourth reverse tracking planning route as the target reverse tracking planning route.

[0124] Such as Figure 2As shown in the figure, sampling can be continued between OC and DG to obtain the fifth sampling point E and the sixth sampling point F. Determine OE as the first target trajectory and FG as the second target trajectory. With the curvature threshold as the limit, perform discrete point smoothing on ECDF to obtain the optimized intermediate curve segment trajectory EF. The optimized target reverse tracking planning route is GFEO. Among them, the optimized intermediate curve segment trajectory must pass through the fifth sampling point and the sixth sampling point, but does not necessarily pass through the first sampling point and the second sampling point.

[0125] It should be added that when the discrete point smoothing of the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory fails with the curvature threshold as the limit, the first reverse tracking planning route and the second reverse tracking planning route can be resampled to obtain a new fifth sampling point and a new sixth sampling point until the discrete point smoothing process is successful.

[0126] By optimizing the interpolated intermediate curve segment trajectory in the embodiments of the present application, an intermediate curve segment trajectory that is smoother and has a curvature less than the curvature threshold can be obtained. Thus, when the vehicle performs reverse tracking according to the target reverse tracking planning route, it will not be unable to drive because it cannot reach the curvature of the intermediate curve segment trajectory, thereby improving the feasibility of the target reverse tracking planning route.

[0127] Based on the above method embodiments, as Figure 3 shown, another embodiment of the present application provides a route planning device for reverse tracking. The device includes:

[0128] The first acquisition unit 210 is configured to acquire the actual driving trajectory points before reverse tracking;

[0129] The second acquisition unit 220 is configured to acquire the historical trajectory record before reverse tracking according to the actual driving trajectory points. Among them, the historical trajectory record includes the first historical forward trajectory and the second historical forward trajectory. The connection line between the end point of the first historical forward trajectory and the start point of the second historical forward trajectory forms an intermediate reference line, and the angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to the angle threshold;

[0130] The first sampling unit 230 is configured to sample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point located on the first historical forward trajectory and a second sampling point located on the second historical forward trajectory;

[0131] An interpolation unit 240, configured to perform interpolation calculation by using the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points to generate an intermediate curve segment passing through the interpolation points when there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point;

[0132] A second sampling unit 250, configured to sample the intermediate curve segment at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points;

[0133] A generating unit 260, configured to generate a target reverse tracking planning route according to a first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and a second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

[0134] In a possible implementation manner, the apparatus further includes:

[0135] An encryption unit, configured to perform encryption processing on adjacent trajectory points with a distance greater than or equal to a first distance threshold in the historical trajectory record before sampling the first historical forward trajectory and the second historical forward trajectory to obtain the encrypted historical trajectory record.

[0136] In a possible implementation manner, the generating unit 260 includes:

[0137] A first sampling module, configured to sample the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point located on the first reverse tracking planning route and a sixth sampling point located on the second reverse tracking planning route;

[0138] A first determination module, configured to determine a trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as a first target trajectory, and determine a trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as a second target trajectory;

[0139] An optimization processing module, configured to perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory with a curvature threshold as a limit to obtain an optimized intermediate curve segment trajectory;

[0140] A generation module, configured to generate the target reverse tracking planning route according to a third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized middle curve segment trajectory, and a fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints.

[0141] In a possible implementation manner, the first sampling unit 230 is further configured to, when there is no third sampling point and / or fourth sampling point within the abscissa range of the first sampling point and the second sampling point, resample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point located on the first historical forward trajectory and a second sampling point located on the second historical forward trajectory.

[0142] In a possible implementation manner, the second acquisition unit 220 includes:

[0143] A recording module, configured to record the first historical forward trajectory at a preset trajectory recording interval, where the first historical forward trajectory includes a plurality of the actual driving trajectory points;

[0144] A judgment module, configured to, starting from when the vehicle starts to reverse, judge whether a target angle is greater than or equal to an angle threshold, where the target angle is the angle between the line connecting the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning and the first historical forward trajectory;

[0145] A discarding module, configured to discard the actual driving trajectory point of the current positioning when the target angle is less than the angle threshold;

[0146] The judgment module is further configured to, until the target angle is greater than or equal to the angle threshold, judge whether the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to a second distance threshold;

[0147] The discarding module is further configured to discard the actual driving trajectory point of the current positioning when the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold;

[0148] The recording module is further configured to record the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold;

[0149] A second determination module, configured to, when it is determined that the vehicle is currently in a forward state, determine the recorded actual driving trajectory point of the current positioning as the starting point of the second historical forward trajectory;

[0150] The recording module is further configured to record actual driving trajectory points of the current positioning starting from the starting point of the second historical forward trajectory at the preset trajectory recording interval until the second historical forward trajectory is obtained when a reverse tracking instruction is received.

[0151] In a possible implementation manner, the second obtaining unit 220 includes:

[0152] An obtaining module, configured to obtain an actual historical trajectory before reverse tracking, where the actual historical trajectory includes a complete actual driving trajectory between the starting point and the ending point of the reverse tracking, the actual historical trajectory includes a first actual forward trajectory, an actual reverse trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include a plurality of the actual driving trajectory points;

[0153] A second sampling module, configured to sample the second actual forward trajectory to obtain a seventh sampling point; when the included angle between the line connecting the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the included angle threshold, return to execute sampling the second actual forward trajectory to obtain the seventh sampling point;

[0154] A second determining module, configured to until the included angle between the line connecting the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the included angle threshold, use the trajectory points between the seventh sampling point and the ending point of the second actual forward trajectory as the second historical forward trajectory, and use the first actual forward trajectory as the first historical forward trajectory.

[0155] The route planning device for reverse tracking provided by the embodiment of the present application can first obtain the actual driving trajectory points before reverse tracking, and based on the actual driving trajectory points, obtain a historical trajectory record including a first historical forward trajectory and a second historical forward trajectory, and the included angle between the first historical forward trajectory and the intermediate reference line (i.e., the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory) is greater than or equal to the angle threshold. Then, sample the first historical forward trajectory and the second historical forward trajectory respectively to obtain a first sampling point and a second sampling point. Next, use the first sampling point, the second sampling point, and the third sampling point and the fourth sampling point existing within the abscissa range of the first sampling point and the second sampling point as interpolation points for interpolation calculation to generate an intermediate curve segment passing through these interpolation points, and sample the intermediate curve segment to obtain an intermediate curve segment trajectory. Finally, based on the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints, generate a target reverse tracking planning route. Compared with the reverse tracking route of returning along the original route, the distance of the target reverse tracking planning route generated by the embodiment of the present application is greatly reduced and the transition of the intermediate section is very smooth. Therefore, it can not only improve the efficiency of reverse tracking but also improve the comfort of the driver and passengers.

[0156] Based on the above method embodiments, another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method described in any of the above embodiments.

[0157] Based on the above method embodiments, another embodiment of the present application provides an electronic device or a computer device, as Figure 4 shown, including:

[0158] One or more processors 310;

[0159] The processor 310 is coupled to a storage device 320, and the storage device 320 is used to store one or more programs;

[0160] Wherein, when the one or more programs are executed by the one or more processors 310, the electronic device or the computer device implements the method described in any of the above embodiments.

[0161] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device described in any of the above embodiments, or includes the electronic device described above.

[0162] The vehicle includes a CPU (Central Processing Unit), a T-Box (Telematics Box), a GPS (Global Positioning System), etc. Among them, the GPS is used to locate the current position of the vehicle. After the CPU obtains the vehicle position located by the GPS (i.e., the actual driving trajectory points), it can obtain the target reverse tracking planning route by executing the route planning method for reverse tracking provided in any of the above embodiments. The CPU can also upload the vehicle position located by the GPS (i.e., the actual driving trajectory points) to the server through the T-Box. The server can obtain the target reverse tracking planning route by executing the route planning method for reverse tracking provided in any of the above embodiments, and send the obtained target reverse tracking planning route to the T-Box, so that the T-Box transmits the target reverse tracking planning route to the relevant devices in the vehicle for reverse tracking.

[0163] Based on the above embodiments, another embodiment of the present application provides a computer program product. The computer program product contains instructions that, when running on a computer or a processor, cause the computer or the processor to execute the method described in any of the above embodiments.

[0164] The above device embodiments correspond to the method embodiments and have the same technical effects as the method embodiments. For specific descriptions, please refer to the method embodiments. The device embodiments are obtained based on the method embodiments. For specific descriptions, please refer to the method embodiment part and will not be elaborated here. Those of ordinary skill in the art can understand that the drawings are only schematic diagrams of one embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present application.

[0165] Those of ordinary skill in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be correspondingly changed and located in one or more devices different from the present embodiment. The modules in the above embodiments can be combined into one module, or further split into multiple sub-modules.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A route planning method for reverse tracking, characterized in that, the method includes: Obtain the actual driving trajectory points before reverse tracking; According to the actual driving trajectory points, obtain the historical trajectory record before reverse tracking, wherein the historical trajectory record includes a first historical forward trajectory and a second historical forward trajectory, and the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory forms an intermediate reference line, and the angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to an angle threshold; Sample the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory; When there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, use the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points for interpolation calculation to generate an intermediate curve segment passing through the interpolation points, and sample the intermediate curve segment at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points; Generate a target reverse tracking planning route according to the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

2. The method according to claim 1, characterized in that, before sampling the first historical forward trajectory and the second historical forward trajectory, the method further includes: When the distance between adjacent trajectory points in the historical trajectory record is greater than or equal to a first distance threshold, perform encryption processing on the adjacent trajectory points with a distance greater than or equal to the first distance threshold to obtain the encrypted historical trajectory record.

3. The method according to claim 1, characterized in that, the generating a target reverse tracking planning route according to the first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and the second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints includes: Sample the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point on the first reverse tracking planning route and a sixth sampling point on the second reverse tracking planning route; Determine the trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as the first target trajectory, and determine the trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as the second target trajectory; With a curvature threshold as a limit, perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory to obtain an optimized intermediate curve segment trajectory. Generate the target reverse tracking planning route according to the third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized middle curve segment trajectory, and the fourth reverse tracking planning route with the sixth sampling point and the ending point of the second reverse tracking planning route as endpoints.

4. The method according to claim 1, wherein, the method further includes: In the case that the third sampling point and / or the fourth sampling point do not exist within the abscissa range of the first sampling point and the second sampling point, return to execute sampling the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point located on the first historical forward trajectory and a second sampling point located on the second historical forward trajectory.

5. The method according to any one of claims 1-4, wherein, the obtaining the historical trajectory record before reverse tracking according to the actual driving trajectory points includes: Recording the first historical forward trajectory at a preset trajectory recording interval, wherein the first historical forward trajectory includes a plurality of the actual driving trajectory points; Starting from the vehicle's reverse, determine whether the target angle is greater than or equal to the angle threshold, wherein the target angle is the angle between the line connecting the ending point of the first historical forward trajectory and the actual driving trajectory point of the current positioning and the first historical forward trajectory; When the target angle is less than the angle threshold, discard the actual driving trajectory point of the current positioning until the target angle is greater than or equal to the angle threshold, and then determine whether the distance between the ending point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to a second distance threshold; When the distance between the ending point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold, discard the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold, and then record the actual driving trajectory point of the current positioning, and when it is determined that the vehicle is currently in the forward state, determine the recorded actual driving trajectory point of the current positioning as the starting point of the second historical forward trajectory; Starting from the starting point of the second historical forward trajectory, record the actual driving trajectory points of the current positioning at the preset trajectory recording interval until a reverse tracking instruction is received, and record the second historical forward trajectory.

6. The method according to any one of claims 1-4, wherein, the obtaining the historical trajectory record before reverse tracking according to the actual driving trajectory points includes: Obtain the actual historical trajectory before reverse tracking, wherein the actual historical trajectory includes the complete actual driving trajectory between the starting point and the ending point of reverse tracking, the actual historical trajectory includes a first actual forward trajectory, an actual reverse trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include a plurality of the actual driving trajectory points. Sample the second actual forward trajectory to obtain a seventh sampling point; When the angle between the line connecting the end point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the angle threshold, return to execute sampling the second actual forward trajectory to obtain the seventh sampling point until the angle between the line connecting the end point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the angle threshold. Then, use the trajectory points between the seventh sampling point and the end point of the second actual forward trajectory as the second historical forward trajectory, and use the first actual forward trajectory as the first historical forward trajectory.

7. A route planning device for reverse tracking Characterized in that The device includes: A first acquisition unit for acquiring actual driving trajectory points before reverse tracking; A second acquisition unit for acquiring a historical trajectory record before reverse tracking according to the actual driving trajectory points, where the historical trajectory record includes a first historical forward trajectory and a second historical forward trajectory, and the line connecting the end point of the first historical forward trajectory and the starting point of the second historical forward trajectory forms an intermediate reference line, and the angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to an angle threshold; A first sampling unit for sampling the first historical forward trajectory and the second historical forward trajectory to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory; An interpolation unit for, when there are a third sampling point and a fourth sampling point within the abscissa range of the first sampling point and the second sampling point, using the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points for interpolation calculation to generate an intermediate curve segment passing through the interpolation points; A second sampling unit for sampling the intermediate curve segment at a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points; A generation unit for generating a target reverse tracking planning route according to a first reverse tracking planning route with the starting point of the first historical forward trajectory and the first sampling point as endpoints, the intermediate curve segment trajectory, and a second reverse tracking planning route with the second sampling point and the end point of the second historical forward trajectory as endpoints.

8. The device according to claim 7, Characterized in that The device further includes: An encryption unit for, before sampling the first historical forward trajectory and the second historical forward trajectory, when the distance between adjacent trajectory points in the historical trajectory record is greater than or equal to a first distance threshold, performing encryption processing on the adjacent trajectory points with a distance greater than or equal to the first distance threshold to obtain the encrypted historical trajectory record.

9. The device according to claim 7, Characterized in that The generation unit includes: The first sampling module is used to sample the first reverse tracking planning route and the second reverse tracking planning route to obtain a fifth sampling point on the first reverse tracking planning route and a sixth sampling point on the second reverse tracking planning route; The first determination module is used to determine the trajectory with the fifth sampling point and the first sampling point as endpoints in the first reverse tracking planning route as the first target trajectory, and determine the trajectory with the second sampling point and the sixth sampling point as endpoints in the second reverse tracking planning route as the second target trajectory; The optimization processing module is used to perform discrete point smoothing on the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory with the curvature threshold as the limit to obtain an optimized intermediate curve segment trajectory; The generation module is used to generate the target reverse tracking planning route according to the third reverse tracking planning route with the starting point of the first reverse tracking planning route and the fifth sampling point as endpoints, the optimized intermediate curve segment trajectory, and the fourth reverse tracking planning route with the sixth sampling point and the end point of the second reverse tracking planning route as endpoints.

10. The device according to claim 7, wherein, The first sampling unit is further used to resample the first historical forward trajectory and the second historical forward trajectory when there is no third sampling point and / or fourth sampling point within the abscissa range of the first sampling point and the second sampling point, to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory.

11. The device according to any one of claims 7-10, wherein, The acquisition unit includes: A recording module for recording the first historical forward trajectory at a preset trajectory recording interval, where the first historical forward trajectory includes a plurality of the actual driving trajectory points; A judgment module for judging whether the target angle is greater than or equal to the angle threshold from the start of vehicle reverse, where the target angle is the angle between the line connecting the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning and the first historical forward trajectory; A discard module for discarding the actual driving trajectory point of the current positioning when the target angle is less than the angle threshold; The judgment module is further used to judge whether the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is greater than or equal to a second distance threshold until the target angle is greater than or equal to the angle threshold; The discard module is further used to discard the actual driving trajectory point of the current positioning when the distance between the end point of the first historical forward trajectory and the actual driving trajectory point of the current positioning is less than the second distance threshold; The recording module is further used to record the actual driving trajectory point of the current positioning until the distance is greater than or equal to the second distance threshold. A second determination module, configured to determine that the actually traveled trajectory point of the current positioning recorded is the starting point of the second historical forward trajectory when it is determined that the vehicle is currently in a forward state; The recording module is further configured to start from the starting point of the second historical forward trajectory, record the actually traveled trajectory points of the current positioning at the preset trajectory recording interval until a reverse tracking instruction is received, and record the second historical forward trajectory.

12. The apparatus according to any one of claims 7-10, wherein, The obtaining unit includes: An obtaining module, configured to obtain an actual historical trajectory before reverse tracking, where the actual historical trajectory includes a complete actually traveled trajectory between the starting point and the ending point of reverse tracking, the actual historical trajectory includes a first actual forward trajectory, an actual reverse trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse trajectory, and the second actual forward trajectory respectively include a plurality of the actually traveled trajectory points; A second sampling module, configured to sample the second actual forward trajectory to obtain a seventh sampling point; when the included angle between the line connecting the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is less than the included angle threshold, return to execute sampling the second actual forward trajectory to obtain a seventh sampling point; A second determination module, configured to until the included angle between the line connecting the ending point of the first actual forward trajectory and the seventh sampling point and the first actual forward trajectory is greater than or equal to the included angle threshold, use the trajectory points between the seventh sampling point and the ending point of the second actual forward trajectory as the second historical forward trajectory, and use the first actual forward trajectory as the first historical forward trajectory.

13. A computer-readable storage medium, on which a computer program is stored, wherein, The program, when executed by a processor, implements the method according to any one of claims 1-6.

14. An electronic device, wherein, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any one of claims 1-6.

15. A vehicle, wherein, The vehicle includes the apparatus according to any one of claims 7-12, or includes the electronic device according to claim 14.

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